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Teacup_Firmware/gcode_process.c

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#include "gcode_process.h"
/** \file
\brief Work out what to do with received G-Code commands
*/
#include <string.h>
#include <avr/interrupt.h>
#include "gcode_parse.h"
#include "dda_queue.h"
#include "watchdog.h"
#include "delay.h"
#include "serial.h"
#include "sermsg.h"
#include "temp.h"
#include "heater.h"
#include "timer.h"
#include "sersendf.h"
#include "pinio.h"
#include "debug.h"
#include "clock.h"
#include "config.h"
#include "home.h"
/// the current tool
uint8_t tool;
/// the tool to be changed when we get an M6
uint8_t next_tool;
/*
private functions
this is where we construct a move without a gcode command, useful for gcodes which require multiple moves eg; homing
*/
/// move to X = 0
static void zero_x(void) {
TARGET t = startpoint;
t.X = 0;
t.F = SEARCH_FEEDRATE_X;
enqueue(&t);
}
/// move to Y = 0
static void zero_y(void) {
TARGET t = startpoint;
t.Y = 0;
t.F = SEARCH_FEEDRATE_Y;
enqueue(&t);
}
/// move to Z = 0
static void zero_z(void) {
TARGET t = startpoint;
t.Z = 0;
t.F = SEARCH_FEEDRATE_Z;
enqueue(&t);
}
#if E_STARTSTOP_STEPS > 0
/// move E by a certain amount at a certain speed
static void SpecialMoveE(int32_t e, uint32_t f) {
TARGET t = startpoint;
t.E += e;
t.F = f;
enqueue(&t);
}
#endif /* E_STARTSTOP_STEPS > 0 */
/************************************************************************//**
\brief Processes command stored in global \ref next_target.
This is where we work out what to actually do with each command we
receive. All data has already been scaled to integers in gcode_process.
If you want to add support for a new G or M code, this is the place.
*//*************************************************************************/
void process_gcode_command() {
uint32_t backup_f;
// convert relative to absolute
if (next_target.option_relative) {
next_target.target.X += startpoint.X;
next_target.target.Y += startpoint.Y;
next_target.target.Z += startpoint.Z;
#ifdef E_ABSOLUTE
next_target.target.E += startpoint.E;
#endif
}
// E ALWAYS relative, otherwise we overflow our registers after only a few layers
// next_target.target.E += startpoint.E;
// easier way to do this
// startpoint.E = 0;
// moved to dda.c, end of dda_create() and dda_queue.c, next_move()
// implement axis limits
#ifdef X_MIN
if (next_target.target.X < (X_MIN * STEPS_PER_MM_X))
next_target.target.X = X_MIN * STEPS_PER_MM_X;
#endif
#ifdef X_MAX
if (next_target.target.X > (X_MAX * STEPS_PER_MM_X))
next_target.target.X = X_MAX * STEPS_PER_MM_X;
#endif
#ifdef Y_MIN
if (next_target.target.Y < (Y_MIN * STEPS_PER_MM_Y))
next_target.target.Y = Y_MIN * STEPS_PER_MM_Y;
#endif
#ifdef Y_MAX
if (next_target.target.Y > (Y_MAX * STEPS_PER_MM_Y))
next_target.target.Y = Y_MAX * STEPS_PER_MM_Y;
#endif
#ifdef Z_MIN
if (next_target.target.Z < (Z_MIN * STEPS_PER_MM_Z))
next_target.target.Z = Z_MIN * STEPS_PER_MM_Z;
#endif
#ifdef Z_MAX
if (next_target.target.Z > (Z_MAX * STEPS_PER_MM_Z))
next_target.target.Z = Z_MAX * STEPS_PER_MM_Z;
#endif
// The GCode documentation was taken from http://reprap.org/wiki/Gcode .
if (next_target.seen_T) {
//? ==== T: Select Tool ====
//?
//? Example: T1
//?
//? Select extruder number 1 to build with. Extruder numbering starts at 0.
next_tool = next_target.T;
}
// if we didn't see an axis word, set it to startpoint. this fixes incorrect moves after homing
if (next_target.seen_X == 0)
next_target.target.X = startpoint.X;
if (next_target.seen_Y == 0)
next_target.target.Y = startpoint.Y;
if (next_target.seen_Z == 0)
next_target.target.Z = startpoint.Z;
if (next_target.seen_E == 0)
next_target.target.E = startpoint.E;
if (next_target.seen_G) {
uint8_t axisSelected = 0;
switch (next_target.G) {
// G0 - rapid, unsynchronised motion
// since it would be a major hassle to force the dda to not synchronise, just provide a fast feedrate and hope it's close enough to what host expects
case 0:
//? ==== G0: Rapid move ====
//?
//? Example: G0 X12
//?
//? In this case move rapidly to X = 12 mm. In fact, the RepRap firmware uses exactly the same code for rapid as it uses for controlled moves (see G1 below), as - for the RepRap machine - this is just as efficient as not doing so. (The distinction comes from some old machine tools that used to move faster if the axes were not driven in a straight line. For them G0 allowed any movement in space to get to the destination as fast as possible.)
backup_f = next_target.target.F;
next_target.target.F = MAXIMUM_FEEDRATE_X * 2L;
enqueue(&next_target.target);
next_target.target.F = backup_f;
break;
// G1 - synchronised motion
case 1:
//? ==== G1: Controlled move ====
//?
//? Example: G1 X90.6 Y13.8 E22.4
//?
//? Go in a straight line from the current (X, Y) point to the point (90.6, 13.8), extruding material as the move happens from the current extruded length to a length of 22.4 mm.
enqueue(&next_target.target);
break;
// G2 - Arc Clockwise
// unimplemented
// G3 - Arc Counter-clockwise
// unimplemented
// G4 - Dwell
case 4:
//? ==== G4: Dwell ====
//?
//? Example: G4 P200
//?
//? In this case sit still doing nothing for 200 milliseconds. During delays the state of the machine (for example the temperatures of its extruders) will still be preserved and controlled.
//?
// wait for all moves to complete
queue_wait();
// delay
for (;next_target.P > 0;next_target.P--) {
ifclock(clock_flag_10ms) {
clock_10ms();
}
delay_ms(1);
}
break;
// G20 - inches as units
case 20:
//? ==== G20: Set Units to Inches ====
//?
//? Example: G20
//?
//? Units from now on are in inches.
//?
next_target.option_inches = 1;
break;
// G21 - mm as units
case 21:
//? ==== G21: Set Units to Millimeters ====
//?
//? Example: G21
//?
//? Units from now on are in millimeters. (This is the RepRap default.)
//?
next_target.option_inches = 0;
break;
// G30 - go home via point
case 30:
//? ==== G30: Go home via point ====
//?
//? Undocumented.
enqueue(&next_target.target);
// no break here, G30 is move and then go home
// G28 - go home
case 28:
//? ==== G28: Home ====
//?
queue_wait();
if (next_target.seen_X) {
#if defined X_MIN_PIN
home_x_negative();
#elif defined X_MAX_PIN
home_x_positive();
#endif
axisSelected = 1;
}
if (next_target.seen_Y) {
#if defined Y_MIN_PIN
home_y_negative();
#elif defined Y_MAX_PIN
home_y_positive();
#endif
axisSelected = 1;
}
if (next_target.seen_Z) {
#if defined Z_MAX_PIN
home_z_positive();
#elif defined Z_MIN_PIN
home_z_negative();
#endif
axisSelected = 1;
}
// there's no point in moving E, as E has no endstops
if (!axisSelected) {
home();
}
break;
// G90 - absolute positioning
case 90:
//? ==== G90: Set to Absolute Positioning ====
//?
//? Example: G90
//?
//? All coordinates from now on are absolute relative to the origin of the machine. (This is the RepRap default.)
next_target.option_relative = 0;
break;
// G91 - relative positioning
case 91:
//? ==== G91: Set to Relative Positioning ====
//?
//? Example: G91
//?
//? All coordinates from now on are relative to the last position.
next_target.option_relative = 1;
break;
// G92 - set home
case 92:
//? ==== G92: Set Position ====
//?
//? Example: G92 X10 E90
//?
//? Allows programming of absolute zero point, by reseting the current position to the values specified. This would set the machine's X coordinate to 10, and the extrude coordinate to 90. No physical motion will occur.
// wait for queue to empty
queue_wait();
if (next_target.seen_X) {
startpoint.X = current_position.X = next_target.target.X;
axisSelected = 1;
}
if (next_target.seen_Y) {
startpoint.Y = current_position.Y = next_target.target.Y;
axisSelected = 1;
}
if (next_target.seen_Z) {
startpoint.Z = current_position.Z = next_target.target.Z;
axisSelected = 1;
}
if (next_target.seen_E) {
#ifdef E_ABSOLUTE
startpoint.E = current_position.E = next_target.target.E;
#endif
axisSelected = 1;
}
if (axisSelected == 0) {
startpoint.X = current_position.X = next_target.target.X =
startpoint.Y = current_position.Y = next_target.target.Y =
startpoint.Z = current_position.Z = next_target.target.Z = 0;
}
break;
// G161 - Home negative
case 161:
//? ==== G161: Home negative ====
//?
//? Find the minimum limit of the specified axes by searching for the limit switch.
if (next_target.seen_X)
home_x_negative();
if (next_target.seen_Y)
home_y_negative();
if (next_target.seen_Z)
home_z_negative();
break;
// G162 - Home positive
case 162:
//? ==== G162: Home positive ====
//?
//? Find the maximum limit of the specified axes by searching for the limit switch.
if (next_target.seen_X)
home_x_positive();
if (next_target.seen_Y)
home_y_positive();
if (next_target.seen_Z)
home_z_positive();
break;
// unknown gcode: spit an error
default:
sersendf_P(PSTR("E: Bad G-code %d"), next_target.G);
// newline is sent from gcode_parse after we return
return;
}
#ifdef DEBUG
if (DEBUG_POSITION && (debug_flags & DEBUG_POSITION))
print_queue();
#endif
}
else if (next_target.seen_M) {
switch (next_target.M) {
// M0- machine stop
case 0:
// M2- program end
case 2:
//? ==== M2: program end ====
//?
//? Undocumented.
queue_wait();
// no break- we fall through to M112 below
// M112- immediate stop
case 112:
//? ==== M112: Emergency Stop ====
//?
//? Example: M112
//?
//? Any moves in progress are immediately terminated, then RepRap shuts down. All motors and heaters are turned off.
//? It can be started again by pressing the reset button on the master microcontroller. See also M0.
timer_stop();
queue_flush();
x_disable();
y_disable();
z_disable();
e_disable();
power_off();
cli();
for (;;)
wd_reset();
break;
// M6- tool change
case 6:
//? ==== M6: tool change ====
//?
//? Undocumented.
tool = next_tool;
break;
// M84- stop idle hold
case 84:
x_disable();
y_disable();
z_disable();
e_disable();
break;
// M3/M101- extruder on
case 3:
case 101:
//? ==== M101: extruder on ====
//?
//? Undocumented.
if (temp_achieved() == 0) {
enqueue(NULL);
}
#ifdef DC_EXTRUDER
heater_set(DC_EXTRUDER, DC_EXTRUDER_PWM);
#elif E_STARTSTOP_STEPS > 0
do {
// backup feedrate, move E very quickly then restore feedrate
backup_f = startpoint.F;
startpoint.F = MAXIMUM_FEEDRATE_E;
SpecialMoveE(E_STARTSTOP_STEPS, MAXIMUM_FEEDRATE_E);
startpoint.F = backup_f;
} while (0);
#endif
break;
// M102- extruder reverse
// M5/M103- extruder off
case 5:
case 103:
//? ==== M103: extruder off ====
//?
//? Undocumented.
#ifdef DC_EXTRUDER
heater_set(DC_EXTRUDER, 0);
#elif E_STARTSTOP_STEPS > 0
do {
// backup feedrate, move E very quickly then restore feedrate
backup_f = startpoint.F;
startpoint.F = MAXIMUM_FEEDRATE_E;
SpecialMoveE(-E_STARTSTOP_STEPS, MAXIMUM_FEEDRATE_E);
startpoint.F = backup_f;
} while (0);
#endif
break;
// M104- set temperature
case 104:
//? ==== M104: Set Extruder Temperature (Fast) ====
//?
//? Example: M104 S190
//?
//? Set the temperature of the current extruder to 190<sup>o</sup>C and return control to the host immediately (''i.e.'' before that temperature has been reached by the extruder). See also M109.
//? Teacup supports an optional P parameter as a sensor index to address (eg M104 P1 S100 will set the bed temperature rather than the extruder temperature).
temp_set(next_target.P, next_target.S);
if (next_target.S)
power_on();
break;
// M105- get temperature
case 105:
//? ==== M105: Get Extruder Temperature ====
//?
//? Example: M105
//?
//? Request the temperature of the current extruder and the build base in degrees Celsius. The temperatures are returned to the host computer. For example, the line sent to the host in response to this command looks like
//?
//? <tt>ok T:201 B:117</tt>
//?
//? Teacup supports an optional P parameter as a sensor index to address.
#ifdef ENFORCE_ORDER
// wait for all moves to complete
queue_wait();
#endif
temp_print(next_target.P);
break;
// M7/M106- fan on
case 7:
case 106:
//? ==== M106: Fan On ====
//?
//? Example: M106
//?
//? Turn on the cooling fan (if any).
#ifdef ENFORCE_ORDER
// wait for all moves to complete
queue_wait();
#endif
#ifdef HEATER_FAN
heater_set(HEATER_FAN, 255);
#endif
break;
// M107- fan off
case 9:
case 107:
//? ==== M107: Fan Off ====
//?
//? Example: M107
//?
//? Turn off the cooling fan (if any).
#ifdef ENFORCE_ORDER
// wait for all moves to complete
queue_wait();
#endif
#ifdef HEATER_FAN
heater_set(HEATER_FAN, 0);
#endif
break;
// M109- set temp and wait
case 109:
//? ==== M109: Set Extruder Temperature ====
//?
//? Example: M109 S190
//?
//? Set the temperature of the current extruder to 190<sup>o</sup>C and wait for it to reach that value before sending an acknowledgment to the host. In fact the RepRap firmware waits a while after the temperature has been reached for the extruder to stabilise - typically about 40 seconds. This can be changed by a parameter in the firmware configuration file when the firmware is compiled. See also M104 and M116.
//?
//? Teacup supports an optional P parameter as a sensor index to address.
if (next_target.seen_S)
temp_set(next_target.P, next_target.S);
if (next_target.S) {
power_on();
enable_heater();
}
else {
disable_heater();
}
enqueue(NULL);
break;
// M110- set line number
case 110:
//? ==== M110: Set Current Line Number ====
//?
//? Example: N123 M110
//?
//? Set the current line number to 123. Thus the expected next line after this command will be 124.
//? This is a no-op in Teacup.
break;
// M111- set debug level
#ifdef DEBUG
case 111:
//? ==== M111: Set Debug Level ====
//?
//? Example: M111 S6
//?
//? Set the level of debugging information transmitted back to the host to level 6. The level is the OR of three bits:
//?
//? <Pre>
//? #define DEBUG_PID 1
//? #define DEBUG_DDA 2
//? #define DEBUG_POSITION 4
//? </pre>
//?
//? This command is only available in DEBUG builds of Teacup.
debug_flags = next_target.S;
break;
#endif
// M113- extruder PWM
// M114- report XYZEF to host
case 114:
//? ==== M114: Get Current Position ====
//?
//? Example: M114
//?
//? This causes the RepRap machine to report its current X, Y, Z and E coordinates to the host.
//?
//? For example, the machine returns a string such as:
//?
//? <tt>ok C: X:0.00 Y:0.00 Z:0.00 E:0.00</tt>
#ifdef ENFORCE_ORDER
// wait for all moves to complete
queue_wait();
#endif
sersendf_P(PSTR("X:%lq,Y:%lq,Z:%lq,E:%lq,F:%ld"), current_position.X * ((int32_t) UM_PER_STEP_X), current_position.Y * ((int32_t) UM_PER_STEP_Y), current_position.Z * ((int32_t) UM_PER_STEP_Z), current_position.E * ((int32_t) UM_PER_STEP_E), current_position.F);
// newline is sent from gcode_parse after we return
break;
// M115- capabilities string
case 115:
//? ==== M115: Get Firmware Version and Capabilities ====
//?
//? Example: M115
//?
//? Request the Firmware Version and Capabilities of the current microcontroller
//? The details are returned to the host computer as key:value pairs separated by spaces and terminated with a linefeed.
//?
//? sample data from firmware:
//? FIRMWARE_NAME:Teacup FIRMWARE_URL:http%%3A//github.com/triffid/Teacup_Firmware/ PROTOCOL_VERSION:1.0 MACHINE_TYPE:Mendel EXTRUDER_COUNT:1 TEMP_SENSOR_COUNT:1 HEATER_COUNT:1
sersendf_P(PSTR("FIRMWARE_NAME:Teacup FIRMWARE_URL:http%%3A//github.com/triffid/Teacup_Firmware/ PROTOCOL_VERSION:1.0 MACHINE_TYPE:Mendel EXTRUDER_COUNT:%d TEMP_SENSOR_COUNT:%d HEATER_COUNT:%d"), 1, NUM_TEMP_SENSORS, NUM_HEATERS);
// newline is sent from gcode_parse after we return
break;
// M116 - Wait for all temperatures and other slowly-changing variables to arrive at their set values.
case 116:
//? ==== M116: Wait ====
//?
//? Example: M116
//?
//? Wait for ''all'' temperatures and other slowly-changing variables to arrive at their set values. See also M109.
enqueue(NULL);
break;
// M130- heater P factor
case 130:
//? ==== M130: heater P factor ====
//? Undocumented.
if (next_target.seen_S)
pid_set_p(next_target.P, next_target.S);
break;
// M131- heater I factor
case 131:
//? ==== M131: heater I factor ====
//? Undocumented.
if (next_target.seen_S)
pid_set_i(next_target.P, next_target.S);
break;
// M132- heater D factor
case 132:
//? ==== M132: heater D factor ====
//? Undocumented.
if (next_target.seen_S)
pid_set_d(next_target.P, next_target.S);
break;
// M133- heater I limit
case 133:
//? ==== M133: heater I limit ====
//? Undocumented.
if (next_target.seen_S)
pid_set_i_limit(next_target.P, next_target.S);
break;
// M134- save PID settings to eeprom
case 134:
//? ==== M134: save PID settings to eeprom ====
//? Undocumented.
heater_save_settings();
break;
// M135- set heater output
case 135:
//? ==== M135: set heater output ====
//? Undocumented.
if (next_target.seen_S) {
heater_set(next_target.P, next_target.S);
power_on();
}
break;
#ifdef DEBUG
// M136- PRINT PID settings to host
case 136:
//? ==== M136: PRINT PID settings to host ====
//? Undocumented.
//? This comand is only available in DEBUG builds.
heater_print(next_target.P);
break;
#endif
case 140: //Set heated bed temperature
//? ==== M140: Set heated bed temperature ====
//? Undocumented.
#ifdef HEATER_BED
temp_set(HEATER_BED, next_target.S);
if (next_target.S)
power_on();
#endif
break;
// M190- power on
case 190:
//? ==== M190: Power On ====
//? Undocumented.
power_on();
x_enable();
y_enable();
z_enable();
e_enable();
steptimeout = 0;
break;
// M191- power off
case 191:
//? ==== M191: Power Off ====
//? Undocumented.
#ifdef ENFORCE_ORDER
// wait for all moves to complete
queue_wait();
#endif
x_disable();
y_disable();
z_disable();
e_disable();
power_off();
break;
// M200 - report endstop status
case 200:
//? ==== M200: report endstop status ====
//? Report the current status of the endstops configured in the firmware to the host.
#if defined(X_MIN_PIN)
sersendf_P(PSTR("x_min:%d "), x_min());
#endif
#if defined(X_MAX_PIN)
sersendf_P(PSTR("x_max:%d "), x_max());
#endif
#if defined(Y_MIN_PIN)
sersendf_P(PSTR("y_min:%d "), y_min());
#endif
#if defined(Y_MAX_PIN)
sersendf_P(PSTR("y_max:%d "), y_max());
#endif
#if defined(Z_MIN_PIN)
sersendf_P(PSTR("z_min:%d "), z_min());
#endif
#if defined(Z_MAX_PIN)
sersendf_P(PSTR("z_max:%d "), z_max());
#endif
#if !(defined(X_MIN_PIN) || defined(X_MAX_PIN) || defined(Y_MIN_PIN) || defined(Y_MAX_PIN) || defined(Z_MIN_PIN) || defined(Z_MAX_PIN))
sersendf_P(PSTR("no endstops defined"));
#endif
break;
#ifdef DEBUG
// M240- echo off
case 240:
//? ==== M240: echo off ====
//? Disable echo.
//? This command is only available in DEBUG builds.
debug_flags &= ~DEBUG_ECHO;
serial_writestr_P(PSTR("Echo off"));
// newline is sent from gcode_parse after we return
break;
// M241- echo on
case 241:
//? ==== M241: echo on ====
//? Enable echo.
//? This command is only available in DEBUG builds.
debug_flags |= DEBUG_ECHO;
serial_writestr_P(PSTR("Echo on"));
// newline is sent from gcode_parse after we return
break;
// DEBUG: return current position, end position, queue
case 250:
//? ==== M250: return current position, end position, queue ====
//? Undocumented
//? This command is only available in DEBUG builds.
sersendf_P(PSTR("{X:%ld,Y:%ld,Z:%ld,E:%ld,F:%lu,c:%lu}\t{X:%ld,Y:%ld,Z:%ld,E:%ld,F:%lu,c:%lu}\t"), current_position.X, current_position.Y, current_position.Z, current_position.E, current_position.F, movebuffer[mb_tail].c, movebuffer[mb_tail].endpoint.X, movebuffer[mb_tail].endpoint.Y, movebuffer[mb_tail].endpoint.Z, movebuffer[mb_tail].endpoint.E, movebuffer[mb_tail].endpoint.F,
#ifdef ACCELERATION_REPRAP
movebuffer[mb_tail].end_c
#else
movebuffer[mb_tail].c
#endif
);
print_queue();
break;
// DEBUG: read arbitrary memory location
case 253:
//? ==== M253: read arbitrary memory location ====
//? Undocumented
//? This command is only available in DEBUG builds.
if (next_target.seen_P == 0)
next_target.P = 1;
for (; next_target.P; next_target.P--) {
serwrite_hex8(*(volatile uint8_t *)(next_target.S));
next_target.S++;
}
// newline is sent from gcode_parse after we return
break;
// DEBUG: write arbitrary memory location
case 254:
//? ==== M254: write arbitrary memory location ====
//? Undocumented
//? This command is only available in DEBUG builds.
sersendf_P(PSTR("%x:%x->%x"), next_target.S, *(volatile uint8_t *)(next_target.S), next_target.P);
(*(volatile uint8_t *)(next_target.S)) = next_target.P;
// newline is sent from gcode_parse after we return
break;
#endif /* DEBUG */
// unknown mcode: spit an error
default:
sersendf_P(PSTR("E: Bad M-code %d"), next_target.M);
// newline is sent from gcode_parse after we return
} // switch (next_target.M)
} // else if (next_target.seen_M)
} // process_gcode_command()
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