Example #1
0
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;
	}
	// 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


	if (next_target.seen_T) {
		next_tool = next_target.T;
	}

	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:
				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:
				enqueue(&next_target.target);
				break;
				
				//	G2 - Arc Clockwise
				// unimplemented
				
				//	G3 - Arc Counter-clockwise
				// unimplemented
				
				//	G4 - Dwell
			case 4:
				// 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:
				next_target.option_inches = 1;
				break;
				
				//	G21 - mm as units
			case 21:
				next_target.option_inches = 0;
				break;
				
				//	G30 - go home via point
			case 30:
				enqueue(&next_target.target);
				// no break here, G30 is move and then go home
				
				//	G28 - go home
			case 28:
				queue_wait();
				
				if (next_target.seen_X) {
					zero_x();
					axisSelected = 1;
				}
				if (next_target.seen_Y) {
					zero_y();
					axisSelected = 1;
				}
				if (next_target.seen_Z) {
					zero_z();
					axisSelected = 1;
				}
				if (next_target.seen_E) {
					zero_e();
					axisSelected = 1;
				}
				
				if (!axisSelected) {
					zero_x();
					zero_y();
					zero_z();
					zero_e();
				}
				
				break;
				
				//	G90 - absolute positioning
				case 90:
					next_target.option_relative = 0;
					break;
					
					//	G91 - relative positioning
				case 91:
					next_target.option_relative = 1;
					break;
					
					//	G92 - set home
				case 92:
					// 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) {
						startpoint.E = current_position.E = next_target.target.E;
						axisSelected = 1;
					}
					if (axisSelected == 0) {
						startpoint.X = current_position.X =
						startpoint.Y = current_position.Y =
						startpoint.Z = current_position.Z =
						startpoint.E = current_position.E = 0;
					}
					break;

				// G161 - Home negative
				case 161:
					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:
					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
			print_queue();
		#endif
	}
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 (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: Move to Origin ====
				//?
				//? Example: G28
				//?
				//? This causes the RepRap machine to move back to its X, Y and Z zero endstops.  It does so
				//? accelerating, so as to get there fast.  But when it arrives it backs off by 1 mm in each
				//? direction slowly, then moves back slowly to the stop.  This ensures more accurate positioning.
				//?
				//? If you add coordinates, then just the axes with coordinates specified will be zeroed.  Thus
				//?
				//? G28 X0 Y72.3
				//?
				//? will zero the X and Y axes, but not Z.  The actual coordinate values are ignored.
				//?

				queue_wait();

				if (next_target.seen_X) {
					zero_x();
					axisSelected = 1;
				}
				if (next_target.seen_Y) {
					zero_y();
					axisSelected = 1;
				}
				if (next_target.seen_Z) {
					zero_z();
					axisSelected = 1;
				}
				// there's no point in moving E, as E has no endstops

				if (!axisSelected) {
					zero_x();
					zero_y();
					zero_z();
				}

				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
	}