static void dummy_inform_display_offset(void *user, const float *o) {
fprintf(stderr, "GCodeParser: display offset [");
for (int i = 0; i < GCODE_NUM_AXES; ++i) {
fprintf(stderr, "%s%c:%.3f", i == 0 ? "" : ", ", gcodep_axis2letter(i),o[i]);
}
fprintf(stderr, "]\n");
}
static char dummy_probe_axis(void *user, float feed, enum GCodeParserAxis axis,
float *reached_pos) {
fprintf(stderr, "GCodeParser: probe-axis(%c)", gcodep_axis2letter(axis));
if (feed > 0)
fprintf(stderr, " feed=%.1f\n", feed);
else
fprintf(stderr, "\n");
return 0;
}
static const char *special_commands(void *userdata, char letter, float value,
const char *remaining) {
GCodeMachineControl_t *state = (GCodeMachineControl_t*)userdata;
const int code = (int)value;
if (letter == 'M') {
int pin = -1;
int aux_bit = -1;
switch (code) {
case 0: set_gpio(ESTOP_SW_GPIO); break;
case 3:
case 4:
for (;;) {
const char* after_pair = gcodep_parse_pair(remaining, &letter, &value,
state->msg_stream);
if (after_pair == NULL) break;
else if (letter == 'S') state->spindle_rpm = round2int(value);
else break;
remaining = after_pair;
}
if (state->spindle_rpm) {
state->aux_bits |= AUX_BIT_SPINDLE_ON;
if (code == 3) state->aux_bits &= ~AUX_BIT_SPINDLE_DIR;
else state->aux_bits |= AUX_BIT_SPINDLE_DIR;
}
break;
case 5: state->aux_bits &= ~(AUX_BIT_SPINDLE_ON | AUX_BIT_SPINDLE_DIR); break;
case 7: state->aux_bits |= AUX_BIT_MIST; break;
case 8: state->aux_bits |= AUX_BIT_FLOOD; break;
case 9: state->aux_bits &= ~(AUX_BIT_MIST | AUX_BIT_FLOOD); break;
case 10: state->aux_bits |= AUX_BIT_VACUUM; break;
case 11: state->aux_bits &= ~AUX_BIT_VACUUM; break;
case 42:
case 62:
case 63:
case 64:
case 65:
for (;;) {
const char* after_pair = gcodep_parse_pair(remaining, &letter, &value,
state->msg_stream);
if (after_pair == NULL) break;
if (letter == 'P') pin = round2int(value);
else if (letter == 'S' && code == 42) aux_bit = round2int(value);
else break;
remaining = after_pair;
}
if (code == 62 || code == 64)
aux_bit = 1;
else if (code == 63 || code == 65)
aux_bit = 0;
if (pin >= 0 && pin <= MAX_AUX_PIN) {
if (aux_bit >= 0 && aux_bit <= 1) {
if (aux_bit) state->aux_bits |= 1 << pin;
else state->aux_bits &= ~(1 << pin);
} else if (code == 42 && state->msg_stream) { // Just read operation.
mprintf(state, "%d\n", (state->aux_bits >> pin) & 1);
}
}
break;
case 80: set_gpio(MACHINE_PWR_GPIO); break;
case 81: clr_gpio(MACHINE_PWR_GPIO); break;
case 105: mprintf(state, "T-300\n"); break; // no temp yet.
case 114:
if (buffer_available(&state->buffer)) {
struct AxisTarget *current = buffer_at(&state->buffer, 0);
const int *mpos = current->position_steps;
const float x = 1.0f * mpos[AXIS_X] / state->cfg.steps_per_mm[AXIS_X];
const float y = 1.0f * mpos[AXIS_Y] / state->cfg.steps_per_mm[AXIS_Y];
const float z = 1.0f * mpos[AXIS_Z] / state->cfg.steps_per_mm[AXIS_Z];
const float e = 1.0f * mpos[AXIS_E] / state->cfg.steps_per_mm[AXIS_E];
const float *origin = state->coordinate_display_origin;
mprintf(state, "X:%.3f Y:%.3f Z:%.3f E:%.3f",
x - origin[AXIS_X], y - origin[AXIS_Y], z - origin[AXIS_Z],
e - origin[AXIS_E]);
mprintf(state, " [ABS. MACHINE CUBE X:%.3f Y:%.3f Z:%.3f]", x, y, z);
switch (state->homing_state) {
case HOMING_STATE_NEVER_HOMED:
mprintf(state, " (Unsure: machine never homed!)\n");
break;
case HOMING_STATE_HOMED_BUT_MOTORS_UNPOWERED:
mprintf(state, " (Lower confidence: motor power off at "
"least once after homing)\n");
break;
case HOMING_STATE_HOMED:
mprintf(state, " (confident: machine was homed)\n");
break;
}
} else {
mprintf(state, "// no current pos\n");
}
break;
case 115: mprintf(state, "%s\n", VERSION_STRING); break;
case 117:
mprintf(state, "// Msg: %s\n", remaining); // TODO: different output ?
remaining = NULL; // consume the full line.
break;
case 119: {
char any_enstops_found = 0;
for (int axis = 0; axis < GCODE_NUM_AXES; ++axis) {
struct EndstopConfig config = state->min_endstop[axis];
if (config.endstop_number) {
int value = get_gpio(get_endstop_gpio_descriptor(config));
mprintf(state, "%c_min:%s ",
tolower(gcodep_axis2letter(axis)),
value == config.trigger_value ? "TRIGGERED" : "open");
any_enstops_found = 1;
}
config = state->max_endstop[axis];
if (config.endstop_number) {
int value = get_gpio(get_endstop_gpio_descriptor(config));
mprintf(state, "%c_max:%s ",
tolower(gcodep_axis2letter(axis)),
value == config.trigger_value ? "TRIGGERED" : "open");
any_enstops_found = 1;
}
}
if (any_enstops_found) {
mprintf(state, "\n");
} else {
mprintf(state, "// This machine has no endstops configured.\n");
}
}
break;
case 999: clr_gpio(ESTOP_SW_GPIO); break;
default:
mprintf(state, "// BeagleG: didn't understand ('%c', %d, '%s')\n",
letter, code, remaining);
remaining = NULL; // In this case, let's just discard remainig block.
break;
}
