#include "gcode_process.h"

/** \file

\brief Work out what to do with received G-Code commands

*/

#include <string.h>

#include "gcode_parse.h"

#include "cpu.h"

#include "dda.h"

#include "dda_queue.h"

#include "watchdog.h"

#include "delay.h"

#include "serial.h"

#include "temp.h"

#include "heater.h"

#include "timer.h"

#include "sersendf.h"

#include "pinio.h"

#include "debug.h"

#include "clock.h"

#include "config_wrapper.h"

#include "home.h"

#include "sd.h"

#include "bed_leveling.h"

/// the current tool

uint8_t tool;

/// the tool to be changed when we get an M6

uint8_t next_tool;

/************************************************************************//**

\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_all_relative) {

next_target.target.axis[X] += startpoint.axis[X];

next_target.target.axis[Y] += startpoint.axis[Y];

next_target.target.axis[Z] += startpoint.axis[Z];

}

// E relative movement.

// Matches Sprinter's behaviour as of March 2012.

if (next_target.option_e_relative)

next_target.target.e_relative = 1;

else

next_target.target.e_relative = 0;

if (next_target.option_all_relative && !next_target.option_e_relative)

next_target.target.axis[E] += startpoint.axis[E];

// implement axis limits

#ifdef X_MIN

if (next_target.target.axis[X] < (int32_t)(X_MIN * 1000.))

next_target.target.axis[X] = (int32_t)(X_MIN * 1000.);

#endif

#ifdef X_MAX

if (next_target.target.axis[X] > (int32_t)(X_MAX * 1000.))

next_target.target.axis[X] = (int32_t)(X_MAX * 1000.);

#endif

#ifdef Y_MIN

if (next_target.target.axis[Y] < (int32_t)(Y_MIN * 1000.))

next_target.target.axis[Y] = (int32_t)(Y_MIN * 1000.);

#endif

#ifdef Y_MAX

if (next_target.target.axis[Y] > (int32_t)(Y_MAX * 1000.))

next_target.target.axis[Y] = (int32_t)(Y_MAX * 1000.);

#endif

#ifdef Z_MIN

if (next_target.target.axis[Z] < (int32_t)(Z_MIN * 1000.))

next_target.target.axis[Z] = (int32_t)(Z_MIN * 1000.);

#endif

#ifdef Z_MAX

if (next_target.target.axis[Z] > (int32_t)(Z_MAX * 1000.))

next_target.target.axis[Z] = (int32_t)(Z_MAX * 1000.);

#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) {

case 0:

//? G0: Rapid Linear Motion

//?

//? 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.)

//?

temp_wait();

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;

case 1:

//? --- G1: Linear Motion at Feed Rate ---

//?

//? 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.

//?

temp_wait();

enqueue(&next_target.target);

break;

// G2 - Arc Clockwise

// unimplemented

// G3 - Arc Counter-clockwise

// unimplemented

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.

//?

queue_wait();

// delay

if (next_target.seen_P) {

for (;next_target.P > 0;next_target.P--) {

clock();

delay_ms(1);

}

}

break;

case 20:

//? --- G20: Set Units to Inches ---

//?

//? Example: G20

//?

//? Units from now on are in inches.

//?

next_target.option_inches = 1;

break;

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;

case 28:

//? --- G28: Home ---

//?

//? Example: G28

//?

//? This causes the RepRap machine to search for its X, Y and Z

//? endstops. It does so at high speed, so as to get there fast. When

//? it arrives it backs off slowly until the endstop is released again.

//? Backing off slowly ensures more accurate positioning.

//?

//? If you add axis characters, then just the axes specified will be

//? seached. Thus

//?

//? G28 X Y72.3

//?

//? will zero the X and Y axes, but not Z. Coordinate values are

//? ignored.

//?

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_MIN_PIN

home_z_negative();

#elif defined Z_MAX_PIN

home_z_positive();

#endif

axisSelected = 1;

}

// there's no point in moving E, as E has no endstops

if (!axisSelected) {

home();

}

break;

#ifdef BED_LEVELING

case 29:

//? --- G29: Bed leveling registration ---

//?

//? Example: G29 S1

//?

//? Registers the Z-offset for a specific point on the print bed.

//? In this case the current position is used as the registration

//? point, but a different position can be specified by including

//? the X, Y and Z coordinate values.

//?

//? Three points must be registered before the dynamic bed leveling

//? feature is activated. Once three points are registered, the bed

//? is mapped assuming a flat plane and Z-offsets are adjusted

//? automatically during movements to follow the mapped plane. The

//? adjusted position is not displayed to the client, for example

//? in M114 results.

//?

//? The S value controls the action as follows:

//? S0 displays the current bed leveling status

//? S1 registers a new point on the 3-point plane mapping

//? S5 clears all registered points and disables dynamic leveling

//?

//? G29 S1 X100 Y50 Z-0.3

//?

//? This command registers the specific point 100,50 => -0.3

//?

//? G29 S1

//?

//? This command registers the current head position as a point in

//? the plane map.

//?

queue_wait();

if (next_target.seen_S) {

switch (next_target.S) {

case 5: // reset bed leveling registration points

bed_level_reset();

break;

case 1: // Register a new registration point

bed_level_register(next_target.target.axis[X], next_target.target.axis[Y], next_target.target.axis[Z]);

break;

case 0: // Report leveling status

bed_level_report();

break;

}

}

// Restore position, ignoring any axes included in G29 cmd

next_target.target = startpoint;

break;

#endif /* BED_LEVELING */

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.

//?

//? If you ever want to switch back and forth between relative and

//? absolute movement keep in mind, X, Y and Z follow the machine's

//? coordinate system while E doesn't change it's position in the

//? coordinate system on relative movements.

//?

// No wait_queue() needed.

next_target.option_all_relative = 0;

break;

case 91:

//? --- G91: Set to Relative Positioning ---

//?

//? Example: G91

//?

//? All coordinates from now on are relative to the last position.

//?

// No wait_queue() needed.

next_target.option_all_relative = 1;

break;

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.

//?

queue_wait();

if (next_target.seen_X) {

startpoint.axis[X] = next_target.target.axis[X];

axisSelected = 1;

}

if (next_target.seen_Y) {

startpoint.axis[Y] = next_target.target.axis[Y];

axisSelected = 1;

}

if (next_target.seen_Z) {

startpoint.axis[Z] = next_target.target.axis[Z];

axisSelected = 1;

}

if (next_target.seen_E) {

startpoint.axis[E] = next_target.target.axis[E];

axisSelected = 1;

}

if (axisSelected == 0) {

startpoint.axis[X] = next_target.target.axis[X] =

startpoint.axis[Y] = next_target.target.axis[Y] =

startpoint.axis[Z] = next_target.target.axis[Z] =

startpoint.axis[E] = next_target.target.axis[E] = 0;

}

dda_new_startpoint();

break;

case 161:

//? --- G161: Home negative ---

//?

//? Find the minimum limit of the specified axes by searching for the limit switch.

//?

#if defined X_MIN_PIN

if (next_target.seen_X)

home_x_negative();

#endif

#if defined Y_MIN_PIN

if (next_target.seen_Y)

home_y_negative();

#endif

#if defined Z_MIN_PIN

if (next_target.seen_Z)

home_z_negative();

#endif

break;

case 162:

//? --- G162: Home positive ---

//?

//? Find the maximum limit of the specified axes by searching for the limit switch.

//?

#if defined X_MAX_PIN

if (next_target.seen_X)

home_x_positive();

#endif

#if defined Y_MAX_PIN

if (next_target.seen_Y)

home_y_positive();

#endif

#if defined Z_MAX_PIN

if (next_target.seen_Z)

home_z_positive();

#endif

break;

// unknown gcode: spit an error

default:

sersendf_P(PSTR("E: Bad G-code %d\n"), next_target.G);

return;

}

}

else if (next_target.seen_M) {

uint8_t i;

switch (next_target.M) {

case 0:

//? --- M0: machine stop ---

//?

//? Example: M0

//?

//? http://linuxcnc.org/handbook/RS274NGC_3/RS274NGC_33a.html#1002379

//? Unimplemented, especially the restart after the stop. Fall trough to M2.

//?

case 2:

case 84: // For compatibility with slic3rs default end G-code.

//? --- M2: program end ---

//?

//? Example: M2

//?

//? http://linuxcnc.org/handbook/RS274NGC_3/RS274NGC_33a.html#1002379

//?

queue_wait();

for (i = 0; i < NUM_HEATERS; i++)

temp_set(i, 0);

power_off();

serial_writestr_P(PSTR("\nstop\n"));

break;

case 6:

//? --- M6: tool change ---

//?

//? Undocumented.

tool = next_tool;

break;

#ifdef SD

case 20:

//? --- M20: list SD card. ---

sd_list("/");

break;

case 21:

//? --- M21: initialise SD card. ---

//?

//? Has to be done before doing any other operation, including M20.

sd_mount();

break;

case 22:

//? --- M22: release SD card. ---

//?

//? Not mandatory. Just removing the card is fine, but results in

//? odd behaviour when trying to read from the card anyways. M22

//? makes also sure SD card printing is disabled, even with the card

//? inserted.

sd_unmount();

break;

case 23:

//? --- M23: select file. ---

//?

//? This opens a file for reading. This file is valid up to M22 or up

//? to the next M23.

sd_open(gcode_str_buf);

break;

case 24:

//? --- M24: start/resume SD print. ---

//?

//? This makes the SD card available as a G-code source. File is the

//? one selected with M23.

gcode_sources |= GCODE_SOURCE_SD;

break;

case 25:

//? --- M25: pause SD print. ---

//?

//? This removes the SD card from the bitfield of available G-code

//? sources. The file is kept open. The position inside the file

//? is kept as well, to allow resuming.

gcode_sources &= ! GCODE_SOURCE_SD;

break;

#endif /* SD */

case 82:

//? --- M82 - Set E codes absolute ---

//?

//? This is the default and overrides G90/G91.

//? M82/M83 is not documented in the RepRap wiki, behaviour

//? was taken from Sprinter as of March 2012.

//?

//? While E does relative movements, it doesn't change its

//? position in the coordinate system. See also comment on G90.

//?

// No wait_queue() needed.

next_target.option_e_relative = 0;

break;

case 83:

//? --- M83 - Set E codes relative ---

//?

//? Counterpart to M82.

//?

// No wait_queue() needed.

next_target.option_e_relative = 1;

break;

// M3/M101- extruder on

case 3:

case 101:

//? --- M101: extruder on ---

//?

//? Undocumented.

temp_wait();

#ifdef DC_EXTRUDER

heater_set(DC_EXTRUDER, DC_EXTRUDER_PWM);

#endif

break;

// M5/M103- extruder off

case 5:

case 103:

//? --- M103: extruder off ---

//?

//? Undocumented.

#ifdef DC_EXTRUDER

heater_set(DC_EXTRUDER, 0);

#endif

break;

case 104:

//? --- M104: Set Extruder Temperature (Fast) ---

//?

//? Example: M104 S190

//?

//? Set the temperature of the current extruder to 190^oC

//? and return control to the host immediately (''i.e.'' before that

//? temperature has been reached by the extruder). For waiting, see M116.

//?

//? Teacup supports an optional P parameter as a zero-based temperature

//? sensor index to address (e.g. M104 P1 S100 will set the temperature

//? of the heater connected to the second temperature sensor rather

//? than the extruder temperature).

//?

if ( ! next_target.seen_S)

break;

if ( ! next_target.seen_P)

#ifdef HEATER_EXTRUDER

next_target.P = HEATER_EXTRUDER;

#else

next_target.P = 0;

#endif

temp_set(next_target.P, next_target.S);

break;

case 105:

//? --- M105: Get Temperature(s) ---

//?

//? Example: M105

//?

//? Request the temperature of the current extruder and the build base

//? in degrees Celsius. 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 zero-based temperature

//? sensor index to address.

//?

#ifdef ENFORCE_ORDER

queue_wait();

#endif

if ( ! next_target.seen_P)

next_target.P = TEMP_SENSOR_none;

temp_print(next_target.P);

break;

case 7:

case 106:

//? --- M106: Set Fan Speed / Set Device Power ---

//?

//? Example: M106 S120

//?

//? Control the cooling fan (if any).

//?

//? Teacup supports an optional P parameter as a zero-based heater

//? index to address. The heater index can differ from the temperature

//? sensor index, see config.h.

#ifdef ENFORCE_ORDER

// wait for all moves to complete

queue_wait();

#endif

if ( ! next_target.seen_P)

#ifdef HEATER_FAN

next_target.P = HEATER_FAN;

#else

next_target.P = 0;

#endif

if ( ! next_target.seen_S)

break;

heater_set(next_target.P, next_target.S);

break;

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;

#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.

if ( ! next_target.seen_S)

break;

debug_flags = next_target.S;

break;

#endif /* DEBUG */

case 112:

//? --- M112: Emergency Stop ---

//?

//? Example: M112

//?

//? Any moves in progress are immediately terminated, then the printer

//? shuts down. All motors and heaters are turned off. Only way to

//? restart is to press the reset button on the master microcontroller.

//? See also M0.

//?

timer_stop();

queue_flush();

power_off();

cli();

for (;;)

wd_reset();

break;

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

update_current_position();

sersendf_P(PSTR("X:%lq,Y:%lq,Z:%lq,E:%lq,F:%lu\n"),

current_position.axis[X], current_position.axis[Y],

current_position.axis[Z], current_position.axis[E],

current_position.F);

if (mb_tail_dda != NULL) {

if (DEBUG_POSITION && (debug_flags & DEBUG_POSITION)) {

sersendf_P(PSTR("Endpoint: X:%ld,Y:%ld,Z:%ld,E:%ld,F:%lu,c:%lu}\n"),

mb_tail_dda->endpoint.axis[X],

mb_tail_dda->endpoint.axis[Y],

mb_tail_dda->endpoint.axis[Z],

mb_tail_dda->endpoint.axis[E],

mb_tail_dda->endpoint.F,

#ifdef ACCELERATION_REPRAP

mb_tail_dda->end_c

#else

mb_tail_dda->c

#endif

);

}

print_queue();

}

break;

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://github.com/traumflug/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://github.com/traumflug/Teacup_Firmware/ "

"PROTOCOL_VERSION:1.0 MACHINE_TYPE:Mendel EXTRUDER_COUNT:%d "

"TEMP_SENSOR_COUNT:%d HEATER_COUNT:%d\n"

"cap:AUTOREPORT_TEMP:%d\n"),

1, NUM_TEMP_SENSORS, NUM_HEATERS, 1);

break;

case 116:

//? --- M116: Wait ---

//?

//? Example: M116

//?

//? Wait for temperatures and other slowly-changing variables to arrive at their set values.

temp_set_wait();

break;

case 119:

//? --- M119: report endstop status ---

//? Report the current status of the endstops configured in the

//? firmware to the host.

power_on();

endstops_on();

delay_ms(10); // allow the signal to stabilize

{

#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))

serial_writestr_P(PSTR("No endstops defined."));

#else

const char* const open = PSTR("open ");

const char* const triggered = PSTR("triggered ");

#endif

#if defined(X_MIN_PIN)

serial_writestr_P(PSTR("x_min:"));

x_min() ? serial_writestr_P(triggered) : serial_writestr_P(open);

#endif

#if defined(X_MAX_PIN)

serial_writestr_P(PSTR("x_max:"));

x_max() ? serial_writestr_P(triggered) : serial_writestr_P(open);

#endif

#if defined(Y_MIN_PIN)

serial_writestr_P(PSTR("y_min:"));

y_min() ? serial_writestr_P(triggered) : serial_writestr_P(open);

#endif

#if defined(Y_MAX_PIN)

serial_writestr_P(PSTR("y_max:"));

y_max() ? serial_writestr_P(triggered) : serial_writestr_P(open);

#endif

#if defined(Z_MIN_PIN)

serial_writestr_P(PSTR("z_min:"));

z_min() ? serial_writestr_P(triggered) : serial_writestr_P(open);

#endif

#if defined(Z_MAX_PIN)

serial_writestr_P(PSTR("z_max:"));

z_max() ? serial_writestr_P(triggered) : serial_writestr_P(open);

#endif

}

endstops_off();

serial_writechar('\n');

break;

#ifdef EECONFIG

case 130:

//? --- M130: heater P factor ---

//? Undocumented.

// P factor in counts per degreeC of error

if ( ! next_target.seen_P)

#ifdef HEATER_EXTRUDER

next_target.P = HEATER_EXTRUDER;

#else

next_target.P = 0;

#endif

if (next_target.seen_S)

pid_set_p(next_target.P, next_target.S);

break;

case 131:

//? --- M131: heater I factor ---

//? Undocumented.

// I factor in counts per C*s of integrated error

if ( ! next_target.seen_P)

#ifdef HEATER_EXTRUDER

next_target.P = HEATER_EXTRUDER;

#else

next_target.P = 0;

#endif

if (next_target.seen_S)

pid_set_i(next_target.P, next_target.S);

break;

case 132:

//? --- M132: heater D factor ---

//? Undocumented.

// D factor in counts per degreesC/second

if ( ! next_target.seen_P)

#ifdef HEATER_EXTRUDER

next_target.P = HEATER_EXTRUDER;

#else

next_target.P = 0;

#endif

if (next_target.seen_S)

pid_set_d(next_target.P, next_target.S);

break;

case 133:

//? --- M133: heater I limit ---

//? Undocumented.

if ( ! next_target.seen_P)

#ifdef HEATER_EXTRUDER

next_target.P = HEATER_EXTRUDER;

#else

next_target.P = 0;

#endif

if (next_target.seen_S)

pid_set_i_limit(next_target.P, next_target.S);

break;

case 134:

//? --- M134: save PID settings to eeprom ---

//? Undocumented.

heater_save_settings();

break;

#endif /* EECONFIG */

#ifdef DEBUG

case 136:

//? --- M136: PRINT PID settings to host ---

//? Undocumented.

//? This comand is only available in DEBUG builds.

if ( ! next_target.seen_P)

#ifdef HEATER_EXTRUDER

next_target.P = HEATER_EXTRUDER;

#else

next_target.P = 0;

#endif

heater_print(next_target.P);

break;

#endif /* DEBUG */

case 140:

//? --- M140: Set heated bed temperature ---

//? Undocumented.

#ifdef HEATER_BED

if ( ! next_target.seen_S)

break;

temp_set(HEATER_BED, next_target.S);

#endif

break;

case 155:

//? --- M155: Report Temperature(s) Periodically ---

//?

//? Example: M155 Sn

//?

//? turns on periodic reporting of the temperatures of the current

//? extruder and the build base in degrees Celsius. The reporting

//? interval is given in seconds as the S parameter. Use S0 to disable

//? periodic temperature reporting. The reporting format is the same

//? as for M105, except there is no "ok" at the start of each report.

//? For example, the line sent to the host periodically looks like

//?

//? <tt>T:201 B:117</tt>

//?

//? Teacup supports an optional P parameter as a zero-based temperature

//? sensor index to address.

//?

// S<period-seconds> is required

if ( ! next_target.seen_S)

break;

#ifdef ENFORCE_ORDER

queue_wait();

#endif

if ( ! next_target.seen_P)

next_target.P = TEMP_SENSOR_none;

temp_periodic_config(next_target.S, next_target.P);

break;

case 220:

//? --- M220: Set speed factor override percentage ---

if ( ! next_target.seen_S)

break;

// Scale 100% = 256

next_target.target.f_multiplier = (next_target.S * 64 + 12) / 25;

break;

case 221:

//? --- M221: Control the extruders flow ---

if ( ! next_target.seen_S)

break;

// Scale 100% = 256

next_target.target.e_multiplier = (next_target.S * 64 + 12) / 25;

break;

#ifdef DEBUG

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\n"));

break;

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\n"));

break;

#endif /* DEBUG */

// unknown mcode: spit an error

default:

sersendf_P(PSTR("E: Bad M-code %d\n"), next_target.M);

} // switch (next_target.M)

} // else if (next_target.seen_M)

} // process_gcode_command()