/// wait for queue to empty
void queue_wait() {
for (;queue_empty() == 0;) {
ifclock(clock_flag_10ms) {
clock_10ms();
}
}
}
/// this is where it all starts, and ends
///
/// just run init(), then run an endless loop where we pass characters from the serial RX buffer to gcode_parse_char() and check the clocks
int main (void)
{
init();
// main loop
for (;;)
{
// if queue is full, no point in reading chars- host will just have to wait
if ((serial_rxchars() != 0) && (queue_full() == 0)) {
uint8_t c = serial_popchar();
gcode_parse_char(c);
}
ifclock(clock_flag_10ms) {
clock_10ms();
}
}
}
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
}