New GCode Parser - Implementation
Scott Lahteine
8 years ago
parent
002a06c507
commit
f4028fe088
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/**
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* Marlin 3D Printer Firmware
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* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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*
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* Based on Sprinter and grbl.
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* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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*/
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/**
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* gcode.cpp - Parser for a GCode line, providing a parameter interface.
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*/
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#include "gcode.h"
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#include "Marlin.h"
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#include "language.h"
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// Must be declared for allocation and to satisfy the linker
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// Zero values need no initialization.
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#if ENABLED(INCH_MODE_SUPPORT)
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float GCodeParser::linear_unit_factor, GCodeParser::volumetric_unit_factor;
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#endif
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#if ENABLED(TEMPERATURE_UNITS_SUPPORT)
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TempUnit GCodeParser::input_temp_units;
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#endif
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char *GCodeParser::command_ptr,
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*GCodeParser::string_arg,
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*GCodeParser::value_ptr;
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char GCodeParser::command_letter;
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int GCodeParser::codenum;
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#if USE_GCODE_SUBCODES
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int GCodeParser::subcode;
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#endif
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#if ENABLED(FASTER_GCODE_PARSER)
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// Optimized Parameters
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byte GCodeParser::codebits[4]; // found bits
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uint8_t GCodeParser::param[26]; // parameter offsets from command_ptr
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#else
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char *GCodeParser::command_args; // start of parameters
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#endif
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// Create a global instance of the GCode parser singleton
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GCodeParser parser;
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/**
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* Clear all code-seen (and value pointers)
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*
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* Since each param is set/cleared on seen codes,
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* this may be optimized by commenting out ZERO(param)
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*/
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void GCodeParser::reset() {
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string_arg = NULL; // No whole line argument
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command_letter = '?'; // No command letter
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codenum = 0; // No command code
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#if USE_GCODE_SUBCODES
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subcode = 0; // No command sub-code
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#endif
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#if ENABLED(FASTER_GCODE_PARSER)
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ZERO(codebits); // No codes yet
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//ZERO(param); // No parameters (should be safe to comment out this line)
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#endif
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}
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// Populate all fields by parsing a single line of GCode
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// 58 bytes of SRAM are used to speed up seen/value
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void GCodeParser::parse(char *p) {
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reset(); // No codes to report
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// Skip spaces
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while (*p == ' ') ++p;
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// Skip N[-0-9] if included in the command line
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if (*p == 'N' && NUMERIC_SIGNED(p[1])) {
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#if ENABLED(FASTER_GCODE_PARSER)
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//set('N', p + 1); // (optional) Set the 'N' parameter value
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#endif
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p += 2; // skip N[-0-9]
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while (NUMERIC(*p)) ++p; // skip [0-9]*
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while (*p == ' ') ++p; // skip [ ]*
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}
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// *p now points to the current command, which should be G, M, or T
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command_ptr = p;
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// Get the command letter, which must be G, M, or T
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const char letter = *p++;
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// Nullify asterisk and trailing whitespace
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char *starpos = strchr(p, '*');
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if (starpos) {
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--starpos; // *
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while (*starpos == ' ') --starpos; // spaces...
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starpos[1] = '\0';
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}
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// Bail if the letter is not G, M, or T
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switch (letter) { case 'G': case 'M': case 'T': break; default: return; }
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// Skip spaces to get the numeric part
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while (*p == ' ') p++;
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// Bail if there's no command code number
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if (!NUMERIC(*p)) return;
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// Save the command letter at this point
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// A '?' signifies an unknown command
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command_letter = letter;
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// Get the code number - integer digits only
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codenum = 0;
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do {
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codenum *= 10, codenum += *p++ - '0';
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} while (NUMERIC(*p));
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// Allow for decimal point in command
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#if USE_GCODE_SUBCODES
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if (*p == '.') {
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p++;
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while (NUMERIC(*p))
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subcode *= 10, subcode += *p++ - '0';
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}
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#endif
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// Skip all spaces to get to the first argument, or nul
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while (*p == ' ') p++;
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// The command parameters (if any) start here, for sure!
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#if DISABLED(FASTER_GCODE_PARSER)
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command_args = p; // Scan for parameters in seen()
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#endif
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// Only use string_arg for these M codes
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if (letter == 'M') switch (codenum) { case 23: case 28: case 30: case 117: case 928: string_arg = p; return; default: break; }
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#if ENABLED(DEBUG_GCODE_PARSER)
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const bool debug = codenum == 800;
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#endif
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/**
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* Find all parameters, set flags and pointers for fast parsing
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*
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* Most codes ignore 'string_arg', but those that want a string will get the right pointer.
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* The following loop assigns the first "parameter" having no numeric value to 'string_arg'.
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* This allows M0/M1 with expire time to work: "M0 S5 You Win!"
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*/
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string_arg = NULL;
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while (char code = *p++) { // Get the next parameter. A NUL ends the loop
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// Special handling for M32 [P] !/path/to/file.g#
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// The path must be the last parameter
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if (code == '!' && letter == 'M' && codenum == 32) {
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string_arg = p; // Name starts after '!'
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char * const lb = strchr(p, '#'); // Already seen '#' as SD char (to pause buffering)
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if (lb) *lb = '\0'; // Safe to mark the end of the filename
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return;
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}
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// Arguments MUST be uppercase for fast GCode parsing
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#if ENABLED(FASTER_GCODE_PARSER)
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#define PARAM_TEST WITHIN(code, 'A', 'Z')
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#else
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#define PARAM_TEST true
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#endif
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if (PARAM_TEST) {
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const bool has_num = DECIMAL_SIGNED(*p); // The parameter has a number [-+0-9.]
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#if ENABLED(DEBUG_GCODE_PARSER)
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if (debug) {
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SERIAL_ECHOPAIR("Got letter ", code); // DEBUG
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SERIAL_ECHOPAIR(" at index ", (int)(p - command_ptr - 1)); // DEBUG
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if (has_num) SERIAL_ECHOPGM(" (has_num)");
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}
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#endif
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if (!has_num && !string_arg) { // No value? First time, keep as string_arg
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string_arg = p - 1;
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#if ENABLED(DEBUG_GCODE_PARSER)
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if (debug) SERIAL_ECHOPAIR(" string_arg: ", hex_address((void*)string_arg)); // DEBUG
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#endif
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}
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#if ENABLED(DEBUG_GCODE_PARSER)
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if (debug) SERIAL_EOL;
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#endif
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#if ENABLED(FASTER_GCODE_PARSER)
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set(code, has_num ? p : NULL // Set parameter exists and pointer (NULL for no number)
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#if ENABLED(DEBUG_GCODE_PARSER)
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, debug
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#endif
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);
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#endif
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}
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else if (!string_arg) { // Not A-Z? First time, keep as the string_arg
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string_arg = p - 1;
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#if ENABLED(DEBUG_GCODE_PARSER)
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if (debug) SERIAL_ECHOPAIR(" string_arg: ", hex_address((void*)string_arg)); // DEBUG
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#endif
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}
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while (*p && *p != ' ') p++; // Skip over the parameter
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while (*p == ' ') p++; // Skip over all spaces
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}
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}
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void GCodeParser::unknown_command_error() {
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SERIAL_ECHO_START;
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SERIAL_ECHOPAIR(MSG_UNKNOWN_COMMAND, command_ptr);
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SERIAL_CHAR('"');
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SERIAL_EOL;
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}
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#if ENABLED(DEBUG_GCODE_PARSER)
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void GCodeParser::debug() {
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SERIAL_ECHOPAIR("Command: ", command_ptr);
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SERIAL_ECHOPAIR(" (", command_letter);
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SERIAL_ECHO(codenum);
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SERIAL_ECHOLNPGM(")");
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#if ENABLED(FASTER_GCODE_PARSER)
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SERIAL_ECHO(" args: \"");
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for (char c = 'A'; c <= 'Z'; ++c)
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if (seen(c)) { SERIAL_CHAR(c); SERIAL_CHAR(' '); }
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#else
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SERIAL_ECHOPAIR(" args: \"", command_args);
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#endif
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SERIAL_ECHOPGM("\"");
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if (string_arg) {
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SERIAL_ECHOPGM(" string: \"");
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SERIAL_ECHO(string_arg);
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SERIAL_CHAR('"');
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}
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SERIAL_ECHOPGM("\n\n");
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for (char c = 'A'; c <= 'Z'; ++c) {
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if (seen(c)) {
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SERIAL_ECHOPAIR("Code '", c); SERIAL_ECHOPGM("':");
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if (has_value()) {
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SERIAL_ECHOPAIR("\n float: ", value_float());
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SERIAL_ECHOPAIR("\n long: ", value_long());
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SERIAL_ECHOPAIR("\n ulong: ", value_ulong());
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SERIAL_ECHOPAIR("\n millis: ", value_millis());
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SERIAL_ECHOPAIR("\n sec-ms: ", value_millis_from_seconds());
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SERIAL_ECHOPAIR("\n int: ", value_int());
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SERIAL_ECHOPAIR("\n ushort: ", value_ushort());
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SERIAL_ECHOPAIR("\n byte: ", (int)value_byte());
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SERIAL_ECHOPAIR("\n bool: ", (int)value_bool());
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SERIAL_ECHOPAIR("\n linear: ", value_linear_units());
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SERIAL_ECHOPAIR("\n celsius: ", value_celsius());
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}
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else
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SERIAL_ECHOPGM(" (no value)");
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SERIAL_ECHOPGM("\n\n");
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}
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}
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}
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#endif // DEBUG_GCODE_PARSER
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@ -0,0 +1,285 @@
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/**
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* Marlin 3D Printer Firmware
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* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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*
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* Based on Sprinter and grbl.
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* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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*/
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/**
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* gcode.h - Parser for a GCode line, providing a parameter interface.
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* Codes like M149 control the way the GCode parser behaves,
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* so settings for these codes are located in this class.
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*/
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#ifndef GCODE_H
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#define GCODE_H
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#include "enum.h"
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#include "types.h"
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#include "MarlinConfig.h"
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//#define DEBUG_GCODE_PARSER
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#if ENABLED(DEBUG_GCODE_PARSER)
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#include "hex_print_routines.h"
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#include "serial.h"
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#endif
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#if ENABLED(INCH_MODE_SUPPORT)
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extern bool volumetric_enabled;
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#endif
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/**
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* GCode parser
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*
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* - Parse a single gcode line for its letter, code, subcode, and parameters
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* - FASTER_GCODE_PARSER:
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* - Flags existing params (1 bit each)
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* - Stores value offsets (1 byte each)
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* - Provide accessors for parameters:
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* - Parameter exists
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* - Parameter has value
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* - Parameter value in different units and types
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*/
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class GCodeParser {
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private:
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static char *value_ptr; // Set by seen, used to fetch the value
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#if ENABLED(FASTER_GCODE_PARSER)
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static byte codebits[4]; // Parameters pre-scanned
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static uint8_t param[26]; // For A-Z, offsets into command args
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#else
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static char *command_args; // Args start here, for slow scan
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#endif
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public:
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// Global states for GCode-level units features
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#if ENABLED(INCH_MODE_SUPPORT)
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static float linear_unit_factor, volumetric_unit_factor;
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#endif
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#if ENABLED(TEMPERATURE_UNITS_SUPPORT)
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static TempUnit input_temp_units;
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#endif
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// Command line state
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static char *command_ptr, // The command, so it can be echoed
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*string_arg; // string of command line
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static char command_letter; // G, M, or T
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static int codenum; // 123
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#if USE_GCODE_SUBCODES
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static int subcode; // .1
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#endif
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#if ENABLED(DEBUG_GCODE_PARSER)
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void debug();
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#endif
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// Reset is done before parsing
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static void reset();
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#if ENABLED(FASTER_GCODE_PARSER)
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// Set the flag and pointer for a parameter
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static void set(const char c, char * const ptr
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||||||
|
#if ENABLED(DEBUG_GCODE_PARSER)
|
||||||
|
, const bool debug=false
|
||||||
|
#endif
|
||||||
|
) {
|
||||||
|
const uint8_t ind = c - 'A';
|
||||||
|
if (ind >= COUNT(param)) return; // Only A-Z
|
||||||
|
SBI(codebits[ind >> 3], ind & 0x7); // parameter exists
|
||||||
|
param[ind] = ptr ? ptr - command_ptr : 0; // parameter offset or 0
|
||||||
|
#if ENABLED(DEBUG_GCODE_PARSER)
|
||||||
|
if (debug) {
|
||||||
|
SERIAL_ECHOPAIR("Set bit ", (int)(ind & 0x7));
|
||||||
|
SERIAL_ECHOPAIR(" of index ", (int)(ind >> 3));
|
||||||
|
SERIAL_ECHOLNPAIR(" | param = ", hex_address((void*)param[ind]));
|
||||||
|
}
|
||||||
|
#endif
|
||||||
|
}
|
||||||
|
|
||||||
|
// Code seen bit was set. If not found, value_ptr is unchanged.
|
||||||
|
// This allows "if (seen('A')||seen('B'))" to use the last-found value.
|
||||||
|
static bool seen(const char c) {
|
||||||
|
const uint8_t ind = c - 'A';
|
||||||
|
if (ind >= COUNT(param)) return false; // Only A-Z
|
||||||
|
const bool b = TEST(codebits[ind >> 3], ind & 0x7);
|
||||||
|
if (b) value_ptr = command_ptr + param[ind];
|
||||||
|
return b;
|
||||||
|
}
|
||||||
|
|
||||||
|
#else
|
||||||
|
|
||||||
|
// Code is found in the string. If not found, value_ptr is unchanged.
|
||||||
|
// This allows "if (seen('A')||seen('B'))" to use the last-found value.
|
||||||
|
static bool seen(const char c) {
|
||||||
|
char *p = strchr(command_args, c);
|
||||||
|
const bool b = !!p;
|
||||||
|
if (b) value_ptr = DECIMAL_SIGNED(*p) ? p + 1 : NULL;
|
||||||
|
return b;
|
||||||
|
}
|
||||||
|
|
||||||
|
#endif // FASTER_GCODE_PARSER
|
||||||
|
|
||||||
|
// Populate all fields by parsing a single line of GCode
|
||||||
|
// This uses 54 bytes of SRAM to speed up seen/value
|
||||||
|
static void parse(char * p);
|
||||||
|
|
||||||
|
// Code value pointer was set
|
||||||
|
FORCE_INLINE static bool has_value() { return value_ptr != NULL; }
|
||||||
|
|
||||||
|
// Float removes 'E' to prevent scientific notation interpretation
|
||||||
|
inline static float value_float() {
|
||||||
|
if (value_ptr) {
|
||||||
|
char *e = value_ptr;
|
||||||
|
for (;;) {
|
||||||
|
const char c = *e;
|
||||||
|
if (c == '\0' || c == ' ') break;
|
||||||
|
if (c == 'E' || c == 'e') {
|
||||||
|
*e = '\0';
|
||||||
|
const float ret = strtod(value_ptr, NULL);
|
||||||
|
*e = c;
|
||||||
|
return ret;
|
||||||
|
}
|
||||||
|
++e;
|
||||||
|
}
|
||||||
|
return strtod(value_ptr, NULL);
|
||||||
|
}
|
||||||
|
return 0.0;
|
||||||
|
}
|
||||||
|
|
||||||
|
// Code value as a long or ulong
|
||||||
|
inline static long value_long() { return value_ptr ? strtol(value_ptr, NULL, 10) : 0L; }
|
||||||
|
inline unsigned static long value_ulong() { return value_ptr ? strtoul(value_ptr, NULL, 10) : 0UL; }
|
||||||
|
|
||||||
|
// Code value for use as time
|
||||||
|
FORCE_INLINE static millis_t value_millis() { return value_ulong(); }
|
||||||
|
FORCE_INLINE static millis_t value_millis_from_seconds() { return value_float() * 1000UL; }
|
||||||
|
|
||||||
|
// Reduce to fewer bits
|
||||||
|
FORCE_INLINE static int value_int() { return (int)value_long(); }
|
||||||
|
FORCE_INLINE uint16_t value_ushort() { return (uint16_t)value_long(); }
|
||||||
|
inline static uint8_t value_byte() { return (uint8_t)(constrain(value_long(), 0, 255)); }
|
||||||
|
|
||||||
|
// Bool is true with no value or non-zero
|
||||||
|
inline static bool value_bool() { return !has_value() || value_byte(); }
|
||||||
|
|
||||||
|
// Units modes: Inches, Fahrenheit, Kelvin
|
||||||
|
|
||||||
|
#if ENABLED(INCH_MODE_SUPPORT)
|
||||||
|
|
||||||
|
inline static void set_input_linear_units(LinearUnit units) {
|
||||||
|
switch (units) {
|
||||||
|
case LINEARUNIT_INCH:
|
||||||
|
linear_unit_factor = 25.4;
|
||||||
|
break;
|
||||||
|
case LINEARUNIT_MM:
|
||||||
|
default:
|
||||||
|
linear_unit_factor = 1.0;
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
volumetric_unit_factor = pow(linear_unit_factor, 3.0);
|
||||||
|
}
|
||||||
|
|
||||||
|
inline static float axis_unit_factor(const AxisEnum axis) {
|
||||||
|
return (axis >= E_AXIS && volumetric_enabled ? volumetric_unit_factor : linear_unit_factor);
|
||||||
|
}
|
||||||
|
|
||||||
|
inline static float value_linear_units() { return value_float() * linear_unit_factor; }
|
||||||
|
inline static float value_axis_units(const AxisEnum axis) { return value_float() * axis_unit_factor(axis); }
|
||||||
|
inline static float value_per_axis_unit(const AxisEnum axis) { return value_float() / axis_unit_factor(axis); }
|
||||||
|
|
||||||
|
#else
|
||||||
|
|
||||||
|
FORCE_INLINE static float value_linear_units() { return value_float(); }
|
||||||
|
FORCE_INLINE static float value_axis_units(const AxisEnum a) { UNUSED(a); return value_float(); }
|
||||||
|
FORCE_INLINE static float value_per_axis_unit(const AxisEnum a) { UNUSED(a); return value_float(); }
|
||||||
|
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#if ENABLED(TEMPERATURE_UNITS_SUPPORT)
|
||||||
|
|
||||||
|
inline static void set_input_temp_units(TempUnit units) { input_temp_units = units; }
|
||||||
|
|
||||||
|
#if ENABLED(ULTIPANEL) && DISABLED(DISABLE_M503)
|
||||||
|
|
||||||
|
FORCE_INLINE static char temp_units_code() {
|
||||||
|
return input_temp_units == TEMPUNIT_K ? 'K' : input_temp_units == TEMPUNIT_F ? 'F' : 'C';
|
||||||
|
}
|
||||||
|
FORCE_INLINE static char* temp_units_name() {
|
||||||
|
return input_temp_units == TEMPUNIT_K ? PSTR("Kelvin") : input_temp_units == TEMPUNIT_F ? PSTR("Fahrenheit") : PSTR("Celsius")
|
||||||
|
}
|
||||||
|
inline static float to_temp_units(const float &f) {
|
||||||
|
switch (input_temp_units) {
|
||||||
|
case TEMPUNIT_F:
|
||||||
|
return f * 0.5555555556 + 32.0;
|
||||||
|
case TEMPUNIT_K:
|
||||||
|
return f + 273.15;
|
||||||
|
case TEMPUNIT_C:
|
||||||
|
default:
|
||||||
|
return f;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
#endif // ULTIPANEL && !DISABLE_M503
|
||||||
|
|
||||||
|
inline static float value_celsius() {
|
||||||
|
const float f = value_float();
|
||||||
|
switch (input_temp_units) {
|
||||||
|
case TEMPUNIT_F:
|
||||||
|
return (f - 32.0) * 0.5555555556;
|
||||||
|
case TEMPUNIT_K:
|
||||||
|
return f - 273.15;
|
||||||
|
case TEMPUNIT_C:
|
||||||
|
default:
|
||||||
|
return f;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
inline static float value_celsius_diff() {
|
||||||
|
switch (input_temp_units) {
|
||||||
|
case TEMPUNIT_F:
|
||||||
|
return value_float() * 0.5555555556;
|
||||||
|
case TEMPUNIT_C:
|
||||||
|
case TEMPUNIT_K:
|
||||||
|
default:
|
||||||
|
return value_float();
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
#else
|
||||||
|
|
||||||
|
FORCE_INLINE static float value_celsius() { return value_float(); }
|
||||||
|
FORCE_INLINE static float value_celsius_diff() { return value_float(); }
|
||||||
|
|
||||||
|
#endif
|
||||||
|
|
||||||
|
FORCE_INLINE static float value_feedrate() { return value_linear_units(); }
|
||||||
|
|
||||||
|
void unknown_command_error();
|
||||||
|
|
||||||
|
};
|
||||||
|
|
||||||
|
extern GCodeParser parser;
|
||||||
|
|
||||||
|
#endif // GCODE_H
|
||||||
Loading…
Reference in New Issue