385 lines
12 KiB
C++
385 lines
12 KiB
C++
/**
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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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* parser.cpp - Parser for a GCode line, providing a parameter interface.
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*/
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#include "parser.h"
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#include "../Marlin.h"
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#if NUM_SERIAL > 1
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#include "queue.h"
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#endif
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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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bool GCodeParser::volumetric_enabled;
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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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uint8_t GCodeParser::subcode;
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#endif
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#if ENABLED(GCODE_MOTION_MODES)
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int16_t GCodeParser::motion_mode_codenum = -1;
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#if USE_GCODE_SUBCODES
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uint8_t GCodeParser::motion_mode_subcode;
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#endif
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#endif
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#if ENABLED(FASTER_GCODE_PARSER)
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// Optimized Parameters
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uint32_t GCodeParser::codebits; // 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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codebits = 0; // 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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#if ENABLED(GCODE_MOTION_MODES)
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#if ENABLED(ARC_SUPPORT)
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#define GTOP 3
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#else
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#define GTOP 1
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#endif
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#endif
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// Bail if the letter is not G, M, or T
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// (or a valid parameter for the current motion mode)
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switch (letter) {
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case 'G': case 'M': case 'T':
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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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// Prusa MMU2 has T?/Tx/Tc commands
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#if DISABLED(PRUSA_MMU2)
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if (!NUMERIC(*p)) return;
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#endif
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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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#if ENABLED(PRUSA_MMU2)
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if (letter == 'T') {
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// check for special MMU2 T?/Tx/Tc commands
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if (*p == '?' || *p == 'x' || *p == 'c') {
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string_arg = p;
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return;
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}
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}
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#endif
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// Get the code number - integer digits only
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codenum = 0;
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do { codenum *= 10, codenum += *p++ - '0'; } 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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#if ENABLED(GCODE_MOTION_MODES)
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if (letter == 'G' && (codenum <= GTOP || codenum == 5
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#if ENABLED(G38_PROBE_TARGET)
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|| codenum == 38
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#endif
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)
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) {
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motion_mode_codenum = codenum;
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#if USE_GCODE_SUBCODES
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motion_mode_subcode = subcode;
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#endif
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}
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#endif
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break;
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#if ENABLED(GCODE_MOTION_MODES)
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#if ENABLED(ARC_SUPPORT)
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case 'I': case 'J': case 'R':
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if (motion_mode_codenum != 2 && motion_mode_codenum != 3) return;
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#endif
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case 'P': case 'Q':
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if (motion_mode_codenum != 5) return;
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case 'X': case 'Y': case 'Z': case 'E': case 'F':
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if (motion_mode_codenum < 0) return;
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command_letter = 'G';
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codenum = motion_mode_codenum;
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#if USE_GCODE_SUBCODES
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subcode = motion_mode_subcode;
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#endif
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p--; // Back up one character to use the current parameter
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break;
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#endif // GCODE_MOTION_MODES
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default: return;
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}
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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) {
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#if ENABLED(GCODE_MACROS)
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case 810: case 811: case 812: case 813: case 814:
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case 815: case 816: case 817: case 818: case 819:
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#endif
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case 23: case 28: case 30: case 117: case 118: case 928: string_arg = p; return;
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default: break;
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}
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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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* For 'M118' you must use 'E1' and 'A1' rather than just 'E' or 'A'
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*/
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string_arg = NULL;
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while (const 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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while (*p == ' ') p++; // Skip spaces between parameters & values
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const bool has_num = valid_float(p);
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#if ENABLED(DEBUG_GCODE_PARSER)
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if (debug) {
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SERIAL_ECHOPAIR("Got letter ", code);
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SERIAL_ECHOPAIR(" at index ", (int)(p - command_ptr - 1));
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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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#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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if (!WITHIN(*p, 'A', 'Z')) { // Another parameter right away?
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while (*p && DECIMAL_SIGNED(*p)) p++; // Skip over the value section of a parameter
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while (*p == ' ') p++; // Skip over all spaces
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}
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}
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}
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#if ENABLED(CNC_COORDINATE_SYSTEMS)
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// Parse the next parameter as a new command
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bool GCodeParser::chain() {
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#if ENABLED(FASTER_GCODE_PARSER)
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char *next_command = command_ptr;
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if (next_command) {
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while (*next_command && *next_command != ' ') ++next_command;
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while (*next_command == ' ') ++next_command;
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if (!*next_command) next_command = NULL;
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}
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#else
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const char *next_command = command_args;
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#endif
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if (next_command) parse(next_command);
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return !!next_command;
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}
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#endif // CNC_COORDINATE_SYSTEMS
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void GCodeParser::unknown_command_error() {
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#if NUM_SERIAL > 1
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const int16_t port = command_queue_port[cmd_queue_index_r];
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#endif
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SERIAL_ECHO_START_P(port);
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SERIAL_ECHOPAIR_P(port, MSG_UNKNOWN_COMMAND, command_ptr);
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SERIAL_CHAR_P(port, '"');
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SERIAL_EOL_P(port);
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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_ECHOPGM(" 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_CHAR('"');
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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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