Some refactoring

arduino_32U4.h

@@ -9,8 +9,8 @@
 //#define RXD1         DIO7
 //#define TXD1         DIO8
 
-// ATmega32U4 doesn't have a serial port 0, maybe its a USB?
-// do some munging of port 0 to port 1 the help serial.c
+
+// do some munging of serial port 
 #define UCSR0A       UCSRA
 #define U2X0         U2X
 #define UBRR0        UBRRL

config.h

@@ -154,7 +154,6 @@
 
 #define ENCODER_PIN 17
 
-
 #define PWR_OUT1_PIN 18
 #define PWR_OUT2_PIN 19
 #define ANALOG_IN_PIN 33
@@ -180,12 +179,6 @@
 #define F_CPU                    16000000UL
 #endif
 
-/** \def MOTHERBOARD
-  This is the motherboard, as opposed to the extruder. See extruder/ directory
-  for GEN3 extruder firmware.
-*/
-#define MOTHERBOARD
-
 /** \def DEBUG_LED_PIN
 
   Enable flashing of a LED during motor stepping.
@@ -197,6 +190,7 @@
   http://reprap.org/wiki/Teacup_Firmware#Doing_precision_profiling
 */
 #define DEBUG_LED_PIN            PC1
+
 ////////////////DEBUG/////////////////////
 #define SIMINFO
 #define DEBUG

gcode_parser.cpp

@@ -8,18 +8,26 @@
 #define IS_ENDING(c) (c == '\n' || c == '\r')
 #define ATOI(c)     (c - '0')
 
+#define STATE_ERROR 1
+
 GCODE_PARAM params[8];
 uint8_t current_parameter;
 TARGET next_target;
 
+// Parser is implemented as a finite state automata (DFA)
+// This is pointer holds function with actions expected for current progress, each of these functions
+// changes its value on state change
 uint8_t (*current_state)(uint8_t c);
 
+//a few state functions prototypes
 uint8_t start_parsing_parameter(uint8_t );
-uint8_t start_parse_number(uint8_t);
+uint8_t start_parsing_number(uint8_t);
 
 
 /// convert a floating point input value into an integer with appropriate scaling.
-/// \param *df pointer to floating point structure that holds fp value to convert
+/// \param mantissa the actual digits of our floating point number
+/// \param exponent scale mantissa by \f$10^{-exponent}\f$
+/// \param sign  positive or negative?
 /// \param multiplicand multiply by this amount during conversion to integer
 ///
 /// Tested for up to 42'000 mm (accurate), 420'000 mm (precision 10 um) and
@@ -65,7 +73,7 @@ void parser_init()
     next_target.f_multiplier = 256;
     parser_reset();
 }
-
+// this function executes command after is parsed
 void process_command()
 {
     for(int i = 1; i <= current_parameter; ++i)
@@ -100,11 +108,12 @@ void process_command()
     }
 }
 
-uint8_t gcode_error(uint8_t c)
+
+uint8_t gcode_syntax_error(uint8_t c)
 {
     if IS_ENDING(c)
         parser_reset();
-    return 1;
+    return STATE_ERROR;
 }
 
 uint8_t start_parsing_parameter(uint8_t c)
@@ -120,11 +129,11 @@ uint8_t start_parsing_parameter(uint8_t c)
     if IS_LETTER(c)
     {
         params[current_parameter].name = c;
-        current_state = start_parse_number;
+        current_state = start_parsing_number;
         return 0;
     }
-    current_state = gcode_error;
-    return 1;
+    current_state = gcode_syntax_error;
+    return STATE_ERROR;
 }
 
 uint8_t parse_digit(uint8_t c)
@@ -161,11 +170,11 @@ uint8_t parse_digit(uint8_t c)
         return 0;
     }
     
-    current_state = gcode_error;
-    return 1;
+    current_state = gcode_syntax_error;
+    return STATE_ERROR;
 }
 
-uint8_t start_parse_number(uint8_t c)
+uint8_t start_parsing_number(uint8_t c)
 {
     current_state = parse_digit;
     //negative number
@@ -179,8 +188,8 @@ uint8_t start_parse_number(uint8_t c)
         parse_digit(c);
         return 0;
     }
-    current_state = gcode_error;
-    return 1;
+    current_state = gcode_syntax_error;
+    return STATE_ERROR;
 }
 
 uint8_t gcode_parse_char(uint8_t c) {
@@ -192,7 +201,7 @@ uint8_t gcode_parse_char(uint8_t c) {
     
     if IS_ENDING(c)
     {
-        if ( result == 1) //error
+        if ( result == STATE_ERROR) //error
             return 2;
         return 1;
     }

gcode_parser.h

@@ -18,6 +18,7 @@ extern const uint32_t powers[];  // defined in msg.c
 /// accept the next character and process it
 uint8_t gcode_parse_char(uint8_t c);
 
+/// setup variables
 void parser_init();
 
 #endif  /* _GCODE_PARSE_H */

kinematics.h

@@ -4,7 +4,6 @@
 #include "config.h"
 
 #include <stdint.h>
-
 #include "motor.h"
 
 

timer-avr.cpp

@@ -15,9 +15,12 @@
 
 #include	"config.h"
 #include "pinio.h"
-//#include "clock.h"
-//#include "cpu.h"
-//#include "memory_barrier.h"
+
+/** \def MOTHERBOARD
+  This is the motherboard, as opposed to the extruder. See extruder/ directory
+  for GEN3 extruder firmware.
+*/
+#define MOTHERBOARD
 
 #ifdef	MOTHERBOARD
 #include	"queue.h"