Add new params and error handler to gcode decoder

farmbot_firmware/lib/farmbot_firmware/gcode/decoder.ex

@@ -8,7 +8,8 @@ defmodule FarmbotFirmware.GCODE.Decoder do
   def do_decode("R00", []), do: {:report_idle, []}
   def do_decode("R01", []), do: {:report_begin, []}
   def do_decode("R02", []), do: {:report_success, []}
-  def do_decode("R03", []), do: {:report_error, []}
+  def do_decode("R03", []), do: {:report_error, [:no_error]}
+  def do_decode("R03", error), do: {:report_error, decode_error(error)}
   def do_decode("R04", []), do: {:report_busy, []}
 
   def do_decode("R05", xyz), do: {:report_axis_state, decode_axis_state(xyz)}
@@ -82,6 +83,14 @@ defmodule FarmbotFirmware.GCODE.Decoder do
     {:unknown, [kind | args]}
   end
 
+  def decode_error(["V0"]), do: [:no_error]
+  def decode_error(["V1"]), do: [:emergency_lock]
+  def decode_error(["V2"]), do: [:timeout]
+  def decode_error(["V3"]), do: [:stall_detected]
+  def decode_error(["V14"]), do: [:invalid_command]
+  def decode_error(["V15"]), do: [:no_config]
+  def decode_error([unk]), do: [unknown_error: unk]
+
   defp decode_floats(list, acc \\ [])
 
   defp decode_floats([<<arg::binary-1, val::binary>> | rest], acc) do

farmbot_firmware/lib/farmbot_firmware/param.ex

@@ -62,6 +62,9 @@ defmodule FarmbotFirmware.Param do
   def decode(85), do: :movement_stall_sensitivity_x
   def decode(86), do: :movement_stall_sensitivity_y
   def decode(87), do: :movement_stall_sensitivity_z
+  def decode(91), do: :movement_microsteps_x
+  def decode(92), do: :movement_microsteps_y
+  def decode(93), do: :movement_microsteps_z
   def decode(101), do: :encoder_enabled_x
   def decode(102), do: :encoder_enabled_y
   def decode(103), do: :encoder_enabled_z
@@ -168,6 +171,9 @@ defmodule FarmbotFirmware.Param do
   def encode(:movement_stall_sensitivity_x), do: 85
   def encode(:movement_stall_sensitivity_y), do: 86
   def encode(:movement_stall_sensitivity_z), do: 87
+  def encode(:movement_microsteps_x), do: 91
+  def encode(:movement_microsteps_y), do: 92
+  def encode(:movement_microsteps_z), do: 93
   def encode(:encoder_enabled_x), do: 101
   def encode(:encoder_enabled_y), do: 102
   def encode(:encoder_enabled_z), do: 103

farmbot_firmware/test/gcode_test.exs

@@ -39,8 +39,14 @@ defmodule FarmbotFirmware.GCODETest do
     end
 
     test "error" do
-      assert {nil, {:report_error, []}} = GCODE.decode("R03")
-      assert {"100", {:report_error, []}} = GCODE.decode("R03 Q100")
+      assert {nil, {:report_error, [:no_error]}} = GCODE.decode("R03")
+      assert {nil, {:report_error, [:no_error]}} = GCODE.decode("R03 V0")
+      assert {nil, {:report_error, [:emergency_lock]}} = GCODE.decode("R03 V1")
+      assert {nil, {:report_error, [:timeout]}} = GCODE.decode("R03 V2")
+      assert {nil, {:report_error, [:stall_detected]}} = GCODE.decode("R03 V3")
+      assert {nil, {:report_error, [:invalid_command]}} = GCODE.decode("R03 V14")
+      assert {nil, {:report_error, [:no_config]}} = GCODE.decode("R03 V15")
+      assert {"100", {:report_error, [:no_error]}} = GCODE.decode("R03 Q100")
 
       assert "R03" = GCODE.encode({nil, {:report_error, []}})
       assert "R03 Q100" = GCODE.encode({"100", {:report_error, []}})