Merge remote-tracking branch 'upstream/duet' into duet
This commit is contained in:
Tony
commit
7cd9c49a43
18 changed files with 7873 additions and 416 deletions
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@ -24,8 +24,8 @@ Licence: GPL
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#define CONFIGURATION_H
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#define NAME "RepRapFirmware"
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#define VERSION "0.28"
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#define DATE "2013-11-30"
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#define VERSION "0.35"
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#define DATE "2013-12-06"
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#define LAST_AUTHOR "reprappro.com"
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// Other firmware that we might switch to be compatible with.
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@ -60,7 +60,7 @@ enum Compatibility
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#define STANDBY_INTERRUPT_RATE 2.0e-4 // Seconds
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#define NUMBER_OF_PROBE_POINTS 3
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#define NUMBER_OF_PROBE_POINTS 4
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#define Z_DIVE 5.0 // Height from which to probe the bed (mm)
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#define SILLY_Z_VALUE -9999.0
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50
GCodes.cpp
50
GCodes.cpp
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@ -670,7 +670,7 @@ bool GCodes::SetSingleZProbeAtAPosition(GCodeBuffer *gb)
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if(gb->Seen('S'))
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{
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zProbesSet = true;
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reprap.GetMove()->SetProbedBedPlane();
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reprap.GetMove()->SetProbedBedEquation();
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}
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return true;
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} else
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@ -682,7 +682,7 @@ bool GCodes::SetSingleZProbeAtAPosition(GCodeBuffer *gb)
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if(gb->Seen('S'))
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{
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zProbesSet = true;
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reprap.GetMove()->SetProbedBedPlane();
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reprap.GetMove()->SetProbedBedEquation();
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}
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return true;
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}
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@ -691,20 +691,26 @@ bool GCodes::SetSingleZProbeAtAPosition(GCodeBuffer *gb)
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return false;
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}
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// This probes multiple points on the bed (usually three in a
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// triangle), then sets the bed transformation to compensate
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// This probes multiple points on the bed (three in a
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// triangle or four in the corners), then sets the bed transformation to compensate
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// for the bed not quite being the plane Z = 0.
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bool GCodes::DoMultipleZProbe()
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{
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if(reprap.GetMove()->NumberOfXYProbePoints() < 3)
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{
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platform->Message(HOST_MESSAGE, "Bed probing: there needs to be 3 or more points set.\n");
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return true;
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}
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if(DoSingleZProbe())
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probeCount++;
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if(probeCount >= NUMBER_OF_PROBE_POINTS)
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if(probeCount >= reprap.GetMove()->NumberOfXYProbePoints())
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{
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probeCount = 0;
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zProbesSet = true;
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reprap.GetMove()->SetZProbing(false);
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reprap.GetMove()->SetProbedBedPlane();
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reprap.GetMove()->SetProbedBedEquation();
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return true;
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}
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return false;
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@ -1072,9 +1078,10 @@ void GCodes::HandleReply(bool error, bool fromLine, char* reply, char gMOrT, int
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return;
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}
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if( (gMOrT == 'M' && code == 105) || (gMOrT == 'G' && code == 998) )
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if( (gMOrT == 'M' && code == 105) || (gMOrT == 'G' && code == 998))
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{
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platform->GetLine()->Write(response);
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platform->GetLine()->Write(" ");
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platform->GetLine()->Write(reply);
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platform->GetLine()->Write("\n");
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return;
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@ -1123,6 +1130,7 @@ bool GCodes::ActOnGcode(GCodeBuffer *gb)
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bool result = true;
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bool error = false;
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bool resend = false;
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bool seen;
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char reply[STRING_LENGTH];
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reply[0] = 0;
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@ -1285,10 +1293,18 @@ bool GCodes::ActOnGcode(GCodeBuffer *gb)
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case 85: // Set inactive time
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break;
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case 92: // Set steps/mm for some axes
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case 92: // Set/report steps/mm for some axes
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seen = false;
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for(int8_t drive = 0; drive < DRIVES; drive++)
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if(gb->Seen(gCodeLetters[drive]))
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{
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platform->SetDriveStepsPerUnit(drive, gb->GetFValue());
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seen = true;
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}
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if(!seen)
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snprintf(reply, STRING_LENGTH, "Steps/mm: X: %d, Y: %d, Z: %d, E: %d",
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(int)platform->DriveStepsPerUnit(X_AXIS), (int)platform->DriveStepsPerUnit(Y_AXIS),
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(int)platform->DriveStepsPerUnit(Z_AXIS), (int)platform->DriveStepsPerUnit(AXES)); // FIXME - needs to do multiple extruders
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break;
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case 104: // Depricated
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@ -1327,8 +1343,7 @@ bool GCodes::ActOnGcode(GCodeBuffer *gb)
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reprap.SetDebug(gb->GetIValue());
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break;
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case 112: // Emergency stop
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reprap.EmergencyStop();
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case 112: // Emergency stop - aced upon in Webserver
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break;
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case 114: // Deprecated
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@ -1340,6 +1355,10 @@ bool GCodes::ActOnGcode(GCodeBuffer *gb)
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result = false;
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break;
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case 115: // Print firmware version
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snprintf(reply, STRING_LENGTH, "FIRMWARE_NAME:%s FIRMWARE_VERSION:%s ELECTRONICS:%s DATE:%s", NAME, VERSION, ELECTRONICS, DATE);
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break;
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case 109: // Depricated
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if(gb->Seen('S'))
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{
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@ -1540,6 +1559,17 @@ bool GCodes::ActOnGcode(GCodeBuffer *gb)
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reprap.GetMove()->SetIdentityTransform();
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break;
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case 876: // TEMPORARY - this will go away...
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if(gb->Seen('P'))
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{
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iValue = gb->GetIValue();
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if(iValue != 1)
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platform->SetHeatOn(0);
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else
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platform->SetHeatOn(1);
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}
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break;
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case 906: // Set Motor currents
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for(uint8_t i = 0; i < DRIVES; i++)
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{
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90
Move.cpp
90
Move.cpp
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@ -147,25 +147,23 @@ void Move::Init()
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tanXY = 0.0;
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tanYZ = 0.0;
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tanXZ = 0.0;
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zPlaneSet = false;
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zEquationSet = false;
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lastZHit = 0.0;
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zProbing = false;
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xBedProbePoints[0] = 0.2*platform->AxisLength(X_AXIS);
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yBedProbePoints[0] = 0.2*platform->AxisLength(Y_AXIS);
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zBedProbePoints[0] = 0.0;
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probePointSet[0] = false;
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for(uint8_t point = 0; point < NUMBER_OF_PROBE_POINTS; point++)
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{
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xBedProbePoints[point] = (0.2 + 0.6*(float)(point%2))*platform->AxisLength(X_AXIS);
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yBedProbePoints[point] = (0.2 + 0.6*(float)(point/2))*platform->AxisLength(Y_AXIS);
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zBedProbePoints[point] = 0.0;
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probePointSet[point] = unset;
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}
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xBedProbePoints[1] = 0.8*platform->AxisLength(X_AXIS);
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yBedProbePoints[1] = 0.2*platform->AxisLength(Y_AXIS);
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zBedProbePoints[1] = 0.0;
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probePointSet[1] = false;
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xRectangle = 1.0/(0.8*platform->AxisLength(X_AXIS));
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yRectangle = xRectangle;
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xBedProbePoints[2] = 0.5*platform->AxisLength(X_AXIS);
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yBedProbePoints[2] = 0.8*platform->AxisLength(Y_AXIS);
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zBedProbePoints[2] = 0.0;
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probePointSet[2] = false;
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secondDegreeCompensation = false;
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lastTime = platform->Time();
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longWait = lastTime;
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@ -558,7 +556,7 @@ void Move::Interrupt()
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{
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// No - it's still live. Step it and return.
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dda->Step(true);
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dda->Step();
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return;
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}
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@ -607,30 +605,67 @@ void Move::SetIdentityTransform()
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aX = 0.0;
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aY = 0.0;
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aC = 0.0;
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secondDegreeCompensation = false;
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}
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void Move::Transform(float xyzPoint[])
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{
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xyzPoint[X_AXIS] = xyzPoint[X_AXIS] + tanXY*xyzPoint[Y_AXIS] + tanXZ*xyzPoint[Z_AXIS];
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xyzPoint[Y_AXIS] = xyzPoint[Y_AXIS] + tanYZ*xyzPoint[Z_AXIS];
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xyzPoint[Z_AXIS] = xyzPoint[Z_AXIS] + aX*xyzPoint[X_AXIS] + aY*xyzPoint[Y_AXIS] + aC;
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if(secondDegreeCompensation)
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xyzPoint[Z_AXIS] = xyzPoint[Z_AXIS] + SecondDegreeTransformZ(xyzPoint[X_AXIS], xyzPoint[Y_AXIS]);
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else
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xyzPoint[Z_AXIS] = xyzPoint[Z_AXIS] + aX*xyzPoint[X_AXIS] + aY*xyzPoint[Y_AXIS] + aC;
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// platform->GetLine()->Write(xyzPoint[Y_AXIS]);
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// platform->GetLine()->Write('\n');
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}
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void Move::InverseTransform(float xyzPoint[])
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{
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xyzPoint[Z_AXIS] = xyzPoint[Z_AXIS] - (aX*xyzPoint[X_AXIS] + aY*xyzPoint[Y_AXIS] + aC);
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if(secondDegreeCompensation)
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xyzPoint[Z_AXIS] = xyzPoint[Z_AXIS] - SecondDegreeTransformZ(xyzPoint[X_AXIS], xyzPoint[Y_AXIS]);
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else
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xyzPoint[Z_AXIS] = xyzPoint[Z_AXIS] - (aX*xyzPoint[X_AXIS] + aY*xyzPoint[Y_AXIS] + aC);
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xyzPoint[Y_AXIS] = xyzPoint[Y_AXIS] - tanYZ*xyzPoint[Z_AXIS];
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xyzPoint[X_AXIS] = xyzPoint[X_AXIS] - (tanXY*xyzPoint[Y_AXIS] + tanXZ*xyzPoint[Z_AXIS]);
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}
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void Move::SetProbedBedPlane()
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void Move::SetProbedBedEquation()
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{
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if(NumberOfProbePoints() >= 3)
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{
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secondDegreeCompensation = (NumberOfProbePoints() == 4);
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if(secondDegreeCompensation)
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{
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/*
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* Transform to a ruled-surface quadratic. The corner points for interpolation are indexed:
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*
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* ^ [1] [2]
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* |
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* Y
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* |
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* | [0] [3]
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* -----X---->
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*
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* These are the scaling factors to apply to x and y coordinates to get them into the
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* unit interval [0, 1].
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*/
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xRectangle = 1.0/(xBedProbePoints[3] - xBedProbePoints[0]);
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yRectangle = 1.0/(yBedProbePoints[1] - yBedProbePoints[0]);
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zEquationSet = true;
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return;
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}
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} else
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{
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platform->Message(HOST_MESSAGE, "Attempt to set bed compensation before all probe points have been recorded.");
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return;
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}
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float xkj, ykj, zkj;
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float xlj, ylj, zlj;
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float a, b, c, d; // Implicit plane equation - what we need to do a proper job
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if(!probePointSet[0] || !probePointSet[1] || !probePointSet[2])
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platform->Message(HOST_MESSAGE, "Attempt to set bed plane when probing is incomplete!\n");
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xkj = xBedProbePoints[1] - xBedProbePoints[0];
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ykj = yBedProbePoints[1] - yBedProbePoints[0];
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zkj = zBedProbePoints[1] - zBedProbePoints[0];
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@ -644,7 +679,7 @@ void Move::SetProbedBedPlane()
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aX = -a/c;
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aY = -b/c;
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aC = -d/c;
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zPlaneSet = true;
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zEquationSet = true;
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}
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// FIXME
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@ -978,11 +1013,14 @@ void DDA::Start(bool noTest)
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active = true;
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}
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|
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void DDA::Step(bool noTest)
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void DDA::Step()
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{
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if(!active && noTest)
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if(!active)
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return;
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|
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if(!move->active)
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return;
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uint8_t axesMoving = 0;
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uint8_t extrudersMoving = 0;
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@ -991,8 +1029,7 @@ void DDA::Step(bool noTest)
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counter[drive] += delta[drive];
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if(counter[drive] > 0)
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{
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if(noTest)
|
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platform->Step(drive);
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platform->Step(drive);
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|
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counter[drive] -= totalSteps;
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@ -1045,11 +1082,10 @@ void DDA::Step(bool noTest)
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stepCount++;
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active = stepCount < totalSteps;
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|
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if(noTest)
|
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platform->SetInterrupt(timeStep);
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platform->SetInterrupt(timeStep);
|
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}
|
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|
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if(!active && noTest)
|
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if(!active)
|
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{
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for(int8_t drive = 0; drive < DRIVES; drive++)
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move->liveCoordinates[drive] = myLookAheadEntry->MachineToEndPoint(drive); // Don't use SetLiveCoordinates because that applies the transform
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|
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84
Move.h
84
Move.h
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@ -52,6 +52,14 @@ enum MovementType
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eMove = 4
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};
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enum PointCoordinateSet
|
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{
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unset = 0,
|
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xSet = 1,
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ySet = 2,
|
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zSet = 4
|
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};
|
||||
|
||||
|
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class LookAhead
|
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{
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||||
|
|
@ -109,7 +117,7 @@ protected:
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DDA(Move* m, Platform* p, DDA* n);
|
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MovementProfile Init(LookAhead* lookAhead, float& u, float& v);
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void Start(bool noTest);
|
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void Step(bool noTest);
|
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void Step();
|
||||
bool Active();
|
||||
DDA* Next();
|
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float InstantDv();
|
||||
|
|
@ -166,8 +174,13 @@ class Move
|
|||
float xBedProbePoint(int index);
|
||||
float yBedProbePoint(int index);
|
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float zBedProbePoint(int index);
|
||||
int NumberOfProbePoints();
|
||||
int NumberOfXYProbePoints();
|
||||
bool AllProbeCoordinatesSet(int index);
|
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bool XYProbeCoordinatesSet(int index);
|
||||
void SetZProbing(bool probing);
|
||||
void SetProbedBedPlane();
|
||||
void SetProbedBedEquation();
|
||||
float SecondDegreeTransformZ(float x, float y);
|
||||
float GetLastProbedZ();
|
||||
void SetAxisCompensation(int8_t axis, float tangent);
|
||||
void SetIdentityTransform();
|
||||
|
|
@ -178,9 +191,6 @@ class Move
|
|||
|
||||
|
||||
friend class DDA;
|
||||
|
||||
// protected:
|
||||
|
||||
|
||||
private:
|
||||
|
||||
|
|
@ -225,12 +235,14 @@ class Move
|
|||
float xBedProbePoints[NUMBER_OF_PROBE_POINTS];
|
||||
float yBedProbePoints[NUMBER_OF_PROBE_POINTS];
|
||||
float zBedProbePoints[NUMBER_OF_PROBE_POINTS];
|
||||
bool probePointSet[NUMBER_OF_PROBE_POINTS];
|
||||
uint8_t probePointSet[NUMBER_OF_PROBE_POINTS];
|
||||
float aX, aY, aC; // Bed plane explicit equation z' = z + aX*x + aY*y + aC
|
||||
bool zPlaneSet;
|
||||
bool zEquationSet;
|
||||
float tanXY, tanYZ, tanXZ; // 90 degrees + angle gives angle between axes
|
||||
float xRectangle, yRectangle;
|
||||
float lastZHit;
|
||||
bool zProbing;
|
||||
bool secondDegreeCompensation;
|
||||
float longWait;
|
||||
};
|
||||
|
||||
|
|
@ -425,6 +437,7 @@ inline void Move::SetXBedProbePoint(int index, float x)
|
|||
return;
|
||||
}
|
||||
xBedProbePoints[index] = x;
|
||||
probePointSet[index] |= xSet;
|
||||
}
|
||||
|
||||
inline void Move::SetYBedProbePoint(int index, float y)
|
||||
|
|
@ -435,6 +448,7 @@ inline void Move::SetYBedProbePoint(int index, float y)
|
|||
return;
|
||||
}
|
||||
yBedProbePoints[index] = y;
|
||||
probePointSet[index] |= ySet;
|
||||
}
|
||||
|
||||
inline void Move::SetZBedProbePoint(int index, float z)
|
||||
|
|
@ -445,7 +459,7 @@ inline void Move::SetZBedProbePoint(int index, float z)
|
|||
return;
|
||||
}
|
||||
zBedProbePoints[index] = z;
|
||||
probePointSet[index] = true;
|
||||
probePointSet[index] |= zSet;
|
||||
}
|
||||
|
||||
inline float Move::xBedProbePoint(int index)
|
||||
|
|
@ -473,6 +487,60 @@ inline float Move::GetLastProbedZ()
|
|||
return lastZHit;
|
||||
}
|
||||
|
||||
inline bool Move::AllProbeCoordinatesSet(int index)
|
||||
{
|
||||
return probePointSet[index] == (xSet | ySet | zSet);
|
||||
}
|
||||
|
||||
inline bool Move::XYProbeCoordinatesSet(int index)
|
||||
{
|
||||
return (probePointSet[index] & xSet) && (probePointSet[index] & ySet);
|
||||
}
|
||||
|
||||
inline int Move::NumberOfProbePoints()
|
||||
{
|
||||
if(AllProbeCoordinatesSet(0) && AllProbeCoordinatesSet(1) && AllProbeCoordinatesSet(2))
|
||||
{
|
||||
if(AllProbeCoordinatesSet(3))
|
||||
return 4;
|
||||
else
|
||||
return 3;
|
||||
}
|
||||
return 0;
|
||||
}
|
||||
|
||||
inline int Move::NumberOfXYProbePoints()
|
||||
{
|
||||
if(XYProbeCoordinatesSet(0) && XYProbeCoordinatesSet(1) && XYProbeCoordinatesSet(2))
|
||||
{
|
||||
if(XYProbeCoordinatesSet(3))
|
||||
return 4;
|
||||
else
|
||||
return 3;
|
||||
}
|
||||
return 0;
|
||||
}
|
||||
|
||||
/*
|
||||
* Transform to a ruled-surface quadratic. The corner points for interpolation are indexed:
|
||||
*
|
||||
* ^ [1] [2]
|
||||
* |
|
||||
* Y
|
||||
* |
|
||||
* | [0] [3]
|
||||
* -----X---->
|
||||
*
|
||||
* The values of x and y are transformed to put them in the interval [0, 1].
|
||||
*/
|
||||
inline float Move::SecondDegreeTransformZ(float x, float y)
|
||||
{
|
||||
x = (x - xBedProbePoints[0])*xRectangle;
|
||||
y = (y - yBedProbePoints[0])*yRectangle;
|
||||
return (1.0 - x)*(1.0 - y)*zBedProbePoints[0] + x*(1.0 - y)*zBedProbePoints[3] + (1.0 - x)*y*zBedProbePoints[1] + x*y*zBedProbePoints[2];
|
||||
}
|
||||
|
||||
|
||||
inline void Move::SetAxisCompensation(int8_t axis, float tangent)
|
||||
{
|
||||
switch(axis)
|
||||
|
|
|
|||
|
|
@ -131,6 +131,7 @@ void Platform::Init()
|
|||
standbyTemperatures = STANDBY_TEMPERATURES;
|
||||
activeTemperatures = ACTIVE_TEMPERATURES;
|
||||
coolingFanPin = COOLING_FAN_PIN;
|
||||
turnHeatOn = HEAT_ON;
|
||||
|
||||
webDir = WEB_DIR;
|
||||
gcodeDir = GCODE_DIR;
|
||||
|
|
@ -333,7 +334,7 @@ void Platform::SetHeater(int8_t heater, const float& power)
|
|||
return;
|
||||
|
||||
byte p = (byte)(255.0*fmin(1.0, fmax(0.0, power)));
|
||||
if(HEAT_ON == 0)
|
||||
if(turnHeatOn == 0)
|
||||
p = 255 - p;
|
||||
if(heater == 0)
|
||||
analogWrite(heatOnPins[heater], p);
|
||||
|
|
|
|||
13
Platform.h
13
Platform.h
|
|
@ -34,6 +34,10 @@ Licence: GPL
|
|||
#ifndef PLATFORM_H
|
||||
#define PLATFORM_H
|
||||
|
||||
// What are we supposed to be running on
|
||||
|
||||
#define ELECTRONICS "Duet"
|
||||
|
||||
// Language-specific includes
|
||||
|
||||
#include <stdio.h>
|
||||
|
|
@ -97,7 +101,7 @@ Licence: GPL
|
|||
|
||||
// AXES
|
||||
|
||||
#define AXIS_LENGTHS {210, 195, 140} // mm
|
||||
#define AXIS_LENGTHS {210, 200, 140} // mm
|
||||
#define HOME_FEEDRATES {50.0, 50.0, 1.0} // mm/sec
|
||||
#define HEAD_OFFSETS {0.0, 0.0, 0.0}
|
||||
|
||||
|
|
@ -487,6 +491,7 @@ class Platform
|
|||
bool UsePID(int8_t heater);
|
||||
float HeatSampleTime();
|
||||
void CoolingFan(float speed);
|
||||
void SetHeatOn(int8_t ho); //TEMPORARY - this will go away...
|
||||
|
||||
//-------------------------------------------------------------------------------------------------------
|
||||
protected:
|
||||
|
|
@ -565,6 +570,7 @@ class Platform
|
|||
float standbyTemperatures[HEATERS];
|
||||
float activeTemperatures[HEATERS];
|
||||
int8_t coolingFanPin;
|
||||
int8_t turnHeatOn;
|
||||
|
||||
// Serial/USB
|
||||
|
||||
|
|
@ -888,6 +894,11 @@ inline void Platform::CoolingFan(float speed)
|
|||
analogWrite(coolingFanPin, (uint8_t)(speed*255.0));
|
||||
}
|
||||
|
||||
inline void Platform::SetHeatOn(int8_t ho)
|
||||
{
|
||||
turnHeatOn = ho;
|
||||
}
|
||||
|
||||
|
||||
//*********************************************************************************************************
|
||||
|
||||
|
|
|
|||
114
README
114
README
|
|
@ -1,38 +1,50 @@
|
|||
RepRapFirmware - Main Program
|
||||
|
||||
This firmware is intended to be a fully object-oriented highly modular control program for
|
||||
This firmware is intended to be a fully object-oriented highly modular control program for
|
||||
RepRap self-replicating 3D printers.
|
||||
|
||||
It owes a lot to Marlin and to the original RepRap FiveD_GCode.
|
||||
|
||||
This is the version for the RepRap Duet:
|
||||
|
||||
http://blog.think3dprint3d.com/2013/12/Duet-Arduino-Due-compatible-3DPrinter-controller.html
|
||||
|
||||
To edit and compile this you will also need the libraries in this repository:
|
||||
|
||||
https://github.com/jmgiacalone/Arduino-libraries
|
||||
|
||||
A complete uploadable executable version is in the directory Release/RepRapFirmware.bin in this
|
||||
repository. For details of how to flash it to a Duet see here:
|
||||
|
||||
http://www.reprappro.com/documentation/RepRapPro_Firmware#Flashing_the_Firmware
|
||||
|
||||
|
||||
General design principles:
|
||||
|
||||
* Control by RepRap G Codes. These are taken to be machine independent, though some may be unsupported.
|
||||
* Full use of C++ OO techniques,
|
||||
* Make classes hide their data,
|
||||
* Make everything as stateless as possible,
|
||||
* Make everything except the Platform class (see below) as stateless as possible,
|
||||
* No use of conditional compilation except for #include guards - if you need that, you should be
|
||||
forking the repository to make a new branch - let the repository take the strain,
|
||||
* Concentration of all machine-dependent defintions and code in Platform.h and Platform.cpp,
|
||||
* No specials for (X,Y) or (Z) - all movement is 3-dimensional,
|
||||
* Except in Platform.h, use real units (mm, seconds etc) throughout the rest of the code wherever possible,
|
||||
* Try to be efficient in memory use, but this is not critical,
|
||||
* Labour hard to be efficient in time use, and this is critical,
|
||||
* Don't abhor floats - they work fast enough if you're clever,
|
||||
* Don't avoid arrays and structs/classes,
|
||||
* Don't avoid pointers,
|
||||
* Use operator and function overloading where appropriate, particularly for vector algebra.
|
||||
|
||||
|
||||
* Use operator and function overloading where appropriate.
|
||||
|
||||
|
||||
Naming conventions:
|
||||
|
||||
* #defines are all capitals with optional underscores between words
|
||||
* #defines are all CAPITALS_WITH_OPTIONAL_UNDERSCORES_BETWEEN_WORDS
|
||||
* No underscores in other names - MakeReadableWithCapitalisation
|
||||
* Class names and functions start with a CapitalLetter
|
||||
* Variables start with a lowerCaseLetter
|
||||
* Use veryLongDescriptiveNames
|
||||
|
||||
|
||||
|
||||
|
||||
Structure:
|
||||
|
||||
There are six main classes:
|
||||
|
|
@ -42,7 +54,7 @@ There are six main classes:
|
|||
* Heat
|
||||
* Move
|
||||
* Platform, and
|
||||
* Webserver
|
||||
* Webserver
|
||||
|
||||
RepRap:
|
||||
|
||||
|
|
@ -50,12 +62,12 @@ This is just a container class for the single instances of all the others, and o
|
|||
|
||||
GCodes:
|
||||
|
||||
This class is fed GCodes, either from the web interface or from GCode files, interprests them, and requests
|
||||
actions from the RepRap machine via the other classes.
|
||||
This class is fed GCodes, either from the web interface, or from GCode files, or from a serial interface,
|
||||
Interprets them, and requests actions from the RepRap machine via the other classes.
|
||||
|
||||
Heat:
|
||||
|
||||
This class imlements all heating and temperature control in the RepRap machine.
|
||||
This class implements all heating and temperature control in the RepRap machine.
|
||||
|
||||
Move:
|
||||
|
||||
|
|
@ -76,36 +88,36 @@ interface to the RepRap machine. It uses the Knockout and Jquery Javascript lib
|
|||
|
||||
|
||||
When the software is running there is one single instance of each main class, and all the memory allocation is
|
||||
done on initialisation. new/malloc should not be used in the general running code, and delete is never
|
||||
done on initialization. new/malloc should not be used in the general running code, and delete is never
|
||||
used. Each class has an Init() function that resets it to its boot-up state; the constructors merely handle
|
||||
that memory allocation on startup. Calling RepRap.Init() calls all the other Init()s in the right sequence.
|
||||
|
||||
There are other ancilliary classes that are declared in the .h files for the master classes that use them. For
|
||||
There are other ancillary classes that are declared in the .h files for the master classes that use them. For
|
||||
example, Move has a DDA class that implements a Bresenham/digital differential analyser.
|
||||
|
||||
|
||||
Timing:
|
||||
|
||||
There is a single interrupt chain entered via Platform.Interrupt(). This controls movement step timing, and
|
||||
this chain of code should be the only place that volatile declarations and structure/variable-locking are
|
||||
There is a single interrupt chain entered via Platform.Interrupt(). This controls movement step timing, and
|
||||
this chain of code should be the only place that volatile declarations and structure/variable-locking are
|
||||
required. All the rest of the code is called sequentially and repeatedly as follows:
|
||||
|
||||
All the main classes have a Spin() function. These are called in a loop by the RepRap.Spin() function and implement
|
||||
simple timesharing. No class does, or ever should, wait inside one of its functions for anything to happen or call
|
||||
All the main classes have a Spin() function. These are called in a loop by the RepRap.Spin() function and implement
|
||||
simple timesharing. No class does, or ever should, wait inside one of its functions for anything to happen or call
|
||||
any sort of delay() function. The general rule is:
|
||||
|
||||
Can I do a thing?
|
||||
Yes - do it
|
||||
No - set a flag/timer to remind me to do it next-time-I'm-called/at-a-future-time and return.
|
||||
|
||||
The restriction this strategy places on almost all the code in the firmware (that it must execute quickly and
|
||||
never cause waits or delays) is balanced by the fact that none of that code needs to worry about synchronicity,
|
||||
locking, or other areas of code accessing items upon which it is working. As mentioned, only the interrupt
|
||||
chain needs to concern itself with such problems. Unlike movement, heating (including PID controllers) does
|
||||
not need the fast precision of timing that interrupts alone can offer. Indeed, most heating code only needs
|
||||
|
||||
The restriction this strategy places on almost all the code in the firmware (that it must execute quickly and
|
||||
never cause waits or delays) is balanced by the fact that none of that code needs to worry about synchronization,
|
||||
locking, or other areas of code accessing items upon which it is working. As mentioned, only the interrupt
|
||||
chain needs to concern itself with such problems. Unlike movement, heating (including PID controllers) does
|
||||
not need the fast precision of timing that interrupts alone can offer. Indeed, most heating code only needs
|
||||
to execute a couple of times a second.
|
||||
|
||||
Most data is transferred bytewise, with classes typically containg code like this:
|
||||
Most data is transferred bytewise, with classes' Spin() functions typically containing code like this:
|
||||
|
||||
Is a byte available for me?
|
||||
Yes
|
||||
|
|
@ -115,52 +127,18 @@ Most data is transferred bytewise, with classes typically containg code like thi
|
|||
Act on the contents of my buffer
|
||||
No
|
||||
Return
|
||||
No
|
||||
Return
|
||||
|
||||
Note that it is simple to raise the "priority" of any class's activities relative to the others by calling its
|
||||
No
|
||||
Return
|
||||
|
||||
Note that it is simple to raise the "priority" of any class's activities relative to the others by calling its
|
||||
Spin() function more than once from RepRap.Spin().
|
||||
|
||||
--------------------------------------------------------------------------------
|
||||
|
||||
This version is for the Arduino Due with an Ethernet shield with an SD card and
|
||||
the RepRapPro Ltd Arduino DUE to Sanguinololu Adaptor.
|
||||
|
||||
(See https://github.com/reprappro/ARMadaptor)
|
||||
|
||||
Test compiling was with Arduino 1.5.2.
|
||||
|
||||
Upload it to your Due, put the ether shield on it, plug in a
|
||||
network cable, and copy the files in the SD-image folder onto the SD.
|
||||
|
||||
The IP address for your browser is 192.168.1.14.
|
||||
|
||||
You can change that in Platform.h if you need to:
|
||||
|
||||
#define IP0 192
|
||||
#define IP1 168
|
||||
#define IP2 1
|
||||
#define IP3 14
|
||||
|
||||
The password when the web browser asks for it is "reprap" with no quotes.
|
||||
|
||||
The password is intended to stop fidgety friends or colleagues from playing
|
||||
with your RepRap. It is not intended to stop international cyberterrorists
|
||||
hiding in a hollowed-out volcano from controlling your RepRap from the next
|
||||
continent. For example, it is transmitted unencrypted...
|
||||
|
||||
If you open the Arduino serial monitor (115200 baud) you should see a
|
||||
log of incoming HTTP requests and a record of any G Codes it thinks it
|
||||
has to act upon.
|
||||
|
||||
Actually acting upon them will be added shortly :-)
|
||||
|
||||
-------------
|
||||
|
||||
Version 0.2 pre-alpha
|
||||
Version 0.3n beta
|
||||
|
||||
Started: 18 November 2012
|
||||
This date: 12 June 2013
|
||||
Started: 2012-11-18
|
||||
This README dated: 2013-12-06
|
||||
|
||||
Adrian Bowyer
|
||||
RepRap Professional Ltd
|
||||
|
|
|
|||
Binary file not shown.
|
|
@ -246,6 +246,7 @@ void RepRap::EmergencyStop()
|
|||
for(i = 0; i < HEATERS; i++)
|
||||
platform->SetHeater(i, 0.0);
|
||||
|
||||
|
||||
// We do this twice, to avoid an interrupt switching
|
||||
// a drive back on. move->Exit() should prevent
|
||||
// interrupts doing this.
|
||||
|
|
@ -259,6 +260,7 @@ void RepRap::EmergencyStop()
|
|||
platform->Disable(i);
|
||||
}
|
||||
}
|
||||
platform->Message(HOST_MESSAGE, "Emergency Stop! Reset the controller to continue.");
|
||||
}
|
||||
|
||||
|
||||
|
|
|
|||
|
|
@ -1,202 +0,0 @@
|
|||
G1 F2000
|
||||
G1 X180 Y100
|
||||
G1 X179.96 Y102.525
|
||||
G1 X179.841 Y105.048
|
||||
G1 X179.641 Y107.566
|
||||
G1 X179.363 Y110.077
|
||||
G1 X179.005 Y112.577
|
||||
G1 X178.569 Y115.065
|
||||
G1 X178.054 Y117.538
|
||||
G1 X177.461 Y119.993
|
||||
G1 X176.792 Y122.428
|
||||
G1 X176.045 Y124.841
|
||||
G1 X175.223 Y127.23
|
||||
G1 X174.326 Y129.591
|
||||
G1 X173.355 Y131.922
|
||||
G1 X172.311 Y134.222
|
||||
G1 X171.194 Y136.488
|
||||
G1 X170.007 Y138.717
|
||||
G1 X168.75 Y140.908
|
||||
G1 X167.424 Y143.058
|
||||
G1 X166.031 Y145.165
|
||||
G1 X164.573 Y147.227
|
||||
G1 X163.049 Y149.242
|
||||
G1 X161.464 Y151.208
|
||||
G1 X159.816 Y153.122
|
||||
G1 X158.11 Y154.984
|
||||
G1 X156.345 Y156.791
|
||||
G1 X154.524 Y158.542
|
||||
G1 X152.649 Y160.234
|
||||
G1 X150.721 Y161.866
|
||||
G1 X148.743 Y163.436
|
||||
G1 X146.716 Y164.943
|
||||
G1 X144.642 Y166.386
|
||||
G1 X142.524 Y167.762
|
||||
G1 X140.364 Y169.071
|
||||
G1 X138.163 Y170.31
|
||||
G1 X135.925 Y171.48
|
||||
G1 X133.65 Y172.579
|
||||
G1 X131.342 Y173.605
|
||||
G1 X129.003 Y174.557
|
||||
G1 X126.635 Y175.436
|
||||
G1 X124.24 Y176.239
|
||||
G1 X121.822 Y176.966
|
||||
G1 X119.381 Y177.617
|
||||
G1 X116.921 Y178.19
|
||||
G1 X114.444 Y178.685
|
||||
G1 X111.953 Y179.102
|
||||
G1 X109.45 Y179.44
|
||||
G1 X106.938 Y179.699
|
||||
G1 X104.418 Y179.878
|
||||
G1 X101.894 Y179.978
|
||||
G1 X99.3685 Y179.998
|
||||
G1 X96.8434 Y179.938
|
||||
G1 X94.3215 Y179.798
|
||||
G1 X91.8052 Y179.579
|
||||
G1 X89.2971 Y179.281
|
||||
G1 X86.7997 Y178.903
|
||||
G1 X84.3154 Y178.447
|
||||
G1 X81.8467 Y177.913
|
||||
G1 X79.3962 Y177.301
|
||||
G1 X76.9661 Y176.612
|
||||
G1 X74.5591 Y175.847
|
||||
G1 X72.1774 Y175.006
|
||||
G1 X69.8234 Y174.09
|
||||
G1 X67.4995 Y173.101
|
||||
G1 X65.208 Y172.038
|
||||
G1 X62.9512 Y170.904
|
||||
G1 X60.7314 Y169.699
|
||||
G1 X58.5506 Y168.425
|
||||
G1 X56.4112 Y167.082
|
||||
G1 X54.3153 Y165.673
|
||||
G1 X52.2648 Y164.198
|
||||
G1 X50.262 Y162.659
|
||||
G1 X48.3087 Y161.057
|
||||
G1 X46.407 Y159.395
|
||||
G1 X44.5587 Y157.674
|
||||
G1 X42.7657 Y155.895
|
||||
G1 X41.0297 Y154.06
|
||||
G1 X39.3525 Y152.172
|
||||
G1 X37.7357 Y150.231
|
||||
G1 X36.181 Y148.24
|
||||
G1 X34.6899 Y146.202
|
||||
G1 X33.264 Y144.117
|
||||
G1 X31.9045 Y141.988
|
||||
G1 X30.613 Y139.818
|
||||
G1 X29.3906 Y137.607
|
||||
G1 X28.2385 Y135.359
|
||||
G1 X27.1581 Y133.076
|
||||
G1 X26.1502 Y130.76
|
||||
G1 X25.2159 Y128.414
|
||||
G1 X24.3562 Y126.039
|
||||
G1 X23.5719 Y123.638
|
||||
G1 X22.8638 Y121.213
|
||||
G1 X22.2326 Y118.768
|
||||
G1 X21.6789 Y116.303
|
||||
G1 X21.2032 Y113.823
|
||||
G1 X20.8061 Y111.328
|
||||
G1 X20.488 Y108.823
|
||||
G1 X20.2491 Y106.308
|
||||
G1 X20.0897 Y103.787
|
||||
G1 X20.01 Y101.263
|
||||
G1 X20.01 Y98.7371
|
||||
G1 X20.0897 Y96.2126
|
||||
G1 X20.2491 Y93.6918
|
||||
G1 X20.488 Y91.1773
|
||||
G1 X20.8061 Y88.6716
|
||||
G1 X21.2032 Y86.1773
|
||||
G1 X21.6789 Y83.6966
|
||||
G1 X22.2326 Y81.2323
|
||||
G1 X22.8638 Y78.7866
|
||||
G1 X23.5719 Y76.3621
|
||||
G1 X24.3562 Y73.9612
|
||||
G1 X25.2159 Y71.5862
|
||||
G1 X26.1502 Y69.2395
|
||||
G1 X27.1581 Y66.9235
|
||||
G1 X28.2385 Y64.6405
|
||||
G1 X29.3906 Y62.3927
|
||||
G1 X30.613 Y60.1824
|
||||
G1 X31.9045 Y58.0118
|
||||
G1 X33.264 Y55.8831
|
||||
G1 X34.6899 Y53.7983
|
||||
G1 X36.181 Y51.7596
|
||||
G1 X37.7357 Y49.769
|
||||
G1 X39.3525 Y47.8284
|
||||
G1 X41.0297 Y45.9399
|
||||
G1 X42.7657 Y44.1052
|
||||
G1 X44.5587 Y42.3262
|
||||
G1 X46.407 Y40.6048
|
||||
G1 X48.3087 Y38.9425
|
||||
G1 X50.262 Y37.3412
|
||||
G1 X52.2648 Y35.8022
|
||||
G1 X54.3153 Y34.3273
|
||||
G1 X56.4112 Y32.9178
|
||||
G1 X58.5506 Y31.5752
|
||||
G1 X60.7314 Y30.3008
|
||||
G1 X62.9512 Y29.0959
|
||||
G1 X65.208 Y27.9617
|
||||
G1 X67.4995 Y26.8993
|
||||
G1 X69.8234 Y25.9097
|
||||
G1 X72.1774 Y24.994
|
||||
G1 X74.5591 Y24.1531
|
||||
G1 X76.9661 Y23.3877
|
||||
G1 X79.3961 Y22.6988
|
||||
G1 X81.8467 Y22.0869
|
||||
G1 X84.3154 Y21.5526
|
||||
G1 X86.7996 Y21.0966
|
||||
G1 X89.2971 Y20.7192
|
||||
G1 X91.8052 Y20.4208
|
||||
G1 X94.3215 Y20.2018
|
||||
G1 X96.8434 Y20.0623
|
||||
G1 X99.3685 Y20.0025
|
||||
G1 X101.894 Y20.0224
|
||||
G1 X104.418 Y20.1221
|
||||
G1 X106.938 Y20.3014
|
||||
G1 X109.45 Y20.5601
|
||||
G1 X111.953 Y20.898
|
||||
G1 X114.444 Y21.3148
|
||||
G1 X116.921 Y21.81
|
||||
G1 X119.381 Y22.3831
|
||||
G1 X121.822 Y23.0336
|
||||
G1 X124.24 Y23.7609
|
||||
G1 X126.635 Y24.5641
|
||||
G1 X129.003 Y25.4425
|
||||
G1 X131.342 Y26.3953
|
||||
G1 X133.65 Y27.4214
|
||||
G1 X135.925 Y28.5199
|
||||
G1 X138.163 Y29.6896
|
||||
G1 X140.364 Y30.9294
|
||||
G1 X142.524 Y32.2381
|
||||
G1 X144.642 Y33.6143
|
||||
G1 X146.716 Y35.0567
|
||||
G1 X148.743 Y36.5638
|
||||
G1 X150.721 Y38.1341
|
||||
G1 X152.649 Y39.7662
|
||||
G1 X154.524 Y41.4582
|
||||
G1 X156.345 Y43.2086
|
||||
G1 X158.11 Y45.0157
|
||||
G1 X159.816 Y46.8775
|
||||
G1 X161.464 Y48.7923
|
||||
G1 X163.049 Y50.7581
|
||||
G1 X164.573 Y52.7731
|
||||
G1 X166.031 Y54.8351
|
||||
G1 X167.424 Y56.9421
|
||||
G1 X168.75 Y59.092
|
||||
G1 X170.007 Y61.2827
|
||||
G1 X171.194 Y63.5121
|
||||
G1 X172.311 Y65.7777
|
||||
G1 X173.355 Y68.0775
|
||||
G1 X174.326 Y70.4092
|
||||
G1 X175.223 Y72.7703
|
||||
G1 X176.045 Y75.1585
|
||||
G1 X176.792 Y77.5716
|
||||
G1 X177.461 Y80.007
|
||||
G1 X178.054 Y82.4623
|
||||
G1 X178.569 Y84.9351
|
||||
G1 X179.005 Y87.4229
|
||||
G1 X179.363 Y89.9232
|
||||
G1 X179.641 Y92.4336
|
||||
G1 X179.841 Y94.9515
|
||||
G1 X179.96 Y97.4745
|
||||
G1 X180 Y100
|
||||
|
||||
|
|
@ -1,52 +1,202 @@
|
|||
G1 F2000
|
||||
G1 X70 Y50
|
||||
G1 X69.8358 Y52.5575
|
||||
G1 X69.3459 Y55.0731
|
||||
G1 X68.5383 Y57.5053
|
||||
G1 X67.4264 Y59.8144
|
||||
G1 X66.0283 Y61.9622
|
||||
G1 X64.367 Y63.9137
|
||||
G1 X62.4698 Y65.6366
|
||||
G1 X60.3679 Y67.1029
|
||||
G1 X58.0957 Y68.2883
|
||||
G1 X55.6906 Y69.1734
|
||||
G1 X53.192 Y69.7436
|
||||
G1 X50.641 Y69.9897
|
||||
G1 X48.0795 Y69.9076
|
||||
G1 X45.5496 Y69.4986
|
||||
G1 X43.0927 Y68.7694
|
||||
G1 X40.7492 Y67.732
|
||||
G1 X38.5577 Y66.4034
|
||||
G1 X36.554 Y64.8056
|
||||
G1 X34.7711 Y62.9646
|
||||
G1 X33.2382 Y60.9107
|
||||
G1 X31.9806 Y58.6777
|
||||
G1 X31.0189 Y56.3022
|
||||
G1 X30.3688 Y53.8232
|
||||
G1 X30.0411 Y51.2814
|
||||
G1 X30.0411 Y48.7186
|
||||
G1 X30.3688 Y46.1768
|
||||
G1 X31.0189 Y43.6978
|
||||
G1 X31.9806 Y41.3223
|
||||
G1 X33.2382 Y39.0893
|
||||
G1 X34.7711 Y37.0354
|
||||
G1 X36.554 Y35.1944
|
||||
G1 X38.5577 Y33.5966
|
||||
G1 X40.7492 Y32.268
|
||||
G1 X43.0927 Y31.2306
|
||||
G1 X45.5496 Y30.5014
|
||||
G1 X48.0795 Y30.0924
|
||||
G1 X50.641 Y30.0103
|
||||
G1 X53.192 Y30.2564
|
||||
G1 X55.6906 Y30.8266
|
||||
G1 X58.0957 Y31.7117
|
||||
G1 X60.3678 Y32.8971
|
||||
G1 X62.4698 Y34.3634
|
||||
G1 X64.367 Y36.0863
|
||||
G1 X66.0283 Y38.0378
|
||||
G1 X67.4264 Y40.1856
|
||||
G1 X68.5383 Y42.4947
|
||||
G1 X69.3459 Y44.9269
|
||||
G1 X69.8358 Y47.4425
|
||||
G1 X70 Y50
|
||||
G1 X180 Y100
|
||||
G1 X179.96 Y102.525
|
||||
G1 X179.841 Y105.048
|
||||
G1 X179.641 Y107.566
|
||||
G1 X179.363 Y110.077
|
||||
G1 X179.005 Y112.577
|
||||
G1 X178.569 Y115.065
|
||||
G1 X178.054 Y117.538
|
||||
G1 X177.461 Y119.993
|
||||
G1 X176.792 Y122.428
|
||||
G1 X176.045 Y124.841
|
||||
G1 X175.223 Y127.23
|
||||
G1 X174.326 Y129.591
|
||||
G1 X173.355 Y131.922
|
||||
G1 X172.311 Y134.222
|
||||
G1 X171.194 Y136.488
|
||||
G1 X170.007 Y138.717
|
||||
G1 X168.75 Y140.908
|
||||
G1 X167.424 Y143.058
|
||||
G1 X166.031 Y145.165
|
||||
G1 X164.573 Y147.227
|
||||
G1 X163.049 Y149.242
|
||||
G1 X161.464 Y151.208
|
||||
G1 X159.816 Y153.122
|
||||
G1 X158.11 Y154.984
|
||||
G1 X156.345 Y156.791
|
||||
G1 X154.524 Y158.542
|
||||
G1 X152.649 Y160.234
|
||||
G1 X150.721 Y161.866
|
||||
G1 X148.743 Y163.436
|
||||
G1 X146.716 Y164.943
|
||||
G1 X144.642 Y166.386
|
||||
G1 X142.524 Y167.762
|
||||
G1 X140.364 Y169.071
|
||||
G1 X138.163 Y170.31
|
||||
G1 X135.925 Y171.48
|
||||
G1 X133.65 Y172.579
|
||||
G1 X131.342 Y173.605
|
||||
G1 X129.003 Y174.557
|
||||
G1 X126.635 Y175.436
|
||||
G1 X124.24 Y176.239
|
||||
G1 X121.822 Y176.966
|
||||
G1 X119.381 Y177.617
|
||||
G1 X116.921 Y178.19
|
||||
G1 X114.444 Y178.685
|
||||
G1 X111.953 Y179.102
|
||||
G1 X109.45 Y179.44
|
||||
G1 X106.938 Y179.699
|
||||
G1 X104.418 Y179.878
|
||||
G1 X101.894 Y179.978
|
||||
G1 X99.3685 Y179.998
|
||||
G1 X96.8434 Y179.938
|
||||
G1 X94.3215 Y179.798
|
||||
G1 X91.8052 Y179.579
|
||||
G1 X89.2971 Y179.281
|
||||
G1 X86.7997 Y178.903
|
||||
G1 X84.3154 Y178.447
|
||||
G1 X81.8467 Y177.913
|
||||
G1 X79.3962 Y177.301
|
||||
G1 X76.9661 Y176.612
|
||||
G1 X74.5591 Y175.847
|
||||
G1 X72.1774 Y175.006
|
||||
G1 X69.8234 Y174.09
|
||||
G1 X67.4995 Y173.101
|
||||
G1 X65.208 Y172.038
|
||||
G1 X62.9512 Y170.904
|
||||
G1 X60.7314 Y169.699
|
||||
G1 X58.5506 Y168.425
|
||||
G1 X56.4112 Y167.082
|
||||
G1 X54.3153 Y165.673
|
||||
G1 X52.2648 Y164.198
|
||||
G1 X50.262 Y162.659
|
||||
G1 X48.3087 Y161.057
|
||||
G1 X46.407 Y159.395
|
||||
G1 X44.5587 Y157.674
|
||||
G1 X42.7657 Y155.895
|
||||
G1 X41.0297 Y154.06
|
||||
G1 X39.3525 Y152.172
|
||||
G1 X37.7357 Y150.231
|
||||
G1 X36.181 Y148.24
|
||||
G1 X34.6899 Y146.202
|
||||
G1 X33.264 Y144.117
|
||||
G1 X31.9045 Y141.988
|
||||
G1 X30.613 Y139.818
|
||||
G1 X29.3906 Y137.607
|
||||
G1 X28.2385 Y135.359
|
||||
G1 X27.1581 Y133.076
|
||||
G1 X26.1502 Y130.76
|
||||
G1 X25.2159 Y128.414
|
||||
G1 X24.3562 Y126.039
|
||||
G1 X23.5719 Y123.638
|
||||
G1 X22.8638 Y121.213
|
||||
G1 X22.2326 Y118.768
|
||||
G1 X21.6789 Y116.303
|
||||
G1 X21.2032 Y113.823
|
||||
G1 X20.8061 Y111.328
|
||||
G1 X20.488 Y108.823
|
||||
G1 X20.2491 Y106.308
|
||||
G1 X20.0897 Y103.787
|
||||
G1 X20.01 Y101.263
|
||||
G1 X20.01 Y98.7371
|
||||
G1 X20.0897 Y96.2126
|
||||
G1 X20.2491 Y93.6918
|
||||
G1 X20.488 Y91.1773
|
||||
G1 X20.8061 Y88.6716
|
||||
G1 X21.2032 Y86.1773
|
||||
G1 X21.6789 Y83.6966
|
||||
G1 X22.2326 Y81.2323
|
||||
G1 X22.8638 Y78.7866
|
||||
G1 X23.5719 Y76.3621
|
||||
G1 X24.3562 Y73.9612
|
||||
G1 X25.2159 Y71.5862
|
||||
G1 X26.1502 Y69.2395
|
||||
G1 X27.1581 Y66.9235
|
||||
G1 X28.2385 Y64.6405
|
||||
G1 X29.3906 Y62.3927
|
||||
G1 X30.613 Y60.1824
|
||||
G1 X31.9045 Y58.0118
|
||||
G1 X33.264 Y55.8831
|
||||
G1 X34.6899 Y53.7983
|
||||
G1 X36.181 Y51.7596
|
||||
G1 X37.7357 Y49.769
|
||||
G1 X39.3525 Y47.8284
|
||||
G1 X41.0297 Y45.9399
|
||||
G1 X42.7657 Y44.1052
|
||||
G1 X44.5587 Y42.3262
|
||||
G1 X46.407 Y40.6048
|
||||
G1 X48.3087 Y38.9425
|
||||
G1 X50.262 Y37.3412
|
||||
G1 X52.2648 Y35.8022
|
||||
G1 X54.3153 Y34.3273
|
||||
G1 X56.4112 Y32.9178
|
||||
G1 X58.5506 Y31.5752
|
||||
G1 X60.7314 Y30.3008
|
||||
G1 X62.9512 Y29.0959
|
||||
G1 X65.208 Y27.9617
|
||||
G1 X67.4995 Y26.8993
|
||||
G1 X69.8234 Y25.9097
|
||||
G1 X72.1774 Y24.994
|
||||
G1 X74.5591 Y24.1531
|
||||
G1 X76.9661 Y23.3877
|
||||
G1 X79.3961 Y22.6988
|
||||
G1 X81.8467 Y22.0869
|
||||
G1 X84.3154 Y21.5526
|
||||
G1 X86.7996 Y21.0966
|
||||
G1 X89.2971 Y20.7192
|
||||
G1 X91.8052 Y20.4208
|
||||
G1 X94.3215 Y20.2018
|
||||
G1 X96.8434 Y20.0623
|
||||
G1 X99.3685 Y20.0025
|
||||
G1 X101.894 Y20.0224
|
||||
G1 X104.418 Y20.1221
|
||||
G1 X106.938 Y20.3014
|
||||
G1 X109.45 Y20.5601
|
||||
G1 X111.953 Y20.898
|
||||
G1 X114.444 Y21.3148
|
||||
G1 X116.921 Y21.81
|
||||
G1 X119.381 Y22.3831
|
||||
G1 X121.822 Y23.0336
|
||||
G1 X124.24 Y23.7609
|
||||
G1 X126.635 Y24.5641
|
||||
G1 X129.003 Y25.4425
|
||||
G1 X131.342 Y26.3953
|
||||
G1 X133.65 Y27.4214
|
||||
G1 X135.925 Y28.5199
|
||||
G1 X138.163 Y29.6896
|
||||
G1 X140.364 Y30.9294
|
||||
G1 X142.524 Y32.2381
|
||||
G1 X144.642 Y33.6143
|
||||
G1 X146.716 Y35.0567
|
||||
G1 X148.743 Y36.5638
|
||||
G1 X150.721 Y38.1341
|
||||
G1 X152.649 Y39.7662
|
||||
G1 X154.524 Y41.4582
|
||||
G1 X156.345 Y43.2086
|
||||
G1 X158.11 Y45.0157
|
||||
G1 X159.816 Y46.8775
|
||||
G1 X161.464 Y48.7923
|
||||
G1 X163.049 Y50.7581
|
||||
G1 X164.573 Y52.7731
|
||||
G1 X166.031 Y54.8351
|
||||
G1 X167.424 Y56.9421
|
||||
G1 X168.75 Y59.092
|
||||
G1 X170.007 Y61.2827
|
||||
G1 X171.194 Y63.5121
|
||||
G1 X172.311 Y65.7777
|
||||
G1 X173.355 Y68.0775
|
||||
G1 X174.326 Y70.4092
|
||||
G1 X175.223 Y72.7703
|
||||
G1 X176.045 Y75.1585
|
||||
G1 X176.792 Y77.5716
|
||||
G1 X177.461 Y80.007
|
||||
G1 X178.054 Y82.4623
|
||||
G1 X178.569 Y84.9351
|
||||
G1 X179.005 Y87.4229
|
||||
G1 X179.363 Y89.9232
|
||||
G1 X179.641 Y92.4336
|
||||
G1 X179.841 Y94.9515
|
||||
G1 X179.96 Y97.4745
|
||||
G1 X180 Y100
|
||||
|
||||
|
|
|
|||
|
|
@ -17,30 +17,19 @@
|
|||
; top infill extrusion width = 0.85mm
|
||||
; first layer extrusion width = 0.48mm
|
||||
|
||||
G21 ; set units to millimeters
|
||||
M107
|
||||
M104 S205 ; set temperature
|
||||
G21 ; set units to millimeters
|
||||
G90 ; use absolute coordinates
|
||||
M83 ; use relative distances for extrusion
|
||||
M107; Fan off
|
||||
G10 P0 S205 R205 ; Set extruder temperature
|
||||
T0; Select extruder
|
||||
M140 S55; Set bed temperature
|
||||
M140 S65; Set bed temperature
|
||||
G1 Z5 F200 ; lift nozzle
|
||||
G28 X0 Y0; home X and Y axes
|
||||
G1 X55 F2000; move to bed probe point
|
||||
G28 Z0; zero Z
|
||||
G32 ; Probe bed
|
||||
G1 X0 Y0 F2000; Go to wait for warm position
|
||||
G1 Z0 F200
|
||||
G1 X2 Y50 F2000; Go to wait for warm position
|
||||
M116; Wait for all temperatures
|
||||
G10 P0 S205 R0 ; Set extruder temperature
|
||||
T0; Select extruder
|
||||
M116; Wait for all temperatures
|
||||
M109 S205 ; wait for temperature to be reached
|
||||
G90 ; use absolute coordinates
|
||||
M83 ; use relative distances for extrusion
|
||||
G1 F1800.000 E-1.00000
|
||||
G1 Z0.240 F3600.000
|
||||
G1 X83.244 Y72.792
|
||||
G1 Z0.240 F3600.000
|
||||
G1 F1800.000 E1.00000
|
||||
G1 X99.024 Y56.882 F600.000 E1.08284
|
||||
G1 X100.014 Y56.062 E0.06212
|
||||
|
|
|
|||
|
|
@ -17,30 +17,19 @@
|
|||
; top infill extrusion width = 0.85mm
|
||||
; first layer extrusion width = 0.48mm
|
||||
|
||||
G21 ; set units to millimeters
|
||||
M107
|
||||
M104 S205 ; set temperature
|
||||
G21 ; set units to millimeters
|
||||
G90 ; use absolute coordinates
|
||||
M83 ; use relative distances for extrusion
|
||||
M107; Fan off
|
||||
G10 P0 S205 R205 ; Set extruder temperature
|
||||
T0; Select extruder
|
||||
M140 S65; Set bed temperature
|
||||
G1 Z5 F200 ; lift nozzle
|
||||
G28 X0 Y0; home X and Y axes
|
||||
G1 X55 F2000; move to bed probe point
|
||||
G28 Z0; zero Z
|
||||
G32 ; Probe bed
|
||||
G1 X2 Y50 F2000; Go to wait for warm position
|
||||
G1 Z0 F200
|
||||
M116; Wait for all temperatures
|
||||
;M109 S205 ; wait for temperature to be reached
|
||||
G90 ; use absolute coordinates
|
||||
M83 ; use relative distances for extrusion
|
||||
G10 P0 S205 R0 ; Set extruder temperature
|
||||
T0; Select extruder
|
||||
M116; Wait for all temperatures
|
||||
G1 F1800.000 E-1.00000
|
||||
G1 Z0.240 F3600.000
|
||||
G1 X47.463 Y43.710
|
||||
G1 Z0.240 F3600.000
|
||||
G1 F1800.000 E1.00000
|
||||
G1 X48.473 Y42.780 F600.000 E0.06635
|
||||
G1 X49.653 Y42.090 E0.06605
|
||||
|
|
|
|||
7395
SD-image/gcodes/snowman.g
Normal file
7395
SD-image/gcodes/snowman.g
Normal file
File diff suppressed because it is too large
Load diff
|
|
@ -1,11 +1,11 @@
|
|||
G1 X55 Y5 F2000
|
||||
G1 Y55
|
||||
G1 X5
|
||||
G1 Y180
|
||||
G1 X180
|
||||
G1 Y5
|
||||
G1 X30
|
||||
G1 X55
|
||||
G1 Y55 ; Confusing: F20
|
||||
G1 Y55
|
||||
G1 X5
|
||||
G1 Y180
|
||||
G1 X180
|
||||
G1 Y5
|
||||
G1 X55
|
||||
M0
|
||||
|
||||
|
|
|
|||
|
|
@ -11,6 +11,7 @@ M92 E420; Set extruder steps/mm
|
|||
G21 ; Work in mm
|
||||
G90 ; Absolute positioning
|
||||
M83 ; Extrusions relative
|
||||
M558 P1 ; Turn Z Probe on
|
||||
G31 Z0.5 P500 ; Set Z probe height and threshold
|
||||
M906 X800 Y800 Z800 E800 ; Motor currents (mA)
|
||||
T0 ; Select extruder 0
|
||||
|
|
|
|||
|
|
@ -185,7 +185,7 @@ function heatRowHTML(heater, hNumber)
|
|||
</tr>
|
||||
|
||||
<tr>
|
||||
<td rowspan="2"><button data-bind="click: function(data, event) { sendHome('', data, event) }">Home<br>All</button></td>
|
||||
<td rowspan="2"><button style="background-color:red" data-bind="click: function(data, event) { sendStop(data, event) }"><br>STOP<br></button></td>
|
||||
<td colspan="4">- mm</td>
|
||||
<td colspan="4">+ mm</td>
|
||||
<td rowspan="2"><button data-bind="click: function(data, event) { motorsOff(data, event) }">Motors<br>off
|
||||
|
|
@ -487,6 +487,11 @@ function viewModel()
|
|||
$.get('/rr_gcode', {gcode: "G28"}, self.dummy);
|
||||
};
|
||||
|
||||
self.sendStop = function(data, event)
|
||||
{
|
||||
$.get('/rr_gcode', {gcode: "M112"}, self.dummy);
|
||||
};
|
||||
|
||||
self.deleteFile = function(data, event)
|
||||
{
|
||||
if(self.deleteButton() == 'Print a file')
|
||||
|
|
|
|||
|
|
@ -122,17 +122,18 @@ bool Webserver::LoadGcodeBuffer(char* gc, bool convertWeb)
|
|||
gcodeBuffer[gcodePointer] = 0;
|
||||
gcodePointer = 0;
|
||||
|
||||
// We intercept two G Codes so we can deal with file manipulation. That
|
||||
// We intercept three G/M Codes so we can deal with file manipulation and emergencies. That
|
||||
// way things don't get out of sync, and - as a file name can contain
|
||||
// a valid G code (!) - confusion is avoided.
|
||||
|
||||
int8_t fileAct = 0;
|
||||
if(StringStartsWith(gcodeBuffer, "M30 ")) fileAct |= 1;
|
||||
if(StringStartsWith(gcodeBuffer, "M23 ")) fileAct |= 2;
|
||||
int8_t specialAction = 0;
|
||||
if(StringStartsWith(gcodeBuffer, "M30 ")) specialAction = 1;
|
||||
if(StringStartsWith(gcodeBuffer, "M23 ")) specialAction = 2;
|
||||
if(StringStartsWith(gcodeBuffer, "M112")) specialAction = 3; // FIXME - suppose we ever have an M1121 ??
|
||||
|
||||
if(fileAct) // Delete or print a file?
|
||||
if(specialAction) // Delete or print a file?
|
||||
{
|
||||
if(fileAct == 1) // Delete?
|
||||
if(specialAction == 1) // Delete?
|
||||
{
|
||||
if(!platform->GetMassStorage()->Delete(platform->GetGCodeDir(), &gcodeBuffer[4]))
|
||||
{
|
||||
|
|
@ -140,9 +141,12 @@ bool Webserver::LoadGcodeBuffer(char* gc, bool convertWeb)
|
|||
platform->Message(HOST_MESSAGE, &gcodeBuffer[4]);
|
||||
platform->Message(HOST_MESSAGE, "\n");
|
||||
}
|
||||
} else // Print it
|
||||
} else if (specialAction == 2)
|
||||
{
|
||||
reprap.GetGCodes()->QueueFileToPrint(&gcodeBuffer[4]);
|
||||
} else
|
||||
{
|
||||
reprap.EmergencyStop();
|
||||
}
|
||||
|
||||
// Check for further G Codes in the string
|
||||
|
|
|
|||
Reference in a new issue