Hooks added for (I hope) the final and complete set of all parameter-changing
M Codes that we will need. Network initialisation delayed until after the config.g file is run, to allow machine name etc to be set from that.
This commit is contained in:
Adrian Bowyer
parent
fa9b0d1478
commit
e8eafeda22
8 changed files with 197 additions and 81 deletions
190
GCodes.cpp
190
GCodes.cpp
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@ -5,6 +5,10 @@ RepRapFirmware - G Codes
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This class interprets G Codes from one or more sources, and calls the functions in Move, Heat etc
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that drive the machine to do what the G Codes command.
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Most of the functions in here are designed not to wait, and they return a boolean. When you want them to do
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something, you call them. If they return false, the machine can't do what you want yet. So you go away
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and do something else. Then you try again. If they return true, the thing you wanted done has been done.
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-----------------------------------------------------------------------------------------------------
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Version 0.1
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@ -45,7 +49,6 @@ void GCodes::Init()
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fileGCode->SetFinished(true);
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serialGCode->SetFinished(true);
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moveAvailable = false;
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// heatAvailable = false;
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drivesRelative = true;
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axesRelative = false;
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checkEndStops = false;
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@ -59,9 +62,6 @@ void GCodes::Init()
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homeY = false;
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homeZ = false;
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homeZFinalMove = false;
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// homeXQueued = false;
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// homeYQueued = false;
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// homeZQueued = false;
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dwellWaiting = false;
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stackPointer = 0;
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selectedHead = -1;
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@ -71,7 +71,6 @@ void GCodes::Init()
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zProbesSet = false;
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probeCount = 0;
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cannedCycleMoveCount = 0;
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// probeMoveQueued = false;
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cannedCycleMoveQueued = false;
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active = true;
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dwellTime = platform->Time();
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@ -83,7 +82,15 @@ void GCodes::Spin()
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return;
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char b;
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// Check each of the sources of G Codes (web, serial, and file) to
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// see if what they are doing has been done. If it hasn't, return without
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// looking at anything else.
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//
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// Note the order establishes a priority: web first, then serial, and file
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// last. If file weren't last, then the others would never get a look in when
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// a file was being printed.
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if(!webGCode->Finished())
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{
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webGCode->SetFinished(ActOnGcode(webGCode));
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@ -102,6 +109,9 @@ void GCodes::Spin()
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return;
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}
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// Now check if a G Code byte is available from each of the sources
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// in the same order for the same reason.
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if(webserver->GCodeAvailable())
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{
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if(webGCode->Put(webserver->ReadGCode()))
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@ -138,6 +148,11 @@ void GCodes::Diagnostics()
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platform->Message(HOST_MESSAGE, "GCodes Diagnostics:\n");
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}
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// The wait till everything's done function. If you need the machine to
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// be idle before you do something (for example homeing an axis, or shutting down) call this
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// until it returns true. As a side-effect it loads moveBuffer with the last
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// position and feedrate for you.
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bool GCodes::AllMovesAreFinishedAndMoveBufferIsLoaded()
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{
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// Last one gone?
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@ -159,6 +174,9 @@ bool GCodes::AllMovesAreFinishedAndMoveBufferIsLoaded()
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return true;
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}
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// Save (some of) the state of the machine for recovery in the future.
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// Call repeatedly till it returns true.
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bool GCodes::Push()
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{
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if(stackPointer >= STACK)
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@ -178,6 +196,8 @@ bool GCodes::Push()
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return true;
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}
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// Recover a saved state. Call repeatedly till it returns true.
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bool GCodes::Pop()
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{
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if(stackPointer <= 0)
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@ -209,6 +229,7 @@ bool GCodes::Pop()
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return true;
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}
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// This function is called for a G Code that makes a move.
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// If the Move class can't receive the move (i.e. things have to wait)
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// this returns false, otherwise true.
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@ -245,26 +266,24 @@ bool GCodes::ReadMove(float* m, bool& ce)
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return true;
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}
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bool GCodes::ReadHeat(float* h)
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{
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}
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// To execute any move, call this until it returns true.
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// false entries in action[] will be ignored.
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// moveToDo[] entries corresponding with false entries in action[] will
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// be ignored. Recall that moveToDo[DRIVES] should contain the feedrate
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// you want (if action[DRIVES] is true).
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bool GCodes::DoCannedCycleMove(float moveToDo[], bool action[], bool ce)
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{
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// Is the move already running?
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if(cannedCycleMoveQueued)
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{
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if(!Pop()) // Wait for the move to finish
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{ // Yes.
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if(!Pop()) // Wait for the move to finish then restore the state
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return false;
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cannedCycleMoveQueued = false;
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return true;
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} else
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{
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if(!Push()) // Wait for the RepRap to finish whatever it was doing
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{ // No.
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if(!Push()) // Wait for the RepRap to finish whatever it was doing and save it's state
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return false;
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for(int8_t drive = 0; drive <= DRIVES; drive++)
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{
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@ -278,6 +297,9 @@ bool GCodes::DoCannedCycleMove(float moveToDo[], bool action[], bool ce)
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return false;
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}
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// Home one or more of the axes. Which ones are decided by the
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// booleans homeX, homeY and homeZ.
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bool GCodes::DoHome()
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{
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// Treat more or less like any other move
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@ -405,6 +427,10 @@ bool GCodes::DoSingleZProbe()
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}
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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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// 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(DoSingleZProbe())
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@ -420,6 +446,10 @@ bool GCodes::DoMultipleZProbe()
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return false;
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}
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// This returns the (X, Y) points to probe the bed at probe point count. When probing,
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// it returns false. If called after probing has ended it returns true, and the Z coordinate
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// probed is also returned.
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bool GCodes::GetProbeCoordinates(int count, float& x, float& y, float& z)
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{
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switch(count)
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@ -444,6 +474,10 @@ bool GCodes::GetProbeCoordinates(int count, float& x, float& y, float& z)
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return zProbesSet;
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}
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// Return the current coordinates as a printable string. Coordinates
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// are updated at the end of each movement, so this won't tell you
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// where you are mid-movement.
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// FIXME - needs to deal with multiple extruders
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char* GCodes::GetCurrentCoordinates()
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@ -455,6 +489,7 @@ char* GCodes::GetCurrentCoordinates()
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return scratchString;
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}
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// Set up a file to print, but don't print it yet.
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void GCodes::QueueFileToPrint(char* fileName)
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{
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@ -463,6 +498,9 @@ void GCodes::QueueFileToPrint(char* fileName)
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platform->Message(HOST_MESSAGE, "GCode file not found\n");
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}
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// Run the configuration G Code file to set up the machine. Usually just called once
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// on re-boot.
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void GCodes::RunConfigurationGCodes()
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{
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fileToPrint = platform->GetFileStore(platform->GetSysDir(), platform->GetConfigFile(), false);
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@ -477,11 +515,11 @@ void GCodes::RunConfigurationGCodes()
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// Function to handle dwell delays. Return true for
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// Dwell finished, false otherwise.
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// dwell finished, false otherwise.
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bool GCodes::DoDwell(GCodeBuffer *gb)
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{
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unsigned long dwell;
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float dwell;
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if(gb->Seen('P'))
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dwell = 0.001*(float)gb->GetLValue(); // P values are in milliseconds; we need seconds
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@ -493,7 +531,7 @@ bool GCodes::DoDwell(GCodeBuffer *gb)
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if(!reprap.GetMove()->AllMovesAreFinished())
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return false;
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// Are we already in a dwell?
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// Are we already in the dwell?
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if(dwellWaiting)
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{
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@ -513,6 +551,9 @@ bool GCodes::DoDwell(GCodeBuffer *gb)
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return false;
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}
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// Set distance offsets and working and standby temperatures for
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// an extruder. I.e. handle a G10.
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bool GCodes::SetOffsets(GCodeBuffer *gb)
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{
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int8_t head;
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@ -572,6 +613,8 @@ void GCodes::LoadMoveBufferFromGCode(GCodeBuffer *gb)
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moveBuffer[DRIVES] = gFeedRate; // We always set it, as Move may have modified the last one.
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}
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// This sets positions. I.e. it handles G92.
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bool GCodes::SetPositions(GCodeBuffer *gb)
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{
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if(!AllMovesAreFinishedAndMoveBufferIsLoaded())
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@ -584,16 +627,26 @@ bool GCodes::SetPositions(GCodeBuffer *gb)
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return true;
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}
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void GCodes::DisableDrives()
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// Does what it says.
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bool GCodes::DisableDrives()
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{
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if(!AllMovesAreFinishedAndMoveBufferIsLoaded())
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return false;
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for(int8_t drive = 0; drive < DRIVES; drive++)
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platform->Disable(drive);
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return true;
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}
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void GCodes::StandbyHeaters()
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// Does what it says.
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bool GCodes::StandbyHeaters()
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{
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if(!AllMovesAreFinishedAndMoveBufferIsLoaded())
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return false;
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for(int8_t heater = 0; heater < DRIVES; heater++)
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reprap.GetHeat()->Standby(heater);
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return true;
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}
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// If the GCode to act on is completed, this returns true,
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@ -649,7 +702,7 @@ bool GCodes::ActOnGcode(GCodeBuffer *gb)
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result = DoHome();
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break;
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case 31:
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case 31: // Return the probe value, or set probe variables
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if(gb->Seen(gCodeLetters[Z_AXIS]))
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{
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platform->SetZProbeStopHeight(gb->GetFValue());
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@ -674,8 +727,8 @@ bool GCodes::ActOnGcode(GCodeBuffer *gb)
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break;
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case 91: // Relative coordinates
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drivesRelative = true;
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axesRelative = true;
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drivesRelative = true; // Non-axis movements (i.e. extruders)
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axesRelative = true; // Axis movements (i.e. X, Y and Z)
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break;
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case 92: // Set position
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@ -697,16 +750,19 @@ bool GCodes::ActOnGcode(GCodeBuffer *gb)
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{
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case 0: // Stop
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case 1: // Sleep
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if(!AllMovesAreFinishedAndMoveBufferIsLoaded())
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if(fileBeingPrinted != NULL)
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{
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fileToPrint = fileBeingPrinted;
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fileBeingPrinted = NULL;
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}
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if(!DisableDrives())
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return false;
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DisableDrives();
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StandbyHeaters();
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if(!StandbyHeaters())
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return false; // Should never happen
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break;
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case 18: // Motors off
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if(!AllMovesAreFinishedAndMoveBufferIsLoaded())
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return false;
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DisableDrives();
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result = DisableDrives();
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break;
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case 20: // Deprecated...
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@ -744,6 +800,9 @@ bool GCodes::ActOnGcode(GCodeBuffer *gb)
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break;
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case 85: // Set inactive time
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break;
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case 92: // Set steps/mm for each axis
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if(reprap.debug())
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platform->GetLine()->Write("Steps/mm: ");
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@ -786,13 +845,10 @@ bool GCodes::ActOnGcode(GCodeBuffer *gb)
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case 107: // Fan off
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platform->Message(HOST_MESSAGE, "Fan off received\n");
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break;
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case 116: // Wait for everything
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if(!AllMovesAreFinishedAndMoveBufferIsLoaded())
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return false;
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result = reprap.GetHeat()->AllHeatersAtSetTemperatures();
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break;
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case 112: // Emergency stop
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break;
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case 111: // Debug level
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if(gb->Seen('S'))
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reprap.debug(gb->GetIValue());
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@ -808,6 +864,12 @@ bool GCodes::ActOnGcode(GCodeBuffer *gb)
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result = false;
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break;
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case 116: // Wait for everything, especially set temperatures
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if(!AllMovesAreFinishedAndMoveBufferIsLoaded())
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return false;
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result = reprap.GetHeat()->AllHeatersAtSetTemperatures();
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break;
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case 120:
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result = Push();
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break;
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@ -828,6 +890,9 @@ bool GCodes::ActOnGcode(GCodeBuffer *gb)
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platform->Message(HOST_MESSAGE, "M127 - valves not yet implemented\n");
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break;
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case 135: // Set PID sample interval
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break;
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case 140: // Set bed temperature
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if(gb->Seen('S'))
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{
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@ -851,11 +916,11 @@ bool GCodes::ActOnGcode(GCodeBuffer *gb)
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}else{
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value = -1;
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}
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float accel = platform->Acceleration(i, value);
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platform->SetAcceleration(i, value);
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if(reprap.debug())
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{
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platform->GetLine()->Write(gCodeLetters[i]);
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platform->GetLine()->Write(ftoa(NULL,accel,1));
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platform->GetLine()->Write(ftoa(NULL,platform->Acceleration(i),1));
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platform->GetLine()->Write(" ");
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}
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}
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@ -863,12 +928,42 @@ bool GCodes::ActOnGcode(GCodeBuffer *gb)
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platform->GetLine()->Write("\n");
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break;
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case 906: // Motor currents
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case 203: // Set maximum feedrates
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break;
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case 205: //M205 advanced settings: minimum travel speed S=while printing T=travel only, B=minimum segment time X= maximum xy jerk, Z=maximum Z jerk
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break;
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case 208: // Set maximum axis lengths
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break;
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case 210: // Set homing feedrates
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break;
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case 301: // Set PID values
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break;
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case 302: // Allow cold extrudes
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break;
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case 304: // Set thermistor parameters
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break;
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case 500: // Set password
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break;
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case 501: // Set machine name
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break;
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case 502: // Set IP address
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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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if(gb->Seen(gCodeLetters[i]))
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{
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value = gb->GetFValue();
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value = gb->GetFValue(); // mA
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platform->SetMotorCurrent(i, value);
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}
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}
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@ -892,7 +987,7 @@ bool GCodes::ActOnGcode(GCodeBuffer *gb)
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for(int8_t i = AXES; i < DRIVES; i++)
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{
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if(selectedHead == i - AXES)
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reprap.GetHeat()->Standby(selectedHead + 1); // 0 is the Bed
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reprap.GetHeat()->Standby(selectedHead + 1); // + 1 because 0 is the Bed
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}
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for(int8_t i = AXES; i < DRIVES; i++)
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{
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@ -923,6 +1018,8 @@ bool GCodes::ActOnGcode(GCodeBuffer *gb)
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//*************************************************************************************
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// This class stores a single G Code and provides functions to allow it to be parsed
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GCodeBuffer::GCodeBuffer(Platform* p, char* id)
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{
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platform = p;
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@ -936,6 +1033,9 @@ void GCodeBuffer::Init()
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inComment = false;
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}
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// Add a byte to the code being assembled. If false is returned, the code is
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// not yet complete. If true, it is complete and ready to be acted upon.
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bool GCodeBuffer::Put(char c)
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{
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bool result = false;
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@ -987,7 +1087,7 @@ bool GCodeBuffer::Seen(char c)
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return false;
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}
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// Get a float after a G Code letter
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// Get a float after a G Code letter found by a call to Seen()
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float GCodeBuffer::GetFValue()
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{
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@ -1007,6 +1107,10 @@ float GCodeBuffer::GetFValue()
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// be -1. It absorbs "M/Gnnn " (including the space) from the
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// start and returns a pointer to the next location.
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// It would be nice if the string was preceded by (say) 'S', but
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// for legacy compatibility (M code to queue a file) that can't
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// be done.
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char* GCodeBuffer::GetString()
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{
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readPointer = 0;
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7
GCodes.h
7
GCodes.h
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@ -26,7 +26,7 @@ Licence: GPL
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#define GCODE_LETTERS { 'X', 'Y', 'Z', 'E', 'F' } // The drives and feedrate in a GCode
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|
||||
// Small class to hold an individual GCode
|
||||
// Small class to hold an individual GCode and provide functions to allow it to be parsed
|
||||
|
||||
class GCodeBuffer
|
||||
{
|
||||
|
|
@ -67,7 +67,6 @@ class GCodes
|
|||
void Exit();
|
||||
void RunConfigurationGCodes();
|
||||
bool ReadMove(float* m, bool& ce);
|
||||
bool ReadHeat(float* h);
|
||||
void QueueFileToPrint(char* fileName);
|
||||
bool GetProbeCoordinates(int count, float& x, float& y, float& z);
|
||||
char* GetCurrentCoordinates();
|
||||
|
|
@ -90,8 +89,8 @@ class GCodes
|
|||
bool NoHome();
|
||||
bool Push();
|
||||
bool Pop();
|
||||
void DisableDrives();
|
||||
void StandbyHeaters();
|
||||
bool DisableDrives();
|
||||
bool StandbyHeaters();
|
||||
|
||||
int8_t Heater(int8_t head);
|
||||
Platform* platform;
|
||||
|
|
|
|||
2
Move.cpp
2
Move.cpp
|
|
@ -45,7 +45,7 @@ Move::Move(Platform* p, GCodes* g)
|
|||
lookAheadRingGetPointer = new LookAhead(this, platform, lookAheadRingGetPointer);
|
||||
lookAheadRingAddPointer->next = lookAheadRingGetPointer;
|
||||
|
||||
// Set the lookahead backwards pointers
|
||||
// Set the lookahead backwards pointers (some oxymoron, surely?)
|
||||
|
||||
lookAheadRingGetPointer = lookAheadRingAddPointer;
|
||||
for(i = 0; i <= LOOK_AHEAD_RING_LENGTH; i++)
|
||||
|
|
|
|||
12
Platform.cpp
12
Platform.cpp
|
|
@ -64,7 +64,7 @@ void Platform::Init()
|
|||
|
||||
line->Init();
|
||||
|
||||
network->Init();
|
||||
//network->Init();
|
||||
|
||||
massStorage->Init();
|
||||
|
||||
|
|
@ -93,15 +93,10 @@ void Platform::Init()
|
|||
potWipes = POT_WIPES;
|
||||
senseResistor = SENSE_RESISTOR;
|
||||
maxStepperDigipotVoltage = MAX_STEPPER_DIGIPOT_VOLTAGE;
|
||||
// zProbeGradient = Z_PROBE_GRADIENT;
|
||||
// zProbeConstant = Z_PROBE_CONSTANT;
|
||||
zProbePin = Z_PROBE_PIN;
|
||||
zProbeCount = 0;
|
||||
zProbeSum = 0;
|
||||
zProbeValue = 0;
|
||||
// zProbeStarting = false;
|
||||
// zProbeHigh = Z_PROBE_HIGH;
|
||||
// zProbeLow = Z_PROBE_LOW;
|
||||
zProbeADValue = Z_PROBE_AD_VALUE;
|
||||
zProbeStopHeight = Z_PROBE_STOP_HEIGHT;
|
||||
|
||||
|
|
@ -197,6 +192,11 @@ void Platform::Init()
|
|||
active = true;
|
||||
}
|
||||
|
||||
void Platform::StartNetwork()
|
||||
{
|
||||
network->Init();
|
||||
}
|
||||
|
||||
|
||||
//int zcount; // NASTY - FIX ME
|
||||
|
||||
|
|
|
|||
37
Platform.h
37
Platform.h
|
|
@ -151,24 +151,6 @@ Licence: GPL
|
|||
|
||||
// Networking
|
||||
|
||||
// Enter a MAC address and IP address for your controller below.
|
||||
// The IP address will be dependent on your local network:
|
||||
//#define MAC { 0xDE, 0xAD, 0xBE, 0xEF, 0xFE, 0xED };
|
||||
//#define MAC_BYTES 6
|
||||
//
|
||||
//#define IP0 192
|
||||
//#define IP1 168
|
||||
//#define IP2 1
|
||||
//#define IP3 14
|
||||
//
|
||||
//#define IP_BYTES 4
|
||||
|
||||
//#define ETH_B_PIN 10
|
||||
|
||||
// port 80 is default for HTTP
|
||||
|
||||
//#define HTTP_PORT 80
|
||||
|
||||
// Seconds to wait after serving a page
|
||||
|
||||
#define CLIENT_CLOSE_DELAY 0.002
|
||||
|
|
@ -425,6 +407,7 @@ class Platform
|
|||
|
||||
MassStorage* GetMassStorage();
|
||||
FileStore* GetFileStore(char* directory, char* fileName, bool write);
|
||||
void StartNetwork();
|
||||
char* GetWebDir(); // Where the htm etc files are
|
||||
char* GetGCodeDir(); // Where the gcodes are
|
||||
char* GetSysDir(); // Where the system files are
|
||||
|
|
@ -442,7 +425,8 @@ class Platform
|
|||
void SetMotorCurrent(byte drive, float current);
|
||||
float DriveStepsPerUnit(int8_t drive);
|
||||
void SetDriveStepsPerUnit(int8_t drive, float value);
|
||||
float Acceleration(int8_t drive, float value);
|
||||
float Acceleration(int8_t drive);
|
||||
void SetAcceleration(int8_t drive, float value);
|
||||
float MaxFeedrate(int8_t drive);
|
||||
float InstantDv(int8_t drive);
|
||||
float HomeFeedRate(int8_t drive);
|
||||
|
|
@ -458,10 +442,6 @@ class Platform
|
|||
|
||||
float GetTemperature(int8_t heater); // Result is in degrees celsius
|
||||
void SetHeater(int8_t heater, const float& power); // power is a fraction in [0,1]
|
||||
//void SetStandbyTemperature(int8_t heater, const float& t);
|
||||
//void SetActiveTemperature(int8_t heater, const float& t);
|
||||
//float StandbyTemperature(int8_t heater);
|
||||
//float ActiveTemperature(int8_t heater);
|
||||
float PidKp(int8_t heater);
|
||||
float PidKi(int8_t heater);
|
||||
float PidKd(int8_t heater);
|
||||
|
|
@ -631,11 +611,14 @@ inline void Platform::SetDriveStepsPerUnit(int8_t drive, float value)
|
|||
driveStepsPerUnit[drive] = value;
|
||||
}
|
||||
|
||||
inline float Platform::Acceleration(int8_t drive, float value = -1)
|
||||
inline float Platform::Acceleration(int8_t drive)
|
||||
{
|
||||
if(drive >= 0 && drive < DRIVES && value > 0)
|
||||
accelerations[drive] = value;
|
||||
return accelerations[drive];
|
||||
return accelerations[drive];
|
||||
}
|
||||
|
||||
inline void Platform::SetAcceleration(int8_t drive, float value)
|
||||
{
|
||||
accelerations[drive] = value;
|
||||
}
|
||||
|
||||
inline float Platform::InstantDv(int8_t drive)
|
||||
|
|
|
|||
|
|
@ -177,6 +177,7 @@ void RepRap::Init()
|
|||
heat->Init();
|
||||
active = true;
|
||||
gCodes->RunConfigurationGCodes();
|
||||
platform->StartNetwork(); // Need to do this hare, as the configuration GCodes may set IP address etc.
|
||||
platform->Message(HOST_MESSAGE, "RepRapPro RepRap Firmware (Re)Started\n");
|
||||
// platform->Message(HOST_MESSAGE, "Free memory: ");
|
||||
// sprintf(scratchString,"%d\n",platform->GetFreeMemory());
|
||||
|
|
|
|||
|
|
@ -288,10 +288,36 @@ Click a file to <span data-bind="text: fileAction"></span><br>
|
|||
|
||||
<hr>
|
||||
|
||||
<form action="reprap.htm?upload=myFile"
|
||||
enctype="multipart/form-data" method="post">
|
||||
<p>
|
||||
Upload a G Code file: <br>
|
||||
<input type="file" name="datafile" size="40">
|
||||
</p>
|
||||
<div>
|
||||
<input type="submit" value="Upload">
|
||||
</div>
|
||||
</form>
|
||||
|
||||
<!--
|
||||
<form onSubmit="return checkFileName(this)" action="upload.htm"
|
||||
enctype="multipart/form-data" method="post">
|
||||
<p>
|
||||
Upload a G Code file :<br>
|
||||
<input type="file" name="datafile" size="40">
|
||||
</p>
|
||||
<div>
|
||||
<input type="submit" value="Upload">
|
||||
</div>
|
||||
</form>
|
||||
-->
|
||||
<!--
|
||||
<form data-bind="submit: function(data, event) { uploadGCode(data, event) }">
|
||||
Upload a G Code file :
|
||||
<input type="file" name="datafile" size="30"><button type="submit">Upload</button>
|
||||
</form>
|
||||
-->
|
||||
|
||||
<br>
|
||||
<button data-bind="text: deleteButton, click: function(data, event) { deleteFile(data, event) }"></button>
|
||||
</div>
|
||||
|
|
|
|||
|
|
@ -327,6 +327,9 @@ void Webserver::GetJsonResponse(char* request)
|
|||
strcat(jsonResponse, ftoa(0, liveCoordinates[drive], 2));
|
||||
strcat(jsonResponse, "\",");
|
||||
}
|
||||
|
||||
// FIXME: should loop through all Es
|
||||
|
||||
strcat(jsonResponse, "\"");
|
||||
strcat(jsonResponse, ftoa(0, liveCoordinates[AXES], 4));
|
||||
strcat(jsonResponse, "\"");
|
||||
|
|
|
|||
Reference in a new issue