52b21d0eed
Implemented rr_config web request for zpl's latest web interface Implemented 7-factor auto calibration for delta printers Fix bug with fileinfo calls corrupting memory M563 can now be used to delete tools
260 lines
13 KiB
C++
260 lines
13 KiB
C++
/****************************************************************************************************
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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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-----------------------------------------------------------------------------------------------------
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Version 0.1
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13 February 2013
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Adrian Bowyer
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RepRap Professional Ltd
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http://reprappro.com
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Licence: GPL
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****************************************************************************************************/
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#ifndef GCODES_H
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#define GCODES_H
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#include "GCodeBuffer.h"
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const unsigned int StackSize = 5;
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const char feedrateLetter = 'F'; // GCode feedrate
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const char extrudeLetter = 'E'; // GCode extrude
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// Type for specifying which endstops we want to check
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typedef uint16_t EndstopChecks; // must be large enough to hold a bitmap of drive numbers or ZProbeActive
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const EndstopChecks ZProbeActive = 1 << 15; // must be distinct from 1 << (any drive number)
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const float minutesToSeconds = 60.0;
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const float secondsToMinutes = 1.0/minutesToSeconds;
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// Enumeration to list all the possible states that the Gcode processing machine may be in
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enum class GCodeState
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{
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normal, // not doing anything and ready to process a new GCode
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waitingForMoveToComplete, // doing a homing move, so we must wait for it to finish before processing another GCode
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homing,
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setBed1,
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setBed2,
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setBed3,
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toolChange1,
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toolChange2,
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toolChange3,
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pausing1,
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pausing2,
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resuming1,
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resuming2,
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resuming3
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};
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// Small class to stack the state when we execute a macro file
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class GCodeMachineState
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{
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public:
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GCodeState state;
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GCodeBuffer *gb; // this may be null when executing config.g
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float feedrate;
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FileData fileState;
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bool drivesRelative;
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bool axesRelative;
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bool doingFileMacro;
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};
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//****************************************************************************************************
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// The GCode interpreter
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class GCodes
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{
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public:
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GCodes(Platform* p, Webserver* w);
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void Spin(); // Called in a tight loop to make this class work
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void Init(); // Set it up
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void Exit(); // Shut it down
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void Reset(); // Reset some parameter to defaults
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bool ReadMove(float* m, EndstopChecks& ce, uint8_t& rMoveType, FilePosition& fPos); // Called by the Move class to get a movement set by the last G Code
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void ClearMove();
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void QueueFileToPrint(const char* fileName); // Open a file of G Codes to run
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void DeleteFile(const char* fileName); // Does what it says
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bool GetProbeCoordinates(int count, float& x, float& y, float& z) const; // Get pre-recorded probe coordinates
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void GetCurrentCoordinates(StringRef& s) const; // Write where we are into a string
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bool PrintingAFile() const; // Are we in the middle of printing a file?
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bool DoingFileMacro() const; // Or still busy processing a macro file?
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float FractionOfFilePrinted() const; // Get fraction of file printed
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void Diagnostics(); // Send helpful information out
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bool HaveIncomingData() const; // Is there something that we have to do?
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bool GetAxisIsHomed(uint8_t axis) const { return axisIsHomed[axis]; } // Is the axis at 0?
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void SetAxisIsHomed(uint8_t axis) { axisIsHomed[axis] = true; } // Tell us that the axis is now homed
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bool CoolingInverted() const; // Is the current fan value inverted?
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void PauseSDPrint(); // Pause the current print from SD card
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float GetSpeedFactor() const { return speedFactor * minutesToSeconds; } // Return the current speed factor
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const float *GetExtrusionFactors() const { return extrusionFactors; } // Return the current extrusion factors
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float GetRawExtruderPosition(size_t drive) const; // Get the actual extruder position, after adjusting the extrusion factor
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bool HaveAux() const { return auxDetected; } // Any device on the AUX line?
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bool IsPaused() const;
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bool IsPausing() const;
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bool IsResuming() const;
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private:
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void StartNextGCode(StringRef& reply); // Fetch a new GCode and process it
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void DoFilePrint(GCodeBuffer* gb, StringRef& reply); // Get G Codes from a file and print them
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bool AllMovesAreFinishedAndMoveBufferIsLoaded(); // Wait for move queue to exhaust and the current position is loaded
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bool DoCannedCycleMove(EndstopChecks ce); // Do a move from an internally programmed canned cycle
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void DoFileMacro(const char* fileName); // Run a GCode macro in a file, error if not found
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void FileMacroCyclesReturn(); // End a macro
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bool ActOnCode(GCodeBuffer* gb, StringRef& reply); // Do a G, M or T Code
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bool HandleGcode(GCodeBuffer* gb, StringRef& reply); // Do a G code
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bool HandleMcode(GCodeBuffer* gb, StringRef& reply); // Do an M code
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bool HandleTcode(GCodeBuffer* gb, StringRef& reply); // Do a T code
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int SetUpMove(GCodeBuffer* gb, StringRef& reply); // Pass a move on to the Move module
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bool DoDwell(GCodeBuffer *gb); // Wait for a bit
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bool DoDwellTime(float dwell); // Really wait for a bit
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bool DoSingleZProbeAtPoint(int probePointIndex); // Probe at a given point
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bool DoSingleZProbe(); // Probe where we are
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bool SetSingleZProbeAtAPosition(GCodeBuffer *gb, StringRef& reply); // Probes at a given position - see the comment at the head of the function itself
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void SetBedEquationWithProbe(int sParam, StringRef& reply); // Probes a series of points and sets the bed equation
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bool SetPrintZProbe(GCodeBuffer *gb, StringRef& reply); // Either return the probe value, or set its threshold
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void SetOrReportOffsets(StringRef& reply, GCodeBuffer *gb); // Deal with a G10
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bool SetPositions(GCodeBuffer *gb); // Deal with a G92
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bool LoadMoveBufferFromGCode(GCodeBuffer *gb, // Set up a move for the Move class
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bool doingG92, bool applyLimits);
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bool NoHome() const; // Are we homing and not finished?
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void Push(); // Push feedrate etc on the stack
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void Pop(); // Pop feedrate etc
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void DisableDrives(); // Turn the motors off
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void SetEthernetAddress(GCodeBuffer *gb, int mCode); // Does what it says
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void SetMACAddress(GCodeBuffer *gb); // Deals with an M540
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void HandleReply(bool error, const GCodeBuffer *gb, // If the GCode is from the serial interface, reply to it
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const char* reply, char gMOrT, int code, bool resend);
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bool OpenFileToWrite(const char* directory, // Start saving GCodes in a file
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const char* fileName, GCodeBuffer *gb);
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void WriteGCodeToFile(GCodeBuffer *gb); // Write this GCode into a file
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bool SendConfigToLine(); // Deal with M503
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void WriteHTMLToFile(char b, GCodeBuffer *gb); // Save an HTML file (usually to upload a new web interface)
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bool OffsetAxes(GCodeBuffer *gb); // Set offsets - deprecated, use G10
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void SetPidParameters(GCodeBuffer *gb, int heater, StringRef& reply); // Set the P/I/D parameters for a heater
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void SetHeaterParameters(GCodeBuffer *gb, StringRef& reply); // Set the thermistor and ADC parameters for a heater
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int8_t Heater(int8_t head) const; // Legacy G codes start heaters at 0, but we use 0 for the bed. This sorts that out.
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void ManageTool(GCodeBuffer *gb, StringRef& reply); // Create a new tool definition
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void SetToolHeaters(Tool *tool, float temperature); // Set all a tool's heaters to the temperature. For M104...
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bool ToolHeatersAtSetTemperatures(const Tool *tool) const; // Wait for the heaters associated with the specified tool to reach their set temperatures
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bool AllAxesAreHomed() const; // Return true if all axes are homed
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void SetAllAxesNotHomed(); // Flag all axes as not homed
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void SetPositions(float positionNow[DRIVES]); // Set the current position to be this
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Platform* platform; // The RepRap machine
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bool active; // Live and running?
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bool isPaused; // true if the print has been paused
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Webserver* webserver; // The webserver class
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float dwellTime; // How long a pause for a dwell (seconds)?
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bool dwellWaiting; // We are in a dwell
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GCodeBuffer* webGCode; // The sources...
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GCodeBuffer* fileGCode; // ...
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GCodeBuffer* serialGCode; // ...
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GCodeBuffer* auxGCode; // this one is for the LCD display on the async serial interface
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GCodeBuffer* fileMacroGCode; // ...
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GCodeBuffer *gbCurrent;
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bool moveAvailable; // Have we seen a move G Code and set it up?
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float moveBuffer[DRIVES+1]; // Move coordinates; last is feed rate
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float savedMoveBuffer[DRIVES+1]; // The position and feedrate when we started the current simulation
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float pausedMoveBuffer[DRIVES+1]; // Move coordinates; last is feed rate
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EndstopChecks endStopsToCheck; // Which end stops we check them on the next move
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uint8_t moveType; // 0 = normal move, 1 = homing move, 2 = direct motor move
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GCodeState state; // The main state variable of the GCode state machine
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bool drivesRelative;
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bool axesRelative;
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GCodeMachineState stack[StackSize]; // State that we save when calling macro files
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unsigned int stackPointer; // Push and Pop stack pointer
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static const char axisLetters[AXES]; // 'X', 'Y', 'Z'
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float lastRawExtruderPosition[DRIVES - AXES]; // Extruder position of the last move fed into the Move class
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float record[DRIVES+1]; // Temporary store for move positions
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float moveToDo[DRIVES+1]; // Where to go set by G1 etc
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bool activeDrive[DRIVES+1]; // Is this drive involved in a move?
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bool offSetSet; // Are any axis offsets non-zero?
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float distanceScale; // MM or inches
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FileData fileBeingPrinted;
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FileData fileToPrint;
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FileStore* fileBeingWritten; // A file to write G Codes (or sometimes HTML) in
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FileStore* configFile; // A file containing a macro
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uint16_t toBeHomed; // Bitmap of axes still to be homed
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bool doingFileMacro; // Are we executing a macro file?
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int oldToolNumber, newToolNumber; // Tools being changed
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const char* eofString; // What's at the end of an HTML file?
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uint8_t eofStringCounter; // Check the...
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uint8_t eofStringLength; // ... EoF string as we read.
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int probeCount; // Counts multiple probe points
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int8_t cannedCycleMoveCount; // Counts through internal (i.e. not macro) canned cycle moves
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bool cannedCycleMoveQueued; // True if a canned cycle move has been set
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bool zProbesSet; // True if all Z probing is done and we can set the bed equation
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float longWait; // Timer for things that happen occasionally (seconds)
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bool limitAxes; // Don't think outside the box.
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bool axisIsHomed[AXES]; // These record which of the axes have been homed
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bool coolingInverted;
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float pausedFanValue;
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float speedFactor; // speed factor, including the conversion from mm/min to mm/sec, normally 1/60
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float speedFactorChange; // factor by which we changed the speed factor since the last move
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float extrusionFactors[DRIVES - AXES]; // extrusion factors (normally 1.0)
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float lastProbedZ; // the last height at which the Z probe stopped
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bool auxDetected; // Have we processed at least one G-Code from an AUX device?
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bool simulating;
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float simulationTime;
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FilePosition filePos; // The position we got up to in the file being printed
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FilePosition moveFilePos; // Saved version of filePos for the next real move to be processed
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};
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//*****************************************************************************************************
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inline bool GCodes::PrintingAFile() const
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{
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return FractionOfFilePrinted() >= 0.0;
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}
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inline bool GCodes::DoingFileMacro() const
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{
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return doingFileMacro;
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}
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inline bool GCodes::HaveIncomingData() const
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{
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return fileBeingPrinted.IsLive() ||
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webserver->GCodeAvailable() ||
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(platform->GetLine()->Status() & byteAvailable) ||
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(platform->GetAux()->Status() & byteAvailable);
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}
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// This function takes care of the fact that the heater and head indices don't match because the bed is heater 0.
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inline int8_t GCodes::Heater(int8_t head) const
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{
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return head+1;
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}
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inline bool GCodes::CoolingInverted() const
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{
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return coolingInverted;
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}
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inline bool GCodes::AllAxesAreHomed() const
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{
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return axisIsHomed[X_AXIS] && axisIsHomed[Y_AXIS] && axisIsHomed[Z_AXIS];
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}
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inline void GCodes::SetAllAxesNotHomed()
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{
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axisIsHomed[X_AXIS] = axisIsHomed[Y_AXIS] = axisIsHomed[Z_AXIS] = false;
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}
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#endif
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