a996c7ec4f
Added support for Duet 0.8.5 with auto detection between 0.6 and 0.85 board types Added P parameter to M115 command to set board type Changed M115 output to report the board type that was configured or auto-detected Improved ISR and step pulse generation efficiency to allow higher movement speeds, especially wheh using 0.9deg/step motors Added XYZE parameters to M569 command to allow driver remapping Added R parameter to M569 command to allow enable signal to be reversed when using external drivers (thanks dnewman) Removed M558 R parameter because boare type 0.7 can now be set via M115 instead Moved Fan0 RPM sense pin to PA14 to avoid conflict with Duet 0.8.5 FAN1 pin M408 poll command can now be handled concurrently with other commands
258 lines
13 KiB
C++
258 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 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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bool DoFileMacro(const char* fileName, bool reportMissing = true); // Run a GCode macro in a file, optionally report 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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void CancelPrint(); // Cancel the current print
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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, float heightAdjust); // Probe at a given point
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bool DoSingleZProbe(bool reportOnly, float heightAdjust); // Probe where we are
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int DoZProbe(float distance); // Do a Z probe cycle up to the maximum specified distance
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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 pausedFan0Value;
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float pausedFan1Value;
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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::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() & (uint8_t)IOStatus::byteAvailable) ||
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(platform->GetAux()->Status() & (uint8_t)IOStatus::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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//@TOTO T3P3 cooling inverted applies for both PWM fans
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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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