ed40658c45
Fixed doubling of M301 I parameter and halving of M301 P parameter Implemented M303 auto tune and M307 heater process model Improved temperature monitoring to detect heater cartridges or thermistor falling out Implemented M38 (thanks chrishamm) Retructured course code tree
330 lines
16 KiB
C++
330 lines
16 KiB
C++
/****************************************************************************************************
|
|
|
|
RepRapFirmware - G Codes
|
|
|
|
This class interprets G Codes from one or more sources, and calls the functions in Move, Heat etc
|
|
that drive the machine to do what the G Codes command.
|
|
|
|
-----------------------------------------------------------------------------------------------------
|
|
|
|
Version 0.1
|
|
|
|
13 February 2013
|
|
|
|
Adrian Bowyer
|
|
RepRap Professional Ltd
|
|
http://reprappro.com
|
|
|
|
Licence: GPL
|
|
|
|
****************************************************************************************************/
|
|
|
|
#ifndef GCODES_H
|
|
#define GCODES_H
|
|
|
|
#include "GCodeBuffer.h"
|
|
#include "Libraries/sha1/sha1.h"
|
|
|
|
const unsigned int StackSize = 5;
|
|
|
|
const char feedrateLetter = 'F'; // GCode feedrate
|
|
const char extrudeLetter = 'E'; // GCode extrude
|
|
|
|
// Type for specifying which endstops we want to check
|
|
typedef uint16_t EndstopChecks; // must be large enough to hold a bitmap of drive numbers or ZProbeActive
|
|
const EndstopChecks ZProbeActive = 1 << 15; // must be distinct from 1 << (any drive number)
|
|
|
|
const float minutesToSeconds = 60.0;
|
|
const float secondsToMinutes = 1.0/minutesToSeconds;
|
|
|
|
// Enumeration to list all the possible states that the Gcode processing machine may be in
|
|
enum class GCodeState
|
|
{
|
|
normal, // not doing anything and ready to process a new GCode
|
|
waitingForMoveToComplete, // doing a homing move, so we must wait for it to finish before processing another GCode
|
|
homing,
|
|
setBed1,
|
|
setBed2,
|
|
setBed3,
|
|
toolChange1,
|
|
toolChange2,
|
|
toolChange3,
|
|
pausing1,
|
|
pausing2,
|
|
resuming1,
|
|
resuming2,
|
|
resuming3,
|
|
flashing1,
|
|
flashing2,
|
|
stopping,
|
|
sleeping
|
|
};
|
|
|
|
// Small class to stack the state when we execute a macro file
|
|
class GCodeMachineState
|
|
{
|
|
public:
|
|
GCodeState state;
|
|
GCodeBuffer *gb; // this may be null when executing config.g
|
|
float feedrate;
|
|
FileData fileState;
|
|
bool drivesRelative;
|
|
bool axesRelative;
|
|
bool doingFileMacro;
|
|
};
|
|
|
|
typedef uint16_t TriggerMask;
|
|
|
|
struct Trigger
|
|
{
|
|
TriggerMask rising;
|
|
TriggerMask falling;
|
|
uint8_t condition;
|
|
|
|
void Init()
|
|
{
|
|
rising = falling = 0;
|
|
condition = 0;
|
|
}
|
|
|
|
bool IsUnused() const
|
|
{
|
|
return rising == 0 && falling == 0;
|
|
}
|
|
};
|
|
|
|
//****************************************************************************************************
|
|
|
|
// The GCode interpreter
|
|
|
|
class GCodes
|
|
{
|
|
public:
|
|
struct RawMove
|
|
{
|
|
float coords[DRIVES]; // new positions for the axes, amount of movement for the extruders
|
|
float feedRate; // feed rate of this move
|
|
FilePosition filePos; // offset in the file being printed that this move was read from
|
|
EndstopChecks endStopsToCheck; // endstops to check
|
|
uint8_t moveType; // the S parameter from the G0 or G1 command, 0 for a normal move
|
|
bool isFirmwareRetraction; // true if this is a firmware retraction/un-retraction move
|
|
bool usePressureAdvance; // true if we want to us extruder pressure advance, if there is any extrusion
|
|
};
|
|
|
|
GCodes(Platform* p, Webserver* w);
|
|
void Spin(); // Called in a tight loop to make this class work
|
|
void Init(); // Set it up
|
|
void Exit(); // Shut it down
|
|
void Reset(); // Reset some parameter to defaults
|
|
bool ReadMove(RawMove& m); // Called by the Move class to get a movement set by the last G Code
|
|
void ClearMove();
|
|
void QueueFileToPrint(const char* fileName); // Open a file of G Codes to run
|
|
void DeleteFile(const char* fileName); // Does what it says
|
|
bool GetProbeCoordinates(int count, float& x, float& y, float& z) const; // Get pre-recorded probe coordinates
|
|
void GetCurrentCoordinates(StringRef& s) const; // Write where we are into a string
|
|
bool DoingFileMacro() const; // Or still busy processing a macro file?
|
|
float FractionOfFilePrinted() const; // Get fraction of file printed
|
|
void Diagnostics(MessageType mtype); // Send helpful information out
|
|
bool HaveIncomingData() const; // Is there something that we have to do?
|
|
size_t GetStackPointer() const; // Returns the current stack pointer
|
|
bool GetAxisIsHomed(uint8_t axis) const { return axisIsHomed[axis]; } // Is the axis at 0?
|
|
void SetAxisIsHomed(uint8_t axis) { axisIsHomed[axis] = true; } // Tell us that the axis is now homed
|
|
|
|
float GetSpeedFactor() const { return speedFactor * minutesToSeconds; } // Return the current speed factor
|
|
float GetExtrusionFactor(size_t extruder) { return extrusionFactors[extruder]; } // Return the current extrusion factors
|
|
float GetRawExtruderPosition(size_t drive) const; // Get the actual extruder position, after adjusting the extrusion factor
|
|
float GetRawExtruderTotalByDrive(size_t extruder) const; // Get the total extrusion since start of print, for one drive
|
|
float GetTotalRawExtrusion() const { return rawExtruderTotal; } // Get the total extrusion since start of print, all drives
|
|
|
|
bool HaveAux() const { return auxDetected; } // Any device on the AUX line?
|
|
bool IsFlashing() const { return isFlashing; } // Is a new firmware binary going to be flashed?
|
|
OutputBuffer *GetAuxGCodeReply(); // Returns cached G-Code reply for AUX devices and clears its reference
|
|
uint32_t GetAuxSeq() { return auxSeq; }
|
|
|
|
bool IsPaused() const;
|
|
bool IsPausing() const;
|
|
bool IsResuming() const;
|
|
bool IsRunning() const;
|
|
|
|
bool AllAxesAreHomed() const; // Return true if all axes are homed
|
|
bool DoFileMacro(const char* fileName, bool reportMissing = true); // Run a GCode macro in a file, optionally report error if not found
|
|
|
|
private:
|
|
|
|
void FillGCodeBuffers(); // Get new data into the gcode buffers
|
|
void StartNextGCode(StringRef& reply); // Fetch a new GCode and process it
|
|
void DoFilePrint(GCodeBuffer* gb, StringRef& reply); // Get G Codes from a file and print them
|
|
bool AllMovesAreFinishedAndMoveBufferIsLoaded(); // Wait for move queue to exhaust and the current position is loaded
|
|
bool DoCannedCycleMove(EndstopChecks ce); // Do a move from an internally programmed canned cycle
|
|
void FileMacroCyclesReturn(); // End a macro
|
|
bool ActOnCode(GCodeBuffer* gb, StringRef& reply); // Do a G, M or T Code
|
|
bool HandleGcode(GCodeBuffer* gb, StringRef& reply); // Do a G code
|
|
bool HandleMcode(GCodeBuffer* gb, StringRef& reply); // Do an M code
|
|
bool HandleTcode(GCodeBuffer* gb, StringRef& reply); // Do a T code
|
|
void CancelPrint(); // Cancel the current print
|
|
int SetUpMove(GCodeBuffer* gb, StringRef& reply); // Pass a move on to the Move module
|
|
bool DoDwell(GCodeBuffer *gb); // Wait for a bit
|
|
bool DoDwellTime(float dwell); // Really wait for a bit
|
|
bool DoHome(GCodeBuffer *gb, StringRef& reply, bool& error); // Home some axes
|
|
bool DoSingleZProbeAtPoint(int probePointIndex, float heightAdjust); // Probe at a given point
|
|
bool DoSingleZProbe(bool reportOnly, float heightAdjust); // Probe where we are
|
|
int DoZProbe(float distance); // Do a Z probe cycle up to the maximum specified distance
|
|
bool SetSingleZProbeAtAPosition(GCodeBuffer *gb, StringRef& reply); // Probes at a given position - see the comment at the head of the function itself
|
|
void SetBedEquationWithProbe(int sParam, StringRef& reply); // Probes a series of points and sets the bed equation
|
|
bool SetPrintZProbe(GCodeBuffer *gb, StringRef& reply); // Either return the probe value, or set its threshold
|
|
void SetOrReportOffsets(StringRef& reply, GCodeBuffer *gb); // Deal with a G10
|
|
bool SetPositions(GCodeBuffer *gb); // Deal with a G92
|
|
bool LoadMoveBufferFromGCode(GCodeBuffer *gb, // Set up a move for the Move class
|
|
bool doingG92, bool applyLimits);
|
|
bool NoHome() const; // Are we homing and not finished?
|
|
void Push(); // Push feedrate etc on the stack
|
|
void Pop(); // Pop feedrate etc
|
|
void DisableDrives(); // Turn the motors off
|
|
void SetEthernetAddress(GCodeBuffer *gb, int mCode); // Does what it says
|
|
void SetMACAddress(GCodeBuffer *gb); // Deals with an M540
|
|
void HandleReply(GCodeBuffer *gb, bool error, const char *reply); // Handle G-Code replies
|
|
void HandleReply(GCodeBuffer *gb, bool error, OutputBuffer *reply);
|
|
bool OpenFileToWrite(const char* directory, // Start saving GCodes in a file
|
|
const char* fileName, GCodeBuffer *gb);
|
|
void WriteGCodeToFile(GCodeBuffer *gb); // Write this GCode into a file
|
|
bool SendConfigToLine(); // Deal with M503
|
|
void WriteHTMLToFile(char b, GCodeBuffer *gb); // Save an HTML file (usually to upload a new web interface)
|
|
bool OffsetAxes(GCodeBuffer *gb); // Set offsets - deprecated, use G10
|
|
void SetPidParameters(GCodeBuffer *gb, int heater, StringRef& reply); // Set the P/I/D parameters for a heater
|
|
void SetHeaterParameters(GCodeBuffer *gb, StringRef& reply); // Set the thermistor and ADC parameters for a heater
|
|
void ManageTool(GCodeBuffer *gb, StringRef& reply); // Create a new tool definition
|
|
void SetToolHeaters(Tool *tool, float temperature); // Set all a tool's heaters to the temperature. For M104...
|
|
bool ToolHeatersAtSetTemperatures(const Tool *tool) const; // Wait for the heaters associated with the specified tool to reach their set temperatures
|
|
void SetAllAxesNotHomed(); // Flag all axes as not homed
|
|
void SetPositions(float positionNow[DRIVES]); // Set the current position to be this
|
|
const char *TranslateEndStopResult(EndStopHit es); // Translate end stop result to text
|
|
bool RetractFilament(bool retract); // Retract or un-retract filaments
|
|
bool ChangeMicrostepping(size_t drive, int microsteps, int mode) const; // Change microstepping on the specified drive
|
|
void ListTriggers(StringRef reply, TriggerMask mask); // Append a list of trigger endstops to a message
|
|
bool CheckTriggers(); // Check for and execute triggers
|
|
void DoEmergencyStop(); // Execute an emergency stop
|
|
void DoPause(bool externalToFile); // Pause the print
|
|
|
|
Platform* platform; // The RepRap machine
|
|
Webserver* webserver; // The webserver class
|
|
|
|
GCodeBuffer* httpGCode; // The sources...
|
|
GCodeBuffer* telnetGCode; // ...
|
|
GCodeBuffer* fileGCode; // ...
|
|
GCodeBuffer* serialGCode; // ...
|
|
GCodeBuffer* auxGCode; // this one is for the LCD display on the async serial interface
|
|
GCodeBuffer* fileMacroGCode; // ...
|
|
GCodeBuffer *gbCurrent;
|
|
bool active; // Live and running?
|
|
bool isPaused; // true if the print has been paused
|
|
bool dwellWaiting; // We are in a dwell
|
|
bool moveAvailable; // Have we seen a move G Code and set it up?
|
|
float dwellTime; // How long a pause for a dwell (seconds)?
|
|
float feedRate; // The feed rate of the last G0/G1 command that had an F parameter
|
|
RawMove moveBuffer; // Move details to pass to Move class
|
|
float savedMoveBuffer[DRIVES + 1]; // The position and feedrate when we started the current simulation
|
|
float pausedMoveBuffer[DRIVES + 1]; // Move coordinates; last is feed rate
|
|
GCodeState state; // The main state variable of the GCode state machine
|
|
bool drivesRelative;
|
|
bool axesRelative;
|
|
GCodeMachineState stack[StackSize]; // State that we save when calling macro files
|
|
unsigned int stackPointer; // Push and Pop stack pointer
|
|
static const char axisLetters[AXES]; // 'X', 'Y', 'Z'
|
|
float axisScaleFactors[AXES]; // Scale XYZ coordinates by this factor (for Delta configurations)
|
|
float lastRawExtruderPosition[DRIVES - AXES]; // Extruder position of the last move fed into the Move class
|
|
float rawExtruderTotalByDrive[DRIVES - AXES]; // Total extrusion amount fed to Move class since starting print, before applying extrusion factor, per drive
|
|
float rawExtruderTotal; // Total extrusion amount fed to Move class since starting print, before applying extrusion factor, summed over all drives
|
|
float record[DRIVES]; // Temporary store for move positions
|
|
float moveToDo[DRIVES+1]; // Where to go set by G1 etc
|
|
bool activeDrive[DRIVES]; // Is this drive involved in a move?
|
|
bool offSetSet; // Are any axis offsets non-zero?
|
|
float distanceScale; // MM or inches
|
|
FileData fileBeingPrinted;
|
|
FileData fileToPrint;
|
|
FileStore* fileBeingWritten; // A file to write G Codes (or sometimes HTML) in
|
|
uint16_t toBeHomed; // Bitmap of axes still to be homed
|
|
bool doingFileMacro; // Are we executing a macro file?
|
|
int oldToolNumber, newToolNumber; // Tools being changed
|
|
const char* eofString; // What's at the end of an HTML file?
|
|
uint8_t eofStringCounter; // Check the...
|
|
uint8_t eofStringLength; // ... EoF string as we read.
|
|
int probeCount; // Counts multiple probe points
|
|
int8_t cannedCycleMoveCount; // Counts through internal (i.e. not macro) canned cycle moves
|
|
bool cannedCycleMoveQueued; // True if a canned cycle move has been set
|
|
bool zProbesSet; // True if all Z probing is done and we can set the bed equation
|
|
float longWait; // Timer for things that happen occasionally (seconds)
|
|
bool limitAxes; // Don't think outside the box.
|
|
bool axisIsHomed[AXES]; // These record which of the axes have been homed
|
|
float pausedFanValues[NUM_FANS]; // Fan speeds when the print was paused
|
|
float speedFactor; // speed factor, including the conversion from mm/min to mm/sec, normally 1/60
|
|
float extrusionFactors[DRIVES - AXES]; // extrusion factors (normally 1.0)
|
|
float lastProbedZ; // the last height at which the Z probe stopped
|
|
|
|
bool auxDetected; // Have we processed at least one G-Code from an AUX device?
|
|
OutputBuffer *auxGCodeReply; // G-Code reply for AUX devices (special one because it is actually encapsulated before sending)
|
|
uint32_t auxSeq; // Sequence number for AUX devices
|
|
float simulationTime; // Accumulated simulation time
|
|
uint8_t simulationMode; // 0 = not simulating, 1 = simulating, >1 are simulation modes for debugging
|
|
FilePosition filePos; // The position we got up to in the file being printed
|
|
|
|
// Firmware retraction settings
|
|
float retractLength, retractExtra; // retraction length and extra length to un-retract
|
|
float retractSpeed; // retract speed in mm/min
|
|
float retractHop; // Z hop when retracting
|
|
|
|
// Triggers
|
|
Trigger triggers[MaxTriggers]; // Trigger conditions
|
|
TriggerMask lastEndstopStates; // States of the endstop inputs last time we looked
|
|
static_assert(MaxTriggers <= 32, "Too many triggers");
|
|
uint32_t triggersPending; // Bitmap of triggers pending but not yet executed
|
|
|
|
// Firmware update
|
|
uint8_t firmwareUpdateModuleMap; // Bitmap of firmware modules to be updated
|
|
bool isFlashing; // Is a new firmware binary going to be flashed?
|
|
|
|
// SHA1 hashing
|
|
FileStore *fileBeingHashed;
|
|
SHA1Context hash;
|
|
bool StartHash(const char* filename);
|
|
bool AdvanceHash(StringRef &reply);
|
|
};
|
|
|
|
//*****************************************************************************************************
|
|
|
|
inline bool GCodes::DoingFileMacro() const
|
|
{
|
|
return doingFileMacro;
|
|
}
|
|
|
|
inline bool GCodes::HaveIncomingData() const
|
|
{
|
|
return fileBeingPrinted.IsLive() ||
|
|
webserver->GCodeAvailable(WebSource::HTTP) ||
|
|
webserver->GCodeAvailable(WebSource::Telnet) ||
|
|
platform->GCodeAvailable(SerialSource::USB) ||
|
|
platform->GCodeAvailable(SerialSource::AUX);
|
|
}
|
|
|
|
inline bool GCodes::AllAxesAreHomed() const
|
|
{
|
|
return axisIsHomed[X_AXIS] && axisIsHomed[Y_AXIS] && axisIsHomed[Z_AXIS];
|
|
}
|
|
|
|
inline void GCodes::SetAllAxesNotHomed()
|
|
{
|
|
axisIsHomed[X_AXIS] = axisIsHomed[Y_AXIS] = axisIsHomed[Z_AXIS] = false;
|
|
}
|
|
|
|
inline size_t GCodes::GetStackPointer() const
|
|
{
|
|
return stackPointer;
|
|
}
|
|
|
|
inline OutputBuffer *GCodes::GetAuxGCodeReply()
|
|
{
|
|
OutputBuffer *temp = auxGCodeReply;
|
|
auxGCodeReply = nullptr;
|
|
return temp;
|
|
}
|
|
|
|
#endif
|