diff options
author | David Crocker <dcrocker@eschertech.com> | 2017-06-23 01:01:47 +0300 |
---|---|---|
committer | David Crocker <dcrocker@eschertech.com> | 2017-06-23 01:02:03 +0300 |
commit | 811de41a7d1083d6871de332717117ae57daa1c5 (patch) | |
tree | 674557ac03558f90dc5f679c157814971d8893b2 /src/GCodes/GCodes.h | |
parent | e2aad9a81ab09087151f89153d506cf33ab32a63 (diff) |
Version 1.19beta7
New features:
- M291 command is provided to display a message box with options for
timeout, acknowledgement and Z jog buttons
- M292 command is provided to acknowledge M291 messages
- Manual delta calibration and bed compensation is supported (use P0 in
the M558 command to indicate that there is no Z probe)
- Minimum value for S parameter (maximum heater PWM) in M307 command is
reduced from 20% to 1%
- Core XYU kinematics are now supported (thanks Lars)
- RADDS build now supports 9 motors (thanks Tom)
- If a homing move uses parameter S3 instead of S1 then the axis minimum
or maximum value is set to the current position instead of vice versa
- M589 with no parameters now reports the Duet's own SSID
- M589 S"*" now deletes the Duet WiFi's own access point details
Bug fixes:
- Tool X offsets are now applied on the next move even if it has no Z
parameter
- The tool change restore point coordinates now take account of X axis
mapping
- M588 P"*" command (forget all access points) now works
- On the Duet WiFi, after using M589 to set up access point parameters,
when M552 S2 was sent to start the WiFi module in AP mode it reported
"WiFi reported error: invalid access point configuration". The fix also
needs DuetWiFiServer version 1.19beta7.
- On a delta printer the effector height is limited to reachable values
Areas of code refactored (so watch out for new bugs):
- G30 bed probing
- Baby stepping
- Tool offset implementation
Upgrade notes:
- SSIDs and passwords in M587, M588 and M589 commands must now be
enclosed in double quotes
- Height map filenames in G29, M374 and M375 commands must now be
enclosed in double quotes
- On a Duet WiFi you should also upgrade DuetWiFiServer.bin to version
1.19beta7. You do not need to perform a simultaneous upgrade, but M587
and M589 reporting functionality won't work correctly if your
DuetWiFiFirmware and DuetWiFiServer versions are out of step.
Diffstat (limited to 'src/GCodes/GCodes.h')
-rw-r--r-- | src/GCodes/GCodes.h | 60 |
1 files changed, 31 insertions, 29 deletions
diff --git a/src/GCodes/GCodes.h b/src/GCodes/GCodes.h index d3453f20..ce5ef9f3 100644 --- a/src/GCodes/GCodes.h +++ b/src/GCodes/GCodes.h @@ -27,6 +27,7 @@ Licence: GPL #include "Libraries/sha1/sha1.h" #include "Platform.h" // for type EndStopHit #include "GCodeInput.h" +#include "RestorePoint.h" class GCodeBuffer; class GCodeQueue; @@ -38,6 +39,7 @@ const char extrudeLetter = 'E'; // GCode extrude 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 EndstopChecks LogProbeChanges = 1 << 14; // must be distinct from 1 << (any drive number) +const EndstopChecks HomeAxes = 1 << 13; // must be distinct from 1 << (any drive number) typedef uint16_t TriggerMask; @@ -79,8 +81,10 @@ public: float feedRate; // feed rate of this move FilePosition filePos; // offset in the file being printed at the end of reading this move uint32_t xAxes; // axes that X is mapped to - float newBabyStepping; // the adjustment we made to the Z offset in this move EndstopChecks endStopsToCheck; // endstops to check +#if SUPPORT_IOBITS + IoBits_t ioBits; // I/O bits to set/clear at the start of this move +#endif 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 @@ -117,7 +121,7 @@ public: 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 - float GetBabyStepOffset() const; // Get the current baby stepping Z offset + float GetBabyStepOffset() const { return currentBabyStepZOffset; } // Get the current baby stepping Z offset RegularGCodeInput *GetHTTPInput() const { return httpInput; } RegularGCodeInput *GetTelnetInput() const { return telnetInput; } @@ -150,14 +154,6 @@ private: enum class CannedMoveType : uint8_t { none, relative, absolute }; - struct RestorePoint - { - float moveCoords[DRIVES]; - float feedRate; - RestorePoint() { Init(); } - void Init(); - }; - // Resources that can be locked. // To avoid deadlock, if you need multiple resources then you must lock them in increasing numerical order. typedef unsigned int Resource; @@ -181,29 +177,27 @@ private: void DoFilePrint(GCodeBuffer& gb, StringRef& reply); // Get G Codes from a file and print them bool DoFileMacro(GCodeBuffer& gb, const char* fileName, bool reportMissing, bool runningM502 = false); // Run a GCode macro file, optionally report error if not found - bool DoCannedCycleMove(GCodeBuffer& gb, EndstopChecks ce); // Do a move from an internally programmed canned cycle void FileMacroCyclesReturn(GCodeBuffer& gb); // 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 - int SetUpMove(GCodeBuffer& gb, StringRef& reply); // Pass a move on to the Move module + + bool DoStraightMove(GCodeBuffer& gb, StringRef& reply); // Execute a straight move returning true if an error was written to 'reply' + bool DoArcMove(GCodeBuffer& gb, bool clockwise) // Execute an arc move returning true if it was badly-formed + pre(segmentsLeft == 0; resourceOwners[MoveResource] == &gb); + bool DoDwell(GCodeBuffer& gb); // Wait for a bit bool DoDwellTime(GCodeBuffer& gb, uint32_t dwellMillis); // Really wait for a bit bool DoHome(GCodeBuffer& gb, StringRef& reply, bool& error); // Home some axes - bool DoSingleZProbeAtPoint(GCodeBuffer& gb, size_t probePointIndex, float heightAdjust); // Probe at a given point - bool DoSingleZProbe(GCodeBuffer& gb, StringRef& reply, bool reportOnly, float heightAdjust); // Probe where we are - int DoZProbe(GCodeBuffer& gb, 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 + bool ExecuteG30(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 bool SetOrReportOffsets(GCodeBuffer& gb, StringRef& reply); // Deal with a G10 bool SetPositions(GCodeBuffer& gb); // Deal with a G92 bool LoadExtrusionAndFeedrateFromGCode(GCodeBuffer& gb, int moveType); // Set up the extrusion and feed rate of a move for the Move class - unsigned int LoadMoveBufferFromGCode(GCodeBuffer& gb, int moveType); // Set up the axis coordinates of a move for the Move class - bool DoArcMove(GCodeBuffer& gb, bool clockwise) // Execute an arc move returning true if it was badly-formed - pre(segmentsLeft == 0; resourceOwners[MoveResource] == &gb); bool Push(GCodeBuffer& gb); // Push feedrate etc on the stack void Pop(GCodeBuffer& gb); // Pop feedrate etc @@ -223,8 +217,14 @@ private: OutputBuffer *GenerateJsonStatusResponse(int type, int seq, ResponseSource source) const; // Generate a M408 response void CheckReportDue(GCodeBuffer& gb, StringRef& reply) const; // Check whether we need to report temperatures or status + void SavePosition(RestorePoint& rp, const GCodeBuffer& gb) const; // Save position to a restore point + void RestorePosition(const RestorePoint& rp, GCodeBuffer& gb); // Restore user position form a restore point + void SetAllAxesNotHomed(); // Flag all axes as not homed - void SetPositions(const float positionNow[DRIVES], bool doBedCompensation = true); // Set the current position to be this + void SetMachinePosition(const float positionNow[DRIVES], bool doBedCompensation = true); // Set the current position to be this + void GetCurrentUserPosition(); // Get the current position form the Move class + void ToolOffsetTransform(const float coordsIn[MaxAxes], float coordsOut[MaxAxes], bool mapXAxis); // Convert user coordinates to head reference point coordinates + void ToolOffsetInverseTransform(const float coordsIn[MaxAxes], float coordsOut[MaxAxes]); // Convert head reference point coordinates to user coordinates const char *TranslateEndStopResult(EndStopHit es); // Translate end stop result to text bool RetractFilament(GCodeBuffer& gb, bool retract); // Retract or un-retract filaments bool ChangeMicrostepping(size_t drive, int microsteps, int mode) const; // Change microstepping on the specified drive @@ -246,7 +246,10 @@ private: bool WriteConfigOverrideFile(StringRef& reply, const char *fileName) const; // Write the config-override file void CopyConfigFinalValues(GCodeBuffer& gb); // Copy the feed rate etc. from the daemon to the input channels - void ClearBabyStepping(); + void ClearBabyStepping() { currentBabyStepZOffset = 0.0; } + + MessageType GetMessageBoxDevice(GCodeBuffer& gb) const; // Decide which device to display a message box on + void DoManualProbe(GCodeBuffer& gb); // Do a manual bed probe static uint32_t LongArrayToBitMap(const long *arr, size_t numEntries); // Convert an array of longs to a bit map @@ -276,6 +279,9 @@ private: bool runningConfigFile; // We are running config.g during the startup process bool doingToolChange; // We are running tool change macros + float currentUserPosition[MaxAxes]; // The current position of the axes as commanded by the input gcode, before accounting for tool offset and Z hop + float currentZHop; // The amount of Z hop that is currently applied + // The following contain the details of moves that the Move module fetches RawMove moveBuffer; // Move details to pass to Move class unsigned int segmentsLeft; // The number of segments left to do in the current move, or 0 if no move available @@ -292,15 +298,12 @@ private: size_t numTotalAxes; // How many axes we have size_t numVisibleAxes; // How many axes are visible size_t numExtruders; // How many extruders we have, or may have + float axisOffsets[MaxAxes]; // M206 axis offsets float axisScaleFactors[MaxAxes]; // Scale XYZ coordinates by this factor (for Delta configurations) float lastRawExtruderPosition[MaxExtruders]; // Extruder position of the last move fed into the Move class float rawExtruderTotalByDrive[MaxExtruders]; // 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 cannedMoveCoords[DRIVES]; // Where to go or how much to move by in a canned cycle move, last is feed rate - float cannedFeedRate; // How fast to do it - CannedMoveType cannedMoveType[DRIVES]; // Is this drive involved in a canned cycle move? - bool offSetSet; // Are any axis offsets non-zero? float distanceScale; // MM or inches float arcSegmentLength; // Length of segments that we split arc moves into FileData fileToPrint; @@ -312,9 +315,6 @@ private: 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. - size_t 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 limitAxes; // Don't think outside the box. uint32_t axesHomed; // Bitmap of which axes have been homed float pausedFanSpeeds[NUM_FANS]; // Fan speeds when the print was paused or a tool change started @@ -323,13 +323,14 @@ private: float speedFactor; // speed factor, including the conversion from mm/min to mm/sec, normally 1/60 float extrusionFactors[MaxExtruders]; // extrusion factors (normally 1.0) float currentBabyStepZOffset; // The accumulated Z offset due to baby stepping requests - float pendingBabyStepZOffset; // The amount of additional baby stepping requested but not yet acted on // Z probe + int32_t g30ProbePointIndex; // the index of the point we are probing (G30 P parameter), or -1 if none float lastProbedZ; // the last height at which the Z probe stopped uint32_t lastProbedTime; // time in milliseconds that the probe was last triggered volatile bool zProbeTriggered; // Set by the step ISR when a move is aborted because the Z probe is triggered size_t gridXindex, gridYindex; // Which grid probe point is next + bool doingManualBedProbe; // true if we are waiting for the user to jog the nozzle until it touches the bed float simulationTime; // Accumulated simulation time uint8_t simulationMode; // 0 = not simulating, 1 = simulating, >1 are simulation modes for debugging @@ -363,6 +364,7 @@ private: // Misc float longWait; // Timer for things that happen occasionally (seconds) uint32_t lastWarningMillis; // When we last sent a warning message for things that can happen very often + uint16_t axesToSenseLength; // The axes on which we are performing axis length sensing int8_t lastAuxStatusReportType; // The type of the last status report requested by PanelDue bool isWaiting; // True if waiting to reach temperature bool cancelWait; // Set true to cancel waiting |