Welcome to mirror list, hosted at ThFree Co, Russian Federation.

github.com/Duet3D/RepRapFirmware.git - Unnamed repository; edit this file 'description' to name the repository.
summaryrefslogtreecommitdiff
diff options
context:
space:
mode:
Diffstat
-rw-r--r--src/GCodes/GCodeMachineState.h2
-rw-r--r--src/GCodes/GCodes.h14
-rw-r--r--src/GCodes/GCodes2.cpp12
-rw-r--r--src/GCodes/GCodes4.cpp12
-rw-r--r--src/Movement/Kinematics/FiveBarScaraKinematics.cpp17
-rw-r--r--src/RepRap.cpp5
-rw-r--r--src/RepRap.h2
-rw-r--r--src/Version.h2
8 files changed, 39 insertions, 27 deletions
diff --git a/src/GCodes/GCodeMachineState.h b/src/GCodes/GCodeMachineState.h
index 12d52564..6bde095a 100644
--- a/src/GCodes/GCodeMachineState.h
+++ b/src/GCodes/GCodeMachineState.h
@@ -176,7 +176,6 @@ public:
uint32_t lineNumber;
Compatibility compatibility;
- int16_t newToolNumber;
uint16_t
drivesRelative : 1,
axesRelative : 1,
@@ -198,7 +197,6 @@ public:
uint8_t blockNesting;
GCodeState state;
- uint8_t toolChangeParam;
bool DoingFile() const noexcept;
void CloseFile() noexcept;
diff --git a/src/GCodes/GCodes.h b/src/GCodes/GCodes.h
index 959ee938..d6fbd208 100644
--- a/src/GCodes/GCodes.h
+++ b/src/GCodes/GCodes.h
@@ -87,8 +87,6 @@ class StraightProbeSettings;
class GCodes
{
public:
- friend class LinuxInterface;
-
GCodes(Platform& p) noexcept;
void Spin() noexcept; // Called in a tight loop to make this class work
void Init() noexcept; // Set it up
@@ -193,6 +191,12 @@ public:
void AssignGrid(float xRange[2], float yRange[2], float radius, float spacing[2]) noexcept; // Assign the heightmap using the given parameters
void ActivateHeightmap(bool activate) noexcept; // (De-)Activate the height map
+ int GetNewToolNumber() const noexcept { return newToolNumber; }
+
+ // These next two are public because they are used by class LinuxInterface
+ void UnlockAll(const GCodeBuffer& gb) noexcept; // Release all locks
+ GCodeBuffer *GetGCodeBuffer(GCodeChannel channel) const noexcept { return gcodeSources[channel.ToBaseType()]; }
+
#if HAS_MASS_STORAGE
GCodeResult StartSDTiming(GCodeBuffer& gb, const StringRef& reply) noexcept; // Start timing SD card file writing
#endif
@@ -278,9 +282,7 @@ private:
void GrabMovement(const GCodeBuffer& gb) noexcept; // Grab the movement lock even if it is already owned
void UnlockResource(const GCodeBuffer& gb, Resource r) noexcept; // Unlock the resource if we own it
void UnlockMovement(const GCodeBuffer& gb) noexcept; // Unlock the movement resource if we own it
- void UnlockAll(const GCodeBuffer& gb) noexcept; // Release all locks
- GCodeBuffer *GetGCodeBuffer(GCodeChannel channel) const noexcept { return gcodeSources[channel.ToBaseType()]; }
void StartNextGCode(GCodeBuffer& gb, const StringRef& reply) noexcept; // Fetch a new or old GCode and process it
void RunStateMachine(GCodeBuffer& gb, const StringRef& reply) noexcept; // Execute a step of the state machine
void DoStraightManualProbe(GCodeBuffer& gb, const StraightProbeSettings& sps);
@@ -527,6 +529,10 @@ private:
FilePosition fileOffsetToPrint; // The offset to print from
#endif
+ // Tool change. These variables can be global because movement is locked while doing a tool change, so only one can take place at a time.
+ int16_t newToolNumber;
+ uint8_t toolChangeParam;
+
char axisLetters[MaxAxes + 1]; // The names of the axes, with a null terminator
bool limitAxes; // Don't think outside the box
bool noMovesBeforeHoming; // Don't allow movement prior to homing the associates axes
diff --git a/src/GCodes/GCodes2.cpp b/src/GCodes/GCodes2.cpp
index 328eb1b2..1dc7aad1 100644
--- a/src/GCodes/GCodes2.cpp
+++ b/src/GCodes/GCodes2.cpp
@@ -1370,8 +1370,8 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply) THROWS(GCodeEx
return false;
}
- gb.MachineState().newToolNumber = applicableTool->Number();
- gb.MachineState().toolChangeParam = (simulationMode != 0) ? 0 : DefaultToolChangeParam;
+ newToolNumber = applicableTool->Number();
+ toolChangeParam = (simulationMode != 0) ? 0 : DefaultToolChangeParam;
gb.SetState(GCodeState::m109ToolChange0);
result = GCodeResult::ok;
}
@@ -4318,10 +4318,10 @@ bool GCodes::HandleTcode(GCodeBuffer& gb, const StringRef& reply)
// If old and new are the same we no longer follow the sequence. User can deselect and then reselect the tool if he wants the macros run.
if (oldTool == nullptr || oldTool->Number() != toolNum)
{
- gb.MachineState().newToolNumber = toolNum;
- gb.MachineState().toolChangeParam = (simulationMode != 0) ? 0
- : gb.Seen('P') ? gb.GetUIValue()
- : DefaultToolChangeParam;
+ newToolNumber = toolNum;
+ toolChangeParam = (simulationMode != 0) ? 0
+ : gb.Seen('P') ? gb.GetUIValue()
+ : DefaultToolChangeParam;
gb.SetState(GCodeState::toolChange0);
return true; // proceeding with state machine, so don't unlock or send a reply
}
diff --git a/src/GCodes/GCodes4.cpp b/src/GCodes/GCodes4.cpp
index 7370cf25..d08a9152 100644
--- a/src/GCodes/GCodes4.cpp
+++ b/src/GCodes/GCodes4.cpp
@@ -234,7 +234,7 @@ void GCodes::RunStateMachine(GCodeBuffer& gb, const StringRef& reply) noexcept
currentUserPosition[Z_AXIS] += currentZHop;
currentZHop = 0.0;
- if ((gb.MachineState().toolChangeParam & TFreeBit) != 0)
+ if ((toolChangeParam & TFreeBit) != 0)
{
const Tool * const oldTool = reprap.GetCurrentTool();
if (oldTool != nullptr && AllAxesAreHomed())
@@ -257,10 +257,10 @@ void GCodes::RunStateMachine(GCodeBuffer& gb, const StringRef& reply) noexcept
UpdateCurrentUserPosition(); // the tool offset may have changed, so get the current position
}
gb.AdvanceState();
- if (reprap.GetTool(gb.MachineState().newToolNumber).IsNotNull() && AllAxesAreHomed() && (gb.MachineState().toolChangeParam & TPreBit) != 0)
+ if (reprap.GetTool(newToolNumber).IsNotNull() && AllAxesAreHomed() && (toolChangeParam & TPreBit) != 0)
{
String<StringLength20> scratchString;
- scratchString.printf("tpre%d.g", gb.MachineState().newToolNumber);
+ scratchString.printf("tpre%d.g", newToolNumber);
DoFileMacro(gb, scratchString.c_str(), false, 0);
}
}
@@ -270,16 +270,16 @@ void GCodes::RunStateMachine(GCodeBuffer& gb, const StringRef& reply) noexcept
case GCodeState::m109ToolChange2: // select the new tool if it exists and run tpost
if (LockMovementAndWaitForStandstill(gb)) // wait for tpre.g to finish executing
{
- reprap.SelectTool(gb.MachineState().newToolNumber, simulationMode != 0);
+ reprap.SelectTool(newToolNumber, simulationMode != 0);
UpdateCurrentUserPosition(); // get the actual position of the new tool
gb.AdvanceState();
if (AllAxesAreHomed())
{
- if (reprap.GetCurrentTool() != nullptr && (gb.MachineState().toolChangeParam & TPostBit) != 0)
+ if (reprap.GetCurrentTool() != nullptr && (toolChangeParam & TPostBit) != 0)
{
String<StringLength20> scratchString;
- scratchString.printf("tpost%d.g", gb.MachineState().newToolNumber);
+ scratchString.printf("tpost%d.g", newToolNumber);
DoFileMacro(gb, scratchString.c_str(), false, 0);
}
}
diff --git a/src/Movement/Kinematics/FiveBarScaraKinematics.cpp b/src/Movement/Kinematics/FiveBarScaraKinematics.cpp
index 2461ca53..9c2eefe2 100644
--- a/src/Movement/Kinematics/FiveBarScaraKinematics.cpp
+++ b/src/Movement/Kinematics/FiveBarScaraKinematics.cpp
@@ -32,6 +32,7 @@ constexpr ObjectModelTableEntry FiveBarScaraKinematics::objectModelTable[] =
// Within each group, these entries must be in alphabetical order
// 0. kinematics members
{ "name", OBJECT_MODEL_FUNC(self->GetName(true)), ObjectModelEntryFlags::none },
+ //TODO lots more to be added here
};
constexpr uint8_t FiveBarScaraKinematics::objectModelTableDescriptor[] = { 1, 1 };
@@ -54,7 +55,7 @@ const char *FiveBarScaraKinematics::GetName(bool forStatusReport) const noexcept
//////////////////////// private functions /////////////////////////
-// no results returnes. All results are stored in the cached variables.
+// no results returned. All results are stored in the cached variables.
// The constraints are not checked
void FiveBarScaraKinematics::getInverse(const float coords[]) const noexcept
{
@@ -541,6 +542,7 @@ bool FiveBarScaraKinematics::Configure(unsigned int mCode, GCodeBuffer& gb, cons
{
if (mCode == 669)
{
+ //TODO this should print the existing values if no parameters are given, instead of insisting that all parameters are present
// must be defined: X, Y, P, D
gb.MustSee('X');
gb.MustSee('Y');
@@ -579,7 +581,7 @@ bool FiveBarScaraKinematics::Configure(unsigned int mCode, GCodeBuffer& gb, cons
workmode = 1; // default
}
- // proximal arm lenghts
+ // proximal arm lengths
float proximalLengths[2];
gb.TryGetFloatArray('P', 2, proximalLengths, reply, seen);
proximalL = proximalLengths[0];
@@ -588,6 +590,8 @@ bool FiveBarScaraKinematics::Configure(unsigned int mCode, GCodeBuffer& gb, cons
// distal arm lengths and optional lengths of cantilevered arm
bool dseen = false;
float distalLengths[4];
+ //TODO TryGetFloatArray will report an error if the wrong number of values is provided. But we want to allow either 2 or 4.
+ //TODO So this code should call Seen() followed by GetFloatArray() instead, then check the number of returned values.
if (!gb.TryGetFloatArray('D', 4, distalLengths, reply, dseen) && dseen)
{
distalL = distalLengths[0];
@@ -619,6 +623,7 @@ bool FiveBarScaraKinematics::Configure(unsigned int mCode, GCodeBuffer& gb, cons
}
else
{
+ //TODO instead of doing this, set these values up up during initialisation or when changing workmode, and leave them alone here
if (workmode == 1)
{
homingAngleL = 20.0; // default
@@ -681,10 +686,11 @@ bool FiveBarScaraKinematics::Configure(unsigned int mCode, GCodeBuffer& gb, cons
}
// optional rectangle definition of a print area. Must match the workmode reachable area
+ //TODO is this needed? Why not use the M208 limits instead?
if (gb.Seen('Z'))
{
float coordinates[4];
- gb.TryGetFloatArray('Z', 4, coordinates, reply, seen);
+ gb.TryGetFloatArray('Z', 4, coordinates, reply, seenNonGeometry);
for (int i=0; i < 4; i++)
{
printArea[i] = coordinates[i];
@@ -699,12 +705,13 @@ bool FiveBarScaraKinematics::Configure(unsigned int mCode, GCodeBuffer& gb, cons
gb.TryGetFValue('S', segmentsPerSecond, seenNonGeometry); // value defined in Kinematics.h
gb.TryGetFValue('T', minSegmentLength, seenNonGeometry); // value defined in Kinematics.h
- if (seen || seenNonGeometry)
+ if (seen)
{
Recalc();
}
- else if (!gb.Seen('K'))
+ else if (!seenNonGeometry && !gb.Seen('K'))
{
+ //TODO print all the parameters here
reply.printf("Kinematics is FiveBarScara, documented in https://duet3d.dozuki.com/Guide/Five+Bar+Parallel+SCARA/24?lang=en");
}
diff --git a/src/RepRap.cpp b/src/RepRap.cpp
index 57709199..1fc72a63 100644
--- a/src/RepRap.cpp
+++ b/src/RepRap.cpp
@@ -250,13 +250,14 @@ constexpr ObjectModelTableEntry RepRap::objectModelTable[] =
{ "beep", OBJECT_MODEL_FUNC(self, 4), ObjectModelEntryFlags::live },
{ "currentTool", OBJECT_MODEL_FUNC((int32_t)self->GetCurrentToolNumber()), ObjectModelEntryFlags::live },
{ "displayMessage", OBJECT_MODEL_FUNC(&self->message), ObjectModelEntryFlags::live },
- { "laserPwm", OBJECT_MODEL_FUNC(self->platform->GetLaserPwm(), 2), ObjectModelEntryFlags::live },
+ { "laserPwm", OBJECT_MODEL_FUNC_IF(self->gCodes->GetMachineType() == MachineType::laser, self->platform->GetLaserPwm(), 2), ObjectModelEntryFlags::live },
#if HAS_MASS_STORAGE
{ "logFile", OBJECT_MODEL_FUNC(self->platform->GetLogFileName()), ObjectModelEntryFlags::none },
#else
{ "logFile", OBJECT_MODEL_FUNC(nullptr), ObjectModelEntryFlags::none },
#endif
{ "machineMode", OBJECT_MODEL_FUNC(self->gCodes->GetMachineModeString()), ObjectModelEntryFlags::none },
+ { "nextTool", OBJECT_MODEL_FUNC((int32_t)self->gCodes->GetNewToolNumber()), ObjectModelEntryFlags::live },
{ "powerFailScript", OBJECT_MODEL_FUNC(self->gCodes->GetPowerFailScript()), ObjectModelEntryFlags::none },
{ "previousTool", OBJECT_MODEL_FUNC((int32_t)self->previousToolNumber), ObjectModelEntryFlags::live },
{ "status", OBJECT_MODEL_FUNC(self->GetStatusString()), ObjectModelEntryFlags::live },
@@ -292,7 +293,7 @@ constexpr ObjectModelTableEntry RepRap::objectModelTable[] =
{ "volumes", OBJECT_MODEL_FUNC((int32_t)self->volumesSeq), ObjectModelEntryFlags::live },
};
-constexpr uint8_t RepRap::objectModelTableDescriptor[] = { 7, 16, 7, 22, 11, 2, 6, 14 };
+constexpr uint8_t RepRap::objectModelTableDescriptor[] = { 7, 16, 7, 22, 12, 2, 6, 14 };
DEFINE_GET_OBJECT_MODEL_TABLE(RepRap)
diff --git a/src/RepRap.h b/src/RepRap.h
index 9c7a7fe6..eec84bd5 100644
--- a/src/RepRap.h
+++ b/src/RepRap.h
@@ -279,7 +279,7 @@ private:
MessageBox mbox; // message box data
- int8_t previousToolNumber;
+ int16_t previousToolNumber; // the tool number we were using before the last tool change, or -1 if we weren't using a tool
// Deferred diagnostics
MessageType diagnosticsDestination;
diff --git a/src/Version.h b/src/Version.h
index d18cab4f..1262bc88 100644
--- a/src/Version.h
+++ b/src/Version.h
@@ -19,7 +19,7 @@
#endif
#ifndef DATE
-# define DATE "2020-03-11b1"
+# define DATE "2020-03-12b1"
#endif
#define AUTHORS "reprappro, dc42, chrishamm, t3p3, dnewman, printm3d"
generated by cgit v1.2.3 (git 2.25.1) at 2024-09-08 09:37:57 +0300