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Diffstat (limited to 'src/GCodes/GCodes.cpp')
| -rw-r--r-- | src/GCodes/GCodes.cpp | 6605 |
1 files changed, 0 insertions, 6605 deletions
diff --git a/src/GCodes/GCodes.cpp b/src/GCodes/GCodes.cpp deleted file mode 100644 index 37602f94..00000000 --- a/src/GCodes/GCodes.cpp +++ /dev/null @@ -1,6605 +0,0 @@ -/**************************************************************************************************** - - 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. - - Most of the functions in here are designed not to wait, and they return a boolean. When you want them to do - something, you call them. If they return false, the machine can't do what you want yet. So you go away - and do something else. Then you try again. If they return true, the thing you wanted done has been done. - - ----------------------------------------------------------------------------------------------------- - - Version 0.1 - - 13 February 2013 - - Adrian Bowyer - RepRap Professional Ltd - http://reprappro.com - - Licence: GPL - - ****************************************************************************************************/ - -#include "RepRapFirmware.h" - -#ifdef DUET_NG -#include "FirmwareUpdater.h" -#endif - -#define DEGREE_SYMBOL "\xC2\xB0" // degree-symbol encoding in UTF8 - -const char GCodes::axisLetters[MAX_AXES] = { 'X', 'Y', 'Z', 'U', 'V', 'W' }; - -const char* BED_EQUATION_G = "bed.g"; -const char* PAUSE_G = "pause.g"; -const char* RESUME_G = "resume.g"; -const char* CANCEL_G = "cancel.g"; -const char* STOP_G = "stop.g"; -const char* SLEEP_G = "sleep.g"; -const char* homingFileNames[MAX_AXES] = { "homex.g", "homey.g", "homez.g", "homeu.g", "homev.g", "homew.g" }; -const char* HOME_ALL_G = "homeall.g"; -const char* HOME_DELTA_G = "homedelta.g"; -const char* DefaultHeightMapFile = "heightmap.csv"; - -const size_t gcodeReplyLength = 2048; // long enough to pass back a reasonable number of files in response to M20 - -const float MinServoPulseWidth = 544.0, MaxServoPulseWidth = 2400.0; -const uint16_t ServoRefreshFrequency = 50; - -void GCodes::RestorePoint::Init() -{ - for (size_t i = 0; i < DRIVES; ++i) - { - moveCoords[i] = 0.0; - } - feedRate = DEFAULT_FEEDRATE/minutesToSeconds; -} - -GCodes::GCodes(Platform* p, Webserver* w) : - platform(p), webserver(w), active(false), isFlashing(false), - fileBeingHashed(nullptr) -{ - httpGCode = new GCodeBuffer("http", HTTP_MESSAGE); - telnetGCode = new GCodeBuffer("telnet", TELNET_MESSAGE); - fileGCode = new GCodeBuffer("file", GENERIC_MESSAGE); - serialGCode = new GCodeBuffer("serial", HOST_MESSAGE); - auxGCode = new GCodeBuffer("aux", AUX_MESSAGE); - daemonGCode = new GCodeBuffer("daemon", GENERIC_MESSAGE); -} - -void GCodes::Exit() -{ - platform->Message(HOST_MESSAGE, "GCodes class exited.\n"); - active = false; -} - -void GCodes::Init() -{ - Reset(); - numAxes = MIN_AXES; - numExtruders = MaxExtruders; - distanceScale = 1.0; - rawExtruderTotal = 0.0; - for (size_t extruder = 0; extruder < MaxExtruders; extruder++) - { - lastRawExtruderPosition[extruder] = 0.0; - rawExtruderTotalByDrive[extruder] = 0.0; - } - eofString = EOF_STRING; - eofStringCounter = 0; - eofStringLength = strlen(eofString); - offSetSet = false; - zProbesSet = false; - active = true; - longWait = platform->Time(); - dwellTime = longWait; - limitAxes = true; - for(size_t axis = 0; axis < MAX_AXES; axis++) - { - axisScaleFactors[axis] = 1.0; - } - SetAllAxesNotHomed(); - for (size_t i = 0; i < NUM_FANS; ++i) - { - pausedFanValues[i] = 0.0; - } - lastDefaultFanSpeed = 0.0; - - retractLength = retractExtra = retractHop = 0.0; - retractSpeed = unRetractSpeed = 600.0; -} - -// This is called from Init and when doing an emergency stop -void GCodes::Reset() -{ - httpGCode->Init(); - telnetGCode->Init(); - fileGCode->Init(); - serialGCode->Init(); - auxGCode->Init(); - auxGCode->SetCommsProperties(1); // by default, we require a checksum on the aux port - daemonGCode->Init(); - - nextGcodeSource = 0; - - fileToPrint.Close(); - fileBeingWritten = NULL; - dwellWaiting = false; - probeCount = 0; - cannedCycleMoveCount = 0; - cannedCycleMoveQueued = false; - speedFactor = 1.0 / minutesToSeconds; // default is just to convert from mm/minute to mm/second - for (size_t i = 0; i < MaxExtruders; ++i) - { - extrusionFactors[i] = 1.0; - } - for (size_t i = 0; i < DRIVES; ++i) - { - moveBuffer.coords[i] = 0.0; - } - moveBuffer.xAxes = DefaultXAxisMapping; - - feedRate = DEFAULT_FEEDRATE/minutesToSeconds; - pauseRestorePoint.Init(); - toolChangeRestorePoint.Init(); - - ClearMove(); - - for (size_t i = 0; i < MaxTriggers; ++i) - { - triggers[i].Init(); - } - triggersPending = 0; - - simulationMode = 0; - simulationTime = 0.0; - isPaused = false; - filePos = moveBuffer.filePos = noFilePosition; - lastEndstopStates = platform->GetAllEndstopStates(); - firmwareUpdateModuleMap = 0; - - cancelWait = isWaiting = false; - - for (size_t i = 0; i < NumResources; ++i) - { - resourceOwners[i] = nullptr; - } -} - -float GCodes::FractionOfFilePrinted() const -{ - const FileData& fileBeingPrinted = fileGCode->OriginalMachineState().fileState; - return (fileBeingPrinted.IsLive()) ? fileBeingPrinted.FractionRead() : -1.0; -} - -// Start running the config file -// We use triggerCGode as the source to prevent any triggers being executed until we have finished -bool GCodes::RunConfigFile(const char* fileName) -{ - return DoFileMacro(*daemonGCode, fileName, false); -} - -// Are we still running the config file? -bool GCodes::IsRunningConfigFile() const -{ - return daemonGCode->MachineState().fileState.IsLive(); -} - -void GCodes::Spin() -{ - if (!active) - { - return; - } - - CheckTriggers(); - - // Get the GCodeBuffer that we want to work from - GCodeBuffer& gb = *(gcodeSources[nextGcodeSource]); - - // Set up a buffer for the reply - char replyBuffer[gcodeReplyLength]; - StringRef reply(replyBuffer, ARRAY_SIZE(replyBuffer)); - reply.Clear(); - - if (gb.GetState() == GCodeState::normal) - { - StartNextGCode(gb, reply); - } - else - { - // Perform the next operation of the state machine for this gcode source - bool error = false; - - switch (gb.GetState()) - { - case GCodeState::waitingForMoveToComplete: - if (AllMovesAreFinishedAndMoveBufferIsLoaded()) - { - gb.SetState(GCodeState::normal); - } - break; - - case GCodeState::homing: - if (toBeHomed == 0) - { - gb.SetState(GCodeState::normal); - } - else - { - for (size_t axis = 0; axis < numAxes; ++axis) - { - // Leave the Z axis until all other axes are done - if ((toBeHomed & (1u << axis)) != 0 && (axis != Z_AXIS || toBeHomed == (1u << Z_AXIS))) - { - toBeHomed &= ~(1u << axis); - DoFileMacro(gb, homingFileNames[axis]); - break; - } - } - } - break; - - case GCodeState::setBed1: - reprap.GetMove()->SetIdentityTransform(); - probeCount = 0; - gb.SetState(GCodeState::setBed2); - // no break - - case GCodeState::setBed2: - { - int numProbePoints = reprap.GetMove()->NumberOfXYProbePoints(); - if (DoSingleZProbeAtPoint(gb, probeCount, 0.0)) - { - probeCount++; - if (probeCount >= numProbePoints) - { - zProbesSet = true; - reprap.GetMove()->FinishedBedProbing(0, reply); - gb.SetState(GCodeState::normal); - } - } - } - break; - - case GCodeState::toolChange1: // Release the old tool (if any) - { - const Tool *oldTool = reprap.GetCurrentTool(); - if (oldTool != NULL) - { - reprap.StandbyTool(oldTool->Number()); - } - } - gb.SetState(GCodeState::toolChange2); - if (reprap.GetTool(newToolNumber) != nullptr && AllAxesAreHomed()) - { - scratchString.printf("tpre%d.g", newToolNumber); - DoFileMacro(gb, scratchString.Pointer(), false); - } - break; - - case GCodeState::toolChange2: // Select the new tool (even if it doesn't exist - that just deselects all tools) - reprap.SelectTool(newToolNumber); - gb.SetState(GCodeState::toolChange3); - if (reprap.GetTool(newToolNumber) != nullptr && AllAxesAreHomed()) - { - scratchString.printf("tpost%d.g", newToolNumber); - DoFileMacro(gb, scratchString.Pointer(), false); - } - break; - - case GCodeState::toolChange3: - gb.SetState(GCodeState::normal); - break; - - case GCodeState::pausing1: - if (AllMovesAreFinishedAndMoveBufferIsLoaded()) - { - gb.SetState(GCodeState::pausing2); - DoFileMacro(gb, PAUSE_G); - } - break; - - case GCodeState::pausing2: - if (AllMovesAreFinishedAndMoveBufferIsLoaded()) - { - reply.copy("Printing paused"); - gb.SetState(GCodeState::normal); - } - break; - - case GCodeState::resuming1: - case GCodeState::resuming2: - // Here when we have just finished running the resume macro file. - // Move the head back to the paused location - if (AllMovesAreFinishedAndMoveBufferIsLoaded()) - { - float currentZ = moveBuffer.coords[Z_AXIS]; - for (size_t drive = 0; drive < numAxes; ++drive) - { - moveBuffer.coords[drive] = pauseRestorePoint.moveCoords[drive]; - } - for (size_t drive = numAxes; drive < DRIVES; ++drive) - { - moveBuffer.coords[drive] = 0.0; - } - moveBuffer.feedRate = DEFAULT_FEEDRATE/minutesToSeconds; // ask for a good feed rate, we may have paused during a slow move - moveBuffer.moveType = 0; - moveBuffer.endStopsToCheck = 0; - moveBuffer.usePressureAdvance = false; - moveBuffer.filePos = noFilePosition; - if (gb.GetState() == GCodeState::resuming1 && currentZ > pauseRestorePoint.moveCoords[Z_AXIS]) - { - // First move the head to the correct XY point, then move it down in a separate move - moveBuffer.coords[Z_AXIS] = currentZ; - gb.SetState(GCodeState::resuming2); - } - else - { - // Just move to the saved position in one go - gb.SetState(GCodeState::resuming3); - } - moveAvailable = true; - } - break; - - case GCodeState::resuming3: - if (AllMovesAreFinishedAndMoveBufferIsLoaded()) - { - for (size_t i = 0; i < NUM_FANS; ++i) - { - platform->SetFanValue(i, pausedFanValues[i]); - } - for (size_t drive = numAxes; drive < DRIVES; ++drive) - { - lastRawExtruderPosition[drive - numAxes] = pauseRestorePoint.moveCoords[drive]; // reset the extruder position in case we are receiving absolute extruder moves - } - feedRate = pauseRestorePoint.feedRate; - isPaused = false; - reply.copy("Printing resumed"); - gb.SetState(GCodeState::normal); - } - break; - - case GCodeState::flashing1: -#ifdef DUET_NG - // Update additional modules before the main firmware - if (FirmwareUpdater::IsReady()) - { - bool updating = false; - for (unsigned int module = 1; module < NumFirmwareUpdateModules; ++module) - { - if ((firmwareUpdateModuleMap & (1u << module)) != 0) - { - firmwareUpdateModuleMap &= ~(1u << module); - FirmwareUpdater::UpdateModule(module); - updating = true; - break; - } - } - if (!updating) - { - gb.SetState(GCodeState::flashing2); - } - } -#else - gb.SetState(GCodeState::flashing2); -#endif - break; - - case GCodeState::flashing2: - if ((firmwareUpdateModuleMap & 1) != 0) - { - // Update main firmware - firmwareUpdateModuleMap = 0; - platform->UpdateFirmware(); - // The above call does not return unless an error occurred - } - isFlashing = false; - gb.SetState(GCodeState::normal); - break; - - case GCodeState::stopping: // MO after executing stop.g if present - case GCodeState::sleeping: // M1 after executing sleep.g if present - // Deselect the active tool and turn off all heaters, unless parameter Hn was used with n > 0 - if (!gb.Seen('H') || gb.GetIValue() <= 0) - { - Tool* tool = reprap.GetCurrentTool(); - if (tool != nullptr) - { - reprap.StandbyTool(tool->Number()); - } - reprap.GetHeat()->SwitchOffAll(); - } - - // chrishamm 2014-18-10: Although RRP says M0 is supposed to turn off all drives and heaters, - // I think M1 is sufficient for this purpose. Leave M0 for a normal reset. - if (gb.GetState() == GCodeState::sleeping) - { - DisableDrives(); - } - else - { - platform->SetDriversIdle(); - } - gb.SetState(GCodeState::normal); - break; - - case GCodeState::gridProbing1: // ready to move to next grid probe point - { - // Move to the current probe point - const GridDefinition grid = reprap.GetMove()->GetBedProbeGrid(); - const float x = grid.GetXCoordinate(gridXindex); - const float y = grid.GetYCoordinate(gridYindex); - if (grid.IsInRadius(x, y) && platform->IsAccessibleProbePoint(x, y)) - { - moveBuffer.moveType = 0; - moveBuffer.endStopsToCheck = 0; - moveBuffer.usePressureAdvance = false; - moveBuffer.filePos = noFilePosition; - moveBuffer.coords[X_AXIS] = x - platform->GetZProbeParameters().xOffset; - moveBuffer.coords[Y_AXIS] = y - platform->GetZProbeParameters().yOffset; - moveBuffer.coords[Z_AXIS] = platform->GetZProbeDiveHeight(); - moveBuffer.feedRate = platform->GetZProbeTravelSpeed(); - moveBuffer.xAxes = 0; - moveAvailable = true; - gb.SetState(GCodeState::gridProbing2); - } - else - { - gb.SetState(GCodeState::gridProbing4); - } - } - break; - - case GCodeState::gridProbing2: // ready to probe the current grid probe point - if (AllMovesAreFinishedAndMoveBufferIsLoaded()) - { - // Probe the bed at the current XY coordinates - // Check for probe already triggered at start - if (reprap.GetPlatform()->GetZProbeResult() == EndStopHit::lowHit) - { - reply.copy("Z probe already triggered before probing move started"); - error = true; - gb.SetState(GCodeState::normal); - break; - } - - zProbeTriggered = false; - moveBuffer.moveType = 0; - moveBuffer.endStopsToCheck = ZProbeActive; - moveBuffer.usePressureAdvance = false; - moveBuffer.filePos = noFilePosition; - moveBuffer.coords[Z_AXIS] = -platform->GetZProbeDiveHeight(); - moveBuffer.feedRate = platform->GetZProbeParameters().probeSpeed; - moveBuffer.xAxes = 0; - moveAvailable = true; - gb.SetState(GCodeState::gridProbing3); - } - break; - - case GCodeState::gridProbing3: // ready to lift the probe after probing the current grid probe point - if (AllMovesAreFinishedAndMoveBufferIsLoaded()) - { - if (!zProbeTriggered) - { - reply.copy("Z probe was not triggered during probing move"); - error = true; - gb.SetState(GCodeState::normal); - break; - } - - const float heightError = moveBuffer.coords[Z_AXIS] - platform->ZProbeStopHeight(); - reprap.GetMove()->SetGridHeight(gridXindex, gridYindex, heightError); - ++numPointsProbed; - heightSum += (double)heightError; - heightSquaredSum += (double)heightError * (double)heightError; - - // Move back up to the dive height - moveBuffer.moveType = 0; - moveBuffer.endStopsToCheck = 0; - moveBuffer.usePressureAdvance = false; - moveBuffer.filePos = noFilePosition; - moveBuffer.coords[Z_AXIS] = platform->GetZProbeDiveHeight(); - moveBuffer.feedRate = platform->GetZProbeTravelSpeed(); - moveBuffer.xAxes = 0; - moveAvailable = true; - gb.SetState(GCodeState::gridProbing4); - } - break; - - case GCodeState::gridProbing4: // ready to compute the next probe point - if (AllMovesAreFinishedAndMoveBufferIsLoaded()) - { - const GridDefinition grid = reprap.GetMove()->GetBedProbeGrid(); - if (gridYindex & 1) - { - // Odd row, so decreasing X - if (gridXindex == 0) - { - ++gridYindex; - } - else - { - --gridXindex; - } - } - else - { - // Even row, so increasing X - if (gridXindex + 1 == grid.NumXpoints()) - { - ++gridYindex; - } - else - { - ++gridXindex; - } - } - if (gridYindex == grid.NumYpoints()) - { - // Finished probing the grid - if (numPointsProbed >= 4) - { - error = reprap.GetMove()->SaveHeightMapToFile(heightMapFile, reply); - const double mean = heightSum/numPointsProbed; - const double deviation = sqrt(((heightSquaredSum * numPointsProbed) - (heightSum * heightSum)))/numPointsProbed; - reply.catf(" - %u points probed, mean error %.2f, deviation %.2f", numPointsProbed, mean, deviation); - reprap.GetMove()->UseHeightMap(); - } - else - { - reply.copy("Too few points probed"); - error = true; - } - gb.SetState(GCodeState::normal); - } - else - { - gb.SetState(GCodeState::gridProbing1); - } - } - break; - - default: // should not happen - platform->Message(GENERIC_MESSAGE, "Error: undefined GCodeState\n"); - gb.SetState(GCodeState::normal); - break; - } - - if (gb.GetState() == GCodeState::normal) - { - // We completed a command, so unlock resources and tell the host about it - UnlockAll(gb); - HandleReply(gb, error, reply.Pointer()); - } - } - - // Move on to the next gcode source ready for next time - ++nextGcodeSource; - if (nextGcodeSource == ARRAY_SIZE(gcodeSources)) - { - nextGcodeSource = 0; - } - - platform->ClassReport(longWait); -} - -// Start a new gcode, or continue to execute one that has already been started: -void GCodes::StartNextGCode(GCodeBuffer& gb, StringRef& reply) -{ - if (isPaused && &gb == fileGCode) - { - // We are paused, so don't process any more gcodes from the file being printed. - // There is a potential issue here if fileGCode holds any locks, so unlock everything. - UnlockAll(gb); - } - else if (gb.IsReady() || gb.IsExecuting()) - { - gb.SetFinished(ActOnCode(gb, reply)); - } - else if (gb.MachineState().fileState.IsLive()) - { - DoFilePrint(gb, reply); - } - else if (&gb == httpGCode) - { - // Webserver - for (unsigned int i = 0; i < 16 && webserver->GCodeAvailable(WebSource::HTTP); ++i) - { - const char b = webserver->ReadGCode(WebSource::HTTP); - if (gb.Put(b)) - { - // We have a complete gcode - if (gb.WritingFileDirectory() != nullptr) - { - WriteGCodeToFile(gb); - gb.SetFinished(true); - } - else - { - gb.SetFinished(ActOnCode(gb, reply)); - } - break; - } - } - } - else if (&gb == telnetGCode) - { - // Telnet - for (unsigned int i = 0; i < GCODE_LENGTH && webserver->GCodeAvailable(WebSource::Telnet); ++i) - { - char b = webserver->ReadGCode(WebSource::Telnet); - if (gb.Put(b)) - { - gb.SetFinished(ActOnCode(gb, reply)); - break; - } - } - } - else if (&gb == serialGCode) - { - // USB interface - for (unsigned int i = 0; i < 16 && platform->GCodeAvailable(SerialSource::USB); ++i) - { - const char b = platform->ReadFromSource(SerialSource::USB); - // Check the special case of uploading the reprap.htm file - if (gb.WritingFileDirectory() == platform->GetWebDir()) - { - WriteHTMLToFile(gb, b); - } - else if (gb.Put(b)) // add char to buffer and test whether the gcode is complete - { - // We have a complete gcode - if (gb.WritingFileDirectory() != nullptr) - { - WriteGCodeToFile(gb); - gb.SetFinished(true); - } - else - { - gb.SetFinished(ActOnCode(gb, reply)); - } - break; - } - } - } - else if (&gb == auxGCode) - { - // Aux serial port (typically PanelDue) - for (unsigned int i = 0; i < 16 && platform->GCodeAvailable(SerialSource::AUX); ++i) - { - char b = platform->ReadFromSource(SerialSource::AUX); - if (gb.Put(b)) // add char to buffer and test whether the gcode is complete - { - platform->SetAuxDetected(); - gb.SetFinished(ActOnCode(gb, reply)); - break; - } - } - } -} - -void GCodes::DoFilePrint(GCodeBuffer& gb, StringRef& reply) -{ - FileData& fd = gb.MachineState().fileState; - for (int i = 0; i < 50 && fd.IsLive(); ++i) - { - char b; - if (fd.Read(b)) - { - if (gb.StartingNewCode() && &gb == fileGCode && gb.MachineState().previous == nullptr) - { - filePos = fd.GetPosition() - 1; - //debugPrintf("Set file pos %u\n", filePos); - } - if (gb.Put(b)) - { - gb.SetFinished(ActOnCode(gb, reply)); - return; - } - } - else - { - // We have reached the end of the file. Check for the last line of gcode not ending in newline. - if (!gb.StartingNewCode()) // if there is something in the buffer - { - if (gb.Put('\n')) // in case there wasn't a newline ending the file - { - gb.SetFinished(ActOnCode(gb, reply)); - return; - } - } - - gb.Init(); // mark buffer as empty - - // Don't close the file until all moves have been completed, in case the print gets paused. - // Also, this keeps the state as 'Printing' until the print really has finished. - if (AllMovesAreFinishedAndMoveBufferIsLoaded()) - { - fd.Close(); - if (gb.MachineState().previous == nullptr) - { - // Finished printing SD card file - reprap.GetPrintMonitor()->StoppedPrint(); - if (platform->Emulating() == marlin) - { - // Pronterface expects a "Done printing" message - HandleReply(gb, false, "Done printing file"); - } - } - else - { - // Finished a macro - Pop(gb); - gb.Init(); - if (gb.GetState() == GCodeState::normal) - { - UnlockAll(gb); - HandleReply(gb, false, ""); - } - } - } - return; - } - } -} - -// Check for and execute triggers -void GCodes::CheckTriggers() -{ - // Check for endstop state changes that activate new triggers - const TriggerMask oldEndstopStates = lastEndstopStates; - lastEndstopStates = platform->GetAllEndstopStates(); - const TriggerMask risen = lastEndstopStates & ~oldEndstopStates, - fallen = ~lastEndstopStates & oldEndstopStates; - unsigned int lowestTriggerPending = MaxTriggers; - for (unsigned int triggerNumber = 0; triggerNumber < MaxTriggers; ++triggerNumber) - { - const Trigger& ct = triggers[triggerNumber]; - if ( ((ct.rising & risen) != 0 || (ct.falling & fallen) != 0) - && (ct.condition == 0 || (ct.condition == 1 && reprap.GetPrintMonitor()->IsPrinting())) - ) - { - triggersPending |= (1u << triggerNumber); - } - if (triggerNumber < lowestTriggerPending && (triggersPending & (1u << triggerNumber)) != 0) - { - lowestTriggerPending = triggerNumber; - } - } - - // If any triggers are pending, activate the one with the lowest number - if (lowestTriggerPending == 0) - { - triggersPending &= ~(1u << lowestTriggerPending); // clear the trigger - DoEmergencyStop(); - } - else if (lowestTriggerPending < MaxTriggers // if a trigger is pending - && !daemonGCode->MachineState().fileState.IsLive() - && daemonGCode->GetState() == GCodeState::normal // and we are not already executing a trigger or config.g - ) - { - if (lowestTriggerPending == 1) - { - if (isPaused || !reprap.GetPrintMonitor()->IsPrinting()) - { - triggersPending &= ~(1u << lowestTriggerPending); // ignore a pause trigger if we are already paused - } - else if (LockMovement(*daemonGCode)) // need to lock movement before executing the pause macro - { - triggersPending &= ~(1u << lowestTriggerPending); // clear the trigger - DoPause(*daemonGCode); - } - } - else - { - triggersPending &= ~(1u << lowestTriggerPending); // clear the trigger - char buffer[25]; - StringRef filename(buffer, ARRAY_SIZE(buffer)); - filename.printf(SYS_DIR "trigger%u.g", lowestTriggerPending); - DoFileMacro(*daemonGCode, filename.Pointer(), true); - } - } -} - -// Execute an emergency stop -void GCodes::DoEmergencyStop() -{ - reprap.EmergencyStop(); - Reset(); - platform->Message(GENERIC_MESSAGE, "Emergency Stop! Reset the controller to continue."); -} - -// Pause the print. Before calling this, check that we are doing a file print that isn't already paused and get the movement lock. -void GCodes::DoPause(GCodeBuffer& gb) -{ - if (&gb == fileGCode) - { - // Pausing a file print because of a command in the file itself - for (size_t drive = 0; drive < numAxes; ++drive) - { - pauseRestorePoint.moveCoords[drive] = moveBuffer.coords[drive]; - } - for (size_t drive = numAxes; drive < DRIVES; ++drive) - { - pauseRestorePoint.moveCoords[drive] = lastRawExtruderPosition[drive - numAxes]; // get current extruder positions into pausedMoveBuffer - } - pauseRestorePoint.feedRate = feedRate; - } - else - { - // Pausing a file print via another input source - pauseRestorePoint.feedRate = feedRate; // the call to PausePrint may or may not change this - FilePosition fPos = reprap.GetMove()->PausePrint(pauseRestorePoint.moveCoords, pauseRestorePoint.feedRate, reprap.GetCurrentXAxes()); - // tell Move we wish to pause the current print - FileData& fdata = fileGCode->MachineState().fileState; - if (fPos != noFilePosition && fdata.IsLive()) - { - fdata.Seek(fPos); // replay the abandoned instructions if/when we resume - } - if (moveAvailable) - { - for (size_t drive = numAxes; drive < DRIVES; ++drive) - { - pauseRestorePoint.moveCoords[drive] += moveBuffer.coords[drive]; // add on the extrusion in the move not yet taken - } - ClearMove(); - } - - for (size_t drive = numAxes; drive < DRIVES; ++drive) - { - pauseRestorePoint.moveCoords[drive] = lastRawExtruderPosition[drive - numAxes] - pauseRestorePoint.moveCoords[drive]; - } - - //TODO record the virtual extruder positions of mixing tools too. But that's very hard to do unless we store it in the move. - - if (reprap.Debug(moduleGcodes)) - { - platform->MessageF(GENERIC_MESSAGE, "Paused print, file offset=%u\n", fPos); - } - } - - for (size_t i = 0; i < NUM_FANS; ++i) - { - pausedFanValues[i] = platform->GetFanValue(i); - } - gb.SetState(GCodeState::pausing1); - isPaused = true; -} - -void GCodes::Diagnostics(MessageType mtype) -{ - platform->Message(mtype, "=== GCodes ===\n"); - platform->MessageF(mtype, "Move available? %s\n", moveAvailable ? "yes" : "no"); - platform->MessageF(mtype, "Stack records: %u allocated, %u in use\n", GCodeMachineState::GetNumAllocated(), GCodeMachineState::GetNumInUse()); - - for (size_t i = 0; i < ARRAY_SIZE(gcodeSources); ++i) - { - gcodeSources[i]->Diagnostics(mtype); - } -} - -// The wait till everything's done function. If you need the machine to -// be idle before you do something (for example homing an axis, or shutting down) call this -// until it returns true. As a side-effect it loads moveBuffer with the last position and feedrate for you. -bool GCodes::AllMovesAreFinishedAndMoveBufferIsLoaded() -{ - // Last one gone? - if (moveAvailable) - { - return false; - } - - // Wait for all the queued moves to stop so we get the actual last position - if (!reprap.GetMove()->AllMovesAreFinished()) - { - return false; - } - - reprap.GetMove()->ResumeMoving(); - reprap.GetMove()->GetCurrentUserPosition(moveBuffer.coords, 0, reprap.GetCurrentXAxes()); - return true; -} - -// Save (some of) the state of the machine for recovery in the future. -bool GCodes::Push(GCodeBuffer& gb) -{ - bool ok = gb.PushState(); - if (!ok) - { - platform->Message(GENERIC_MESSAGE, "Push(): stack overflow!\n"); - } - return ok; -} - -// Recover a saved state -void GCodes::Pop(GCodeBuffer& gb) -{ - if (!gb.PopState()) - { - platform->Message(GENERIC_MESSAGE, "Pop(): stack underflow!\n"); - } -} - -// Move expects all axis movements to be absolute, and all extruder drive moves to be relative. This function serves that. -// 'moveType' is the S parameter in the G0 or G1 command, or -1 if we are doing G92. -// For regular (type 0) moves, we apply limits and do X axis mapping. -// Returns true if we have a legal move (or G92 argument), false if this gcode should be discarded -bool GCodes::LoadMoveBufferFromGCode(GCodeBuffer& gb, int moveType) -{ - // Zero every extruder drive as some drives may not be changed - for (size_t drive = numAxes; drive < DRIVES; drive++) - { - moveBuffer.coords[drive] = 0.0; - } - - // Deal with feed rate - if (gb.Seen(feedrateLetter)) - { - feedRate = gb.GetFValue() * distanceScale * speedFactor; - } - moveBuffer.feedRate = feedRate; - - // First do extrusion, and check, if we are extruding, that we have a tool to extrude with - Tool* tool = reprap.GetCurrentTool(); - if (gb.Seen(extrudeLetter)) - { - if (tool == nullptr) - { - platform->Message(GENERIC_MESSAGE, "Attempting to extrude with no tool selected.\n"); - return false; - } - size_t eMoveCount = tool->DriveCount(); - if (eMoveCount > 0) - { - // Set the drive values for this tool. - // chrishamm-2014-10-03: Do NOT check extruder temperatures here, because we may be executing queued codes like M116 - if (tool->GetMixing()) - { - const float moveArg = gb.GetFValue() * distanceScale; - if (moveType == -1) // if doing G92 - { - tool->virtualExtruderPosition = moveArg; - } - else - { - const float requestedExtrusionAmount = (gb.MachineState().drivesRelative) - ? moveArg - : moveArg - tool->virtualExtruderPosition; - for (size_t eDrive = 0; eDrive < eMoveCount; eDrive++) - { - const int drive = tool->Drive(eDrive); - const float extrusionAmount = requestedExtrusionAmount * tool->GetMix()[eDrive]; - lastRawExtruderPosition[drive] += extrusionAmount; - rawExtruderTotalByDrive[drive] += extrusionAmount; - rawExtruderTotal += extrusionAmount; - moveBuffer.coords[drive + numAxes] = extrusionAmount * extrusionFactors[drive]; - } - } - } - else - { - float eMovement[MaxExtruders]; - size_t mc = eMoveCount; - gb.GetFloatArray(eMovement, mc, false); - if (eMoveCount != mc) - { - platform->MessageF(GENERIC_MESSAGE, "Wrong number of extruder drives for the selected tool: %s\n", gb.Buffer()); - return false; - } - - for (size_t eDrive = 0; eDrive < eMoveCount; eDrive++) - { - const int drive = tool->Drive(eDrive); - const float moveArg = eMovement[eDrive] * distanceScale; - if (moveType == -1) - { - moveBuffer.coords[drive + numAxes] = moveArg; - lastRawExtruderPosition[drive] = moveArg; - } - else - { - const float extrusionAmount = (gb.MachineState().drivesRelative) - ? moveArg - : moveArg - lastRawExtruderPosition[drive]; - lastRawExtruderPosition[drive] += extrusionAmount; - rawExtruderTotalByDrive[drive] += extrusionAmount; - rawExtruderTotal += extrusionAmount; - moveBuffer.coords[drive + numAxes] = extrusionAmount * extrusionFactors[drive]; - } - } - } - } - } - - // Now the movement axes - const Tool *currentTool = reprap.GetCurrentTool(); - for (size_t axis = 0; axis < numAxes; axis++) - { - if (gb.Seen(axisLetters[axis])) - { - float moveArg = gb.GetFValue() * distanceScale * axisScaleFactors[axis]; - if (moveType == -1) // if doing G92 - { - SetAxisIsHomed(axis); // doing a G92 defines the absolute axis position - moveBuffer.coords[axis] = moveArg; - } - else if (axis == X_AXIS && moveType == 0 && currentTool != nullptr) - { - // Perform X axis mapping - const uint32_t xMap = currentTool->GetXAxisMap(); - for (size_t mappedAxis = 0; mappedAxis < numAxes; ++mappedAxis) - { - if ((xMap & (1u << mappedAxis)) != 0) - { - float mappedMoveArg = moveArg; - if (gb.MachineState().axesRelative) - { - mappedMoveArg += moveBuffer.coords[mappedAxis]; - } - else - { - mappedMoveArg -= currentTool->GetOffset()[mappedAxis]; // adjust requested position to compensate for tool offset - } - moveBuffer.coords[mappedAxis] = mappedMoveArg; - } - } - } - else - { - if (gb.MachineState().axesRelative) - { - moveArg += moveBuffer.coords[axis]; - } - else if (currentTool != nullptr && moveType == 0) - { - moveArg -= currentTool->GetOffset()[axis]; // adjust requested position to compensate for tool offset - } - moveBuffer.coords[axis] = moveArg; - } - } - } - - // If doing a regular move and applying limits, limit all axes - if (moveType == 0 && limitAxes -#if SUPPORT_ROLAND - && !reprap.GetRoland()->Active() -#endif - ) - { - if (!reprap.GetMove()->IsDeltaMode()) - { - // Cartesian or CoreXY printer, so limit those axes that have been homed - for (size_t axis = 0; axis < numAxes; axis++) - { - if (GetAxisIsHomed(axis)) - { - float& f = moveBuffer.coords[axis]; - if (f < platform->AxisMinimum(axis)) - { - f = platform->AxisMinimum(axis); - } - else if (f > platform->AxisMaximum(axis)) - { - f = platform->AxisMaximum(axis); - } - } - } - } - else if (AllAxesAreHomed()) // this is to allow extruder-only moves before homing - { - // If axes have been homed on a delta printer and this isn't a homing move, check for movements outside limits. - // Skip this check if axes have not been homed, so that extruder-only moved are allowed before homing - // Constrain the move to be within the build radius - const float diagonalSquared = fsquare(moveBuffer.coords[X_AXIS]) + fsquare(moveBuffer.coords[Y_AXIS]); - if (diagonalSquared > reprap.GetMove()->GetDeltaParams().GetPrintRadiusSquared()) - { - const float factor = sqrtf(reprap.GetMove()->GetDeltaParams().GetPrintRadiusSquared() / diagonalSquared); - moveBuffer.coords[X_AXIS] *= factor; - moveBuffer.coords[Y_AXIS] *= factor; - } - - // Constrain the end height of the move to be no greater than the homed height and no lower than -0.2mm - moveBuffer.coords[Z_AXIS] = max<float>(platform->AxisMinimum(Z_AXIS), - min<float>(moveBuffer.coords[Z_AXIS], reprap.GetMove()->GetDeltaParams().GetHomedHeight())); - } - } - - return true; -} - -// This function is called for a G Code that makes a move. -// If the Move class can't receive the move (i.e. things have to wait), return 0. -// If we have queued the move and the caller doesn't need to wait for it to complete, return 1. -// If we need to wait for the move to complete before doing another one (e.g. because endstops are checked in this move), return 2. -int GCodes::SetUpMove(GCodeBuffer& gb, StringRef& reply) -{ - // Last one gone yet? - if (moveAvailable) - { - return 0; - } - - // Check to see if the move is a 'homing' move that endstops are checked on. - moveBuffer.endStopsToCheck = 0; - moveBuffer.moveType = 0; - moveBuffer.xAxes = reprap.GetCurrentXAxes(); - if (gb.Seen('S')) - { - int ival = gb.GetIValue(); - if (ival == 1 || ival == 2) - { - moveBuffer.moveType = ival; - moveBuffer.xAxes = 0; // don't do bed compensation - } - - if (ival == 1) - { - for (size_t i = 0; i < numAxes; ++i) - { - if (gb.Seen(axisLetters[i])) - { - moveBuffer.endStopsToCheck |= (1u << i); - } - } - } - else if (ival == 99) // temporary code to log Z probe change positions - { - moveBuffer.endStopsToCheck |= LogProbeChanges; - } - } - - if (reprap.GetMove()->IsDeltaMode()) - { - // Extra checks to avoid damaging delta printers - if (moveBuffer.moveType != 0 && !gb.MachineState().axesRelative) - { - // We have been asked to do a move without delta mapping on a delta machine, but the move is not relative. - // This may be damaging and is almost certainly a user mistake, so ignore the move. - reply.copy("Attempt to move the motors of a delta printer to absolute positions"); - return 1; - } - - if (moveBuffer.moveType == 0 && !AllAxesAreHomed()) - { - // The user may be attempting to move a delta printer to an XYZ position before homing the axes - // This may be damaging and is almost certainly a user mistake, so ignore the move. But allow extruder-only moves. - if (gb.Seen(axisLetters[X_AXIS]) || gb.Seen(axisLetters[Y_AXIS]) || gb.Seen(axisLetters[Z_AXIS])) - { - reply.copy("Attempt to move the head of a delta printer before homing the towers"); - return 1; - } - } - } - - // Load the last position and feed rate into moveBuffer -#if SUPPORT_ROLAND - if (reprap.GetRoland()->Active()) - { - reprap.GetRoland()->GetCurrentRolandPosition(moveBuffer); - } - else -#endif - { - reprap.GetMove()->GetCurrentUserPosition(moveBuffer.coords, moveBuffer.moveType, reprap.GetCurrentXAxes()); - } - - // Load the move buffer with either the absolute movement required or the relative movement required - float oldCoords[MAX_AXES]; - memcpy(oldCoords, moveBuffer.coords, sizeof(oldCoords)); - moveAvailable = LoadMoveBufferFromGCode(gb, moveBuffer.moveType); - if (moveAvailable) - { - // Flag whether we should use pressure advance, if there is any extrusion in this move. - // We assume it is a normal printing move needing pressure advance if there is forward extrusion and XY movement. - // The movement code will only apply pressure advance if there is forward extrusion, so we only need to check for XY movement here. - moveBuffer.usePressureAdvance = false; - for (size_t axis = 0; axis < numAxes; ++axis) - { - if (axis != Z_AXIS && moveBuffer.coords[axis] != oldCoords[axis]) - { - moveBuffer.usePressureAdvance = true; - break; - } - } - moveBuffer.filePos = (&gb == fileGCode) ? filePos : noFilePosition; - //debugPrintf("Queue move pos %u\n", moveFilePos); - } - return (moveBuffer.moveType != 0 || moveBuffer.endStopsToCheck != 0) ? 2 : 1; -} - -// The Move class calls this function to find what to do next. - -bool GCodes::ReadMove(RawMove& m) -{ - if (!moveAvailable) - { - return false; - } - - m = moveBuffer; - ClearMove(); - return true; -} - -void GCodes::ClearMove() -{ - moveAvailable = false; - moveBuffer.endStopsToCheck = 0; - moveBuffer.moveType = 0; - moveBuffer.isFirmwareRetraction = false; -} - -// Run a file macro. Prior to calling this, 'state' must be set to the state we want to enter when the macro has been completed. -// Return true if the file was found or it wasn't and we were asked to report that fact. -bool GCodes::DoFileMacro(GCodeBuffer& gb, const char* fileName, bool reportMissing) -{ - FileStore * const f = platform->GetFileStore(platform->GetSysDir(), fileName, false); - if (f == nullptr) - { - if (reportMissing) - { - // Don't use snprintf into scratchString here, because fileName may be aliased to scratchString - platform->MessageF(GENERIC_MESSAGE, "Macro file %s not found.\n", fileName); - return true; - } - return false; - } - - if (!Push(gb)) - { - return true; - } - gb.MachineState().fileState.Set(f); - gb.MachineState().doingFileMacro = true; - gb.SetState(GCodeState::normal); - gb.Init(); - return true; -} - -void GCodes::FileMacroCyclesReturn(GCodeBuffer& gb) -{ - if (gb.MachineState().doingFileMacro) - { - gb.PopState(); - gb.Init(); - } -} - -// To execute any move, call this until it returns true. -// There is only one copy of the canned cycle variable so you must acquire the move lock before calling this. -bool GCodes::DoCannedCycleMove(GCodeBuffer& gb, EndstopChecks ce) -{ - if (LockMovementAndWaitForStandstill(gb)) - { - if (cannedCycleMoveQueued) // if the move has already been queued, it must have finished - { - Pop(gb); - cannedCycleMoveQueued = false; - return true; - } - - // Otherwise, the move has not been queued yet - if (!Push(gb)) - { - return true; // stack overflow - } - - for (size_t drive = 0; drive < DRIVES; drive++) - { - switch(cannedMoveType[drive]) - { - case CannedMoveType::none: - break; - case CannedMoveType::relative: - moveBuffer.coords[drive] += cannedMoveCoords[drive]; - break; - case CannedMoveType::absolute: - moveBuffer.coords[drive] = cannedMoveCoords[drive]; - break; - } - } - moveBuffer.feedRate = cannedFeedRate; - moveBuffer.xAxes = 0; - moveBuffer.endStopsToCheck = ce; - moveBuffer.filePos = noFilePosition; - moveBuffer.usePressureAdvance = false; - moveAvailable = true; - cannedCycleMoveQueued = true; - } - return false; -} - -// This handles G92 -bool GCodes::SetPositions(GCodeBuffer& gb) -{ - // Don't pause the machine if only extruder drives are being reset (DC, 2015-09-06). - // This avoids blobs and seams when the gcode uses absolute E coordinates and periodically includes G92 E0. - bool includingAxes = false; - for (size_t drive = 0; drive < numAxes; ++drive) - { - if (gb.Seen(axisLetters[drive])) - { - includingAxes = true; - break; - } - } - - if (includingAxes) - { - if (!LockMovementAndWaitForStandstill(gb)) - { - return false; - } - } - else if (moveAvailable) // wait for previous move to be taken so that GetCurrentUserPosition returns the correct value - { - return false; - } - - reprap.GetMove()->GetCurrentUserPosition(moveBuffer.coords, 0, reprap.GetCurrentXAxes()); // make sure move buffer is up to date - bool ok = LoadMoveBufferFromGCode(gb, -1); - if (ok && includingAxes) - { -#if SUPPORT_ROLAND - if (reprap.GetRoland()->Active()) - { - for(size_t axis = 0; axis < AXES; axis++) - { - if (!reprap.GetRoland()->ProcessG92(moveBuffer[axis], axis)) - { - return false; - } - } - } -#endif - SetPositions(moveBuffer.coords); - } - - return true; -} - -// Offset the axes by the X, Y, and Z amounts in the M code in gb. Say the machine is at [10, 20, 30] and -// the offsets specified are [8, 2, -5]. The machine will move to [18, 22, 25] and henceforth consider that point -// to be [10, 20, 30]. -bool GCodes::OffsetAxes(GCodeBuffer& gb) -{ - if (!offSetSet) - { - if (!LockMovementAndWaitForStandstill(gb)) - { - return false; - } - for (size_t drive = 0; drive < DRIVES; drive++) - { - if (drive < numAxes) - { - record[drive] = moveBuffer.coords[drive]; - if (gb.Seen(axisLetters[drive])) - { - cannedMoveCoords[drive] = gb.GetFValue(); - cannedMoveType[drive] = CannedMoveType::relative; - } - } - else - { - record[drive] = 0.0; - } - cannedMoveType[drive] = CannedMoveType::none; - } - - if (gb.Seen(feedrateLetter)) // Has the user specified a feedrate? - { - cannedFeedRate = gb.GetFValue() * distanceScale * SECONDS_TO_MINUTES; - } - else - { - cannedFeedRate = DEFAULT_FEEDRATE; - } - - offSetSet = true; - } - - if (DoCannedCycleMove(gb, 0)) - { - // Restore positions - for (size_t drive = 0; drive < DRIVES; drive++) - { - moveBuffer.coords[drive] = record[drive]; - } - reprap.GetMove()->SetLiveCoordinates(record); // This doesn't transform record - reprap.GetMove()->SetPositions(record); // This does - offSetSet = false; - return true; - } - - return false; -} - -// Home one or more of the axes. Which ones are decided by the -// booleans homeX, homeY and homeZ. -// Returns true if completed, false if needs to be called again. -// 'reply' is only written if there is an error. -// 'error' is false on entry, gets changed to true if there is an error. -bool GCodes::DoHome(GCodeBuffer& gb, StringRef& reply, bool& error) -{ - if (!LockMovementAndWaitForStandstill(gb)) - { - return false; - } - -#if SUPPORT_ROLAND - // Deal with a Roland configuration - if (reprap.GetRoland()->Active()) - { - bool rolHome = reprap.GetRoland()->ProcessHome(); - if (rolHome) - { - for(size_t axis = 0; axis < AXES; axis++) - { - axisIsHomed[axis] = true; - } - } - return rolHome; - } -#endif - - if (reprap.GetMove()->IsDeltaMode()) - { - SetAllAxesNotHomed(); - DoFileMacro(gb, HOME_DELTA_G); - } - else - { - toBeHomed = 0; - for (size_t axis = 0; axis < numAxes; ++axis) - { - if (gb.Seen(axisLetters[axis])) - { - toBeHomed |= (1u << axis); - SetAxisNotHomed(axis); - } - } - - if (toBeHomed == 0 || toBeHomed == ((1u << numAxes) - 1)) - { - // Homing everything - SetAllAxesNotHomed(); - DoFileMacro(gb, HOME_ALL_G); - } - else if ( platform->MustHomeXYBeforeZ() - && ((toBeHomed & (1u << Z_AXIS)) != 0) - && ((toBeHomed | axesHomed | (1u << Z_AXIS)) != ((1u << numAxes) - 1)) - ) - { - // We can only home Z if both X and Y have already been homed or are being homed - reply.copy("Must home all other axes before homing Z"); - error = true; - } - else - { - gb.SetState(GCodeState::homing); - } - } - return true; -} - -// This lifts Z a bit, moves to the probe XY coordinates (obtained by a call to GetProbeCoordinates() ), -// probes the bed height, and records the Z coordinate probed. If you want to program any general -// internal canned cycle, this shows how to do it. -// On entry, probePointIndex specifies which of the points this is. -bool GCodes::DoSingleZProbeAtPoint(GCodeBuffer& gb, int probePointIndex, float heightAdjust) -{ - reprap.GetMove()->SetIdentityTransform(); // It doesn't matter if these are called repeatedly - - for (size_t drive = 0; drive <= DRIVES; drive++) - { - cannedMoveType[drive] = CannedMoveType::none; - } - - switch (cannedCycleMoveCount) - { - case 0: // Move Z to the dive height. This only does anything on the first move; on all the others Z is already there - cannedMoveCoords[Z_AXIS] = platform->GetZProbeDiveHeight() + max<float>(platform->ZProbeStopHeight(), 0.0); - cannedMoveType[Z_AXIS] = CannedMoveType::absolute; - cannedFeedRate = platform->GetZProbeTravelSpeed(); - if (DoCannedCycleMove(gb, 0)) - { - cannedCycleMoveCount++; - } - return false; - - case 1: // Move to the correct XY coordinates - GetProbeCoordinates(probePointIndex, cannedMoveCoords[X_AXIS], cannedMoveCoords[Y_AXIS], cannedMoveCoords[Z_AXIS]); - cannedMoveType[X_AXIS] = CannedMoveType::absolute; - cannedMoveType[Y_AXIS] = CannedMoveType::absolute; - // NB - we don't use the Z value - cannedFeedRate = platform->GetZProbeTravelSpeed(); - if (DoCannedCycleMove(gb, 0)) - { - cannedCycleMoveCount++; - } - return false; - - case 2: // Probe the bed - { - const float height = (GetAxisIsHomed(Z_AXIS)) - ? 2 * platform->GetZProbeDiveHeight() // Z axis has been homed, so no point in going very far - : 1.1 * platform->AxisTotalLength(Z_AXIS); // Z axis not homed yet, so treat this as a homing move - switch(DoZProbe(gb, height)) - { - case 0: - // Z probe is already triggered at the start of the move, so abandon the probe and record an error - platform->Message(GENERIC_MESSAGE, "Error: Z probe already triggered at start of probing move\n"); - cannedCycleMoveCount++; - reprap.GetMove()->SetZBedProbePoint(probePointIndex, platform->GetZProbeDiveHeight(), true, true); - break; - - case 1: - // Z probe did not trigger - platform->Message(GENERIC_MESSAGE, "Error: Z probe was not triggered during probing move\n"); - cannedCycleMoveCount++; - reprap.GetMove()->SetZBedProbePoint(probePointIndex, -(platform->GetZProbeDiveHeight()), true, true); - break; - - case 2: - // Successful probing - if (GetAxisIsHomed(Z_AXIS)) - { - lastProbedZ = moveBuffer.coords[Z_AXIS] - (platform->ZProbeStopHeight() + heightAdjust); - } - else - { - // The Z axis has not yet been homed, so treat this probe as a homing move. - moveBuffer.coords[Z_AXIS] = platform->ZProbeStopHeight() + heightAdjust; - SetPositions(moveBuffer.coords); - SetAxisIsHomed(Z_AXIS); - lastProbedZ = 0.0; - } - reprap.GetMove()->SetZBedProbePoint(probePointIndex, lastProbedZ, true, false); - cannedCycleMoveCount++; - break; - - default: - break; - } - } - return false; - - case 3: // Raise the head back up to the dive height - cannedMoveCoords[Z_AXIS] = platform->GetZProbeDiveHeight() + max<float>(platform->ZProbeStopHeight(), 0.0); - cannedMoveType[Z_AXIS] = CannedMoveType::absolute; - cannedFeedRate = platform->GetZProbeTravelSpeed(); - if (DoCannedCycleMove(gb, 0)) - { - cannedCycleMoveCount = 0; - return true; - } - return false; - - default: // should not happen - cannedCycleMoveCount = 0; - return true; - } -} - -// This simply moves down till the Z probe/switch is triggered. Call it repeatedly until it returns true. -// Called when we do a G30 with no P parameter. -bool GCodes::DoSingleZProbe(GCodeBuffer& gb, bool reportOnly, float heightAdjust) -{ - switch (DoZProbe(gb, 1.1 * platform->AxisTotalLength(Z_AXIS))) - { - case 0: // failed - platform->Message(GENERIC_MESSAGE, "Error: Z probe already triggered at start of probing move\n"); - return true; - - case 1: - platform->Message(GENERIC_MESSAGE, "Error: Z probe was not triggered during probing move\n"); - return true; - - case 2: // success - if (!reportOnly) - { - moveBuffer.coords[Z_AXIS] = platform->ZProbeStopHeight() + heightAdjust; - SetPositions(moveBuffer.coords); - SetAxisIsHomed(Z_AXIS); - lastProbedZ = 0.0; - } - return true; - - default: // not finished yet - return false; - } -} - -// Do a Z probe cycle up to the maximum specified distance. -// Returns -1 if not complete yet -// Returns 0 if Z probe already triggered at start of probing -// Returns 1 if Z probe didn't trigger -// Returns 2 if success, with the current position in moveBuffer -int GCodes::DoZProbe(GCodeBuffer& gb, float distance) -{ - if (platform->GetZProbeType() == ZProbeTypeDelta) - { - const ZProbeParameters& params = platform->GetZProbeParameters(); - return reprap.GetMove()->DoDeltaProbe(params.param1, params.param2, params.probeSpeed, distance); - } - else - { - // Check for probe already triggered at start - if (!cannedCycleMoveQueued) - { - if (reprap.GetPlatform()->GetZProbeResult() == EndStopHit::lowHit) - { - return 0; - } - zProbeTriggered = false; - } - - // Do a normal canned cycle Z movement with Z probe enabled - for (size_t drive = 0; drive <= DRIVES; drive++) - { - cannedMoveType[drive] = CannedMoveType::none; - } - - cannedMoveCoords[Z_AXIS] = -distance; - cannedMoveType[Z_AXIS] = CannedMoveType::relative; - cannedFeedRate = platform->GetZProbeParameters().probeSpeed; - - if (DoCannedCycleMove(gb, ZProbeActive)) - { - return (zProbeTriggered) ? 2 : 1; - } - return -1; - } -} - -// This is called to execute a G30. -// It sets wherever we are as the probe point P (probePointIndex) -// then probes the bed, or gets all its parameters from the arguments. -// If X or Y are specified, use those; otherwise use the machine's -// coordinates. If no Z is specified use the machine's coordinates. If it -// is specified and is greater than SILLY_Z_VALUE (i.e. greater than -9999.0) -// then that value is used. If it's less than SILLY_Z_VALUE the bed is -// probed and that value is used. -// Call this repeatedly until it returns true. -bool GCodes::SetSingleZProbeAtAPosition(GCodeBuffer& gb, StringRef& reply) -{ - if (reprap.GetMove()->IsDeltaMode() && !AllAxesAreHomed()) - { - reply.copy("Must home before bed probing"); - return true; - } - - float heightAdjust = 0.0; - bool dummy; - gb.TryGetFValue('H', heightAdjust, dummy); - - if (!gb.Seen('P')) - { - bool reportOnly = false; - if (gb.Seen('S') && gb.GetIValue() < 0) - { - reportOnly = true; - } - return DoSingleZProbe(gb, reportOnly, heightAdjust); - } - - int probePointIndex = gb.GetIValue(); - if (probePointIndex < 0 || (unsigned int)probePointIndex >= MaxProbePoints) - { - reprap.GetPlatform()->Message(GENERIC_MESSAGE, "Z probe point index out of range.\n"); - return true; - } - - float x = (gb.Seen(axisLetters[X_AXIS])) ? gb.GetFValue() : moveBuffer.coords[X_AXIS]; - float y = (gb.Seen(axisLetters[Y_AXIS])) ? gb.GetFValue() : moveBuffer.coords[Y_AXIS]; - float z = (gb.Seen(axisLetters[Z_AXIS])) ? gb.GetFValue() : moveBuffer.coords[Z_AXIS]; - - reprap.GetMove()->SetXBedProbePoint(probePointIndex, x); - reprap.GetMove()->SetYBedProbePoint(probePointIndex, y); - - if (z > SILLY_Z_VALUE) - { - reprap.GetMove()->SetZBedProbePoint(probePointIndex, z, false, false); - if (gb.Seen('S')) - { - zProbesSet = true; - reprap.GetMove()->FinishedBedProbing(gb.GetIValue(), reply); - } - return true; - } - else - { - if (DoSingleZProbeAtPoint(gb, probePointIndex, heightAdjust)) - { - if (gb.Seen('S')) - { - zProbesSet = true; - int sParam = gb.GetIValue(); - if (sParam == 1) - { - // G30 with a silly Z value and S=1 is equivalent to G30 with no parameters in that it sets the current Z height - // This is useful because it adjusts the XY position to account for the probe offset. - moveBuffer.coords[Z_AXIS] += lastProbedZ; - SetPositions(moveBuffer.coords); - lastProbedZ = 0.0; - } - else - { - reprap.GetMove()->FinishedBedProbing(sParam, reply); - } - } - return true; - } - } - - return false; -} - -// This returns the (X, Y) points to probe the bed at probe point count. When probing, it returns false. -// If called after probing has ended it returns true, and the Z coordinate probed is also returned. -bool GCodes::GetProbeCoordinates(int count, float& x, float& y, float& z) const -{ - const ZProbeParameters& rp = platform->GetZProbeParameters(); - x = reprap.GetMove()->XBedProbePoint(count) - rp.xOffset; - y = reprap.GetMove()->YBedProbePoint(count) - rp.yOffset; - z = reprap.GetMove()->ZBedProbePoint(count); - return zProbesSet; -} - -bool GCodes::SetPrintZProbe(GCodeBuffer& gb, StringRef& reply) -{ - ZProbeParameters params = platform->GetZProbeParameters(); - bool seen = false; - gb.TryGetFValue(axisLetters[X_AXIS], params.xOffset, seen); - gb.TryGetFValue(axisLetters[Y_AXIS], params.yOffset, seen); - gb.TryGetFValue(axisLetters[Z_AXIS], params.height, seen); - gb.TryGetIValue('P', params.adcValue, seen); - - if (gb.Seen('C')) - { - params.temperatureCoefficient = gb.GetFValue(); - seen = true; - if (gb.Seen('S')) - { - params.calibTemperature = gb.GetFValue(); - } - else - { - // Use the current bed temperature as the calibration temperature if no value was provided - params.calibTemperature = platform->GetZProbeTemperature(); - } - } - - if (seen) - { - platform->SetZProbeParameters(params); - } - else - { - const int v0 = platform->ZProbe(); - int v1, v2; - switch (platform->GetZProbeSecondaryValues(v1, v2)) - { - case 1: - reply.printf("%d (%d)", v0, v1); - break; - case 2: - reply.printf("%d (%d, %d)", v0, v1, v2); - break; - default: - reply.printf("%d", v0); - break; - } - } - return true; -} - -// Define the probing grid, returning true if error -// Called when we see an M557 command with no P parameter -bool GCodes::DefineGrid(GCodeBuffer& gb, StringRef &reply) -{ - bool seenX = false, seenY = false, seenR = false, seenS = false; - float xValues[2]; - float yValues[2]; - - if (gb.Seen('X')) - { - size_t count = 2; - gb.GetFloatArray(xValues, count, false); - if (count == 2) - { - seenX = true; - } - else - { - reply.copy("ERROR: Wrong number of X values in M577, need 2"); - return true; - } - } - if (gb.Seen('Y')) - { - size_t count = 2; - gb.GetFloatArray(yValues, count, false); - if (count == 2) - { - seenY = true; - } - else - { - reply.copy("ERROR: Wrong number of Y values in M577, need 2"); - return true; - } - } - - float radius = -1.0; - gb.TryGetFValue('R', radius, seenR); - float spacing = DefaultGridSpacing; - gb.TryGetFValue('S', spacing, seenS); - - if (!seenX && !seenY && !seenR && !seenS) - { - // Just print the existing grid parameters - const GridDefinition& grid = reprap.GetMove()->GetBedProbeGrid(); - if (grid.IsValid()) - { - reply.copy("Grid: "); - grid.PrintParameters(reply); - } - else - { - reply.copy("Grid is not defined"); - } - return false; - } - - if (seenX != seenY) - { - reply.copy("ERROR: specify both or neither of X and Y in M577"); - return true; - } - - if (!seenX && !seenR) - { - // Must have given just the S parameter - reply.copy("ERROR: specify at least radius or X,Y ranges in M577"); - return true; - - } - - if (!seenX) - { - if (radius > 0) - { - const float effectiveRadius = floor((radius - 0.1)/spacing) * spacing; - xValues[0] = yValues[0] = -effectiveRadius; - xValues[1] = yValues[1] = effectiveRadius + 0.1; - } - else - { - reply.copy("ERROR: M577 radius must be positive unless X and Y are specified"); - return true; - } - } - GridDefinition newGrid(xValues, yValues, radius, spacing); // create a new grid - if (newGrid.IsValid()) - { - reprap.GetMove()->SetBedProbeGrid(newGrid); - return false; - } - else - { - reply.copy("ERROR: bad grid definition: "); - newGrid.PrintError(reply); - return true; - } -} - -// Start probing the grid, returning true if we didn't because of an error. -// Prior to calling this the movement system must be locked. -bool GCodes::ProbeGrid(GCodeBuffer& gb, StringRef& reply) -{ - long sParam = 0; - bool dummy; - gb.TryGetIValue('S', sParam, dummy); - - if (gb.Seen('P')) - { - heightMapFile = gb.GetString(); - } - else - { - heightMapFile = DefaultHeightMapFile; - } - - switch(sParam) - { - case 0: // Probe the bed and save to file - if (!reprap.GetMove()->GetBedProbeGrid().IsValid()) - { - reply.copy("No valid grid defined for G29 bed probing"); - return true; - } - - if (!AllAxesAreHomed()) - { - reply.copy("Must home printer before G29 bed probing"); - return true; - } - - gridXindex = gridYindex = 0; - numPointsProbed = 0; - heightSum = heightSquaredSum = 0.0; - - reprap.GetMove()->ClearGridHeights(); - reprap.GetMove()->SetIdentityTransform(); - gb.SetState(GCodeState::gridProbing1); - return false; - - case 1: // Load height map from file - return reprap.GetMove()->LoadHeightMapFromFile(heightMapFile, reply); - - case 2: // Clear height map - reprap.GetMove()->ClearGridHeights(); - return false; - - default: - reply.copy("Invalid S parameter in G29 command"); - return true; - } - - -} - -// Return the current coordinates as a printable string. -// Coordinates are updated at the end of each movement, so this won't tell you where you are mid-movement. -void GCodes::GetCurrentCoordinates(StringRef& s) const -{ - float liveCoordinates[DRIVES]; - reprap.GetMove()->LiveCoordinates(liveCoordinates, reprap.GetCurrentXAxes()); - const Tool *currentTool = reprap.GetCurrentTool(); - if (currentTool != nullptr) - { - const float *offset = currentTool->GetOffset(); - for (size_t i = 0; i < numAxes; ++i) - { - liveCoordinates[i] += offset[i]; - } - } - - s.Clear(); - for (size_t axis = 0; axis < numAxes; ++axis) - { - s.catf("%c: %.2f ", axisLetters[axis], liveCoordinates[axis]); - } - for (size_t i = numAxes; i < DRIVES; i++) - { - s.catf("E%u: %.1f ", i - numAxes, liveCoordinates[i]); - } - - // Print the axis stepper motor positions as Marlin does, as an aid to debugging. - // Don't bother with the extruder endpoints, they are zero after any non-extruding move. - s.cat(" Count"); - for (size_t i = 0; i < numAxes; ++i) - { - s.catf(" %d", reprap.GetMove()->GetEndPoint(i)); - } -} - -bool GCodes::OpenFileToWrite(GCodeBuffer& gb, const char* directory, const char* fileName) -{ - fileBeingWritten = platform->GetFileStore(directory, fileName, true); - eofStringCounter = 0; - if (fileBeingWritten == NULL) - { - platform->MessageF(GENERIC_MESSAGE, "Can't open GCode file \"%s\" for writing.\n", fileName); - return false; - } - else - { - gb.SetWritingFileDirectory(directory); - return true; - } -} - -void GCodes::WriteHTMLToFile(GCodeBuffer& gb, char b) -{ - if (fileBeingWritten == NULL) - { - platform->Message(GENERIC_MESSAGE, "Attempt to write to a null file.\n"); - return; - } - - if (eofStringCounter != 0 && b != eofString[eofStringCounter]) - { - fileBeingWritten->Write(eofString); - eofStringCounter = 0; - } - - if (b == eofString[eofStringCounter]) - { - eofStringCounter++; - if (eofStringCounter >= eofStringLength) - { - fileBeingWritten->Close(); - fileBeingWritten = NULL; - gb.SetWritingFileDirectory(NULL); - const char* r = (platform->Emulating() == marlin) ? "Done saving file." : ""; - HandleReply(gb, false, r); - return; - } - } - else - { - fileBeingWritten->Write(b); - } -} - -void GCodes::WriteGCodeToFile(GCodeBuffer& gb) -{ - if (fileBeingWritten == NULL) - { - platform->Message(GENERIC_MESSAGE, "Attempt to write to a null file.\n"); - return; - } - - // End of file? - if (gb.Seen('M')) - { - if (gb.GetIValue() == 29) - { - fileBeingWritten->Close(); - fileBeingWritten = NULL; - gb.SetWritingFileDirectory(NULL); - const char* r = (platform->Emulating() == marlin) ? "Done saving file." : ""; - HandleReply(gb, false, r); - return; - } - } - - // Resend request? - if (gb.Seen('G')) - { - if (gb.GetIValue() == 998) - { - if (gb.Seen('P')) - { - scratchString.printf("%d\n", gb.GetIValue()); - HandleReply(gb, false, scratchString.Pointer()); - return; - } - } - } - - fileBeingWritten->Write(gb.Buffer()); - fileBeingWritten->Write('\n'); - HandleReply(gb, false, ""); -} - -// Set up a file to print, but don't print it yet. -void GCodes::QueueFileToPrint(const char* fileName) -{ - FileStore * const f = platform->GetFileStore(platform->GetGCodeDir(), fileName, false); - if (f != nullptr) - { - // Cancel current print if there is any - if (!reprap.GetPrintMonitor()->IsPrinting()) - { - CancelPrint(); - } - - fileGCode->SetToolNumberAdjust(0); // clear tool number adjustment - - // Reset all extruder positions when starting a new print - for (size_t extruder = 0; extruder < MaxExtruders; extruder++) - { - lastRawExtruderPosition[extruder] = 0.0; - rawExtruderTotalByDrive[extruder] = 0.0; - } - rawExtruderTotal = 0.0; - reprap.GetMove()->ResetExtruderPositions(); - - fileToPrint.Set(f); - } - else - { - platform->MessageF(GENERIC_MESSAGE, "GCode file \"%s\" not found\n", fileName); - } -} - -void GCodes::DeleteFile(const char* fileName) -{ - if (!platform->GetMassStorage()->Delete(platform->GetGCodeDir(), fileName)) - { - platform->MessageF(GENERIC_MESSAGE, "Could not delete file \"%s\"\n", fileName); - } -} - -// Function to handle dwell delays. Return true for dwell finished, false otherwise. -bool GCodes::DoDwell(GCodeBuffer& gb) -{ - float dwell; - if (gb.Seen('S')) - { - dwell = gb.GetFValue(); - } - else if (gb.Seen('P')) - { - dwell = 0.001 * (float) gb.GetIValue(); // P values are in milliseconds; we need seconds - } - else - { - return true; // No time given - throw it away - } - -#if SUPPORT_ROLAND - // Deal with a Roland configuration - if (reprap.GetRoland()->Active()) - { - return reprap.GetRoland()->ProcessDwell(gb.GetLValue()); - } -#endif - - // Wait for all the queued moves to stop - if (!LockMovementAndWaitForStandstill(gb)) - { - return false; - } - - if (simulationMode != 0) - { - simulationTime += dwell; - return true; - } - else - { - return DoDwellTime(dwell); - } -} - -bool GCodes::DoDwellTime(float dwell) -{ - // Are we already in the dwell? - if (dwellWaiting) - { - if (platform->Time() - dwellTime >= 0.0) - { - dwellWaiting = false; - reprap.GetMove()->ResumeMoving(); - return true; - } - return false; - } - - // New dwell - set it up - dwellWaiting = true; - dwellTime = platform->Time() + dwell; - return false; -} - -// Set offset, working and standby temperatures for a tool. I.e. handle a G10. -bool GCodes::SetOrReportOffsets(GCodeBuffer &gb, StringRef& reply) -{ - if (gb.Seen('P')) - { - int8_t toolNumber = gb.GetIValue(); - toolNumber += gb.GetToolNumberAdjust(); - Tool* tool = reprap.GetTool(toolNumber); - if (tool == NULL) - { - reply.printf("Attempt to set/report offsets and temperatures for non-existent tool: %d", toolNumber); - return true; - } - - // Deal with setting offsets - float offset[MAX_AXES]; - for (size_t i = 0; i < MAX_AXES; ++i) - { - offset[i] = tool->GetOffset()[i]; - } - - bool settingOffset = false; - for (size_t axis = 0; axis < numAxes; ++axis) - { - gb.TryGetFValue(axisLetters[axis], offset[axis], settingOffset); - } - if (settingOffset) - { - if (!LockMovement(gb)) - { - return false; - } - tool->SetOffset(offset); - } - - // Deal with setting temperatures - bool settingTemps = false; - size_t hCount = tool->HeaterCount(); - float standby[HEATERS]; - float active[HEATERS]; - if (hCount > 0) - { - tool->GetVariables(standby, active); - if (gb.Seen('R')) - { - gb.GetFloatArray(standby, hCount, true); - settingTemps = true; - } - if (gb.Seen('S')) - { - gb.GetFloatArray(active, hCount, true); - settingTemps = true; - } - - if (settingTemps && simulationMode == 0) - { - tool->SetVariables(standby, active); - } - } - - if (!settingOffset && !settingTemps) - { - // Print offsets and temperatures - reply.printf("Tool %d offsets:", toolNumber); - for (size_t axis = 0; axis < numAxes; ++axis) - { - reply.catf(" %c%.2f", axisLetters[axis], offset[axis]); - } - if (hCount != 0) - { - reply.cat(", active/standby temperature(s):"); - for (size_t heater = 0; heater < hCount; heater++) - { - reply.catf(" %.1f/%.1f", active[heater], standby[heater]); - } - } - } - } - return true; -} - -void GCodes::ManageTool(GCodeBuffer& gb, StringRef& reply) -{ - if (!gb.Seen('P')) - { - // DC temporary code to allow tool numbers to be adjusted so that we don't need to edit multi-media files generated by slic3r - if (gb.Seen('S')) - { - int adjust = gb.GetIValue(); - gb.SetToolNumberAdjust(adjust); - } - return; - } - - // Check tool number - bool seen = false; - const int toolNumber = gb.GetIValue(); - if (toolNumber < 0) - { - platform->Message(GENERIC_MESSAGE, "Tool number must be positive!\n"); - return; - } - - // Check drives - long drives[MaxExtruders]; // There can never be more than we have... - size_t dCount = numExtruders; // Sets the limit and returns the count - if (gb.Seen('D')) - { - gb.GetLongArray(drives, dCount); - seen = true; - } - else - { - dCount = 0; - } - - // Check heaters - long heaters[HEATERS]; - size_t hCount = HEATERS; - if (gb.Seen('H')) - { - gb.GetLongArray(heaters, hCount); - seen = true; - } - else - { - hCount = 0; - } - - // Check X axis mapping - uint32_t xMap; - if (gb.Seen('X')) - { - long xMapping[MAX_AXES]; - size_t xCount = numAxes; - gb.GetLongArray(xMapping, xCount); - xMap = LongArrayToBitMap(xMapping, xCount) & ((1u << numAxes) - 1); - seen = true; - } - else - { - xMap = 1; // by default map X axis straight through - } - - // Check for fan mapping - uint32_t fanMap; - if (gb.Seen('F')) - { - long fanMapping[NUM_FANS]; - size_t fanCount = NUM_FANS; - gb.GetLongArray(fanMapping, fanCount); - fanMap = LongArrayToBitMap(fanMapping, fanCount) & ((1u << NUM_FANS) - 1); - seen = true; - } - else - { - fanMap = 1; // by default map fan 0 to fan 0 - } - - if (seen) - { - // Add or delete tool, so start by deleting the old one with this number, if any - reprap.DeleteTool(reprap.GetTool(toolNumber)); - - // M563 P# D-1 H-1 removes an existing tool - if (dCount == 1 && hCount == 1 && drives[0] == -1 && heaters[0] == -1) - { - // nothing more to do - } - else - { - Tool* tool = Tool::Create(toolNumber, drives, dCount, heaters, hCount, xMap, fanMap); - if (tool != nullptr) - { - reprap.AddTool(tool); - } - } - } - else - { - reprap.PrintTool(toolNumber, reply); - } -} - -// Does what it says. -void GCodes::DisableDrives() -{ - for (size_t drive = 0; drive < DRIVES; drive++) - { - platform->DisableDrive(drive); - } - SetAllAxesNotHomed(); -} - -// Does what it says. -void GCodes::SetEthernetAddress(GCodeBuffer& gb, int mCode) -{ - byte eth[4]; - const char* ipString = gb.GetString(); - uint8_t sp = 0; - uint8_t spp = 0; - uint8_t ipp = 0; - while (ipString[sp]) - { - if (ipString[sp] == '.') - { - eth[ipp] = atoi(&ipString[spp]); - ipp++; - if (ipp > 3) - { - platform->MessageF(GENERIC_MESSAGE, "Dud IP address: %s\n", gb.Buffer()); - return; - } - sp++; - spp = sp; - } - else - { - sp++; - } - } - eth[ipp] = atoi(&ipString[spp]); - if (ipp == 3) - { - switch (mCode) - { - case 552: - platform->SetIPAddress(eth); - break; - case 553: - platform->SetNetMask(eth); - break; - case 554: - platform->SetGateWay(eth); - break; - - default: - platform->Message(GENERIC_MESSAGE, "Setting ether parameter - dud code.\n"); - } - } - else - { - platform->MessageF(GENERIC_MESSAGE, "Dud IP address: %s\n", gb.Buffer()); - } -} - -void GCodes::SetMACAddress(GCodeBuffer& gb) -{ - uint8_t mac[6]; - const char* ipString = gb.GetString(); - uint8_t sp = 0; - uint8_t spp = 0; - uint8_t ipp = 0; - while (ipString[sp]) - { - if (ipString[sp] == ':') - { - mac[ipp] = strtoul(&ipString[spp], NULL, 16); - ipp++; - if (ipp > 5) - { - platform->MessageF(GENERIC_MESSAGE, "Dud MAC address: %s\n", gb.Buffer()); - return; - } - sp++; - spp = sp; - } - else - { - sp++; - } - } - mac[ipp] = strtoul(&ipString[spp], NULL, 16); - if (ipp == 5) - { - platform->SetMACAddress(mac); - } - else - { - platform->MessageF(GENERIC_MESSAGE, "Dud MAC address: %s\n", gb.Buffer()); - } -} - -bool GCodes::ChangeMicrostepping(size_t drive, int microsteps, int mode) const -{ - bool dummy; - unsigned int oldSteps = platform->GetMicrostepping(drive, dummy); - bool success = platform->SetMicrostepping(drive, microsteps, mode); - if (success && mode <= 1) // modes higher than 1 are used for special functions - { - // We changed the microstepping, so adjust the steps/mm to compensate - float stepsPerMm = platform->DriveStepsPerUnit(drive); - if (stepsPerMm > 0) - { - platform->SetDriveStepsPerUnit(drive, stepsPerMm * (float)microsteps / (float)oldSteps); - } - } - return success; -} - -// Set the speeds of fans mapped for the current tool to lastDefaultFanSpeed -void GCodes::SetMappedFanSpeed() -{ - if (reprap.GetCurrentTool() == nullptr) - { - platform->SetFanValue(0, lastDefaultFanSpeed); - } - else - { - const uint32_t fanMap = reprap.GetCurrentTool()->GetFanMapping(); - for (size_t i = 0; i < NUM_FANS; ++i) - { - if ((fanMap & (1u << i)) != 0) - { - platform->SetFanValue(i, lastDefaultFanSpeed); - } - } - } -} - -// Handle sending a reply back to the appropriate interface(s). -// Note that 'reply' may be empty. If it isn't, then we need to append newline when sending it. -// Also, gb may be null if we were executing a trigger macro. -void GCodes::HandleReply(GCodeBuffer& gb, bool error, const char* reply) -{ - // Don't report "ok" responses if a (macro) file is being processed - // Also check that this response was triggered by a gcode - if ((gb.MachineState().doingFileMacro || &gb == fileGCode) && reply[0] == 0) - { - return; - } - - // Second UART device, e.g. dc42's PanelDue. Do NOT use emulation for this one! - if (&gb == auxGCode) - { - platform->AppendAuxReply(reply); - return; - } - - const Compatibility c = (&gb == serialGCode || &gb == telnetGCode) ? platform->Emulating() : me; - MessageType type = GENERIC_MESSAGE; - if (&gb == httpGCode) - { - type = HTTP_MESSAGE; - } - else if (&gb == telnetGCode) - { - type = TELNET_MESSAGE; - } - else if (&gb == serialGCode) - { - type = HOST_MESSAGE; - } - - const char* response = (gb.Seen('M') && gb.GetIValue() == 998) ? "rs " : "ok"; - const char* emulationType = 0; - - switch (c) - { - case me: - case reprapFirmware: - if (error) - { - platform->Message(type, "Error: "); - } - platform->Message(type, reply); - platform->Message(type, "\n"); - return; - - case marlin: - // We don't need to handle M20 here because we always allocate an output buffer for that one - if (gb.Seen('M') && gb.GetIValue() == 28) - { - platform->Message(type, response); - platform->Message(type, "\n"); - platform->Message(type, reply); - platform->Message(type, "\n"); - return; - } - - if ((gb.Seen('M') && gb.GetIValue() == 105) || (gb.Seen('M') && gb.GetIValue() == 998)) - { - platform->Message(type, response); - platform->Message(type, " "); - platform->Message(type, reply); - platform->Message(type, "\n"); - return; - } - - if (reply[0] != 0 && !gb.IsDoingFileMacro()) - { - platform->Message(type, reply); - platform->Message(type, "\n"); - platform->Message(type, response); - platform->Message(type, "\n"); - } - else if (reply[0] != 0) - { - platform->Message(type, reply); - platform->Message(type, "\n"); - } - else - { - platform->Message(type, response); - platform->Message(type, "\n"); - } - return; - - case teacup: - emulationType = "teacup"; - break; - case sprinter: - emulationType = "sprinter"; - break; - case repetier: - emulationType = "repetier"; - break; - default: - emulationType = "unknown"; - } - - if (emulationType != 0) - { - platform->MessageF(type, "Emulation of %s is not yet supported.\n", emulationType); // don't send this one to the web as well, it concerns only the USB interface - } -} - -void GCodes::HandleReply(GCodeBuffer& gb, bool error, OutputBuffer *reply) -{ - // Although unlikely, it's possible that we get a nullptr reply. Don't proceed if this is the case - if (reply == nullptr) - { - return; - } - - // Second UART device, e.g. dc42's PanelDue. Do NOT use emulation for this one! - if (&gb == auxGCode) - { - platform->AppendAuxReply(reply); - return; - } - - const Compatibility c = (&gb == serialGCode || &gb == telnetGCode) ? platform->Emulating() : me; - MessageType type = GENERIC_MESSAGE; - if (&gb == httpGCode) - { - type = HTTP_MESSAGE; - } - else if (&gb == telnetGCode) - { - type = TELNET_MESSAGE; - } - else if (&gb == serialGCode) - { - type = HOST_MESSAGE; - } - - const char* response = (gb.Seen('M') && gb.GetIValue() == 998) ? "rs " : "ok"; - const char* emulationType = nullptr; - - switch (c) - { - case me: - case reprapFirmware: - if (error) - { - platform->Message(type, "Error: "); - } - platform->Message(type, reply); - return; - - case marlin: - if (gb.Seen('M') && gb.GetIValue() == 20) - { - platform->Message(type, "Begin file list\n"); - platform->Message(type, reply); - platform->Message(type, "End file list\n"); - platform->Message(type, response); - platform->Message(type, "\n"); - return; - } - - if (gb.Seen('M') && gb.GetIValue() == 28) - { - platform->Message(type, response); - platform->Message(type, "\n"); - platform->Message(type, reply); - return; - } - - if ((gb.Seen('M') && gb.GetIValue() == 105) || (gb.Seen('M') && gb.GetIValue() == 998)) - { - platform->Message(type, response); - platform->Message(type, " "); - platform->Message(type, reply); - return; - } - - if (reply->Length() != 0 && !gb.IsDoingFileMacro()) - { - platform->Message(type, reply); - platform->Message(type, "\n"); - platform->Message(type, response); - platform->Message(type, "\n"); - } - else if (reply->Length() != 0) - { - platform->Message(type, reply); - } - else - { - OutputBuffer::ReleaseAll(reply); - platform->Message(type, response); - platform->Message(type, "\n"); - } - return; - - case teacup: - emulationType = "teacup"; - break; - case sprinter: - emulationType = "sprinter"; - break; - case repetier: - emulationType = "repetier"; - break; - default: - emulationType = "unknown"; - } - - // If we get here then we didn't handle the message, so release the buffer(s) - OutputBuffer::ReleaseAll(reply); - if (emulationType != 0) - { - platform->MessageF(type, "Emulation of %s is not yet supported.\n", emulationType); // don't send this one to the web as well, it concerns only the USB interface - } -} - -// Set PID parameters (M301 or M304 command). 'heater' is the default heater number to use. -void GCodes::SetPidParameters(GCodeBuffer& gb, int heater, StringRef& reply) -{ - if (gb.Seen('H')) - { - heater = gb.GetIValue(); - } - - if (heater >= 0 && heater < HEATERS) - { - PidParameters pp = platform->GetPidParameters(heater); - bool seen = false; - gb.TryGetFValue('P', pp.kP, seen); - gb.TryGetFValue('I', pp.kI, seen); - gb.TryGetFValue('D', pp.kD, seen); - gb.TryGetFValue('T', pp.kT, seen); - gb.TryGetFValue('S', pp.kS, seen); - - if (seen) - { - platform->SetPidParameters(heater, pp); - reprap.GetHeat()->UseModel(heater, false); - } - else - { - reply.printf("Heater %d P:%.2f I:%.3f D:%.2f T:%.2f S:%.2f", heater, pp.kP, pp.kI, pp.kD, pp.kT, pp.kS); - } - } -} - -void GCodes::SetHeaterParameters(GCodeBuffer& gb, StringRef& reply) -{ - if (gb.Seen('P')) - { - int heater = gb.GetIValue(); - if (heater >= 0 && heater < HEATERS) - { - Thermistor& th = platform->GetThermistor(heater); - bool seen = false; - - // We must set the 25C resistance and beta together in order to calculate Rinf. Check for these first. - float r25 = th.GetR25(); - float beta = th.GetBeta(); - float shC = th.GetShc(); - float seriesR = th.GetSeriesR(); - - gb.TryGetFValue('T', r25, seen); - gb.TryGetFValue('B', beta, seen); - gb.TryGetFValue('C', shC, seen); - gb.TryGetFValue('R', seriesR, seen); - if (seen) - { - th.SetParameters(r25, beta, shC, seriesR); - } - - if (gb.Seen('L')) - { - th.SetLowOffset((int8_t)constrain<int>(gb.GetIValue(), -100, 100)); - seen = true; - } - if (gb.Seen('H')) - { - th.SetHighOffset((int8_t)constrain<int>(gb.GetIValue(), -100, 100)); - seen = true; - } - - if (gb.Seen('X')) - { - int thermistor = gb.GetIValue(); - if ( (0 <= thermistor && thermistor < HEATERS) - || ((int)FirstThermocoupleChannel <= thermistor && thermistor < (int)(FirstThermocoupleChannel + MaxSpiTempSensors)) - || ((int)FirstRtdChannel <= thermistor && thermistor < (int)(FirstRtdChannel + MaxSpiTempSensors)) - ) - { - platform->SetThermistorNumber(heater, thermistor); - } - else - { - platform->MessageF(GENERIC_MESSAGE, "Thermistor number %d is out of range\n", thermistor); - } - seen = true; - } - - if (!seen) - { - reply.printf("T:%.1f B:%.1f C:%.2e R:%.1f L:%d H:%d X:%d", - th.GetR25(), th.GetBeta(), th.GetShc(), th.GetSeriesR(), - th.GetLowOffset(), th.GetHighOffset(), platform->GetThermistorNumber(heater)); - } - } - else - { - platform->MessageF(GENERIC_MESSAGE, "Heater number %d is out of range\n", heater); - } - } -} - -void GCodes::SetToolHeaters(Tool *tool, float temperature) -{ - if (tool == NULL) - { - platform->Message(GENERIC_MESSAGE, "Setting temperature: no tool selected.\n"); - return; - } - - float standby[HEATERS]; - float active[HEATERS]; - tool->GetVariables(standby, active); - for (size_t h = 0; h < tool->HeaterCount(); h++) - { - active[h] = temperature; - } - tool->SetVariables(standby, active); -} - -// Retract or un-retract filament, returning true if movement has been queued, false if this needs to be called again -bool GCodes::RetractFilament(bool retract) -{ - if (retractLength != 0.0 || retractHop != 0.0 || (!retract && retractExtra != 0.0)) - { - const Tool *tool = reprap.GetCurrentTool(); - if (tool != nullptr) - { - size_t nDrives = tool->DriveCount(); - if (nDrives != 0) - { - if (moveAvailable) - { - return false; - } - - reprap.GetMove()->GetCurrentUserPosition(moveBuffer.coords, 0, reprap.GetCurrentXAxes()); - for (size_t i = numAxes; i < DRIVES; ++i) - { - moveBuffer.coords[i] = 0.0; - } - // Set the feed rate. If there is any Z hop then we need to pass the Z speed, else we pass the extrusion speed. - const float speedToUse = (retract) ? retractSpeed : unRetractSpeed; - moveBuffer.feedRate = (retractHop == 0.0) - ? speedToUse * secondsToMinutes - : speedToUse * secondsToMinutes * retractHop/retractLength; - moveBuffer.coords[Z_AXIS] += (retract) ? retractHop : -retractHop; - const float lengthToUse = (retract) ? -retractLength : retractLength + retractExtra; - for (size_t i = 0; i < nDrives; ++i) - { - moveBuffer.coords[E0_AXIS + tool->Drive(i)] = lengthToUse; - } - - moveBuffer.isFirmwareRetraction = true; - moveBuffer.usePressureAdvance = false; - moveBuffer.filePos = filePos; - moveBuffer.xAxes = reprap.GetCurrentXAxes(); - moveAvailable = true; - } - } - } - return true; -} - -// If the code to act on is completed, this returns true, -// otherwise false. It is called repeatedly for a given -// code until it returns true for that code. -bool GCodes::ActOnCode(GCodeBuffer& gb, StringRef& reply) -{ - // Discard empty buffers right away - if (gb.IsEmpty()) - { - return true; - } - - // M-code parameters might contain letters T and G, e.g. in filenames. - // dc42 assumes that G-and T-code parameters never contain the letter M. - // Therefore we must check for an M-code first. - if (gb.Seen('M')) - { - return HandleMcode(gb, reply); - } - // dc42 doesn't think a G-code parameter ever contains letter T, or a T-code ever contains letter G. - // So it doesn't matter in which order we look for them. - if (gb.Seen('G')) - { - return HandleGcode(gb, reply); - } - if (gb.Seen('T')) - { - return HandleTcode(gb, reply); - } - - // An invalid or queued buffer gets discarded - HandleReply(gb, false, ""); - return true; -} - -bool GCodes::HandleGcode(GCodeBuffer& gb, StringRef& reply) -{ - bool result = true; - bool error = false; - - int code = gb.GetIValue(); - if (simulationMode != 0 && code != 0 && code != 1 && code != 4 && code != 10 && code != 20 && code != 21 && code != 90 && code != 91 && code != 92) - { - return true; // we only simulate some gcodes - } - - switch (code) - { - case 0: // There are no rapid moves... - case 1: // Ordinary move - if (!LockMovement(gb)) - { - return false; - } - { - // Check for 'R' parameter here to go back to the coordinates at which the print was paused - // NOTE: restore point 2 (tool change) won't work when changing tools on dual axis machines because of X axis mapping. - // We could possibly fix this by saving the virtual X axis position instead of the physical axis positions. - // However, slicers normally command the tool to the correct place after a tool change, so we don't need this feature anyway. - int rParam = (gb.Seen('R')) ? gb.GetIValue() : 0; - RestorePoint *rp = (rParam == 1) ? &pauseRestorePoint : (rParam == 2) ? &toolChangeRestorePoint : nullptr; - if (rp != nullptr) - { - if (moveAvailable) - { - return false; - } - for (size_t axis = 0; axis < numAxes; ++axis) - { - float offset = gb.Seen(axisLetters[axis]) ? gb.GetFValue() * distanceScale : 0.0; - moveBuffer.coords[axis] = rp->moveCoords[axis] + offset; - } - // For now we don't handle extrusion at the same time - for (size_t drive = numAxes; drive < DRIVES; ++drive) - { - moveBuffer.coords[drive] = 0.0; - } - moveBuffer.feedRate = (gb.Seen(feedrateLetter)) ? gb.GetFValue() : feedRate; - moveBuffer.filePos = noFilePosition; - moveBuffer.usePressureAdvance = false; - moveAvailable = true; - } - else - { - int res = SetUpMove(gb, reply); - if (res == 2) - { - gb.SetState(GCodeState::waitingForMoveToComplete); - } - result = (res != 0); - } - } - break; - - case 4: // Dwell - result = DoDwell(gb); - break; - - case 10: // Set/report offsets and temperatures, or retract - if (gb.Seen('P')) - { - if (!SetOrReportOffsets(gb, reply)) - { - return false; - } - } - else - { - if (!LockMovement(gb)) - { - return false; - } - result = RetractFilament(true); - } - break; - - case 11: // Un-retract - if (!LockMovement(gb)) - { - return false; - } - result = RetractFilament(false); - break; - - case 20: // Inches (which century are we living in, here?) - distanceScale = INCH_TO_MM; - break; - - case 21: // mm - distanceScale = 1.0; - break; - - case 28: // Home - result = DoHome(gb, reply, error); - break; - - case 29: // Grid-based bed probing - if (!LockMovementAndWaitForStandstill(gb)) // do this first to make sure that a new grid isn't being defined - { - return false; - } - error = ProbeGrid(gb, reply); - break; - - case 30: // Z probe/manually set at a position and set that as point P - if (!LockMovementAndWaitForStandstill(gb)) - { - return false; - } - if (reprap.GetMove()->IsDeltaMode() && !AllAxesAreHomed()) - { - reply.copy("Must home a delta printer before bed probing"); - error = true; - } - else - { - result = SetSingleZProbeAtAPosition(gb, reply); - } - break; - - case 31: // Return the probe value, or set probe variables - if (!LockMovementAndWaitForStandstill(gb)) - { - return false; - } - result = SetPrintZProbe(gb, reply); - break; - - case 32: // Probe Z at multiple positions and generate the bed transform - if (!LockMovementAndWaitForStandstill(gb)) - { - return false; - } - - // Try to execute bed.g - if (!DoFileMacro(gb, BED_EQUATION_G, reprap.GetMove()->IsDeltaMode())) - { - // If we get here then we are not on a delta printer and there is no bed.g file - if (GetAxisIsHomed(X_AXIS) && GetAxisIsHomed(Y_AXIS)) - { - gb.SetState(GCodeState::setBed1); // no bed.g file, so use the coordinates specified by M557 - } - else - { - // We can only do bed levelling if X and Y have already been homed - reply.copy("Must home X and Y before bed probing"); - error = true; - } - } - break; - - case 90: // Absolute coordinates - gb.MachineState().axesRelative = false; - break; - - case 91: // Relative coordinates - gb.MachineState().axesRelative = true; // Axis movements (i.e. X, Y and Z) - break; - - case 92: // Set position - result = SetPositions(gb); - break; - - default: - error = true; - reply.printf("invalid G Code: %s", gb.Buffer()); - } - - if (result && gb.GetState() == GCodeState::normal) - { - UnlockAll(gb); - HandleReply(gb, error, reply.Pointer()); - } - return result; -} - -bool GCodes::HandleMcode(GCodeBuffer& gb, StringRef& reply) -{ - bool result = true; - bool error = false; - - const int code = gb.GetIValue(); - if (simulationMode != 0 && (code < 20 || code > 37) && code != 0 && code != 1 && code != 82 && code != 83 && code != 105 && code != 111 && code != 112 && code != 122 && code != 408 && code != 999) - { - return true; // we don't yet simulate most M codes - } - - switch (code) - { - case 0: // Stop - case 1: // Sleep - if (!LockMovementAndWaitForStandstill(gb)) - { - return false; - } - { - bool wasPaused = isPaused; // isPaused gets cleared by CancelPrint - CancelPrint(); - if (wasPaused) - { - reply.copy("Print cancelled"); - // If we are cancelling a paused print with M0 and cancel.g exists then run it and do nothing else - if (code == 0) - { - if (DoFileMacro(gb, CANCEL_G, false)) - { - break; - } - } - } - } - - gb.SetState((code == 0) ? GCodeState::stopping : GCodeState::sleeping); - DoFileMacro(gb, (code == 0) ? STOP_G : SLEEP_G, false); - break; - -#if SUPPORT_ROLAND - case 3: // Spin spindle - if (reprap.GetRoland()->Active()) - { - if (gb.Seen('S')) - { - result = reprap.GetRoland()->ProcessSpindle(gb.GetFValue()); - } - } - break; -#endif - - case 18: // Motors off - case 84: - if (!LockMovementAndWaitForStandstill(gb)) - { - return false; - } - { - bool seen = false; - for (size_t axis = 0; axis < numAxes; axis++) - { - if (gb.Seen(axisLetters[axis])) - { - SetAxisNotHomed(axis); - platform->DisableDrive(axis); - seen = true; - } - } - - if (gb.Seen(extrudeLetter)) - { - long int eDrive[MaxExtruders]; - size_t eCount = numExtruders; - gb.GetLongArray(eDrive, eCount); - for (size_t i = 0; i < eCount; i++) - { - seen = true; - if (eDrive[i] < 0 || (size_t)eDrive[i] >= numExtruders) - { - reply.printf("Invalid extruder number specified: %ld", eDrive[i]); - error = true; - break; - } - platform->DisableDrive(numAxes + eDrive[i]); - } - } - - if (gb.Seen('S')) - { - seen = true; - - float idleTimeout = gb.GetFValue(); - if (idleTimeout < 0.0) - { - reply.copy("Idle timeouts cannot be negative!"); - error = true; - } - else - { - reprap.GetMove()->SetIdleTimeout(idleTimeout); - } - } - - if (!seen) - { - DisableDrives(); - } - } - break; - - case 20: // List files on SD card - if (!LockFileSystem(gb)) // don't allow more than one at a time to avoid contention on output buffers - { - return false; - } - { - OutputBuffer *fileResponse; - const int sparam = (gb.Seen('S')) ? gb.GetIValue() : 0; - const char* dir = (gb.Seen('P')) ? gb.GetString() : platform->GetGCodeDir(); - - if (sparam == 2) - { - fileResponse = reprap.GetFilesResponse(dir, true); // Send the file list in JSON format - fileResponse->cat('\n'); - } - else - { - if (!OutputBuffer::Allocate(fileResponse)) - { - // Cannot allocate an output buffer, try again later - return false; - } - - // To mimic the behaviour of the official RepRapPro firmware: - // If we are emulating RepRap then we print "GCode files:\n" at the start, otherwise we don't. - // If we are emulating Marlin and the code came via the serial/USB interface, then we don't put quotes around the names and we separate them with newline; - // otherwise we put quotes around them and separate them with comma. - if (platform->Emulating() == me || platform->Emulating() == reprapFirmware) - { - fileResponse->copy("GCode files:\n"); - } - - bool encapsulateList = ((&gb != serialGCode && &gb != telnetGCode) || platform->Emulating() != marlin); - FileInfo fileInfo; - if (platform->GetMassStorage()->FindFirst(dir, fileInfo)) - { - // iterate through all entries and append each file name - do { - if (encapsulateList) - { - fileResponse->catf("%c%s%c%c", FILE_LIST_BRACKET, fileInfo.fileName, FILE_LIST_BRACKET, FILE_LIST_SEPARATOR); - } - else - { - fileResponse->catf("%s\n", fileInfo.fileName); - } - } while (platform->GetMassStorage()->FindNext(fileInfo)); - - if (encapsulateList) - { - // remove the last separator - (*fileResponse)[fileResponse->Length() - 1] = 0; - } - } - else - { - fileResponse->cat("NONE\n"); - } - } - - UnlockAll(gb); - HandleReply(gb, false, fileResponse); - return true; - } - - case 21: // Initialise SD card - if (!LockFileSystem(gb)) // don't allow more than one at a time to avoid contention on output buffers - { - return false; - } - { - size_t card = (gb.Seen('P')) ? gb.GetIValue() : 0; - result = platform->GetMassStorage()->Mount(card, reply, true); - } - break; - - case 22: // Release SD card - if (!LockFileSystem(gb)) // don't allow more than one at a time to avoid contention on output buffers - { - return false; - } - { - size_t card = (gb.Seen('P')) ? gb.GetIValue() : 0; - result = platform->GetMassStorage()->Unmount(card, reply); - } - break; - - case 23: // Set file to print - case 32: // Select file and start SD print - if (fileGCode->OriginalMachineState().fileState.IsLive()) - { - reply.copy("Cannot set file to print, because a file is already being printed"); - error = true; - break; - } - - if (code == 32 && !LockMovementAndWaitForStandstill(gb)) - { - return false; - } - { - const char* filename = gb.GetUnprecedentedString(); - if (filename != nullptr) - { - QueueFileToPrint(filename); - if (fileToPrint.IsLive()) - { - reprap.GetPrintMonitor()->StartingPrint(filename); - if (platform->Emulating() == marlin && (&gb == serialGCode || &gb == telnetGCode)) - { - reply.copy("File opened\nFile selected"); - } - else - { - // Command came from web interface or PanelDue, or not emulating Marlin, so send a nicer response - reply.printf("File %s selected for printing", filename); - } - - if (code == 32) - { - fileGCode->OriginalMachineState().fileState.MoveFrom(fileToPrint); - reprap.GetPrintMonitor()->StartedPrint(); - } - } - else - { - reply.printf("Failed to open file %s", filename); - } - } - } - break; - - case 24: // Print/resume-printing the selected file - if (!LockMovementAndWaitForStandstill(gb)) - { - return false; - } - - if (isPaused) - { - gb.SetState(GCodeState::resuming1); - DoFileMacro(gb, RESUME_G); - } - else if (!fileToPrint.IsLive()) - { - reply.copy("Cannot print, because no file is selected!"); - error = true; - } - else - { - fileGCode->OriginalMachineState().fileState.MoveFrom(fileToPrint); - reprap.GetPrintMonitor()->StartedPrint(); - } - break; - - case 226: // Gcode Initiated Pause - if (&gb == fileGCode) // ignore M226 if it did't come from within a file being printed - { - DoPause(gb); - } - break; - - case 25: // Pause the print - if (isPaused) - { - reply.copy("Printing is already paused!!"); - error = true; - } - else if (!reprap.GetPrintMonitor()->IsPrinting()) - { - reply.copy("Cannot pause print, because no file is being printed!"); - error = true; - } - else - { - if (!LockMovement(gb)) // lock movement before calling DoPause - { - return false; - } - DoPause(gb); - } - break; - - case 26: // Set SD position - if (gb.Seen('S')) - { - const FilePosition value = gb.GetIValue(); - if (value < 0) - { - reply.copy("SD positions can't be negative!"); - error = true; - } - else if (fileGCode->OriginalMachineState().fileState.IsLive()) - { - if (!fileGCode->OriginalMachineState().fileState.Seek(value)) - { - reply.copy("The specified SD position is invalid!"); - error = true; - } - } - else if (fileToPrint.IsLive()) - { - if (!fileToPrint.Seek(value)) - { - reply.copy("The specified SD position is invalid!"); - error = true; - } - } - else - { - reply.copy("Cannot set SD file position, because no print is in progress!"); - error = true; - } - } - else - { - reply.copy("You must specify the SD position in bytes using the S parameter."); - error = true; - } - break; - - case 27: // Report print status - Deprecated - if (reprap.GetPrintMonitor()->IsPrinting()) - { - // Pronterface keeps sending M27 commands if "Monitor status" is checked, and it specifically expects the following response syntax - FileData& fileBeingPrinted = fileGCode->OriginalMachineState().fileState; - reply.printf("SD printing byte %lu/%lu", fileBeingPrinted.GetPosition(), fileBeingPrinted.Length()); - } - else - { - reply.copy("Not SD printing."); - } - break; - - case 28: // Write to file - { - const char* str = gb.GetUnprecedentedString(); - if (str != nullptr) - { - bool ok = OpenFileToWrite(gb, platform->GetGCodeDir(), str); - if (ok) - { - reply.printf("Writing to file: %s", str); - } - else - { - reply.printf("Can't open file %s for writing.", str); - error = true; - } - } - } - break; - - case 29: // End of file being written; should be intercepted before getting here - reply.copy("GCode end-of-file being interpreted."); - break; - - case 30: // Delete file - { - const char *filename = gb.GetUnprecedentedString(); - if (filename != nullptr) - { - DeleteFile(filename); - } - } - break; - - // For case 32, see case 24 - - case 36: // Return file information - if (!LockFileSystem(gb)) // getting file info takes several calls and isn't reentrant - { - return false; - } - { - const char* filename = gb.GetUnprecedentedString(true); // get filename, or nullptr if none provided - OutputBuffer *fileInfoResponse; - result = reprap.GetPrintMonitor()->GetFileInfoResponse(filename, fileInfoResponse); - if (result) - { - fileInfoResponse->cat('\n'); - UnlockAll(gb); - HandleReply(gb, false, fileInfoResponse); - return true; - } - } - break; - - case 37: // Simulation mode on/off - if (gb.Seen('S')) - { - if (!LockMovementAndWaitForStandstill(gb)) - { - return false; - } - - bool wasSimulating = (simulationMode != 0); - simulationMode = (uint8_t)gb.GetIValue(); - reprap.GetMove()->Simulate(simulationMode); - - if (simulationMode != 0) - { - simulationTime = 0.0; - if (!wasSimulating) - { - // Starting a new simulation, so save the current position - reprap.GetMove()->GetCurrentUserPosition(simulationRestorePoint.moveCoords, 0, reprap.GetCurrentXAxes()); - simulationRestorePoint.feedRate = feedRate; - } - } - else if (wasSimulating) - { - // Ending a simulation, so restore the position - SetPositions(simulationRestorePoint.moveCoords); - for (size_t i = 0; i < DRIVES; ++i) - { - moveBuffer.coords[i] = simulationRestorePoint.moveCoords[i]; - } - feedRate = simulationRestorePoint.feedRate; - } - } - else - { - reply.printf("Simulation mode: %s, move time: %.1f sec, other time: %.1f sec", - (simulationMode != 0) ? "on" : "off", reprap.GetMove()->GetSimulationTime(), simulationTime); - } - break; - - case 38: // Report SHA1 of file - if (!LockFileSystem(gb)) // getting file hash takes several calls and isn't reentrant - { - return false; - } - if (fileBeingHashed == nullptr) - { - // See if we can open the file and start hashing - const char* filename = gb.GetUnprecedentedString(true); - if (StartHash(filename)) - { - // Hashing is now in progress... - result = false; - } - else - { - error = true; - reply.printf("Cannot open file: %s", filename); - } - } - else - { - // This can take some time. All the actual heavy lifting is in dedicated methods - result = AdvanceHash(reply); - } - break; - - case 42: // Turn an output pin on or off - if (gb.Seen('P')) - { - const int logicalPin = gb.GetIValue(); - Pin pin; - bool invert; - if (platform->GetFirmwarePin(logicalPin, PinAccess::pwm, pin, invert)) - { - if (gb.Seen('S')) - { - float val = gb.GetFValue(); - if (val > 1.0) - { - val /= 255.0; - } - val = constrain<float>(val, 0.0, 1.0); - if (invert) - { - val = 1.0 - val; - } - Platform::WriteAnalog(pin, val, DefaultPinWritePwmFreq); - } - // Ignore the command if no S parameter provided - } - else - { - reply.printf("Logical pin %d is not available for writing", logicalPin); - error = true; - } - } - break; - - case 80: // ATX power on - platform->SetAtxPower(true); - break; - - case 81: // ATX power off - if (!LockMovementAndWaitForStandstill(gb)) - { - return false; - } - platform->SetAtxPower(false); - break; - - case 82: // Use absolute extruder positioning - if (gb.MachineState().drivesRelative) // don't reset the absolute extruder position if it was already absolute - { - for (size_t extruder = 0; extruder < MaxExtruders; extruder++) - { - lastRawExtruderPosition[extruder] = 0.0; - } - gb.MachineState().drivesRelative = false; - } - break; - - case 83: // Use relative extruder positioning - if (!gb.MachineState().drivesRelative) // don't reset the absolute extruder position if it was already relative - { - for (size_t extruder = 0; extruder < MaxExtruders; extruder++) - { - lastRawExtruderPosition[extruder] = 0.0; - } - gb.MachineState().drivesRelative = true; - } - break; - - // For case 84, see case 18 - - case 85: // Set inactive time - break; - - case 92: // Set/report steps/mm for some axes - { - // Save the current positions as we may need them later - float positionNow[DRIVES]; - Move *move = reprap.GetMove(); - move->GetCurrentUserPosition(positionNow, 0, reprap.GetCurrentXAxes()); - - bool seen = false; - for (size_t axis = 0; axis < numAxes; axis++) - { - if (gb.Seen(axisLetters[axis])) - { - if (!LockMovementAndWaitForStandstill(gb)) - { - return false; - } - platform->SetDriveStepsPerUnit(axis, gb.GetFValue()); - seen = true; - } - } - - if (gb.Seen(extrudeLetter)) - { - if (!LockMovementAndWaitForStandstill(gb)) - { - return false; - } - seen = true; - float eVals[MaxExtruders]; - size_t eCount = numExtruders; - gb.GetFloatArray(eVals, eCount, true); - - // The user may not have as many extruders as we allow for, so just set the ones for which a value is provided - for (size_t e = 0; e < eCount; e++) - { - platform->SetDriveStepsPerUnit(numAxes + e, eVals[e]); - } - } - - if (seen) - { - // On a delta, if we change the drive steps/mm then we need to recalculate the motor positions - SetPositions(positionNow); - } - else - { - reply.copy("Steps/mm: "); - for (size_t axis = 0; axis < numAxes; ++axis) - { - reply.catf("%c: %.3f, ", axisLetters[axis], platform->DriveStepsPerUnit(axis)); - } - reply.catf("E:"); - char sep = ' '; - for (size_t extruder = 0; extruder < numExtruders; extruder++) - { - reply.catf("%c%.3f", sep, platform->DriveStepsPerUnit(extruder + numAxes)); - sep = ':'; - } - } - } - break; - - case 98: // Call Macro/Subprogram - if (gb.Seen('P')) - { - DoFileMacro(gb, gb.GetString()); - } - break; - - case 99: // Return from Macro/Subprogram - FileMacroCyclesReturn(gb); - break; - - case 104: // Deprecated. This sets the active temperature of every heater of the active tool - if (gb.Seen('S')) - { - float temperature = gb.GetFValue(); - Tool* tool; - if (gb.Seen('T')) - { - int toolNumber = gb.GetIValue(); - toolNumber += gb.GetToolNumberAdjust(); - tool = reprap.GetTool(toolNumber); - } - else - { - tool = reprap.GetCurrentTool(); - // If no tool is selected, and there is only one tool, set the active temperature for that one - if (tool == nullptr) - { - tool = reprap.GetOnlyTool(); - } - } - SetToolHeaters(tool, temperature); - } - break; - - case 105: // Get temperatures - { - const int8_t bedHeater = reprap.GetHeat()->GetBedHeater(); - const int8_t chamberHeater = reprap.GetHeat()->GetChamberHeater(); - reply.copy("T:"); - for (int8_t heater = 0; heater < HEATERS; heater++) - { - if (heater != bedHeater && heater != chamberHeater) - { - Heat::HeaterStatus hs = reprap.GetHeat()->GetStatus(heater); - if (hs != Heat::HS_off && hs != Heat::HS_fault) - { - reply.catf("%.1f ", reprap.GetHeat()->GetTemperature(heater)); - } - } - } - if (bedHeater >= 0) - { - reply.catf("B:%.1f", reprap.GetHeat()->GetTemperature(bedHeater)); - } - else - { - // I'm not sure whether Pronterface etc. can handle a missing bed temperature, so return zero - reply.cat("B:0.0"); - } - if (chamberHeater >= 0.0) - { - reply.catf(" C:%.1f", reprap.GetHeat()->GetTemperature(chamberHeater)); - } - } - break; - - case 106: // Set/report fan values - { - bool seenFanNum = false; - int32_t fanNum = 0; // Default to the first fan - gb.TryGetIValue('P', fanNum, seenFanNum); - if (fanNum < 0 || fanNum > (int)NUM_FANS) - { - reply.printf("Fan number %d is invalid, must be between 0 and %u", fanNum, NUM_FANS); - } - else - { - bool seen = false; - Fan& fan = platform->GetFan(fanNum); - - if (gb.Seen('I')) // Invert cooling - { - const int invert = gb.GetIValue(); - if (invert < 0) - { - fan.Disable(); - } - else - { - fan.SetInverted(invert > 0); - } - seen = true; - } - - if (gb.Seen('F')) // Set PWM frequency - { - fan.SetPwmFrequency(gb.GetFValue()); - seen = true; - } - - if (gb.Seen('T')) // Set thermostatic trigger temperature - { - seen = true; - fan.SetTriggerTemperature(gb.GetFValue()); - } - - if (gb.Seen('B')) // Set blip time - { - seen = true; - fan.SetBlipTime(gb.GetFValue()); - } - - if (gb.Seen('L')) // Set minimum speed - { - seen = true; - fan.SetMinValue(gb.GetFValue()); - } - - if (gb.Seen('H')) // Set thermostatically-controller heaters - { - seen = true; - long heaters[HEATERS]; - size_t numH = HEATERS; - gb.GetLongArray(heaters, numH); - // Note that M106 H-1 disables thermostatic mode. The following code implements that automatically. - uint16_t hh = 0; - for (size_t h = 0; h < numH; ++h) - { - const int hnum = heaters[h]; - if (hnum >= 0 && hnum < HEATERS) - { - hh |= (1u << (unsigned int)hnum); - } - } - if (hh != 0) - { - platform->SetFanValue(fanNum, 1.0); // default the fan speed to full for safety - } - fan.SetHeatersMonitored(hh); - } - - if (gb.Seen('S')) // Set new fan value - process this after processing 'H' or it may not be acted on - { - const float f = constrain<float>(gb.GetFValue(), 0.0, 255.0); - if (seen || seenFanNum) - { - platform->SetFanValue(fanNum, f); - } - else - { - // We are processing an M106 S### command with no other recognised parameters and we have a tool selected. - // Apply the fan speed setting to the fans in the fan mapping for the current tool. - lastDefaultFanSpeed = f; - SetMappedFanSpeed(); - } - } - else if (gb.Seen('R')) - { - const int i = gb.GetIValue(); - switch(i) - { - case 0: - case 1: - // Restore fan speed to value when print was paused - platform->SetFanValue(fanNum, pausedFanValues[fanNum]); - break; - case 2: - // Set the speeds of mapped fans to the last known value. Fan number is ignored. - SetMappedFanSpeed(); - break; - default: - break; - } - } - else if (!seen) - { - reply.printf("Fan%i frequency: %dHz, speed: %d%%, min: %d%%, blip: %.2f, inverted: %s", - fanNum, - (int)(fan.GetPwmFrequency()), - (int)(fan.GetValue() * 100.0), - (int)(fan.GetMinValue() * 100.0), - fan.GetBlipTime(), - (fan.GetInverted()) ? "yes" : "no"); - uint16_t hh = fan.GetHeatersMonitored(); - if (hh != 0) - { - reply.catf(", trigger: %dC, heaters:", (int)fan.GetTriggerTemperature()); - for (unsigned int i = 0; i < HEATERS; ++i) - { - if ((hh & (1u << i)) != 0) - { - reply.catf(" %u", i); - } - } - } - } - } - } - break; - - case 107: // Fan off - deprecated - platform->SetFanValue(0, 0.0); //T3P3 as deprecated only applies to fan0 - break; - - case 108: // Cancel waiting for temperature - if (isWaiting) - { - cancelWait = true; - } - break; - - case 109: // Deprecated in RRF, but widely generated by slicers - { - float temperature; - bool waitWhenCooling; - if (gb.Seen('R')) - { - waitWhenCooling = true; - temperature = gb.GetFValue(); - } - else if (gb.Seen('S')) - { - waitWhenCooling = false; - temperature = gb.GetFValue(); - } - else - { - break; // no target temperature given - } - - Tool *tool; - if (gb.Seen('T')) - { - int toolNumber = gb.GetIValue(); - toolNumber += gb.GetToolNumberAdjust(); - tool = reprap.GetTool(toolNumber); - } - else - { - tool = reprap.GetCurrentTool(); - // If no tool is selected, and there is only one tool, set the active temperature for that one - if (tool == nullptr) - { - tool = reprap.GetOnlyTool(); - } - } - SetToolHeaters(tool, temperature); - if (cancelWait || ToolHeatersAtSetTemperatures(tool, waitWhenCooling)) - { - cancelWait = isWaiting = false; - break; - } - // In Marlin emulation mode we should return some sort of (undocumented) message here every second... - isWaiting = true; - return false; - } - break; - - case 110: // Set line numbers - line numbers are dealt with in the GCodeBuffer class - break; - - case 111: // Debug level - if (gb.Seen('S')) - { - bool dbv = (gb.GetIValue() != 0); - if (gb.Seen('P')) - { - reprap.SetDebug(static_cast<Module>(gb.GetIValue()), dbv); - } - else - { - reprap.SetDebug(dbv); - } - } - else - { - reprap.PrintDebug(); - } - break; - - case 112: // Emergency stop - acted upon in Webserver, but also here in case it comes from USB etc. - DoEmergencyStop(); - break; - - case 114: - GetCurrentCoordinates(reply); - break; - - case 115: // Print firmware version or set hardware type - if (gb.Seen('P')) - { - platform->SetBoardType((BoardType)gb.GetIValue()); - } - else - { - reply.printf("FIRMWARE_NAME: %s FIRMWARE_VERSION: %s ELECTRONICS: %s", NAME, VERSION, platform->GetElectronicsString()); -#ifdef DUET_NG - const char* expansionName = DuetExpansion::GetExpansionBoardName(); - if (expansionName != nullptr) - { - reply.catf(" + %s", expansionName); - } -#endif - reply.catf(" FIRMWARE_DATE: %s", DATE); - } - break; - - case 116: // Wait for set temperatures - { - bool seen = false; - if (gb.Seen('P')) - { - // Wait for the heaters associated with the specified tool to be ready - int toolNumber = gb.GetIValue(); - toolNumber += gb.GetToolNumberAdjust(); - if (!cancelWait && !ToolHeatersAtSetTemperatures(reprap.GetTool(toolNumber), true)) - { - isWaiting = true; - return false; - } - seen = true; - } - - if (gb.Seen('H')) - { - // Wait for specified heaters to be ready - long heaters[HEATERS]; - size_t heaterCount = HEATERS; - gb.GetLongArray(heaters, heaterCount); - if (!cancelWait) - { - for (size_t i=0; i<heaterCount; i++) - { - if (!reprap.GetHeat()->HeaterAtSetTemperature(heaters[i], true)) - { - isWaiting = true; - return false; - } - } - } - seen = true; - } - - if (gb.Seen('C')) - { - // Wait for chamber heater to be ready - const int8_t chamberHeater = reprap.GetHeat()->GetChamberHeater(); - if (chamberHeater != -1) - { - if (!cancelWait && !reprap.GetHeat()->HeaterAtSetTemperature(chamberHeater, true)) - { - isWaiting = true; - return false; - } - } - seen = true; - } - - // Wait for all heaters to be ready - if (!seen && !cancelWait && !reprap.GetHeat()->AllHeatersAtSetTemperatures(true)) - { - isWaiting = true; - return false; - } - - // If we get here, there is nothing more to wait for - cancelWait = isWaiting = false; - } - break; - - case 117: // Display message - { - const char *msg = gb.GetUnprecedentedString(true); - reprap.SetMessage((msg == nullptr) ? "" : msg); - } - break; - - case 119: - reply.copy("Endstops - "); - for (size_t axis = 0; axis < numAxes; axis++) - { - reply.catf("%c: %s, ", axisLetters[axis], TranslateEndStopResult(platform->Stopped(axis))); - } - reply.catf("Z probe: %s", TranslateEndStopResult(platform->GetZProbeResult())); - break; - - case 120: - Push(gb); - break; - - case 121: - Pop(gb); - break; - - case 122: - { - int val = (gb.Seen('P')) ? gb.GetIValue() : 0; - if (val == 0) - { - reprap.Diagnostics(gb.GetResponseMessageType()); - } - else - { - platform->DiagnosticTest(val); - } - } - break; - - case 135: // Set PID sample interval - if (gb.Seen('S')) - { - platform->SetHeatSampleTime(gb.GetFValue() * 0.001); // Value is in milliseconds; we want seconds - } - else - { - reply.printf("Heat sample time is %.3f seconds", platform->GetHeatSampleTime()); - } - break; - - case 140: // Set bed temperature - { - int8_t bedHeater; - if (gb.Seen('H')) - { - bedHeater = gb.GetIValue(); - if (bedHeater < 0) - { - // Make sure we stay within reasonable boundaries... - bedHeater = -1; - - // If we're disabling the hot bed, make sure the old heater is turned off - reprap.GetHeat()->SwitchOff(reprap.GetHeat()->GetBedHeater()); - } - else if (bedHeater >= HEATERS) - { - reply.copy("Invalid heater number!"); - error = true; - break; - } - reprap.GetHeat()->SetBedHeater(bedHeater); - - if (bedHeater < 0) - { - // Stop here if the hot bed has been disabled - break; - } - } - else - { - bedHeater = reprap.GetHeat()->GetBedHeater(); - if (bedHeater < 0) - { - reply.copy("Hot bed is not present!"); - error = true; - break; - } - } - - if(gb.Seen('S')) - { - float temperature = gb.GetFValue(); - if (temperature < NEARLY_ABS_ZERO) - { - reprap.GetHeat()->SwitchOff(bedHeater); - } - else - { - reprap.GetHeat()->SetActiveTemperature(bedHeater, temperature); - reprap.GetHeat()->Activate(bedHeater); - } - } - if(gb.Seen('R')) - { - reprap.GetHeat()->SetStandbyTemperature(bedHeater, gb.GetFValue()); - } - } - break; - - case 141: // Chamber temperature - { - bool seen = false; - if (gb.Seen('H')) - { - seen = true; - - int heater = gb.GetIValue(); - if (heater < 0) - { - const int8_t currentHeater = reprap.GetHeat()->GetChamberHeater(); - if (currentHeater != -1) - { - reprap.GetHeat()->SwitchOff(currentHeater); - } - - reprap.GetHeat()->SetChamberHeater(-1); - } - else if (heater < HEATERS) - { - reprap.GetHeat()->SetChamberHeater(heater); - } - else - { - reply.copy("Bad heater number specified!"); - error = true; - } - } - - if (gb.Seen('S')) - { - seen = true; - - const int8_t currentHeater = reprap.GetHeat()->GetChamberHeater(); - if (currentHeater != -1) - { - float temperature = gb.GetFValue(); - - if (temperature < NEARLY_ABS_ZERO) - { - reprap.GetHeat()->SwitchOff(currentHeater); - } - else - { - reprap.GetHeat()->SetActiveTemperature(currentHeater, temperature); - reprap.GetHeat()->Activate(currentHeater); - } - } - else - { - reply.copy("No chamber heater has been set up yet!"); - error = true; - } - } - - if (!seen) - { - const int8_t currentHeater = reprap.GetHeat()->GetChamberHeater(); - if (currentHeater != -1) - { - reply.printf("Chamber heater %d is currently at %.1fC", currentHeater, reprap.GetHeat()->GetTemperature(currentHeater)); - } - else - { - reply.copy("No chamber heater has been configured yet."); - } - } - } - break; - - case 143: // Set temperature limit - { - const int heater = (gb.Seen('H')) ? gb.GetIValue() : 1; // default to extruder 1 if no heater number provided - if (heater < 0 || heater >= HEATERS) - { - reply.copy("Invalid heater number"); - error = true; - } - else if (gb.Seen('S')) - { - const float limit = gb.GetFValue(); - if (limit > BAD_LOW_TEMPERATURE && limit < BAD_ERROR_TEMPERATURE) - { - reprap.GetHeat()->SetTemperatureLimit(heater, limit); - } - else - { - reply.copy("Invalid temperature limit"); - error = true; - } - } - else - { - reply.printf("Temperature limit for heater %d is %.1fC", heater, reprap.GetHeat()->GetTemperatureLimit(heater)); - } - } - break; - - case 144: // Set bed to standby - { - const int8_t bedHeater = reprap.GetHeat()->GetBedHeater(); - if (bedHeater >= 0) - { - reprap.GetHeat()->Standby(bedHeater); - } - } - break; - - case 190: // Set bed temperature and wait - case 191: // Set chamber temperature and wait - { - const int8_t heater = (code == 191) ? reprap.GetHeat()->GetChamberHeater() : reprap.GetHeat()->GetBedHeater(); - if (heater >= 0) - { - float temperature; - bool waitWhenCooling; - if (gb.Seen('R')) - { - waitWhenCooling = true; - temperature = gb.GetFValue(); - } - else if (gb.Seen('S')) - { - waitWhenCooling = false; - temperature = gb.GetFValue(); - } - else - { - break; // no target temperature given - } - - reprap.GetHeat()->SetActiveTemperature(heater, temperature); - reprap.GetHeat()->Activate(heater); - if (cancelWait || reprap.GetHeat()->HeaterAtSetTemperature(heater, waitWhenCooling)) - { - cancelWait = isWaiting = false; - break; - } - // In Marlin emulation mode we should return some sort of (undocumented) message here every second... - isWaiting = true; - return false; - } - } - break; - - case 201: // Set/print axis accelerations - { - bool seen = false; - for (size_t axis = 0; axis < numAxes; axis++) - { - if (gb.Seen(axisLetters[axis])) - { - platform->SetAcceleration(axis, gb.GetFValue() * distanceScale); - seen = true; - } - } - - if (gb.Seen(extrudeLetter)) - { - seen = true; - float eVals[MaxExtruders]; - size_t eCount = numExtruders; - gb.GetFloatArray(eVals, eCount, true); - for (size_t e = 0; e < eCount; e++) - { - platform->SetAcceleration(numAxes + e, eVals[e] * distanceScale); - } - } - - if (gb.Seen('P')) - { - // Set max average printing acceleration - platform->SetMaxAverageAcceleration(gb.GetFValue() * distanceScale); - seen = true; - } - - if (!seen) - { - reply.printf("Accelerations: "); - for (size_t axis = 0; axis < numAxes; ++axis) - { - reply.catf("%c: %.1f, ", axisLetters[axis], platform->Acceleration(axis) / distanceScale); - } - reply.cat("E:"); - char sep = ' '; - for (size_t extruder = 0; extruder < numExtruders; extruder++) - { - reply.catf("%c%.1f", sep, platform->Acceleration(extruder + numAxes) / distanceScale); - sep = ':'; - } - reply.catf(", avg. printing: %.1f", platform->GetMaxAverageAcceleration()); - } - } - break; - - case 203: // Set/print maximum feedrates - { - bool seen = false; - for (size_t axis = 0; axis < numAxes; ++axis) - { - if (gb.Seen(axisLetters[axis])) - { - platform->SetMaxFeedrate(axis, gb.GetFValue() * distanceScale * secondsToMinutes); // G Code feedrates are in mm/minute; we need mm/sec - seen = true; - } - } - - if (gb.Seen(extrudeLetter)) - { - seen = true; - float eVals[MaxExtruders]; - size_t eCount = numExtruders; - gb.GetFloatArray(eVals, eCount, true); - for (size_t e = 0; e < eCount; e++) - { - platform->SetMaxFeedrate(numAxes + e, eVals[e] * distanceScale * secondsToMinutes); - } - } - - if (!seen) - { - reply.copy("Maximum feedrates: "); - for (size_t axis = 0; axis < numAxes; ++axis) - { - reply.catf("%c: %.1f, ", axisLetters[axis], platform->MaxFeedrate(axis) / (distanceScale * secondsToMinutes)); - } - reply.cat("E:"); - char sep = ' '; - for (size_t extruder = 0; extruder < numExtruders; extruder++) - { - reply.catf("%c%.1f", sep, platform->MaxFeedrate(extruder + numAxes) / (distanceScale * secondsToMinutes)); - sep = ':'; - } - } - } - break; - - case 205: //M205 advanced settings: minimum travel speed S=while printing T=travel only, B=minimum segment time X= maximum xy jerk, Z=maximum Z jerk - // This is superseded in this firmware by M codes for the separate types (e.g. M566). - break; - - case 206: // Offset axes - Deprecated - result = OffsetAxes(gb); - break; - - case 207: // Set firmware retraction details - { - bool seen = false; - if (gb.Seen('S')) - { - retractLength = max<float>(gb.GetFValue(), 0.0); - seen = true; - } - if (gb.Seen('R')) - { - retractExtra = max<float>(gb.GetFValue(), -retractLength); - seen = true; - } - if (gb.Seen('F')) - { - unRetractSpeed = retractSpeed = max<float>(gb.GetFValue(), 60.0); - seen = true; - } - if (gb.Seen('T')) // must do this one after 'F' - { - unRetractSpeed = max<float>(gb.GetFValue(), 60.0); - seen = true; - } - if (gb.Seen('Z')) - { - retractHop = max<float>(gb.GetFValue(), 0.0); - seen = true; - } - if (!seen) - { - reply.printf("Retraction settings: length %.2f/%.2fmm, speed %d/%dmm/min, Z hop %.2fmm", - retractLength, retractLength + retractExtra, (int)retractSpeed, (int)unRetractSpeed, retractHop); - } - } - break; - - case 208: // Set/print maximum axis lengths. If there is an S parameter with value 1 then we set the min value, else we set the max value. - { - bool setMin = (gb.Seen('S') ? (gb.GetIValue() == 1) : false); - bool seen = false; - for (size_t axis = 0; axis < numAxes; axis++) - { - if (gb.Seen(axisLetters[axis])) - { - float value = gb.GetFValue() * distanceScale; - if (setMin) - { - platform->SetAxisMinimum(axis, value); - } - else - { - platform->SetAxisMaximum(axis, value); - } - seen = true; - } - } - - if (!seen) - { - reply.copy("Axis limits "); - char sep = '-'; - for (size_t axis = 0; axis < numAxes; axis++) - { - reply.catf("%c %c: %.1f min, %.1f max", sep, axisLetters[axis], platform->AxisMinimum(axis), - platform->AxisMaximum(axis)); - sep = ','; - } - } - } - break; - - case 210: // Set/print homing feed rates - // This is no longer used, but for backwards compatibility we don't report an error - break; - - case 220: // Set/report speed factor override percentage - if (gb.Seen('S')) - { - float newSpeedFactor = (gb.GetFValue() / 100.0) * secondsToMinutes; // include the conversion from mm/minute to mm/second - if (newSpeedFactor > 0.0) - { - feedRate *= newSpeedFactor / speedFactor; - if (moveAvailable && !moveBuffer.isFirmwareRetraction) - { - // The last move has not gone yet, so we can update it - moveBuffer.feedRate *= newSpeedFactor / speedFactor; - } - speedFactor = newSpeedFactor; - } - else - { - reply.printf("Invalid speed factor specified."); - error = true; - } - } - else - { - reply.printf("Speed factor override: %.1f%%", speedFactor * minutesToSeconds * 100.0); - } - break; - - case 221: // Set/report extrusion factor override percentage - { - int extruder = 0; - if (gb.Seen('D')) // D parameter (if present) selects the extruder number - { - extruder = gb.GetIValue(); - } - - if (gb.Seen('S')) // S parameter sets the override percentage - { - float extrusionFactor = gb.GetFValue() / 100.0; - if (extruder >= 0 && (size_t)extruder < numExtruders && extrusionFactor >= 0.0) - { - if (moveAvailable && !moveBuffer.isFirmwareRetraction) - { - moveBuffer.coords[extruder + numAxes] *= extrusionFactor/extrusionFactors[extruder]; // last move not gone, so update it - } - extrusionFactors[extruder] = extrusionFactor; - } - } - else - { - reply.printf("Extrusion factor override for extruder %d: %.1f%%", extruder, - extrusionFactors[extruder] * 100.0); - } - } - break; - - // For case 226, see case 25 - - case 280: // Servos - if (gb.Seen('P')) - { - const int servoIndex = gb.GetIValue(); - Pin servoPin; - bool invert; - if (platform->GetFirmwarePin(servoIndex, PinAccess::servo, servoPin, invert)) - { - if (gb.Seen('I')) - { - if (gb.GetIValue() > 0) - { - invert = !invert; - } - } - if (gb.Seen('S')) - { - float angleOrWidth = gb.GetFValue(); - if (angleOrWidth < 0.0) - { - // Disable the servo by setting the pulse width to zero - Platform::WriteAnalog(servoPin, (invert) ? 1.0 : 0.0, ServoRefreshFrequency); - } - else - { - if (angleOrWidth < MinServoPulseWidth) - { - // User gave an angle so convert it to a pulse width in microseconds - angleOrWidth = (min<float>(angleOrWidth, 180.0) * ((MaxServoPulseWidth - MinServoPulseWidth) / 180.0)) + MinServoPulseWidth; - } - else if (angleOrWidth > MaxServoPulseWidth) - { - angleOrWidth = MaxServoPulseWidth; - } - float pwm = angleOrWidth * (ServoRefreshFrequency/1e6); - if (invert) - { - pwm = 1.0 - pwm; - } - Platform::WriteAnalog(servoPin, pwm, ServoRefreshFrequency); - } - } - // We don't currently allow the servo position to be read back - } - else - { - platform->MessageF(GENERIC_MESSAGE, "Error: Invalid servo index %d in M280 command\n", servoIndex); - } - } - break; - - case 300: // Beep - { - int ms = (gb.Seen('P')) ? gb.GetIValue() : 1000; // time in milliseconds - int freq = (gb.Seen('S')) ? gb.GetIValue() : 4600; // 4600Hz produces the loudest sound on a PanelDue - reprap.Beep(freq, ms); - } - break; - - case 301: // Set/report hot end PID values - SetPidParameters(gb, 1, reply); - break; - - case 302: // Allow, deny or report cold extrudes - if (gb.Seen('P')) - { - if (gb.GetIValue() > 0) - { - reprap.GetHeat()->AllowColdExtrude(); - } - else - { - reprap.GetHeat()->DenyColdExtrude(); - } - } - else - { - reply.printf("Cold extrusion is %s, use M302 P[1/0] to allow/deny it", - reprap.GetHeat()->ColdExtrude() ? "allowed" : "denied"); - } - break; - - case 303: // Run PID tuning - if (gb.Seen('H')) - { - const size_t heater = gb.GetIValue(); - const float temperature = (gb.Seen('S')) ? gb.GetFValue() : 225.0; - const float maxPwm = (gb.Seen('P')) ? gb.GetFValue() : 0.5; - if (heater < HEATERS && maxPwm >= 0.1 && maxPwm <= 1.0 && temperature >= 55.0 && temperature <= reprap.GetHeat()->GetTemperatureLimit(heater)) - { - reprap.GetHeat()->StartAutoTune(heater, temperature, maxPwm, reply); - } - else - { - reply.printf("Bad parameter in M303 command"); - } - } - else - { - reprap.GetHeat()->GetAutoTuneStatus(reply); - } - break; - - case 304: // Set/report heated bed PID values - { - const int8_t bedHeater = reprap.GetHeat()->GetBedHeater(); - if (bedHeater >= 0) - { - SetPidParameters(gb, bedHeater, reply); - } - } - break; - - case 305: // Set/report specific heater parameters - SetHeaterParameters(gb, reply); - break; - - case 307: // Set heater process model parameters - if (gb.Seen('H')) - { - size_t heater = gb.GetIValue(); - if (heater < HEATERS) - { - const FopDt& model = reprap.GetHeat()->GetHeaterModel(heater); - bool seen = false; - float gain = model.GetGain(), tc = model.GetTimeConstant(), td = model.GetDeadTime(), maxPwm = model.GetMaxPwm(); - int32_t dontUsePid = model.UsePid() ? 0 : 1; - - gb.TryGetFValue('A', gain, seen); - gb.TryGetFValue('C', tc, seen); - gb.TryGetFValue('D', td, seen); - gb.TryGetIValue('B', dontUsePid, seen); - gb.TryGetFValue('S', maxPwm, seen); - - if (seen) - { - if (reprap.GetHeat()->SetHeaterModel(heater, gain, tc, td, maxPwm, dontUsePid == 0)) - { - reprap.GetHeat()->UseModel(heater, true); - } - else - { - reply.copy("Error: bad model parameters"); - } - } - else if (!model.IsEnabled()) - { - reply.printf("Heater %u is disabled", heater); - } - else - { - reply.printf("Heater %u model: gain %.1f, time constant %.1f, dead time %.1f, max PWM %.2f, in use: %s, mode: %s", - heater, model.GetGain(), model.GetTimeConstant(), model.GetDeadTime(), model.GetMaxPwm(), - (reprap.GetHeat()->IsModelUsed(heater)) ? "yes" : "no", - (model.UsePid()) ? "PID" : "bang-bang"); - if (model.UsePid()) - { - // When reporting the PID parameters, we scale them by 255 for compatibility with older firmware and other firmware - const PidParams& spParams = model.GetPidParameters(false); - const float scaledSpKp = 255.0 * spParams.kP; - reply.catf("\nSetpoint change: P%.1f, I%.2f, D%.1f", - scaledSpKp, scaledSpKp * spParams.recipTi, scaledSpKp * spParams.tD); - const PidParams& ldParams = model.GetPidParameters(true); - const float scaledLoadKp = 255.0 * ldParams.kP; - reply.catf("\nLoad change: P%.1f, I%.2f, D%.1f", - scaledLoadKp, scaledLoadKp * ldParams.recipTi, scaledLoadKp * ldParams.tD); - } - } - } - } - break; - - case 350: // Set/report microstepping - { - // interp is current an int not a bool, because we use special values of interp to set the chopper control register - int interp = 0; - if (gb.Seen('I')) - { - interp = gb.GetIValue(); - } - - bool seen = false; - for (size_t axis = 0; axis < numAxes; axis++) - { - if (gb.Seen(axisLetters[axis])) - { - if (!LockMovementAndWaitForStandstill(gb)) - { - return false; - } - seen = true; - int microsteps = gb.GetIValue(); - if (ChangeMicrostepping(axis, microsteps, interp)) - { - SetAxisNotHomed(axis); - } - else - { - platform->MessageF(GENERIC_MESSAGE, "Drive %c does not support %dx microstepping%s\n", - axisLetters[axis], microsteps, (interp) ? " with interpolation" : ""); - } - } - } - - if (gb.Seen(extrudeLetter)) - { - if (!LockMovementAndWaitForStandstill(gb)) - { - return false; - } - seen = true; - long eVals[MaxExtruders]; - size_t eCount = numExtruders; - gb.GetLongArray(eVals, eCount); - for (size_t e = 0; e < eCount; e++) - { - if (!ChangeMicrostepping(numAxes + e, (int)eVals[e], interp)) - { - platform->MessageF(GENERIC_MESSAGE, "Drive E%u does not support %dx microstepping%s\n", - e, (int)eVals[e], (interp) ? " with interpolation" : ""); - } - } - } - - if (!seen) - { - reply.copy("Microstepping - "); - for (size_t axis = 0; axis < numAxes; ++axis) - { - bool interp; - int microsteps = platform->GetMicrostepping(axis, interp); - reply.catf("%c:%d%s, ", axisLetters[axis], microsteps, (interp) ? "(on)" : ""); - } - reply.cat("E"); - for (size_t extruder = 0; extruder < numExtruders; extruder++) - { - bool interp; - int microsteps = platform->GetMicrostepping(extruder + numAxes, interp); - reply.catf(":%d%s", microsteps, (interp) ? "(on)" : ""); - } - } - } - break; - - case 400: // Wait for current moves to finish - if (!LockMovementAndWaitForStandstill(gb)) - { - return false; - } - break; - - case 404: // Filament width and nozzle diameter - { - bool seen = false; - - if (gb.Seen('N')) - { - platform->SetFilamentWidth(gb.GetFValue()); - seen = true; - } - if (gb.Seen('D')) - { - platform->SetNozzleDiameter(gb.GetFValue()); - seen = true; - } - - if (!seen) - { - reply.printf("Filament width: %.2fmm, nozzle diameter: %.2fmm", platform->GetFilamentWidth(), platform->GetNozzleDiameter()); - } - } - break; - - case 408: // Get status in JSON format - { - int type = gb.Seen('S') ? gb.GetIValue() : 0; - int seq = gb.Seen('R') ? gb.GetIValue() : -1; - - OutputBuffer *statusResponse = nullptr; - switch (type) - { - case 0: - case 1: - statusResponse = reprap.GetLegacyStatusResponse(type + 2, seq); - break; - - case 2: - case 3: - case 4: - statusResponse = reprap.GetStatusResponse(type - 1, (&gb == auxGCode) ? ResponseSource::AUX : ResponseSource::Generic); - break; - - case 5: - statusResponse = reprap.GetConfigResponse(); - break; - } - - if (statusResponse != nullptr) - { - UnlockAll(gb); - statusResponse->cat('\n'); - HandleReply(gb, false, statusResponse); - return true; - } - } - break; - - case 500: // Store parameters in EEPROM - reprap.GetPlatform()->WriteNvData(); - break; - - case 501: // Load parameters from EEPROM - reprap.GetPlatform()->ReadNvData(); - if (gb.Seen('S')) - { - reprap.GetPlatform()->SetAutoSave(gb.GetIValue() > 0); - } - break; - - case 502: // Revert to default "factory settings" - reprap.GetPlatform()->ResetNvData(); - break; - - case 503: // List variable settings - { - if (!LockFileSystem(gb)) - { - return false; - } - - // Need a valid output buffer to continue... - OutputBuffer *configResponse; - if (!OutputBuffer::Allocate(configResponse)) - { - // No buffer available, try again later - return false; - } - - // Read the entire file - FileStore * const f = platform->GetFileStore(platform->GetSysDir(), platform->GetConfigFile(), false); - if (f == nullptr) - { - error = true; - reply.copy("Configuration file not found!"); - } - else - { - char fileBuffer[FILE_BUFFER_SIZE]; - size_t bytesRead, bytesLeftForWriting = OutputBuffer::GetBytesLeft(configResponse); - while ((bytesRead = f->Read(fileBuffer, FILE_BUFFER_SIZE)) > 0 && bytesLeftForWriting > 0) - { - // Don't write more data than we can process - if (bytesRead < bytesLeftForWriting) - { - bytesLeftForWriting -= bytesRead; - } - else - { - bytesRead = bytesLeftForWriting; - bytesLeftForWriting = 0; - } - - // Write it - configResponse->cat(fileBuffer, bytesRead); - } - f->Close(); - - UnlockAll(gb); - HandleReply(gb, false, configResponse); - return true; - } - } - break; - - case 540: // Set/report MAC address - if (gb.Seen('P')) - { - SetMACAddress(gb); - } - else - { - const byte* mac = platform->MACAddress(); - reply.printf("MAC: %x:%x:%x:%x:%x:%x", mac[0], mac[1], mac[2], mac[3], mac[4], mac[5]); - } - break; - - case 550: // Set/report machine name - if (gb.Seen('P')) - { - reprap.SetName(gb.GetString()); - } - else - { - reply.printf("RepRap name: %s", reprap.GetName()); - } - break; - - case 551: // Set password (no option to report it) - if (gb.Seen('P')) - { - reprap.SetPassword(gb.GetString()); - } - break; - - case 552: // Enable/Disable network and/or Set/Get IP address - { - bool seen = false; - if (gb.Seen('P')) - { - seen = true; - SetEthernetAddress(gb, code); - } - - if (gb.Seen('R')) - { - reprap.GetNetwork()->SetHttpPort(gb.GetIValue()); - seen = true; - } - - // Process this one last in case the IP address is changed and the network enabled in the same command - if (gb.Seen('S')) // Has the user turned the network on or off? - { - seen = true; - if (gb.GetIValue() != 0) - { - reprap.GetNetwork()->Enable(); - } - else - { - reprap.GetNetwork()->Disable(); - } - } - - if (!seen) - { - const byte *config_ip = platform->IPAddress(); - const byte *actual_ip = reprap.GetNetwork()->IPAddress(); - reply.printf("Network is %s, configured IP address: %d.%d.%d.%d, actual IP address: %d.%d.%d.%d, HTTP port: %d", - reprap.GetNetwork()->IsEnabled() ? "enabled" : "disabled", - config_ip[0], config_ip[1], config_ip[2], config_ip[3], actual_ip[0], actual_ip[1], actual_ip[2], actual_ip[3], - reprap.GetNetwork()->GetHttpPort()); - } - } - break; - - case 553: // Set/Get netmask - if (gb.Seen('P')) - { - SetEthernetAddress(gb, code); - } - else - { - const byte *nm = platform->NetMask(); - reply.printf("Net mask: %d.%d.%d.%d ", nm[0], nm[1], nm[2], nm[3]); - } - break; - - case 554: // Set/Get gateway - if (gb.Seen('P')) - { - SetEthernetAddress(gb, code); - } - else - { - const byte *gw = platform->GateWay(); - reply.printf("Gateway: %d.%d.%d.%d ", gw[0], gw[1], gw[2], gw[3]); - } - break; - - case 555: // Set/report firmware type to emulate - if (gb.Seen('P')) - { - platform->SetEmulating((Compatibility) gb.GetIValue()); - } - else - { - reply.copy("Emulating "); - switch (platform->Emulating()) - { - case me: - case reprapFirmware: - reply.cat("RepRap Firmware (i.e. in native mode)"); - break; - - case marlin: - reply.cat("Marlin"); - break; - - case teacup: - reply.cat("Teacup"); - break; - - case sprinter: - reply.cat("Sprinter"); - break; - - case repetier: - reply.cat("Repetier"); - break; - - default: - reply.catf("Unknown: (%d)", platform->Emulating()); - } - } - break; - - case 556: // Axis compensation (we support only X, Y, Z) - if (gb.Seen('S')) - { - float value = gb.GetFValue(); - for (size_t axis = 0; axis <= Z_AXIS; axis++) - { - if (gb.Seen(axisLetters[axis])) - { - reprap.GetMove()->SetAxisCompensation(axis, gb.GetFValue() / value); - } - } - } - else - { - reply.printf("Axis compensations - XY: %.5f, YZ: %.5f, ZX: %.5f", - reprap.GetMove()->AxisCompensation(X_AXIS), reprap.GetMove()->AxisCompensation(Y_AXIS), - reprap.GetMove()->AxisCompensation(Z_AXIS)); - } - break; - - case 557: // Set/report Z probe point coordinates - if (gb.Seen('P')) - { - int point = gb.GetIValue(); - if (point < 0 || (unsigned int)point >= MaxProbePoints) - { - reprap.GetPlatform()->Message(GENERIC_MESSAGE, "Z probe point index out of range.\n"); - } - else - { - bool seen = false; - if (gb.Seen(axisLetters[X_AXIS])) - { - reprap.GetMove()->SetXBedProbePoint(point, gb.GetFValue()); - seen = true; - } - if (gb.Seen(axisLetters[Y_AXIS])) - { - reprap.GetMove()->SetYBedProbePoint(point, gb.GetFValue()); - seen = true; - } - - if (!seen) - { - reply.printf("Probe point %d - [%.1f, %.1f]", point, reprap.GetMove()->XBedProbePoint(point), reprap.GetMove()->YBedProbePoint(point)); - } - } - } - else - { - LockMovement(gb); // to ensure that probing is not already in progress - error = DefineGrid(gb, reply); - } - break; - - case 558: // Set or report Z probe type and for which axes it is used - { - bool seenAxes = false, seenType = false, seenParam = false; - uint32_t zProbeAxes = platform->GetZProbeAxes(); - for (size_t axis = 0; axis < numAxes; axis++) - { - if (gb.Seen(axisLetters[axis])) - { - if (gb.GetIValue() > 0) - { - zProbeAxes |= (1u << axis); - } - else - { - zProbeAxes &= ~(1u << axis); - } - seenAxes = true; - } - } - if (seenAxes) - { - platform->SetZProbeAxes(zProbeAxes); - } - - // We must get and set the Z probe type first before setting the dive height etc., because different probe types may have different parameters - if (gb.Seen('P')) // probe type - { - platform->SetZProbeType(gb.GetIValue()); - seenType = true; - } - - ZProbeParameters params = platform->GetZProbeParameters(); - gb.TryGetFValue('H', params.diveHeight, seenParam); // dive height - - if (gb.Seen('F')) // feed rate i.e. probing speed - { - params.probeSpeed = gb.GetFValue() * secondsToMinutes; - seenParam = true; - } - - if (gb.Seen('T')) // travel speed to probe point - { - params.travelSpeed = gb.GetFValue() * secondsToMinutes; - seenParam = true; - } - - if (gb.Seen('I')) - { - params.invertReading = (gb.GetIValue() != 0); - seenParam = true; - } - - gb.TryGetFValue('S', params.param1, seenParam); // extra parameter for experimentation - gb.TryGetFValue('R', params.param2, seenParam); // extra parameter for experimentation - - if (seenParam) - { - platform->SetZProbeParameters(params); - } - - if (!(seenAxes || seenType || seenParam)) - { - reply.printf("Z Probe type %d, invert %s, dive height %.1fmm, probe speed %dmm/min, travel speed %dmm/min", - platform->GetZProbeType(), (params.invertReading) ? "yes" : "no", params.diveHeight, - (int)(params.probeSpeed * minutesToSeconds), (int)(params.travelSpeed * minutesToSeconds)); - if (platform->GetZProbeType() == ZProbeTypeDelta) - { - reply.catf(", parameters %.2f %.2f", params.param1, params.param2); - } - reply.cat(", used for axes:"); - for (size_t axis = 0; axis < numAxes; axis++) - { - if ((zProbeAxes & (1u << axis)) != 0) - { - reply.catf(" %c", axisLetters[axis]); - } - } - } - } - break; - - case 559: // Upload config.g or another gcode file to put in the sys directory - { - const char* str = (gb.Seen('P') ? gb.GetString() : platform->GetConfigFile()); - bool ok = OpenFileToWrite(gb, platform->GetSysDir(), str); - if (ok) - { - reply.printf("Writing to file: %s", str); - } - else - { - reply.printf("Can't open file %s for writing.", str); - error = true; - } - } - break; - - case 560: // Upload reprap.htm or another web interface file - { - const char* str = (gb.Seen('P') ? gb.GetString() : INDEX_PAGE_FILE); - bool ok = OpenFileToWrite(gb, platform->GetWebDir(), str); - if (ok) - { - reply.printf("Writing to file: %s", str); - } - else - { - reply.printf("Can't open file %s for writing.", str); - error = true; - } - } - break; - - case 561: - reprap.GetMove()->SetIdentityTransform(); - break; - - case 562: // Reset temperature fault - use with great caution - if (gb.Seen('P')) - { - int heater = gb.GetIValue(); - if (heater >= 0 && heater < HEATERS) - { - reprap.ClearTemperatureFault(heater); - } - else - { - reply.copy("Invalid heater number.\n"); - error = true; - } - } - break; - - case 563: // Define tool - ManageTool(gb, reply); - break; - - case 564: // Think outside the box? - if (gb.Seen('S')) - { - limitAxes = (gb.GetIValue() != 0); - } - else - { - reply.printf("Movement outside the bed is %spermitted", (limitAxes) ? "not " : ""); - } - break; - - case 566: // Set/print maximum jerk speeds - { - bool seen = false; - for (size_t axis = 0; axis < numAxes; axis++) - { - if (gb.Seen(axisLetters[axis])) - { - platform->SetInstantDv(axis, gb.GetFValue() * distanceScale * secondsToMinutes); // G Code feedrates are in mm/minute; we need mm/sec - seen = true; - } - } - - if (gb.Seen(extrudeLetter)) - { - seen = true; - float eVals[MaxExtruders]; - size_t eCount = numExtruders; - gb.GetFloatArray(eVals, eCount, true); - for (size_t e = 0; e < eCount; e++) - { - platform->SetInstantDv(numAxes + e, eVals[e] * distanceScale * secondsToMinutes); - } - } - else if (!seen) - { - reply.copy("Maximum jerk rates: "); - for (size_t axis = 0; axis < numAxes; ++axis) - { - reply.catf("%c: %.1f, ", axisLetters[axis], platform->ConfiguredInstantDv(axis) / (distanceScale * secondsToMinutes)); - } - reply.cat("E:"); - char sep = ' '; - for (size_t extruder = 0; extruder < numExtruders; extruder++) - { - reply.catf("%c%.1f", sep, platform->ConfiguredInstantDv(extruder + numAxes) / (distanceScale * secondsToMinutes)); - sep = ':'; - } - } - } - break; - - case 567: // Set/report tool mix ratios - if (gb.Seen('P')) - { - int8_t tNumber = gb.GetIValue(); - Tool* tool = reprap.GetTool(tNumber); - if (tool != NULL) - { - if (gb.Seen(extrudeLetter)) - { - float eVals[MaxExtruders]; - size_t eCount = tool->DriveCount(); - gb.GetFloatArray(eVals, eCount, false); - if (eCount != tool->DriveCount()) - { - reply.printf("Setting mix ratios - wrong number of E drives: %s", gb.Buffer()); - } - else - { - tool->DefineMix(eVals); - } - } - else - { - reply.printf("Tool %d mix ratios:", tNumber); - char sep = ' '; - for (size_t drive = 0; drive < tool->DriveCount(); drive++) - { - reply.catf("%c%.3f", sep, tool->GetMix()[drive]); - sep = ':'; - } - } - } - } - break; - - case 568: // Turn on/off automatic tool mixing - if (gb.Seen('P')) - { - Tool* tool = reprap.GetTool(gb.GetIValue()); - if (tool != NULL) - { - if (gb.Seen('S')) - { - tool->SetMixing(gb.GetIValue() != 0); - } - else - { - reply.printf("Tool %d mixing is %s", tool->Number(), (tool->GetMixing()) ? "enabled" : "disabled"); - } - } - } - break; - - case 569: // Set/report axis direction - if (gb.Seen('P')) - { - size_t drive = gb.GetIValue(); - if (drive < DRIVES) - { - bool seen = false; - if (gb.Seen('S')) - { - if (!LockMovementAndWaitForStandstill(gb)) - { - return false; - } - platform->SetDirectionValue(drive, gb.GetIValue() != 0); - seen = true; - } - if (gb.Seen('R')) - { - if (!LockMovementAndWaitForStandstill(gb)) - { - return false; - } - platform->SetEnableValue(drive, gb.GetIValue() != 0); - seen = true; - } - if (gb.Seen('T')) - { - platform->SetDriverStepTiming(drive, gb.GetFValue()); - seen = true; - } - bool badParameter = false; - for (size_t axis = 0; axis < numAxes; ++axis) - { - if (gb.Seen(axisLetters[axis])) - { - badParameter = true; - } - } - if (gb.Seen(extrudeLetter)) - { - badParameter = true; - } - if (badParameter) - { - platform->Message(GENERIC_MESSAGE, "Error: M569 no longer accepts XYZE parameters; use M584 instead\n"); - } - else if (!seen) - { - reply.printf("A %d sends drive %u forwards, a %d enables it, and the minimum pulse width is %.1f microseconds", - (int)platform->GetDirectionValue(drive), drive, - (int)platform->GetEnableValue(drive), - platform->GetDriverStepTiming(drive)); - } - } - } - break; - - case 570: // Set/report heater timeout - if (gb.Seen('H')) - { - const size_t heater = gb.GetIValue(); - bool seen = false; - if (heater < HEATERS) - { - float maxTempExcursion, maxFaultTime; - reprap.GetHeat()->GetHeaterProtection(heater, maxTempExcursion, maxFaultTime); - gb.TryGetFValue('P', maxFaultTime, seen); - gb.TryGetFValue('T', maxTempExcursion, seen); - if (seen) - { - reprap.GetHeat()->SetHeaterProtection(heater, maxTempExcursion, maxFaultTime); - } - else - { - reply.printf("Heater %u allowed excursion %.1fC, fault trigger time %.1f seconds", heater, maxTempExcursion, maxFaultTime); - } - } - } - else if (gb.Seen('S')) - { - reply.copy("M570 S parameter is no longer required or supported"); - } - break; - - case 571: // Set output on extrude - if (gb.Seen('S')) - { - platform->SetExtrusionAncilliaryPWM(gb.GetFValue()); - } - else - { - reply.printf("Extrusion ancillary PWM: %.3f.", platform->GetExtrusionAncilliaryPWM()); - } - break; - - case 572: // Set/report elastic compensation - if (gb.Seen('D')) - { - // New usage: specify the extruder drive using the D parameter - size_t extruder = gb.GetIValue(); - if (gb.Seen('S')) - { - platform->SetPressureAdvance(extruder, gb.GetFValue()); - } - else - { - reply.printf("Pressure advance for extruder %u is %.3f seconds", extruder, platform->GetPressureAdvance(extruder)); - } - } - break; - - case 573: // Report heater average PWM - if (gb.Seen('P')) - { - int heater = gb.GetIValue(); - if (heater >= 0 && heater < HEATERS) - { - reply.printf("Average heater %d PWM: %.3f", heater, reprap.GetHeat()->GetAveragePWM(heater)); - } - } - break; - - case 574: // Set endstop configuration - { - bool seen = false; - bool logicLevel = (gb.Seen('S')) ? (gb.GetIValue() != 0) : true; - for (size_t axis = 0; axis < numAxes; ++axis) - { - if (gb.Seen(axisLetters[axis])) - { - int ival = gb.GetIValue(); - if (ival >= 0 && ival <= 3) - { - platform->SetEndStopConfiguration(axis, (EndStopType) ival, logicLevel); - seen = true; - } - } - } - if (!seen) - { - reply.copy("Endstop configuration:"); - EndStopType config; - bool logic; - for (size_t axis = 0; axis < numAxes; ++axis) - { - platform->GetEndStopConfiguration(axis, config, logic); - reply.catf(" %c %s (active %s),", axisLetters[axis], - (config == EndStopType::highEndStop) ? "high end" : (config == EndStopType::lowEndStop) ? "low end" : "none", - (config == EndStopType::noEndStop) ? "" : (logic) ? "high" : "low"); - } - } - } - break; - - case 575: // Set communications parameters - if (gb.Seen('P')) - { - size_t chan = gb.GetIValue(); - if (chan < NUM_SERIAL_CHANNELS) - { - bool seen = false; - if (gb.Seen('B')) - { - platform->SetBaudRate(chan, gb.GetIValue()); - seen = true; - } - if (gb.Seen('S')) - { - uint32_t val = gb.GetIValue(); - platform->SetCommsProperties(chan, val); - switch (chan) - { - case 0: - serialGCode->SetCommsProperties(val); - break; - case 1: - auxGCode->SetCommsProperties(val); - break; - default: - break; - } - seen = true; - } - if (!seen) - { - uint32_t cp = platform->GetCommsProperties(chan); - reply.printf("Channel %d: baud rate %d, %s checksum", chan, platform->GetBaudRate(chan), - (cp & 1) ? "requires" : "does not require"); - } - } - } - break; - - case 577: // Wait until endstop is triggered - if (gb.Seen('S')) - { - // Determine trigger type - EndStopHit triggerCondition; - switch (gb.GetIValue()) - { - case 1: - triggerCondition = EndStopHit::lowHit; - break; - case 2: - triggerCondition = EndStopHit::highHit; - break; - case 3: - triggerCondition = EndStopHit::lowNear; - break; - default: - triggerCondition = EndStopHit::noStop; - break; - } - - // Axis endstops - for (size_t axis=0; axis < numAxes; axis++) - { - if (gb.Seen(axisLetters[axis])) - { - if (platform->Stopped(axis) != triggerCondition) - { - result = false; - break; - } - } - } - - // Extruder drives - size_t eDriveCount = MaxExtruders; - long eDrives[MaxExtruders]; - if (gb.Seen(extrudeLetter)) - { - gb.GetLongArray(eDrives, eDriveCount); - for(size_t extruder = 0; extruder < eDriveCount; extruder++) - { - const size_t eDrive = eDrives[extruder]; - if (eDrive >= MaxExtruders) - { - reply.copy("Invalid extruder drive specified!"); - error = result = true; - break; - } - - if (platform->Stopped(eDrive + E0_AXIS) != triggerCondition) - { - result = false; - break; - } - } - } - } - break; - -#if SUPPORT_INKJET - case 578: // Fire Inkjet bits - if (!AllMovesAreFinishedAndMoveBufferIsLoaded()) - { - return false; - } - - if (gb.Seen('S')) // Need to handle the 'P' parameter too; see http://reprap.org/wiki/G-code#M578:_Fire_inkjet_bits - { - platform->Inkjet(gb.GetIValue()); - } - break; -#endif - - case 579: // Scale Cartesian axes (mostly for Delta configurations) - { - bool seen = false; - for (size_t axis = 0; axis < numAxes; axis++) - { - gb.TryGetFValue(axisLetters[axis], axisScaleFactors[axis], seen); - } - - if (!seen) - { - char sep = ':'; - reply.copy("Axis scale factors"); - for(size_t axis = 0; axis < numAxes; axis++) - { - reply.catf("%c %c: %.3f", sep, axisLetters[axis], axisScaleFactors[axis]); - sep = ','; - } - } - } - break; - -#if SUPPORT_ROLAND - case 580: // (De)Select Roland mill - if (gb.Seen('R')) - { - if (gb.GetIValue()) - { - reprap.GetRoland()->Activate(); - if (gb.Seen('P')) - { - result = reprap.GetRoland()->RawWrite(gb.GetString()); - } - } - else - { - result = reprap.GetRoland()->Deactivate(); - } - } - else - { - reply.printf("Roland is %s.", reprap.GetRoland()->Active() ? "active" : "inactive"); - } - break; -#endif - - case 581: // Configure external trigger - case 582: // Check external trigger - if (gb.Seen('T')) - { - unsigned int triggerNumber = gb.GetIValue(); - if (triggerNumber < MaxTriggers) - { - if (code == 582) - { - uint32_t states = platform->GetAllEndstopStates(); - if ((triggers[triggerNumber].rising & states) != 0 || (triggers[triggerNumber].falling & ~states) != 0) - { - triggersPending |= (1u << triggerNumber); - } - } - else - { - bool seen = false; - if (gb.Seen('C')) - { - seen = true; - triggers[triggerNumber].condition = gb.GetIValue(); - } - else if (triggers[triggerNumber].IsUnused()) - { - triggers[triggerNumber].condition = 0; // this is a new trigger, so set no condition - } - if (gb.Seen('S')) - { - seen = true; - int sval = gb.GetIValue(); - TriggerMask triggerMask = 0; - for (size_t axis = 0; axis < numAxes; ++axis) - { - if (gb.Seen(axisLetters[axis])) - { - triggerMask |= (1u << axis); - } - } - if (gb.Seen(extrudeLetter)) - { - long eStops[MaxExtruders]; - size_t numEntries = MaxExtruders; - gb.GetLongArray(eStops, numEntries); - for (size_t i = 0; i < numEntries; ++i) - { - if (eStops[i] >= 0 && (unsigned long)eStops[i] < MaxExtruders) - { - triggerMask |= (1u << (eStops[i] + E0_AXIS)); - } - } - } - switch(sval) - { - case -1: - if (triggerMask == 0) - { - triggers[triggerNumber].rising = triggers[triggerNumber].falling = 0; - } - else - { - triggers[triggerNumber].rising &= (~triggerMask); - triggers[triggerNumber].falling &= (~triggerMask); - } - break; - - case 0: - triggers[triggerNumber].falling |= triggerMask; - break; - - case 1: - triggers[triggerNumber].rising |= triggerMask; - break; - - default: - platform->Message(GENERIC_MESSAGE, "Bad S parameter in M581 command\n"); - } - } - if (!seen) - { - reply.printf("Trigger %u fires on a rising edge on ", triggerNumber); - ListTriggers(reply, triggers[triggerNumber].rising); - reply.cat(" or a falling edge on "); - ListTriggers(reply, triggers[triggerNumber].falling); - reply.cat(" endstop inputs"); - if (triggers[triggerNumber].condition == 1) - { - reply.cat(" when printing from SD card"); - } - } - } - } - else - { - platform->Message(GENERIC_MESSAGE, "Trigger number out of range\n"); - } - } - break; - - case 584: // Set axis/extruder to stepper driver(s) mapping - if (!LockMovementAndWaitForStandstill(gb)) // we also rely on this to retrieve the current motor positions to moveBuffer - { - return false; - } - { - bool seen = false, badDrive = false; - for (size_t drive = 0; drive < MAX_AXES; ++drive) - { - if (gb.Seen(axisLetters[drive])) - { - seen = true; - size_t numValues = MaxDriversPerAxis; - long drivers[MaxDriversPerAxis]; - gb.GetLongArray(drivers, numValues); - - // Check all the driver numbers are in range - bool badAxis = false; - AxisDriversConfig config; - config.numDrivers = numValues; - for (size_t i = 0; i < numValues; ++i) - { - if ((unsigned long)drivers[i] >= DRIVES) - { - badAxis = true; - } - else - { - config.driverNumbers[i] = (uint8_t)drivers[i]; - } - } - if (badAxis) - { - badDrive = true; - } - else - { - while (numAxes <= drive) - { - moveBuffer.coords[numAxes] = 0.0; // user has defined a new axis, so set its position - ++numAxes; - } - SetPositions(moveBuffer.coords); // tell the Move system where any new axes are - platform->SetAxisDriversConfig(drive, config); - if (numAxes + numExtruders > DRIVES) - { - numExtruders = DRIVES - numAxes; // if we added axes, we may have fewer extruders now - } - } - } - } - - if (gb.Seen(extrudeLetter)) - { - seen = true; - size_t numValues = DRIVES - numAxes; - long drivers[MaxExtruders]; - gb.GetLongArray(drivers, numValues); - numExtruders = numValues; - for (size_t i = 0; i < numValues; ++i) - { - if ((unsigned long)drivers[i] >= DRIVES) - { - badDrive = true; - } - else - { - platform->SetExtruderDriver(i, (uint8_t)drivers[i]); - } - } - } - - if (badDrive) - { - platform->Message(GENERIC_MESSAGE, "Error: invalid drive number in M584 command\n"); - } - else if (!seen) - { - reply.copy("Driver assignments:"); - for (size_t drive = 0; drive < numAxes; ++ drive) - { - reply.cat(' '); - const AxisDriversConfig& axisConfig = platform->GetAxisDriversConfig(drive); - char c = axisLetters[drive]; - for (size_t i = 0; i < axisConfig.numDrivers; ++i) - { - reply.catf("%c%u", c, axisConfig.driverNumbers[i]); - c = ':'; - } - } - reply.cat(' '); - char c = extrudeLetter; - for (size_t extruder = 0; extruder < numExtruders; ++extruder) - { - reply.catf("%c%u", c, platform->GetExtruderDriver(extruder)); - c = ':'; - } - } - } - break; - - case 665: // Set delta configuration - if (!LockMovementAndWaitForStandstill(gb)) - { - return false; - } - { - float positionNow[DRIVES]; - Move *move = reprap.GetMove(); - move->GetCurrentUserPosition(positionNow, 0, reprap.GetCurrentXAxes()); // get the current position, we may need it later - DeltaParameters& params = move->AccessDeltaParams(); - bool wasInDeltaMode = params.IsDeltaMode(); // remember whether we were in delta mode - bool seen = false; - - if (gb.Seen('L')) - { - params.SetDiagonal(gb.GetFValue() * distanceScale); - seen = true; - } - if (gb.Seen('R')) - { - params.SetRadius(gb.GetFValue() * distanceScale); - seen = true; - } - if (gb.Seen('B')) - { - params.SetPrintRadius(gb.GetFValue() * distanceScale); - seen = true; - } - if (gb.Seen('X')) - { - // X tower position correction - params.SetXCorrection(gb.GetFValue()); - seen = true; - } - if (gb.Seen('Y')) - { - // Y tower position correction - params.SetYCorrection(gb.GetFValue()); - seen = true; - } - if (gb.Seen('Z')) - { - // Y tower position correction - params.SetZCorrection(gb.GetFValue()); - seen = true; - } - - // The homed height must be done last, because it gets recalculated when some of the other factors are changed - if (gb.Seen('H')) - { - params.SetHomedHeight(gb.GetFValue() * distanceScale); - seen = true; - } - - if (seen) - { - move->SetCoreXYMode(0); // CoreXYMode needs to be zero when executing special moves on a delta - - // If we have changed between Cartesian and Delta mode, we need to reset the motor coordinates to agree with the XYZ coordinates. - // This normally happens only when we process the M665 command in config.g. Also flag that the machine is not homed. - if (params.IsDeltaMode() != wasInDeltaMode) - { - SetPositions(positionNow); - } - SetAllAxesNotHomed(); - } - else - { - if (params.IsDeltaMode()) - { - reply.printf("Diagonal %.3f, delta radius %.3f, homed height %.3f, bed radius %.1f" - ", X %.3f" DEGREE_SYMBOL ", Y %.3f" DEGREE_SYMBOL ", Z %.3f" DEGREE_SYMBOL, - params.GetDiagonal() / distanceScale, params.GetRadius() / distanceScale, - params.GetHomedHeight() / distanceScale, params.GetPrintRadius() / distanceScale, - params.GetXCorrection(), params.GetYCorrection(), params.GetZCorrection()); - } - else - { - reply.printf("Printer is not in delta mode"); - } - } - } - break; - - case 666: // Set delta endstop adjustments - if (!LockMovementAndWaitForStandstill(gb)) - { - return false; - } - { - DeltaParameters& params = reprap.GetMove()->AccessDeltaParams(); - bool seen = false; - if (gb.Seen('X')) - { - params.SetEndstopAdjustment(X_AXIS, gb.GetFValue()); - seen = true; - } - if (gb.Seen('Y')) - { - params.SetEndstopAdjustment(Y_AXIS, gb.GetFValue()); - seen = true; - } - if (gb.Seen('Z')) - { - params.SetEndstopAdjustment(Z_AXIS, gb.GetFValue()); - seen = true; - } - if (gb.Seen('A')) - { - params.SetXTilt(gb.GetFValue() * 0.01); - seen = true; - } - if (gb.Seen('B')) - { - params.SetYTilt(gb.GetFValue() * 0.01); - seen = true; - } - - if (seen) - { - SetAllAxesNotHomed(); - } - else - { - reply.printf("Endstop adjustments X%.2f Y%.2f Z%.2f, tilt X%.2f%% Y%.2f%%", - params.GetEndstopAdjustment(X_AXIS), params.GetEndstopAdjustment(Y_AXIS), params.GetEndstopAdjustment(Z_AXIS), - params.GetXTilt() * 100.0, params.GetYTilt() * 100.0); - } - } - break; - - case 667: // Set CoreXY mode - if (!LockMovementAndWaitForStandstill(gb)) - { - return false; - } - { - Move* move = reprap.GetMove(); - bool seen = false; - float positionNow[DRIVES]; - move->GetCurrentUserPosition(positionNow, 0, reprap.GetCurrentXAxes()); // get the current position, we may need it later - if (gb.Seen('S')) - { - move->SetCoreXYMode(gb.GetIValue()); - seen = true; - } - for (size_t axis = 0; axis < numAxes; ++axis) - { - if (gb.Seen(axisLetters[axis])) - { - move->SetCoreAxisFactor(axis, gb.GetFValue()); - seen = true; - } - } - - if (seen) - { - SetPositions(positionNow); - SetAllAxesNotHomed(); - } - else - { - reply.printf("Printer mode is %s with axis factors", move->GetGeometryString()); - for (size_t axis = 0; axis < numAxes; ++axis) - { - reply.catf(" %c:%f", axisLetters[axis], move->GetCoreAxisFactor(axis)); - } - } - } - break; - - case 905: // Set current RTC date and time - { - const time_t now = platform->GetDateTime(); - struct tm * const timeInfo = gmtime(&now); - bool seen = false; - - if (gb.Seen('P')) - { - // Set date - const char * const dateString = gb.GetString(); - if (strptime(dateString, "%Y-%m-%d", timeInfo) != nullptr) - { - if (!platform->SetDate(mktime(timeInfo))) - { - reply.copy("Could not set date"); - error = true; - break; - } - } - else - { - reply.copy("Invalid date format"); - error = true; - break; - } - - seen = true; - } - - if (gb.Seen('S')) - { - // Set time - const char * const timeString = gb.GetString(); - if (strptime(timeString, "%H:%M:%S", timeInfo) != nullptr) - { - if (!platform->SetTime(mktime(timeInfo))) - { - reply.copy("Could not set time"); - error = true; - break; - } - } - else - { - reply.copy("Invalid time format"); - error = true; - break; - } - - seen = true; - } - - // TODO: Add correction parameters for SAM4E - - if (!seen) - { - // Report current date and time - reply.printf("Current date and time: %04u-%02u-%02u %02u:%02u:%02u", - timeInfo->tm_year + 1900, timeInfo->tm_mon + 1, timeInfo->tm_mday, - timeInfo->tm_hour, timeInfo->tm_min, timeInfo->tm_sec); - - if (!platform->IsDateTimeSet()) - { - reply.cat("\nWarning: RTC has not been configured yet!"); - } - } - } - break; - - case 906: // Set/report Motor currents - case 913: // Set/report motor current percent - { - bool seen = false; - for (size_t axis = 0; axis < numAxes; axis++) - { - if (gb.Seen(axisLetters[axis])) - { - if (!LockMovementAndWaitForStandstill(gb)) - { - return false; - } - platform->SetMotorCurrent(axis, gb.GetFValue(), code == 913); - seen = true; - } - } - - if (gb.Seen(extrudeLetter)) - { - if (!LockMovementAndWaitForStandstill(gb)) - { - return false; - } - - float eVals[MaxExtruders]; - size_t eCount = numExtruders; - gb.GetFloatArray(eVals, eCount, true); - // 2014-09-29 DC42: we no longer insist that the user supplies values for all possible extruder drives - for (size_t e = 0; e < eCount; e++) - { - platform->SetMotorCurrent(numAxes + e, eVals[e], code == 913); - } - seen = true; - } - - if (code == 906 && gb.Seen('I')) - { - float idleFactor = gb.GetFValue(); - if (idleFactor >= 0 && idleFactor <= 100.0) - { - platform->SetIdleCurrentFactor(idleFactor/100.0); - seen = true; - } - } - - if (!seen) - { - reply.copy((code == 913) ? "Motor current % of normal - " : "Motor current (mA) - "); - for (size_t axis = 0; axis < numAxes; ++axis) - { - reply.catf("%c:%d, ", axisLetters[axis], (int)platform->GetMotorCurrent(axis, code == 913)); - } - reply.cat("E"); - for (size_t extruder = 0; extruder < numExtruders; extruder++) - { - reply.catf(":%d", (int)platform->GetMotorCurrent(extruder + numAxes, code == 913)); - } - if (code == 906) - { - reply.catf(", idle factor %d%%", (int)(platform->GetIdleCurrentFactor() * 100.0)); - } - } - } - break; - - case 911: // Set power monitor threshold voltages - reply.printf("M911 not implemented yet"); - break; - - case 912: // Set electronics temperature monitor adjustment - // Currently we ignore the P parameter (i.e. temperature measurement channel) - if (gb.Seen('S')) - { - platform->SetMcuTemperatureAdjust(gb.GetFValue()); - } - else - { - reply.printf("MCU temperature calibration adjustment is %.1f" DEGREE_SYMBOL "C", platform->GetMcuTemperatureAdjust()); - } - break; - - // For case 913, see 906 - - case 997: // Perform firmware update - if (!LockMovementAndWaitForStandstill(gb)) - { - return false; - } - reprap.GetHeat()->SwitchOffAll(); // turn all heaters off because the main loop may get suspended - DisableDrives(); // all motors off - - if (firmwareUpdateModuleMap == 0) // have we worked out which modules to update? - { - // Find out which modules we have been asked to update - if (gb.Seen('S')) - { - long modulesToUpdate[3]; - size_t numUpdateModules = ARRAY_SIZE(modulesToUpdate); - gb.GetLongArray(modulesToUpdate, numUpdateModules); - for (size_t i = 0; i < numUpdateModules; ++i) - { - long t = modulesToUpdate[i]; - if (t < 0 || (unsigned long)t >= NumFirmwareUpdateModules) - { - platform->MessageF(GENERIC_MESSAGE, "Invalid module number '%ld'\n", t); - firmwareUpdateModuleMap = 0; - break; - } - firmwareUpdateModuleMap |= (1u << (unsigned int)t); - } - } - else - { - firmwareUpdateModuleMap = (1u << 0); // no modules specified, so update module 0 to match old behaviour - } - - if (firmwareUpdateModuleMap == 0) - { - break; // nothing to update - } - - // Check prerequisites of all modules to be updated, if any are not met then don't update any of them -#ifdef DUET_NG - if (!FirmwareUpdater::CheckFirmwareUpdatePrerequisites(firmwareUpdateModuleMap)) - { - firmwareUpdateModuleMap = 0; - break; - } -#endif - if ((firmwareUpdateModuleMap & 1) != 0 && !platform->CheckFirmwareUpdatePrerequisites()) - { - firmwareUpdateModuleMap = 0; - break; - } - } - - // If we get here then we have the module map, and all prerequisites are satisfied - isFlashing = true; // this tells the web interface and PanelDue that we are about to flash firmware - if (!DoDwellTime(1.0)) // wait a second so all HTTP clients and PanelDue are notified - { - return false; - } - - gb.SetState(GCodeState::flashing1); - break; - - case 998: - // The input handling code replaces the gcode by this when it detects a checksum error. - // Since we have no way of asking for the line to be re-sent, just report an error. - if (gb.Seen('P')) - { - int val = gb.GetIValue(); - if (val != 0) - { - reply.printf("Checksum error on line %d", val); - } - } - break; - - case 999: - result = DoDwellTime(0.5); // wait half a second to allow the response to be sent back to the web server, otherwise it may retry - if (result) - { - reprap.EmergencyStop(); // this disables heaters and drives - Duet WiFi pre-production boards need drives disabled here - uint16_t reason = (gb.Seen('P') && StringStartsWith(gb.GetString(), "ERASE")) - ? (uint16_t)SoftwareResetReason::erase - : (uint16_t)SoftwareResetReason::user; - platform->SoftwareReset(reason); // doesn't return - } - break; - - default: - error = true; - reply.printf("unsupported command: %s", gb.Buffer()); - } - - if (result && gb.GetState() == GCodeState::normal) - { - UnlockAll(gb); - HandleReply(gb, error, reply.Pointer()); - } - return result; -} - -bool GCodes::HandleTcode(GCodeBuffer& gb, StringRef& reply) -{ - if (!LockMovementAndWaitForStandstill(gb)) - { - return false; - } - - newToolNumber = gb.GetIValue(); - newToolNumber += gb.GetToolNumberAdjust(); - - // TODO for the tool change restore point to be useful, we should undo any X axis mapping and remove any tool offsets - for (size_t drive = 0; drive < DRIVES; ++drive) - { - toolChangeRestorePoint.moveCoords[drive] = moveBuffer.coords[drive]; - } - toolChangeRestorePoint.feedRate = feedRate; - - if (simulationMode == 0) // we don't yet simulate any T codes - { - const Tool * const oldTool = reprap.GetCurrentTool(); - // 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->Number() != newToolNumber) - { - gb.SetState(GCodeState::toolChange1); - if (oldTool != nullptr && AllAxesAreHomed()) - { - scratchString.printf("tfree%d.g", oldTool->Number()); - DoFileMacro(gb, scratchString.Pointer(), false); - } - return true; // proceeding with state machine, so don't unlock or send a reply - } - } - - // If we get here, we have finished - UnlockAll(gb); - HandleReply(gb, false, ""); - return true; -} - -// Return the amount of filament extruded -float GCodes::GetRawExtruderPosition(size_t extruder) const -{ - return (extruder < numExtruders) ? lastRawExtruderPosition[extruder] : 0.0; -} - -float GCodes::GetRawExtruderTotalByDrive(size_t extruder) const -{ - return (extruder < numExtruders) ? rawExtruderTotalByDrive[extruder] : 0.0; -} - -// Cancel the current SD card print. -// This is called from Pid.cpp when there is a heater fault, and from elsewhere in this module. -void GCodes::CancelPrint() -{ - moveAvailable = false; - isPaused = false; - - fileGCode->Init(); - FileData& fileBeingPrinted = fileGCode->OriginalMachineState().fileState; - if (fileBeingPrinted.IsLive()) - { - fileBeingPrinted.Close(); - } - - reprap.GetPrintMonitor()->StoppedPrint(); -} - -// Return true if all the heaters for the specified tool are at their set temperatures -bool GCodes::ToolHeatersAtSetTemperatures(const Tool *tool, bool waitWhenCooling) const -{ - if (tool != NULL) - { - for (size_t i = 0; i < tool->HeaterCount(); ++i) - { - if (!reprap.GetHeat()->HeaterAtSetTemperature(tool->Heater(i), waitWhenCooling)) - { - return false; - } - } - } - return true; -} - -// Set the current position -void GCodes::SetPositions(float positionNow[DRIVES]) -{ - // Transform the position so that e.g. if the user does G92 Z0, - // the position we report (which gets inverse-transformed) really is Z=0 afterwards - reprap.GetMove()->Transform(positionNow, reprap.GetCurrentXAxes()); - reprap.GetMove()->SetLiveCoordinates(positionNow); - reprap.GetMove()->SetPositions(positionNow); -} - -bool GCodes::IsPaused() const -{ - return isPaused && !IsPausing() && !IsResuming(); -} - -bool GCodes::IsPausing() const -{ - const GCodeState topState = fileGCode->OriginalMachineState().state; - return topState == GCodeState::pausing1 || topState == GCodeState::pausing2; -} - -bool GCodes::IsResuming() const -{ - const GCodeState topState = fileGCode->OriginalMachineState().state; - return topState == GCodeState::resuming1 || topState == GCodeState::resuming2 || topState == GCodeState::resuming3; -} - -bool GCodes::IsRunning() const -{ - return !IsPaused() && !IsPausing() && !IsResuming(); -} - -const char *GCodes::TranslateEndStopResult(EndStopHit es) -{ - switch (es) - { - case EndStopHit::lowHit: - return "at min stop"; - - case EndStopHit::highHit: - return "at max stop"; - - case EndStopHit::lowNear: - return "near min stop"; - - case EndStopHit::noStop: - default: - return "not stopped"; - } -} - -// Append a list of trigger endstops to a message -void GCodes::ListTriggers(StringRef reply, TriggerMask mask) -{ - if (mask == 0) - { - reply.cat("(none)"); - } - else - { - bool printed = false; - for (unsigned int i = 0; i < DRIVES; ++i) - { - if ((mask & (1u << i)) != 0) - { - if (printed) - { - reply.cat(' '); - } - if (i < numAxes) - { - reply.cat(axisLetters[i]); - } - else - { - reply.catf("E%d", i - numAxes); - } - printed = true; - } - } - } -} - -// M38 (SHA1 hash of a file) implementation: -bool GCodes::StartHash(const char* filename) -{ - // Get a FileStore object - fileBeingHashed = platform->GetFileStore(FS_PREFIX, filename, false); - if (fileBeingHashed == nullptr) - { - return false; - } - - // Start hashing - SHA1Reset(&hash); - return true; -} - -bool GCodes::AdvanceHash(StringRef &reply) -{ - // Read and process some more data from the file - uint32_t buf32[(FILE_BUFFER_SIZE + 3) / 4]; - char *buffer = reinterpret_cast<char *>(buf32); - - int bytesRead = fileBeingHashed->Read(buffer, FILE_BUFFER_SIZE); - if (bytesRead != -1) - { - SHA1Input(&hash, reinterpret_cast<const uint8_t *>(buffer), bytesRead); - - if (bytesRead != FILE_BUFFER_SIZE) - { - // Calculate and report the final result - SHA1Result(&hash); - for(size_t i = 0; i < 5; i++) - { - reply.catf("%x", hash.Message_Digest[i]); - } - - // Clean up again - fileBeingHashed->Close(); - fileBeingHashed = nullptr; - return true; - } - return false; - } - - // Something went wrong, we cannot read any more from the file - fileBeingHashed->Close(); - fileBeingHashed = nullptr; - return true; -} - -bool GCodes::AllAxesAreHomed() const -{ - const uint32_t allAxes = (1u << numAxes) - 1; - return (axesHomed & allAxes) == allAxes; -} - -void GCodes::SetAllAxesNotHomed() -{ - axesHomed = 0; -} - -// Resource locking/unlocking - -// Lock the resource, returning true if success -bool GCodes::LockResource(const GCodeBuffer& gb, Resource r) -{ - if (resourceOwners[r] == &gb) - { - return true; - } - if (resourceOwners[r] == nullptr) - { - resourceOwners[r] = &gb; - gb.MachineState().lockedResources |= (1 << r); - return true; - } - return false; -} - -bool GCodes::LockHeater(const GCodeBuffer& gb, int heater) -{ - if (heater >= 0 && heater < HEATERS) - { - return LockResource(gb, HeaterResourceBase + heater); - } - return true; -} - -bool GCodes::LockFan(const GCodeBuffer& gb, int fan) -{ - if (fan >= 0 && fan < (int)NUM_FANS) - { - return LockResource(gb, FanResourceBase + fan); - } - return true; -} - -// Lock the unshareable parts of the file system -bool GCodes::LockFileSystem(const GCodeBuffer &gb) -{ - return LockResource(gb, FileSystemResource); -} - -// Lock movement -bool GCodes::LockMovement(const GCodeBuffer& gb) -{ - return LockResource(gb, MoveResource); -} - -// Lock movement and wait for pending moves to finish -bool GCodes::LockMovementAndWaitForStandstill(const GCodeBuffer& gb) -{ - bool b = LockMovement(gb); - if (b) - { - b = AllMovesAreFinishedAndMoveBufferIsLoaded(); - } - return b; -} - -// Release all locks, except those that were owned when the current macro was started -void GCodes::UnlockAll(const GCodeBuffer& gb) -{ - const GCodeMachineState * const mc = gb.MachineState().previous; - const uint32_t resourcesToKeep = (mc == nullptr) ? 0 : mc->lockedResources; - for (size_t i = 0; i < NumResources; ++i) - { - if (resourceOwners[i] == &gb && ((1 << i) & resourcesToKeep) == 0) - { - resourceOwners[i] = nullptr; - gb.MachineState().lockedResources &= ~(1 << i); - } - } -} - -// Convert an array of longs to a bit map -/*static*/ uint32_t GCodes::LongArrayToBitMap(const long *arr, size_t numEntries) -{ - uint32_t res = 0; - for (size_t i = 0; i < numEntries; ++i) - { - const long f = arr[i]; - if (f >= 0 && f < 32) - { - res |= 1u << (unsigned int)f; - } - } - return res; -} - -// End |