diff options
Diffstat (limited to 'src/GCodes/GCodes.cpp')
| -rw-r--r-- | src/GCodes/GCodes.cpp | 333 |
1 files changed, 297 insertions, 36 deletions
diff --git a/src/GCodes/GCodes.cpp b/src/GCodes/GCodes.cpp index 79ca3dda..eb732666 100644 --- a/src/GCodes/GCodes.cpp +++ b/src/GCodes/GCodes.cpp @@ -202,7 +202,7 @@ void GCodes::Spin() StringRef reply(replyBuffer, ARRAY_SIZE(replyBuffer)); reply.Clear(); - if (gb.MachineState().state == GCodeState::normal) + if (gb.GetState() == GCodeState::normal) { StartNextGCode(gb, reply); } @@ -211,19 +211,19 @@ void GCodes::Spin() // Perform the next operation of the state machine for this gcode source bool error = false; - switch (gb.MachineState().state) + switch (gb.GetState()) { case GCodeState::waitingForMoveToComplete: if (AllMovesAreFinishedAndMoveBufferIsLoaded()) { - gb.MachineState().state = GCodeState::normal; + gb.SetState(GCodeState::normal); } break; case GCodeState::homing: if (toBeHomed == 0) { - gb.MachineState().state = GCodeState::normal; + gb.SetState(GCodeState::normal); } else { @@ -243,7 +243,7 @@ void GCodes::Spin() case GCodeState::setBed1: reprap.GetMove()->SetIdentityTransform(); probeCount = 0; - gb.MachineState().state = GCodeState::setBed2; + gb.SetState(GCodeState::setBed2); // no break case GCodeState::setBed2: @@ -256,7 +256,7 @@ void GCodes::Spin() { zProbesSet = true; reprap.GetMove()->FinishedBedProbing(0, reply); - gb.MachineState().state = GCodeState::normal; + gb.SetState(GCodeState::normal); } } } @@ -270,7 +270,7 @@ void GCodes::Spin() reprap.StandbyTool(oldTool->Number()); } } - gb.MachineState().state = GCodeState::toolChange2; + gb.SetState(GCodeState::toolChange2); if (reprap.GetTool(newToolNumber) != nullptr && AllAxesAreHomed()) { scratchString.printf("tpre%d.g", newToolNumber); @@ -280,7 +280,7 @@ void GCodes::Spin() case GCodeState::toolChange2: // Select the new tool (even if it doesn't exist - that just deselects all tools) reprap.SelectTool(newToolNumber); - gb.MachineState().state = GCodeState::toolChange3; + gb.SetState(GCodeState::toolChange3); if (reprap.GetTool(newToolNumber) != nullptr && AllAxesAreHomed()) { scratchString.printf("tpost%d.g", newToolNumber); @@ -289,13 +289,13 @@ void GCodes::Spin() break; case GCodeState::toolChange3: - gb.MachineState().state = GCodeState::normal; + gb.SetState(GCodeState::normal); break; case GCodeState::pausing1: if (AllMovesAreFinishedAndMoveBufferIsLoaded()) { - gb.MachineState().state = GCodeState::pausing2; + gb.SetState(GCodeState::pausing2); DoFileMacro(gb, PAUSE_G); } break; @@ -324,16 +324,16 @@ void GCodes::Spin() moveBuffer.endStopsToCheck = 0; moveBuffer.usePressureAdvance = false; moveBuffer.filePos = noFilePosition; - if (gb.MachineState().state == GCodeState::resuming1 && currentZ > pauseRestorePoint.moveCoords[Z_AXIS]) + 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.MachineState().state = GCodeState::resuming2; + gb.SetState(GCodeState::resuming2); } else { // Just move to the saved position in one go - gb.MachineState().state = GCodeState::resuming3; + gb.SetState(GCodeState::resuming3); } moveAvailable = true; } @@ -353,7 +353,7 @@ void GCodes::Spin() feedRate = pauseRestorePoint.feedRate; isPaused = false; reply.copy("Printing resumed"); - gb.MachineState().state = GCodeState::normal; + gb.SetState(GCodeState::normal); } break; @@ -375,11 +375,11 @@ void GCodes::Spin() } if (!updating) { - gb.MachineState().state = GCodeState::flashing2; + gb.SetState(GCodeState::flashing2); } } #else - gb.MachineState().state = GCodeState::flashing2; + gb.SetState(GCodeState::flashing2; #endif break; @@ -392,7 +392,7 @@ void GCodes::Spin() // The above call does not return unless an error occurred } isFlashing = false; - gb.MachineState().state = GCodeState::normal; + gb.SetState(GCodeState::normal); break; case GCodeState::stopping: // MO after executing stop.g if present @@ -410,7 +410,7 @@ void GCodes::Spin() // 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.MachineState().state == GCodeState::sleeping) + if (gb.GetState() == GCodeState::sleeping) { DisableDrives(); } @@ -418,14 +418,147 @@ void GCodes::Spin() { platform->SetDriversIdle(); } - gb.MachineState().state = GCodeState::normal; + 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(); + 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; + 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(); + 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()) + { + if (numPointsProbed >= 4) + { + reprap.GetMove()->UseHeightMap(); + const double mean = heightSum/numPointsProbed; + const double deviation = sqrt(((heightSquaredSum * numPointsProbed) - (heightSum * heightSum)))/numPointsProbed; + reply.printf("%u points probed, mean error %.2f, deviation %.2f", numPointsProbed, mean, deviation); + } + 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.MachineState().state == GCodeState::normal) + if (gb.GetState() == GCodeState::normal) { // We completed a command, so unlock resources and tell the host about it UnlockAll(gb); @@ -588,7 +721,7 @@ void GCodes::DoFilePrint(GCodeBuffer& gb, StringRef& reply) // Finished a macro Pop(gb); gb.Init(); - if (gb.MachineState().state == GCodeState::normal) + if (gb.GetState() == GCodeState::normal) { UnlockAll(gb); HandleReply(gb, false, ""); @@ -719,7 +852,7 @@ void GCodes::DoPause(bool externalToFile) { pausedFanValues[i] = platform->GetFanValue(i); } - fileGCode->MachineState().state = GCodeState::pausing1; + fileGCode->SetState(GCodeState::pausing1); isPaused = true; } @@ -889,7 +1022,7 @@ bool GCodes::LoadMoveBufferFromGCode(GCodeBuffer& gb, int moveType) { moveArg += moveBuffer.coords[axis]; } - else if (currentTool != nullptr) + else if (currentTool != nullptr && moveType == 0) { moveArg -= currentTool->GetOffset()[axis]; // adjust requested position to compensate for tool offset } @@ -950,7 +1083,6 @@ bool GCodes::LoadMoveBufferFromGCode(GCodeBuffer& gb, int moveType) // 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? @@ -1089,7 +1221,7 @@ bool GCodes::DoFileMacro(GCodeBuffer& gb, const char* fileName, bool reportMissi } gb.MachineState().fileState.Set(f); gb.MachineState().doingFileMacro = true; - gb.MachineState().state = GCodeState::normal; + gb.SetState(GCodeState::normal); gb.Init(); return true; } @@ -1314,7 +1446,7 @@ bool GCodes::DoHome(GCodeBuffer& gb, StringRef& reply, bool& error) } else { - gb.MachineState().state = GCodeState::homing; + gb.SetState(GCodeState::homing); } } return true; @@ -1522,7 +1654,7 @@ bool GCodes::SetSingleZProbeAtAPosition(GCodeBuffer& gb, StringRef& reply) } int probePointIndex = gb.GetIValue(); - if (probePointIndex < 0 || (unsigned int)probePointIndex >= MAX_PROBE_POINTS) + if (probePointIndex < 0 || (unsigned int)probePointIndex >= MaxProbePoints) { reprap.GetPlatform()->Message(GENERIC_MESSAGE, "Z probe point index out of range.\n"); return true; @@ -1632,6 +1764,106 @@ bool GCodes::SetPrintZProbe(GCodeBuffer& gb, StringRef& reply) 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; + } +} + // 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 @@ -2647,7 +2879,7 @@ bool GCodes::HandleGcode(GCodeBuffer& gb, StringRef& reply) int res = SetUpMove(gb, reply); if (res == 2) { - gb.MachineState().state = GCodeState::waitingForMoveToComplete; + gb.SetState(GCodeState::waitingForMoveToComplete); } result = (res != 0); } @@ -2696,6 +2928,30 @@ bool GCodes::HandleGcode(GCodeBuffer& gb, StringRef& reply) result = DoHome(gb, reply, error); break; + case 29: // Grid-based bed probing + LockMovementAndWaitForStandstill(gb); // do this first to make sure that a new grid isn't being defined + + if (!reprap.GetMove()->GetBedProbeGrid().IsValid()) + { + reply.copy("No valid grid defined for G29 bed probing"); + error = true; + } + else if (!AllAxesAreHomed()) + { + reply.copy("Must home printer before G29 bed probing"); + error = true; + } + else + { + gridXindex = gridYindex = 0; + numPointsProbed = 0; + heightSum = heightSquaredSum = 0.0; + + reprap.GetMove()->ClearGridHeights(); + gb.SetState(GCodeState::gridProbing1); + } + break; + case 30: // Z probe/manually set at a position and set that as point P if (!LockMovementAndWaitForStandstill(gb)) { @@ -2732,7 +2988,7 @@ bool GCodes::HandleGcode(GCodeBuffer& gb, StringRef& reply) // 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.MachineState().state = GCodeState::setBed1; // no bed.g file, so use the coordinates specified by M557 + gb.SetState(GCodeState::setBed1); // no bed.g file, so use the coordinates specified by M557 } else { @@ -2760,7 +3016,7 @@ bool GCodes::HandleGcode(GCodeBuffer& gb, StringRef& reply) reply.printf("invalid G Code: %s", gb.Buffer()); } - if (result && gb.MachineState().state == GCodeState::normal) + if (result && gb.GetState() == GCodeState::normal) { UnlockAll(gb); HandleReply(gb, error, reply.Pointer()); @@ -2804,7 +3060,7 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, StringRef& reply) } } - gb.MachineState().state = (code == 0) ? GCodeState::stopping : GCodeState::sleeping; + gb.SetState((code == 0) ? GCodeState::stopping : GCodeState::sleeping); DoFileMacro(gb, (code == 0) ? STOP_G : SLEEP_G, false); break; @@ -3019,7 +3275,7 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, StringRef& reply) if (isPaused) { - gb.MachineState().state = GCodeState::resuming1; + gb.SetState(GCodeState::resuming1); DoFileMacro(gb, RESUME_G); } else if (!fileToPrint.IsLive()) @@ -4748,7 +5004,7 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, StringRef& reply) if (gb.Seen('P')) { int point = gb.GetIValue(); - if (point < 0 || (unsigned int)point >= MAX_PROBE_POINTS) + if (point < 0 || (unsigned int)point >= MaxProbePoints) { reprap.GetPlatform()->Message(GENERIC_MESSAGE, "Z probe point index out of range.\n"); } @@ -4772,6 +5028,11 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, StringRef& reply) } } } + 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 @@ -5911,7 +6172,7 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, StringRef& reply) return false; } - gb.MachineState().state = GCodeState::flashing1; + gb.SetState(GCodeState::flashing1); break; case 998: @@ -5944,7 +6205,7 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, StringRef& reply) reply.printf("unsupported command: %s", gb.Buffer()); } - if (result && gb.MachineState().state == GCodeState::normal) + if (result && gb.GetState() == GCodeState::normal) { UnlockAll(gb); HandleReply(gb, error, reply.Pointer()); @@ -5975,7 +6236,7 @@ bool GCodes::HandleTcode(GCodeBuffer& gb, StringRef& reply) // If old and new are the same we no longer follow the sequence. User can deselect and then reselect the tool if he wants the macros run. if (oldTool->Number() != newToolNumber) { - gb.MachineState().state = GCodeState::toolChange1; + gb.SetState(GCodeState::toolChange1); if (oldTool != nullptr && AllAxesAreHomed()) { scratchString.printf("tfree%d.g", oldTool->Number()); |