diff options
Diffstat (limited to 'src/GCodes/GCodes.h')
| -rw-r--r-- | src/GCodes/GCodes.h | 74 |
1 files changed, 45 insertions, 29 deletions
diff --git a/src/GCodes/GCodes.h b/src/GCodes/GCodes.h index aa06db0a..bbe13e46 100644 --- a/src/GCodes/GCodes.h +++ b/src/GCodes/GCodes.h @@ -41,6 +41,7 @@ typedef AxesBitmap EndstopChecks; // must be large enough to hold a bitmap const EndstopChecks ZProbeActive = 1 << 31; // must be distinct from 1 << (any drive number) const EndstopChecks HomeAxes = 1 << 30; // must be distinct from 1 << (any drive number) const EndstopChecks LogProbeChanges = 1 << 29; // must be distinct from 1 << (any drive number) +const EndstopChecks UseSpecialEndstop = 1 << 28; // must be distinct from 1 << (any drive number) typedef uint32_t TriggerInputsBitmap; // Bitmap of input pins that a single trigger number responds to typedef uint32_t TriggerNumbersBitmap; // Bitmap of trigger numbers @@ -64,10 +65,10 @@ struct Trigger }; // Bits for T-code P-parameter to specify which macros are supposed to be run -const int TFreeBit = 1 << 0; -const int TPreBit = 1 << 1; -const int TPostBit = 1 << 2; -const int DefaultToolChangeParam = TFreeBit | TPreBit | TPostBit; +constexpr uint8_t TFreeBit = 1 << 0; +constexpr uint8_t TPreBit = 1 << 1; +constexpr uint8_t TPostBit = 1 << 2; +constexpr uint8_t DefaultToolChangeParam = TFreeBit | TPreBit | TPostBit; // Machine type enumeration. The numeric values must be in the same order as the corresponding M451..M453 commands. enum class MachineType : uint8_t @@ -77,6 +78,21 @@ enum class MachineType : uint8_t cnc = 2 }; +enum class PauseReason +{ + user, // M25 command received + gcode, // M25 or M226 command encountered in the file being printed + trigger, // external switch + heaterFault, // heater fault detected + filament, // filament monitor +#if HAS_SMART_DRIVERS + stall, // motor stall detected +#endif +#if HAS_VOLTAGE_MONITOR + lowVoltage // VIN voltage dropped below configured minimum +#endif +}; + //**************************************************************************************************** // The GCode interpreter @@ -98,6 +114,8 @@ public: IoBits_t ioBits; // I/O bits to set/clear at the start of this move #endif uint8_t moveType; // the S parameter from the G0 or G1 command, 0 for a normal move + uint8_t proportionRemaining; // what proportion of the entire move remains after this segment + uint8_t isFirmwareRetraction : 1; // true if this is a firmware retraction/un-retraction move uint8_t usePressureAdvance : 1; // true if we want to us extruder pressure advance, if there is any extrusion uint8_t canPauseBefore : 1; // true if we can pause before this move @@ -161,11 +179,11 @@ public: size_t GetNumExtruders() const { return numExtruders; } void FilamentError(size_t extruder, FilamentSensorStatus fstat); + void HandleHeaterFault(int heater); // Respond to a heater fault -#ifdef DUET_NG - bool AutoPause(); - bool AutoShutdown(); - bool AutoResume(); +#if HAS_VOLTAGE_MONITOR + bool LowVoltagePause(); + bool LowVoltageResume(); bool AutoResumeAfterShutdown(); #endif @@ -193,11 +211,14 @@ private: bool LockFileSystem(const GCodeBuffer& gb); // Lock the unshareable parts of the file system bool LockMovement(const GCodeBuffer& gb); // Lock movement bool LockMovementAndWaitForStandstill(const GCodeBuffer& gb); // Lock movement and wait for pending moves to finish + void GrabResource(const GCodeBuffer& gb, Resource r); // Grab a resource even if it is already owned + void GrabMovement(const GCodeBuffer& gb); // Grab the movement lock even if it is already owned void UnlockAll(const GCodeBuffer& gb); // Release all locks void StartNextGCode(GCodeBuffer& gb, StringRef& reply); // Fetch a new or old GCode and process it + void RunStateMachine(GCodeBuffer& gb, StringRef& reply); // Execute a step of the state machine void DoFilePrint(GCodeBuffer& gb, StringRef& reply); // Get G Codes from a file and print them - bool DoFileMacro(GCodeBuffer& gb, const char* fileName, bool reportMissing, bool runningM502 = false); + bool DoFileMacro(GCodeBuffer& gb, const char* fileName, bool reportMissing, int codeRunning = 0); // Run a GCode macro file, optionally report error if not found void FileMacroCyclesReturn(GCodeBuffer& gb); // End a macro @@ -256,9 +277,10 @@ private: bool ChangeMicrostepping(size_t drive, int microsteps, int mode) const; // Change microstepping on the specified drive void ListTriggers(StringRef reply, TriggerInputsBitmap mask); // Append a list of trigger inputs to a message void CheckTriggers(); // Check for and execute triggers + void CheckFilament(); // Check for and respond to filament errors void DoEmergencyStop(); // Execute an emergency stop - void DoPause(GCodeBuffer& gb, bool isAuto) // Pause the print + void DoPause(GCodeBuffer& gb, PauseReason reason, const char *msg, ...) __attribute__ ((format (printf, 4, 5))); // Pause the print pre(resourceOwners[movementResource] = &gb); void SetMappedFanSpeed(); // Set the speeds of fans mapped for the current tool @@ -282,7 +304,7 @@ private: void EndSimulation(GCodeBuffer *gb); // Restore positions etc. when exiting simulation mode bool IsCodeQueueIdle() const; // Return true if the code queue is idle - void SaveResumeInfo(); + void SaveResumeInfo(bool wasPowerFailure); const char* GetMachineModeString() const; // Get the name of the current machine mode @@ -294,12 +316,7 @@ private: StreamGCodeInput* serialInput; // ... StreamGCodeInput* auxInput; // ...for the GCodeBuffers below -#ifdef DUET_NG GCodeBuffer* gcodeSources[8]; // The various sources of gcodes - GCodeBuffer*& autoPauseGCode = gcodeSources[7]; // GCode state machine used to run pause.g and resume.g -#else - GCodeBuffer* gcodeSources[7]; // The various sources of gcodes -#endif GCodeBuffer*& httpGCode = gcodeSources[0]; GCodeBuffer*& telnetGCode = gcodeSources[1]; @@ -308,6 +325,8 @@ private: GCodeBuffer*& auxGCode = gcodeSources[4]; // This one is for the LCD display on the async serial interface GCodeBuffer*& daemonGCode = gcodeSources[5]; // Used for executing config.g and trigger macro files GCodeBuffer*& queuedGCode = gcodeSources[6]; + GCodeBuffer*& autoPauseGCode = gcodeSources[7]; // ***THIS ONE MUST BE LAST*** GCode state machine used to run macros on power fail, heater faults and filament out + size_t nextGcodeSource; // The one to check next const GCodeBuffer* resourceOwners[NumResources]; // Which gcode buffer owns each resource @@ -316,18 +335,24 @@ private: bool active; // Live and running? bool isPaused; // true if the print has been paused manually or automatically bool pausePending; // true if we have been asked to pause but we are running a macro -#ifdef DUET_NG - bool isAutoPaused; // true if the print was paused automatically -#endif bool runningConfigFile; // We are running config.g during the startup process bool doingToolChange; // We are running tool change macros + uint8_t moveFractionToStartAt; // how much of the next move was printed before the power failure + uint8_t moveFractionToSkip; + + #if HAS_VOLTAGE_MONITOR + bool isPowerFailPaused; // true if the print was paused automatically because of a power failure + char *powerFailScript; // the commands run when there is a power failure +#endif + float currentUserPosition[MaxAxes]; // The current position of the axes as commanded by the input gcode, before accounting for tool offset and Z hop float currentZHop; // The amount of Z hop that is currently applied // The following contain the details of moves that the Move module fetches RawMove moveBuffer; // Move details to pass to Move class unsigned int segmentsLeft; // The number of segments left to do in the current move, or 0 if no move available + unsigned int totalSegments; // The total number of segments left in the complete move float arcCentre[MaxAxes]; float arcRadius; float arcCurrentAngle; @@ -355,9 +380,6 @@ private: FileStore* fileBeingWritten; // A file to write G Codes (or sometimes HTML) to FilePosition fileSize; // Size of the file being written - int oldToolNumber, newToolNumber; // Tools being changed - int toolChangeParam; // Bitmap of all the macros to be run during a tool change - const char* eofString; // What's at the end of an HTML file? uint8_t eofStringCounter; // Check the... uint8_t eofStringLength; // ... EoF string as we read. @@ -443,20 +465,14 @@ private: static constexpr const char* CONFIG_OVERRIDE_G = "config-override.g"; static constexpr const char* DEPLOYPROBE_G = "deployprobe.g"; static constexpr const char* RETRACTPROBE_G = "retractprobe.g"; - static constexpr const char* RESUME_PROLOGUE_G = "resurrect-prologue.g"; static constexpr const char* PAUSE_G = "pause.g"; static constexpr const char* HOME_ALL_G = "homeall.g"; static constexpr const char* HOME_DELTA_G = "homedelta.g"; static constexpr const char* DefaultHeightMapFile = "heightmap.csv"; static constexpr const char* LOAD_FILAMENT_G = "load.g"; static constexpr const char* UNLOAD_FILAMENT_G = "unload.g"; - -#ifdef DUET_NG - static constexpr const char* POWER_FAIL_G = "powerfail.g"; - static constexpr const char* POWER_RESTORE_G = "powerrestore.g"; -#endif - static constexpr const char* RESUME_AFTER_POWER_FAIL_G = "resurrect.g"; + static constexpr const char* RESUME_PROLOGUE_G = "resurrect-prologue.g"; static constexpr const float MinServoPulseWidth = 544.0, MaxServoPulseWidth = 2400.0; static const uint16_t ServoRefreshFrequency = 50; |