diff options
Diffstat (limited to 'src/GCodes/GCodes2.cpp')
| -rw-r--r-- | src/GCodes/GCodes2.cpp | 261 |
1 files changed, 174 insertions, 87 deletions
diff --git a/src/GCodes/GCodes2.cpp b/src/GCodes/GCodes2.cpp index d1773b4d..c861c3eb 100644 --- a/src/GCodes/GCodes2.cpp +++ b/src/GCodes/GCodes2.cpp @@ -20,6 +20,10 @@ #include "Tool.h" #include "Version.h" +#if SUPPORT_IOBITS +# include "PortControl.h" +#endif + #ifdef DUET_NG # include "FirmwareUpdater.h" #endif @@ -94,49 +98,19 @@ bool GCodes::HandleGcode(GCodeBuffer& gb, StringRef& reply) { return false; } + if (segmentsLeft != 0) { - // 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 (segmentsLeft != 0) - { - return false; - } - for (size_t axis = 0; axis < numVisibleAxes; ++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 = numTotalAxes; drive < DRIVES; ++drive) - { - moveBuffer.coords[drive] = 0.0; - } - moveBuffer.feedRate = (gb.Seen(feedrateLetter)) ? gb.GetFValue() * SecondsToMinutes : gb.MachineState().feedrate; - moveBuffer.filePos = noFilePosition; - moveBuffer.usePressureAdvance = false; - segmentsLeft = 1; - } - else - { - int res = SetUpMove(gb, reply); - if (res == 2) - { - gb.SetState(GCodeState::waitingForMoveToComplete); - } - result = (res != 0); - } + return false; + } + if (DoStraightMove(gb, reply)) + { + error = true; } break; case 2: // Clockwise arc case 3: // Anti clockwise arc - // We only support X and Y axes in these, but you can map them to other axes in the tool definitions + // We only support X and Y axes in these (and optionally Z for corkscrew moves), but you can map them to other axes in the tool definitions if (!LockMovement(gb)) { return false; @@ -200,7 +174,7 @@ bool GCodes::HandleGcode(GCodeBuffer& gb, StringRef& reply) return false; } { - const int sparam = (gb.SeenAfterSpace('S')) ? gb.GetIValue() : 0; + const int sparam = (gb.Seen('S')) ? gb.GetIValue() : 0; switch(sparam) { case 0: // probe and save height map @@ -231,7 +205,7 @@ bool GCodes::HandleGcode(GCodeBuffer& gb, StringRef& reply) else { ClearBabyStepping(); - result = SetSingleZProbeAtAPosition(gb, reply); + error = ExecuteG30(gb, reply); } break; @@ -246,6 +220,13 @@ bool GCodes::HandleGcode(GCodeBuffer& gb, StringRef& reply) } ClearBabyStepping(); + + // We need to unlock the movement system here in case there is no Z probe and we are doing manual probing. + // Otherwise, even though the bed probing code calls UnlockAll when doing a manual bed probe, the movement system + // remains locked because the current MachineState object already held the lock when the macro file was started, + // which means that no gcode source other than the one that executed G32 is allowed to jog the Z axis. + UnlockAll(gb); + DoFileMacro(gb, BED_EQUATION_G, true); // Try to execute bed.g break; @@ -706,7 +687,9 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, StringRef& reply) else if (wasSimulating) { // Ending a simulation, so restore the position - SetPositions(simulationRestorePoint.moveCoords); + RestorePosition(simulationRestorePoint, gb); + ToolOffsetTransform(currentUserPosition, moveBuffer.coords, true); + reprap.GetMove().SetNewPosition(simulationRestorePoint.moveCoords, true); for (size_t i = 0; i < DRIVES; ++i) { moveBuffer.coords[i] = simulationRestorePoint.moveCoords[i]; @@ -768,7 +751,9 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, StringRef& reply) { val = 1.0 - val; } - Platform::WriteAnalog(pin, val, DefaultPinWritePwmFreq); + + const uint16_t freq = (gb.Seen('F')) ? (uint16_t)constrain<int32_t>(gb.GetIValue(), 1, 65536) : DefaultPinWritePwmFreq; + Platform::WriteAnalog(pin, val, freq); } // Ignore the command if no S parameter provided } @@ -821,11 +806,6 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, StringRef& reply) 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 < numTotalAxes; axis++) { @@ -861,7 +841,7 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, StringRef& reply) if (seen) { // On a delta, if we change the drive steps/mm then we need to recalculate the motor positions - SetPositions(positionNow); + reprap.GetMove().SetNewPosition(moveBuffer.coords, true); } else { @@ -1725,11 +1705,18 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, StringRef& reply) case 290: // Baby stepping if (gb.Seen('S')) { - const float babystepAmount = gb.GetFValue(); - if (fabs(babystepAmount) <= 1.0) // limit babystepping to 1mm + if (!LockMovement(gb)) { - pendingBabyStepZOffset += babystepAmount; + return false; } + const float babyStepAmount = constrain<float>(gb.GetFValue(), -1.0, 1.0); + currentBabyStepZOffset += babyStepAmount; + const float amountPushed = reprap.GetMove().PushBabyStepping(babyStepAmount); + moveBuffer.initialCoords[Z_AXIS] += amountPushed; + + // The following causes all the remaining baby stepping that we didn't manage to push to be added to the [remainder of the] currently-executing move, if there is one. + // This could result in an abrupt Z movement, however the move will be processed as normal so the jerk limit will be honoured. + moveBuffer.coords[Z_AXIS] += babyStepAmount; } else { @@ -1737,6 +1724,44 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, StringRef& reply) } break; + case 291: // Display message, optionally wait for acknowledgement + { + char messageBuffer[80]; + bool seen = false; + gb.TryGetQuotedString('P', messageBuffer, ARRAY_SIZE(messageBuffer), seen); + if (seen) + { + int32_t sParam = 0; + gb.TryGetIValue('S', sParam, seen); + float tParam = DefaultMessageTimeout; + gb.TryGetFValue('T', tParam, seen); + int32_t zParam = 0; + gb.TryGetIValue('Z', zParam, seen); + + const MessageType mt = GetMessageBoxDevice(gb); // get the display device + + // If we need to wait for an acknowledgement, save the state and set waiting + if (sParam == 1 && Push(gb)) // stack the machine state including the file position + { + gb.MachineState().fileState.Close(); // stop reading from file + gb.MachineState().waitingForAcknowledgement = true; // flag that we are waiting for acknowledgement + } + + platform.SendAlert(mt, messageBuffer, (int)sParam, tParam, zParam == 1); + } + } + break; + + case 292: // Acknowledge message + for (GCodeBuffer* targetGb : gcodeSources) + { + if (targetGb != nullptr) + { + targetGb->MessageAcknowledged(); + } + } + break; + case 300: // Beep { const int ms = (gb.Seen('P')) ? gb.GetIValue() : 1000; // time in milliseconds @@ -1810,7 +1835,7 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, StringRef& reply) case 307: // Set heater process model parameters if (gb.Seen('H')) { - int heater = gb.GetIValue(); + const int heater = gb.GetIValue(); if (heater >= 0 && heater < (int)Heaters) { const FopDt& model = reprap.GetHeat().GetHeaterModel(heater); @@ -2970,7 +2995,7 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, StringRef& reply) ++numTotalAxes; } numVisibleAxes = numTotalAxes; // assume all axes are visible unless there is a P parameter - SetPositions(moveBuffer.coords); // tell the Move system where any new axes are + reprap.GetMove().SetNewPosition(moveBuffer.coords, true); // tell the Move system where any new axes are platform.SetAxisDriversConfig(drive, config); if (numTotalAxes + numExtruders > DRIVES) { @@ -3075,24 +3100,24 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, StringRef& reply) #ifdef DUET_WIFI case 587: // Add WiFi network or list remembered networks - if (gb.SeenAfterSpace('S')) + if (gb.Seen('S')) { WirelessConfigurationData config; memset(&config, 0, sizeof(config)); bool ok = gb.GetQuotedString(config.ssid, ARRAY_SIZE(config.ssid)); if (ok) { - ok = gb.SeenAfterSpace('P') && gb.GetQuotedString(config.password, ARRAY_SIZE(config.password)); + ok = gb.Seen('P') && gb.GetQuotedString(config.password, ARRAY_SIZE(config.password)); } - if (ok && gb.SeenAfterSpace('I')) + if (ok && gb.Seen('I')) { ok = gb.GetIPAddress(config.ip); } - if (ok && gb.SeenAfterSpace('J')) + if (ok && gb.Seen('J')) { ok = gb.GetIPAddress(config.gateway); } - if (ok && gb.SeenAfterSpace('K')) + if (ok && gb.Seen('K')) { ok = gb.GetIPAddress(config.netmask); } @@ -3120,14 +3145,28 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, StringRef& reply) if (rslt >= 0) { char* const cbuf = reinterpret_cast<char *>(buffer); - cbuf[declaredBufferLength] = 0; + cbuf[declaredBufferLength] = 0; // ensure null terminated size_t len = strlen(cbuf); + + // If there is a trailing newline, remove it if (len != 0 && cbuf[len - 1] == '\n') { --len; cbuf[len] = 0; } - if (len == 0) + + // DuetWiFiServer 1.19beta7 and later include the SSID used in access point mode at the start + const char *bufp = strchr(cbuf, '\n'); + if (bufp == nullptr) + { + bufp = cbuf; // must be an old version of DuetWiFiServer + } + else + { + ++bufp; // slip the first entry + } + + if (strlen(bufp) == 0) { reply.copy("No remembered networks"); } @@ -3139,7 +3178,7 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, StringRef& reply) return false; // try again later } response->copy("Remembered networks:\n"); - response->cat(cbuf); + response->cat(bufp); HandleReply(gb, false, response); return true; } @@ -3153,13 +3192,13 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, StringRef& reply) break; case 588: // Forget WiFi network - if (gb.SeenAfterSpace('S')) + if (gb.Seen('S')) { uint32_t ssid[NumDwords(SsidLength)]; if (gb.GetQuotedString(reinterpret_cast<char*>(ssid), SsidLength)) { const char* const pssid = reinterpret_cast<const char*>(ssid); - if (strcmp(pssid, "ALL") == 0) + if (strcmp(pssid, "*") == 0) { const int32_t rslt = reprap.GetNetwork().SendCommand(NetworkCommand::networkFactoryReset, 0, 0, nullptr, 0, nullptr, 0); if (rslt != ResponseEmpty) @@ -3187,22 +3226,37 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, StringRef& reply) break; case 589: // Configure access point - if (gb.SeenAfterSpace('S')) + if (gb.Seen('S')) { WirelessConfigurationData config; memset(&config, 0, sizeof(config)); bool ok = gb.GetQuotedString(config.ssid, ARRAY_SIZE(config.ssid)); if (ok) { - ok = gb.SeenAfterSpace('P') && gb.GetQuotedString(config.password, ARRAY_SIZE(config.password)); - } - if (ok && gb.SeenAfterSpace('I')) - { - ok = gb.GetIPAddress(config.ip); + if (strcmp(config.ssid, "*") == 0) + { + // Delete the access point details + memset(&config, 0xFF, sizeof(config)); + } + else + { + ok = gb.Seen('P') && gb.GetQuotedString(config.password, ARRAY_SIZE(config.password)); + if (ok) + { + if (gb.Seen('I')) + { + ok = gb.GetIPAddress(config.ip); + config.channel = (gb.Seen('C')) ? gb.GetIValue() : 0; + } + } + else + { + ok = false; + } + } } if (ok) { - config.channel = (gb.SeenAfterSpace('C')) ? gb.GetIValue() : 0; const int32_t rslt = reprap.GetNetwork().SendCommand(NetworkCommand::networkConfigureAccessPoint, 0, 0, &config, sizeof(config), nullptr, 0); if (rslt != ResponseEmpty) { @@ -3212,7 +3266,29 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, StringRef& reply) } else { - reply.copy("Bad parameter in M589 command"); + reply.copy("Bad or missing parameter in M589 command"); + error = true; + } + } + else + { + const size_t declaredBufferLength = MaxRememberedNetworks * (SsidLength + 1) + 1; // enough for all the remembered SSIDs with null terminator, plus an extra null + uint32_t buffer[NumDwords(declaredBufferLength + 1)]; + const int32_t rslt = reprap.GetNetwork().SendCommand(NetworkCommand::networkListSsids, 0, 0, nullptr, 0, buffer, declaredBufferLength); + if (rslt >= 0) + { + char* const cbuf = reinterpret_cast<char *>(buffer); + cbuf[declaredBufferLength] = 0; // ensure null terminated + char *p = strchr(cbuf, '\n'); + if (p != nullptr) + { + *p = 0; + } + reply.printf("Own SSID: %s", (cbuf[0] == 0) ? "not configured" : cbuf); + } + else + { + reply.copy("Failed to remove SSID from remembered list"); error = true; } } @@ -3226,8 +3302,6 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, StringRef& reply) } { Move& move = reprap.GetMove(); - float positionNow[DRIVES]; - move.GetCurrentUserPosition(positionNow, 0, reprap.GetCurrentXAxes()); // get the current position, we may need it later bool changedMode = false; if ((gb.Seen('L') || gb.Seen('D')) && move.GetKinematics().GetKinematicsType() != KinematicsType::linearDelta) @@ -3239,11 +3313,16 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, StringRef& reply) const bool changed = move.GetKinematics().Configure(code, gb, reply, error); if (changedMode) { - move.GetKinematics().GetAssumedInitialPosition(numVisibleAxes, positionNow); + move.GetKinematics().GetAssumedInitialPosition(numVisibleAxes, moveBuffer.coords); + ToolOffsetInverseTransform(moveBuffer.coords, currentUserPosition); } if (changed || changedMode) { - SetPositions(positionNow); + if (reprap.GetMove().GetKinematics().LimitPosition(moveBuffer.coords, numVisibleAxes, axesHomed)) + { + ToolOffsetInverseTransform(moveBuffer.coords, currentUserPosition); // make sure the limits are reflected in the user position + } + reprap.GetMove().SetNewPosition(moveBuffer.coords, true); SetAllAxesNotHomed(); } } @@ -3270,8 +3349,6 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, StringRef& reply) } { Move& move = reprap.GetMove(); - float positionNow[DRIVES]; - move.GetCurrentUserPosition(positionNow, 0, reprap.GetCurrentXAxes()); // get the current position, we may need it later const KinematicsType oldK = move.GetKinematics().GetKinematicsType(); // get the current kinematics type so we can tell whether it changed bool seen = false; @@ -3316,9 +3393,14 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, StringRef& reply) // We changed something, so reset the positions and set all axes not homed if (move.GetKinematics().GetKinematicsType() != oldK) { - move.GetKinematics().GetAssumedInitialPosition(numVisibleAxes, positionNow); + move.GetKinematics().GetAssumedInitialPosition(numVisibleAxes, moveBuffer.coords); + ToolOffsetInverseTransform(moveBuffer.coords, currentUserPosition); } - SetPositions(positionNow); + if (reprap.GetMove().GetKinematics().LimitPosition(moveBuffer.coords, numVisibleAxes, axesHomed)) + { + ToolOffsetInverseTransform(moveBuffer.coords, currentUserPosition); // make sure the limits are reflected in the user position + } + reprap.GetMove().SetNewPosition(moveBuffer.coords, true); SetAllAxesNotHomed(); } } @@ -3331,8 +3413,6 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, StringRef& reply) } { Move& move = reprap.GetMove(); - float positionNow[DRIVES]; - move.GetCurrentUserPosition(positionNow, 0, reprap.GetCurrentXAxes()); // get the current position, we may need it later const KinematicsType oldK = move.GetKinematics().GetKinematicsType(); // get the current kinematics type so we can tell whether it changed bool seen = false; @@ -3357,14 +3437,25 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, StringRef& reply) // We changed something, so reset the positions and set all axes not homed if (move.GetKinematics().GetKinematicsType() != oldK) { - move.GetKinematics().GetAssumedInitialPosition(numVisibleAxes, positionNow); + move.GetKinematics().GetAssumedInitialPosition(numVisibleAxes, moveBuffer.coords); + ToolOffsetInverseTransform(moveBuffer.coords, currentUserPosition); } - SetPositions(positionNow); + if (reprap.GetMove().GetKinematics().LimitPosition(moveBuffer.coords, numVisibleAxes, axesHomed)) + { + ToolOffsetInverseTransform(moveBuffer.coords, currentUserPosition); // make sure the limits are reflected in the user position + } + reprap.GetMove().SetNewPosition(moveBuffer.coords, true); SetAllAxesNotHomed(); } } break; +#if SUPPORT_IOBITS + case 670: + error = reprap.GetPortControl().Configure(gb, reply); + break; +#endif + #if SUPPORT_SCANNER case 750: // Enable 3D scanner extension reprap.GetScanner().Enable(); @@ -3815,11 +3906,7 @@ bool GCodes::HandleTcode(GCodeBuffer& gb, StringRef& reply) 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]; - } + reprap.GetMove().GetCurrentUserPosition(toolChangeRestorePoint.moveCoords, 0, reprap.GetCurrentXAxes()); toolChangeRestorePoint.feedRate = gb.MachineState().feedrate; if (simulationMode == 0) // we don't yet simulate any T codes |