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path: root/src/GCodes/GCodes2.cpp
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Diffstat (limited to 'src/GCodes/GCodes2.cpp')
-rw-r--r--src/GCodes/GCodes2.cpp142
1 files changed, 98 insertions, 44 deletions
diff --git a/src/GCodes/GCodes2.cpp b/src/GCodes/GCodes2.cpp
index 3dd0c2d4..02a52294 100644
--- a/src/GCodes/GCodes2.cpp
+++ b/src/GCodes/GCodes2.cpp
@@ -18,6 +18,9 @@ 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* CONFIG_OVERRIDE_G = "config-override.g";
+const char* DEPLOYPROBE_G = "deployprobe.g";
+const char* RETRACTPROBE_G = "retractprobe.g";
const float MinServoPulseWidth = 544.0, MaxServoPulseWidth = 2400.0;
const uint16_t ServoRefreshFrequency = 50;
@@ -66,6 +69,10 @@ bool GCodes::HandleGcode(GCodeBuffer& gb, StringRef& reply)
{
return true; // we only simulate some gcodes
}
+ if (gb.MachineState().runningM502 && code != 31)
+ {
+ return true; // when running M502 the only gcode we execute is G31
+ }
switch (code)
{
@@ -162,7 +169,23 @@ bool GCodes::HandleGcode(GCodeBuffer& gb, StringRef& reply)
{
return false;
}
- error = ProbeGrid(gb, reply);
+ {
+ const int sparam = (gb.Seen('S')) ? gb.GetIValue() : 0;
+ switch(sparam)
+ {
+ case 0: // probe and save height map
+ error = ProbeGrid(gb, reply);
+ break;
+
+ case 1: // load height map file
+ error = LoadHeightMap(gb, reply);
+ break;
+
+ default: // clear height map
+ reprap.GetMove()->AccessBedProbeGrid().ClearGridHeights();
+ break;
+ }
+ }
break;
case 30: // Z probe/manually set at a position and set that as point P
@@ -182,10 +205,6 @@ bool GCodes::HandleGcode(GCodeBuffer& gb, StringRef& reply)
break;
case 31: // Return the probe value, or set probe variables
- if (!LockMovementAndWaitForStandstill(gb))
- {
- return false;
- }
result = SetPrintZProbe(gb, reply);
break;
@@ -247,6 +266,10 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, StringRef& reply)
{
return true; // we don't yet simulate most M codes
}
+ if (gb.MachineState().runningM502 && code != 301 && code != 307 && code != 558 && code != 665 && code != 666)
+ {
+ return true; // when running M502 the only mcodes we execute are 301, 307, 558, 665 and 666
+ }
switch (code)
{
@@ -489,7 +512,7 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, StringRef& reply)
if (isPaused)
{
gb.SetState(GCodeState::resuming1);
- DoFileMacro(gb, RESUME_G);
+ DoFileMacro(gb, RESUME_G, true);
}
else if (!fileToPrint.IsLive())
{
@@ -843,7 +866,7 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, StringRef& reply)
case 98: // Call Macro/Subprogram
if (gb.Seen('P'))
{
- DoFileMacro(gb, gb.GetString());
+ DoFileMacro(gb, gb.GetString(), true);
}
break;
@@ -1557,10 +1580,6 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, StringRef& reply)
}
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;
@@ -1826,11 +1845,7 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, StringRef& reply)
if (seen)
{
- if (reprap.GetHeat()->SetHeaterModel(heater, gain, tc, td, maxPwm, dontUsePid == 0))
- {
- reprap.GetHeat()->UseModel(heater, true);
- }
- else
+ if (!reprap.GetHeat()->SetHeaterModel(heater, gain, tc, td, maxPwm, dontUsePid == 0))
{
reply.copy("Error: bad model parameters");
}
@@ -1841,21 +1856,18 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, StringRef& reply)
}
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");
+ const char* mode = (!model.UsePid()) ? "bang-bang"
+ : (model.ArePidParametersOverridden()) ? "custom PID"
+ : "PID";
+ reply.printf("Heater %u model: gain %.1f, time constant %.1f, dead time %.1f, max PWM %.2f, mode: %s",
+ heater, model.GetGain(), model.GetTimeConstant(), model.GetDeadTime(), model.GetMaxPwm(), mode);
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);
+ M301PidParameters params = model.GetM301PidParameters(false);
+ reply.catf("\nSetpoint change: P%.1f, I%.3f, D%.1f", params.kP, params.kI, params.kD);
+ params = model.GetM301PidParameters(true);
+ reply.catf("\nLoad change: P%.1f, I%.3f, D%.1f", params.kP, params.kI, params.kD);
}
}
}
@@ -1932,6 +1944,36 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, StringRef& reply)
}
break;
+ case 374: // Save grid and height map to file
+ error = SaveHeightMap(gb, reply);
+ break;
+
+ case 375: // Load grid and height map from file and enable compensation
+ if (!LockMovementAndWaitForStandstill(gb))
+ {
+ return false;
+ }
+ error = LoadHeightMap(gb, reply);
+ break;
+
+ case 376: // Set taper height
+ {
+ HeightMap& heightMap = reprap.GetMove()->AccessBedProbeGrid();
+ if (gb.Seen('H'))
+ {
+ heightMap.SetTaperHeight(gb.GetFValue());
+ }
+ else if (heightMap.GetTaperHeight() > 0.0)
+ {
+ reply.printf("Bed compensation taper height is %.1fmm", heightMap.GetTaperHeight());
+ }
+ else
+ {
+ reply.copy("Bed compensation is not tapered");
+ }
+ }
+ break;
+
case 400: // Wait for current moves to finish
if (!LockMovementAndWaitForStandstill(gb))
{
@@ -1939,6 +1981,14 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, StringRef& reply)
}
break;
+ case 401: // Deploy Z probe
+ DoFileMacro(gb, DEPLOYPROBE_G, false);
+ break;
+
+ case 402: // Retract Z probe
+ DoFileMacro(gb, RETRACTPROBE_G, false);
+ break;
+
case 404: // Filament width and nozzle diameter
{
bool seen = false;
@@ -1996,19 +2046,18 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, StringRef& reply)
break;
case 500: // Store parameters in EEPROM
- reprap.GetPlatform()->WriteNvData();
+ error = WriteConfigOverrideFile(reply, CONFIG_OVERRIDE_G);
break;
case 501: // Load parameters from EEPROM
- reprap.GetPlatform()->ReadNvData();
- if (gb.Seen('S'))
- {
- reprap.GetPlatform()->SetAutoSave(gb.GetIValue() > 0);
- }
+ DoFileMacro(gb, "config-override.g", true);
break;
case 502: // Revert to default "factory settings"
- reprap.GetPlatform()->ResetNvData();
+ reprap.GetHeat()->ResetHeaterModels(); // in case some heaters have no M307 commands in config.g
+ reprap.GetMove()->AccessDeltaParams().Init(); // in case M665 and M666 in config.g don't define all the parameters
+ platform->SetZProbeDefaults();
+ DoFileMacro(gb, "config.g", true, true);
break;
case 503: // List variable settings
@@ -2281,7 +2330,7 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, StringRef& reply)
seenType = true;
}
- ZProbeParameters params = platform->GetZProbeParameters();
+ ZProbeParameters params = platform->GetCurrentZProbeParameters();
gb.TryGetFValue('H', params.diveHeight, seenParam); // dive height
if (gb.Seen('F')) // feed rate i.e. probing speed
@@ -2307,7 +2356,7 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, StringRef& reply)
if (seenParam)
{
- platform->SetZProbeParameters(params);
+ platform->SetZProbeParameters(platform->GetZProbeType(), params);
}
if (!(seenAxes || seenType || seenParam))
@@ -2363,7 +2412,7 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, StringRef& reply)
}
break;
- case 561:
+ case 561: // Set identity transform (also clears bed probe grid)
reprap.GetMove()->SetIdentityTransform();
break;
@@ -3040,17 +3089,17 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, StringRef& reply)
if (gb.Seen('L'))
{
- params.SetDiagonal(gb.GetFValue() * distanceScale);
+ params.SetDiagonal(gb.GetFValue());
seen = true;
}
if (gb.Seen('R'))
{
- params.SetRadius(gb.GetFValue() * distanceScale);
+ params.SetRadius(gb.GetFValue());
seen = true;
}
if (gb.Seen('B'))
{
- params.SetPrintRadius(gb.GetFValue() * distanceScale);
+ params.SetPrintRadius(gb.GetFValue());
seen = true;
}
if (gb.Seen('X'))
@@ -3075,7 +3124,7 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, StringRef& reply)
// 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);
+ params.SetHomedHeight(gb.GetFValue());
seen = true;
}
@@ -3097,8 +3146,8 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, StringRef& reply)
{
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.GetDiagonal(), params.GetRadius(),
+ params.GetHomedHeight(), params.GetPrintRadius(),
params.GetXCorrection(), params.GetYCorrection(), params.GetZCorrection());
}
else
@@ -3450,6 +3499,11 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, StringRef& reply)
bool GCodes::HandleTcode(GCodeBuffer& gb, StringRef& reply)
{
+ if (gb.MachineState().runningM502)
+ {
+ return true; // when running M502 we don't execute T commands
+ }
+
if (!LockMovementAndWaitForStandstill(gb))
{
return false;
generated by cgit v1.2.3 (git 2.25.1) at 2024-08-21 01:52:57 +0300