diff options
Diffstat (limited to 'src/GCodes/GCodes3.cpp')
| -rw-r--r-- | src/GCodes/GCodes3.cpp | 30 |
1 files changed, 27 insertions, 3 deletions
diff --git a/src/GCodes/GCodes3.cpp b/src/GCodes/GCodes3.cpp index 779043fb..f65dedb5 100644 --- a/src/GCodes/GCodes3.cpp +++ b/src/GCodes/GCodes3.cpp @@ -71,10 +71,21 @@ GCodeResult GCodes::SetPositions(GCodeBuffer& gb, const StringRef& reply) THROWS } #endif + MovementState& ms = GetMovementState(gb); + +#if SUPPORT_ASYNC_MOVES + // Check for setting unowned axes before processing the command + ParameterLettersBitmap axisLettersMentioned = gb.AllParameters() & allAxisLetters; + axisLettersMentioned.ClearBits(ms.ownedAxisLetters); + if (axisLettersMentioned.IsNonEmpty()) + { + AllocateAxisLetters(gb, ms, axisLettersMentioned); + } +#endif + // Don't wait for the machine to stop if only extruder drives are being reset. // This avoids blobs and seams when the gcode uses absolute E coordinates and periodically includes G92 E0. AxesBitmap axesIncluded; - MovementState& ms = GetMovementState(gb); for (size_t axis = 0; axis < numVisibleAxes; ++axis) { if (gb.Seen(axisLetters[axis])) @@ -82,7 +93,7 @@ GCodeResult GCodes::SetPositions(GCodeBuffer& gb, const StringRef& reply) THROWS const float axisValue = gb.GetFValue(); if (axesIncluded.IsEmpty()) { - if (!LockAllMovementSystemsAndWaitForStandstill(gb)) // lock movement and get current coordinates + if (!LockCurrentMovementSystemAndWaitForStandstill(gb)) // lock movement and get current coordinates { return GCodeResult::notFinished; } @@ -1537,10 +1548,13 @@ GCodeResult GCodes::HandleG68(GCodeBuffer& gb, const StringRef& reply) THROWS(GC gb.MustSee('A', 'X'); centreX = gb.GetFValue(); gb.MustSee('B', 'Y'); - centreY= gb.GetFValue(); + centreY = gb.GetFValue(); g68Centre[0] = centreX + GetWorkplaceOffset(gb, 0); g68Centre[1] = centreY + GetWorkplaceOffset(gb, 1); +#if SUPPORT_ASYNC_MOVES + const float oldG68Angle = g68Angle; +#endif if (gb.Seen('I')) { g68Angle += angle; @@ -1549,6 +1563,16 @@ GCodeResult GCodes::HandleG68(GCodeBuffer& gb, const StringRef& reply) THROWS(GC { g68Angle = angle; } +#if SUPPORT_ASYNC_MOVES + if (g68Angle != 0.0 && oldG68Angle == 0.0) + { + // We have just started doing coordinate rotation, so if we own axis letter X we need to own Y and vice versa + // Simplest is just to say we don't own either in the axis letters bitmap + MovementState& ms = GetMovementState(gb); + ms.ownedAxisLetters.ClearBit('X' - 'A'); + ms.ownedAxisLetters.ClearBit('Y' - 'A'); + } +#endif UpdateCurrentUserPosition(gb); } return GCodeResult::ok; |