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-rw-r--r--src/GCodes/DriverMode.cpp29
-rw-r--r--src/GCodes/DriverMode.h27
-rw-r--r--src/GCodes/GCodeBuffer.cpp10
-rw-r--r--src/GCodes/GCodeBuffer.h1
-rw-r--r--src/GCodes/GCodes.cpp94
-rw-r--r--src/GCodes/GCodes.h9
-rw-r--r--src/GCodes/GCodes2.cpp94
7 files changed, 190 insertions, 74 deletions
diff --git a/src/GCodes/DriverMode.cpp b/src/GCodes/DriverMode.cpp
new file mode 100644
index 00000000..6450e115
--- /dev/null
+++ b/src/GCodes/DriverMode.cpp
@@ -0,0 +1,29 @@
+/*
+ * DriverMode.cpp
+ *
+ * Created on: 27 Apr 2018
+ * Author: David
+ */
+
+#include "DriverMode.h"
+#include "RepRapFirmware.h"
+
+// This table must be in the same order as enum DriverMode
+static const char * const DriverModeStrings[] =
+{
+ "constant off-time",
+ "random off-time",
+ "spreadCycle",
+ "stealthChop",
+ "unknown"
+};
+
+static_assert(ARRAY_SIZE(DriverModeStrings) == (unsigned int)DriverMode::unknown + 1, "bad driver mode string table");
+
+const char* TranslateDriverMode(unsigned int mode)
+{
+ const unsigned int imode = min<unsigned int>(mode, (unsigned int)DriverMode::unknown);
+ return DriverModeStrings[imode];
+}
+
+// End
diff --git a/src/GCodes/DriverMode.h b/src/GCodes/DriverMode.h
new file mode 100644
index 00000000..594fbcf3
--- /dev/null
+++ b/src/GCodes/DriverMode.h
@@ -0,0 +1,27 @@
+/*
+ * DriverModes.h
+ *
+ * Created on: 27 Apr 2018
+ * Author: David
+ */
+
+#ifndef SRC_GCODES_DRIVERMODE_H_
+#define SRC_GCODES_DRIVERMODE_H_
+
+enum class DriverMode : unsigned int
+{
+ constantOffTime = 0,
+ randomOffTime,
+ spreadCycle,
+ stealthChop, // includes stealthChop2
+ unknown // must be last!
+};
+
+const char* TranslateDriverMode(unsigned int mode);
+
+inline const char* TranslateDriverMode(DriverMode mode)
+{
+ return TranslateDriverMode((unsigned int)mode);
+}
+
+#endif /* SRC_GCODES_DRIVERMODE_H_ */
diff --git a/src/GCodes/GCodeBuffer.cpp b/src/GCodes/GCodeBuffer.cpp
index e3222344..3c190852 100644
--- a/src/GCodes/GCodeBuffer.cpp
+++ b/src/GCodes/GCodeBuffer.cpp
@@ -750,6 +750,16 @@ void GCodeBuffer::TryGetUIValue(char c, uint32_t& val, bool& seen)
}
}
+// If the specified parameter character is found, fetch 'value' as a Boolean and set 'seen'. Otherwise leave val and seen alone.
+void GCodeBuffer::TryGetBValue(char c, bool& val, bool& seen)
+{
+ if (Seen(c))
+ {
+ val = GetIValue() > 0;
+ seen = true;
+ }
+}
+
// Try to get a float array exactly 'numVals' long after parameter letter 'c'.
// If the wrong number of values is provided, generate an error message and return true.
// Else set 'seen' if we saw the letter and value, and return false.
diff --git a/src/GCodes/GCodeBuffer.h b/src/GCodes/GCodeBuffer.h
index 81aefdc9..6675cf2a 100644
--- a/src/GCodes/GCodeBuffer.h
+++ b/src/GCodes/GCodeBuffer.h
@@ -46,6 +46,7 @@ public:
void TryGetFValue(char c, float& val, bool& seen);
void TryGetIValue(char c, int32_t& val, bool& seen);
void TryGetUIValue(char c, uint32_t& val, bool& seen);
+ void TryGetBValue(char c, bool& val, bool& seen);
bool TryGetFloatArray(char c, size_t numVals, float vals[], const StringRef& reply, bool& seen, bool doPad = false);
bool TryGetQuotedString(char c, const StringRef& str, bool& seen);
bool TryGetPossiblyQuotedString(char c, const StringRef& str, bool& seen);
diff --git a/src/GCodes/GCodes.cpp b/src/GCodes/GCodes.cpp
index 9f3917ae..dae9acf8 100644
--- a/src/GCodes/GCodes.cpp
+++ b/src/GCodes/GCodes.cpp
@@ -2330,7 +2330,7 @@ const char* GCodes::DoStraightMove(GCodeBuffer& gb, bool isCoordinated)
// Check enough axes have been homed
if (moveBuffer.moveType == 0)
{
- if (CheckEnoughAxesHomed(axesMentioned))
+ if (!doingManualBedProbe && CheckEnoughAxesHomed(axesMentioned))
{
return "G0/G1: insufficient axes homed";
}
@@ -3040,7 +3040,7 @@ void GCodes::GetCurrentCoordinates(const StringRef& s) const
for (size_t axis = 0; axis < numVisibleAxes; ++axis)
{
// Don't put a space after the colon in the response, it confuses Pronterface
- s.catf("%c:%.3f ", axisLetters[axis], (double)currentUserPosition[axis]);
+ s.catf("%c:%.3f ", axisLetters[axis], HideNan(currentUserPosition[axis]));
}
for (size_t i = numTotalAxes; i < DRIVES; i++)
{
@@ -3055,11 +3055,11 @@ void GCodes::GetCurrentCoordinates(const StringRef& s) const
s.catf(" %" PRIi32, reprap.GetMove().GetEndPoint(i));
}
- // Add the user coordinates because they may be different from the machine coordinates under some conditions
+ // Add the machine coordinates because they may be different from the user coordinates under some conditions
s.cat(" Machine");
for (size_t axis = 0; axis < numVisibleAxes; ++axis)
{
- s.catf(" %.3f", (double)liveCoordinates[axis]);
+ s.catf(" %.3f", HideNan(liveCoordinates[axis]));
}
}
@@ -3522,12 +3522,12 @@ void GCodes::DisableDrives()
SetAllAxesNotHomed();
}
-bool GCodes::ChangeMicrostepping(size_t drive, unsigned int microsteps, int mode) const
+bool GCodes::ChangeMicrostepping(size_t drive, unsigned int microsteps, bool interp) const
{
bool dummy;
- const unsigned int oldSteps = platform.GetMicrostepping(drive, mode, dummy);
- const bool success = platform.SetMicrostepping(drive, microsteps, mode);
- if (success && mode <= 1) // modes higher than 1 are used for special functions
+ const unsigned int oldSteps = platform.GetMicrostepping(drive, dummy);
+ const bool success = platform.SetMicrostepping(drive, microsteps, interp);
+ if (success)
{
// We changed the microstepping, so adjust the steps/mm to compensate
platform.SetDriveStepsPerUnit(drive, platform.DriveStepsPerUnit(drive) * (float)microsteps / (float)oldSteps);
@@ -4587,18 +4587,26 @@ GCodeResult GCodes::WriteConfigOverrideFile(GCodeBuffer& gb, const StringRef& re
return GCodeResult::ok;
}
-// Store a standard-format temperature report in 'reply'. This doesn't put a newline character at the end.
-void GCodes::GenerateTemperatureReport(const StringRef& reply) const
+// Report the temperatures of one tool in M105 format
+void GCodes::ReportToolTemperatures(const StringRef& reply, const Tool *tool, bool includeNumber) const
{
- Heat& heat = reprap.GetHeat();
-
- // Pronterface, Repetier etc. expect the temperatures to be reported for T0, T1 etc.
- // So scan the tool list and report the temperature of the heaters associated with each tool.
- // If the user configures tools T0, T1 etc. with 1 heater each, that will return what these programs expect.
- reply.copy("T");
- char sep = ':';
- for (const Tool *tool = reprap.GetFirstTool(); tool != nullptr; tool = tool->Next())
+ if (tool != nullptr && tool->HeaterCount() != 0)
{
+ if (reply.strlen() != 0)
+ {
+ reply.cat(' ');
+ }
+ if (includeNumber)
+ {
+ reply.catf("T%u", tool->Number());
+ }
+ else
+ {
+ reply.cat("T");
+ }
+
+ Heat& heat = reprap.GetHeat();
+ char sep = ':';
for (size_t i = 0; i < tool->HeaterCount(); ++i)
{
const int heater = tool->Heater(i);
@@ -4606,17 +4614,55 @@ void GCodes::GenerateTemperatureReport(const StringRef& reply) const
sep = ' ';
}
}
+}
+
+// Store a standard-format temperature report in 'reply'. This doesn't put a newline character at the end.
+void GCodes::GenerateTemperatureReport(const StringRef& reply) const
+{
+ Heat& heat = reprap.GetHeat();
+
+ // The following is believed to be compatible with Marlin and Octoprint, based on thread https://github.com/foosel/OctoPrint/issues/2590#issuecomment-385023980
+ ReportToolTemperatures(reply, reprap.GetCurrentTool(), false);
+
+ for (const Tool *tool = reprap.GetFirstTool(); tool != nullptr; tool = tool->Next())
+ {
+ ReportToolTemperatures(reply, tool, true);
+ }
- const int bedHeater = (NumBedHeaters > 0) ? heat.GetBedHeater(0) : -1; // default to first heated bed
- if (bedHeater >= 0)
+ for (size_t hn = 0; hn < NumBedHeaters && heat.GetBedHeater(hn) >= 0; ++hn)
{
- reply.catf(" B:%.1f /%.1f", (double)heat.GetTemperature(bedHeater), (double)heat.GetTargetTemperature(bedHeater));
+ if (hn == 0)
+ {
+ if (reply.strlen() != 0)
+ {
+ reply.cat(' ');
+ }
+ reply.cat("B:");
+ }
+ else
+ {
+ reply.catf(" B%u:", hn);
+ }
+ const int8_t heater = heat.GetBedHeater(hn);
+ reply.catf("%.1f /%.1f", (double)heat.GetTemperature(heater), (double)heat.GetTargetTemperature(heater));
}
- const int chamberHeater = (NumChamberHeaters > 0) ? heat.GetChamberHeater(0) : -1; // default to first chamber heater
- if (chamberHeater >= 0)
+ for (size_t hn = 0; hn < NumChamberHeaters && heat.GetChamberHeater(hn) >= 0; ++hn)
{
- reply.catf(" C:%.1f /%.1f", (double)heat.GetTemperature(chamberHeater), (double)heat.GetTargetTemperature(chamberHeater));
+ if (hn == 0)
+ {
+ if (reply.strlen() != 0)
+ {
+ reply.cat(' ');
+ }
+ reply.cat("C:");
+ }
+ else
+ {
+ reply.catf(" C%u:", hn);
+ }
+ const int8_t heater = heat.GetChamberHeater(hn);
+ reply.catf("%.1f /%.1f", (double)heat.GetTemperature(heater), (double)heat.GetTargetTemperature(heater));
}
}
diff --git a/src/GCodes/GCodes.h b/src/GCodes/GCodes.h
index a952b92a..c839b481 100644
--- a/src/GCodes/GCodes.h
+++ b/src/GCodes/GCodes.h
@@ -295,6 +295,7 @@ private:
bool ManageTool(GCodeBuffer& gb, const StringRef& reply); // Create a new tool definition, returning true if an error was reported
void SetToolHeaters(Tool *tool, float temperature, bool both); // Set all a tool's heaters to the temperature, for M104/M109
bool ToolHeatersAtSetTemperatures(const Tool *tool, bool waitWhenCooling) const; // Wait for the heaters associated with the specified tool to reach their set temperatures
+ void ReportToolTemperatures(const StringRef& reply, const Tool *tool, bool includeNumber) const;
void GenerateTemperatureReport(const StringRef& reply) const; // Store a standard-format temperature report in reply
OutputBuffer *GenerateJsonStatusResponse(int type, int seq, ResponseSource source) const; // Generate a M408 response
void CheckReportDue(GCodeBuffer& gb, const StringRef& reply) const; // Check whether we need to report temperatures or status
@@ -311,7 +312,7 @@ private:
GCodeResult RetractFilament(GCodeBuffer& gb, bool retract); // Retract or un-retract filaments
GCodeResult LoadFilament(GCodeBuffer& gb, const StringRef& reply); // Load the specified filament into a tool
GCodeResult UnloadFilament(GCodeBuffer& gb, const StringRef& reply); // Unload the current filament from a tool
- bool ChangeMicrostepping(size_t drive, unsigned int microsteps, int mode) const; // Change microstepping on the specified drive
+ bool ChangeMicrostepping(size_t drive, unsigned int microsteps, bool interp) const; // Change microstepping on the specified drive
void ListTriggers(const 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
@@ -342,12 +343,12 @@ private:
GCodeResult ChangeSimulationMode(GCodeBuffer& gb, const StringRef &reply, uint32_t newSimulationMode); // handle M37 to change the simulation mode
GCodeResult WriteConfigOverrideFile(GCodeBuffer& gb, const StringRef& reply) const; // Write the config-override file
- void CopyConfigFinalValues(GCodeBuffer& gb); // Copy the feed rate etc. from the daemon to the input channels
+ void CopyConfigFinalValues(GCodeBuffer& gb); // Copy the feed rate etc. from the daemon to the input channels
void ClearBabyStepping() { currentBabyStepZOffset = 0.0; }
- MessageType GetMessageBoxDevice(GCodeBuffer& gb) const; // Decide which device to display a message box on
- void DoManualProbe(GCodeBuffer& gb); // Do a manual bed probe
+ MessageType GetMessageBoxDevice(GCodeBuffer& gb) const; // Decide which device to display a message box on
+ void DoManualProbe(GCodeBuffer& gb); // Do a manual bed probe
void AppendAxes(const StringRef& reply, AxesBitmap axes) const; // Append a list of axes to a string
diff --git a/src/GCodes/GCodes2.cpp b/src/GCodes/GCodes2.cpp
index 7fe9747b..4562cfed 100644
--- a/src/GCodes/GCodes2.cpp
+++ b/src/GCodes/GCodes2.cpp
@@ -30,6 +30,12 @@
# include "FirmwareUpdater.h"
#endif
+#if defined(DUET_NG)
+# include "TMC2660.h"
+#elif defined(DUET_M)
+# include "TMC22xx.h"
+#endif
+
#if SUPPORT_12864_LCD
# include "Display/Display.h"
#endif
@@ -2112,23 +2118,15 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply)
case 290: // Baby stepping
if (gb.Seen('S') || gb.Seen('Z'))
{
+ const float fval = gb.GetFValue();
if (!LockMovement(gb))
{
return false;
}
- const float fval = constrain<float>(gb.GetFValue(), -1.0, 1.0);
const bool absolute = (gb.Seen('R') && gb.GetIValue() == 0);
- float difference;
- if (absolute)
- {
- difference = fval - currentBabyStepZOffset;
- currentBabyStepZOffset = fval;
- }
- else
- {
- difference = fval;
- currentBabyStepZOffset += fval;
- }
+ float difference = (absolute) ? fval - currentBabyStepZOffset : fval;
+ difference = constrain<float>(difference, -1.0, 1.0);
+ currentBabyStepZOffset += difference;
const float amountPushed = reprap.GetMove().PushBabyStepping(difference);
moveBuffer.initialCoords[Z_AXIS] += amountPushed;
@@ -2357,11 +2355,7 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply)
case 350: // Set/report microstepping
{
- // interp is currently an int not a bool, because we use special values of interp to set the chopper control register
- int32_t mode = 0; // this is usually the interpolation requested (0 = off, 1 = on)
- bool dummy;
- gb.TryGetIValue('I', mode, dummy);
-
+ bool interp = (gb.Seen('I') && gb.GetIValue() > 0);
bool seen = false;
for (size_t axis = 0; axis < numTotalAxes; axis++)
{
@@ -2373,13 +2367,13 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply)
}
seen = true;
const unsigned int microsteps = gb.GetUIValue();
- if (ChangeMicrostepping(axis, microsteps, mode))
+ if (ChangeMicrostepping(axis, microsteps, interp))
{
SetAxisNotHomed(axis);
}
else
{
- reply.printf("Drive %c does not support %ux microstepping%s", axisLetters[axis], microsteps, ((mode) ? " with interpolation" : ""));
+ reply.printf("Drive %c does not support %ux microstepping%s", axisLetters[axis], microsteps, ((interp) ? " with interpolation" : ""));
result = GCodeResult::error;
}
}
@@ -2397,9 +2391,9 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply)
gb.GetUnsignedArray(eVals, eCount, true);
for (size_t e = 0; e < eCount; e++)
{
- if (!ChangeMicrostepping(numTotalAxes + e, (int)eVals[e], mode))
+ if (!ChangeMicrostepping(numTotalAxes + e, eVals[e], interp))
{
- reply.printf("Drive E%u does not support %ux microstepping%s", e, (unsigned int)eVals[e], ((mode) ? " with interpolation" : ""));
+ reply.printf("Drive E%u does not support %ux microstepping%s", e, (unsigned int)eVals[e], ((interp) ? " with interpolation" : ""));
result = GCodeResult::error;
}
}
@@ -2410,16 +2404,16 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply)
reply.copy("Microstepping - ");
for (size_t axis = 0; axis < numTotalAxes; ++axis)
{
- bool interp;
- const unsigned int microsteps = platform.GetMicrostepping(axis, mode, interp);
- reply.catf("%c:%u%s, ", axisLetters[axis], microsteps, (interp) ? "(on)" : "");
+ bool actualInterp;
+ const unsigned int microsteps = platform.GetMicrostepping(axis, actualInterp);
+ reply.catf("%c:%u%s, ", axisLetters[axis], microsteps, (actualInterp) ? "(on)" : "");
}
reply.cat("E");
for (size_t extruder = 0; extruder < numExtruders; extruder++)
{
- bool interp;
- const unsigned int microsteps = platform.GetMicrostepping(extruder + numTotalAxes, mode, interp);
- reply.catf(":%u%s", microsteps, (interp) ? "(on)" : "");
+ bool actualInterp;
+ const unsigned int microsteps = platform.GetMicrostepping(extruder + numTotalAxes, actualInterp);
+ reply.catf(":%u%s", microsteps, (actualInterp) ? "(on)" : "");
}
}
}
@@ -3081,8 +3075,8 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply)
{
return false;
}
- platform.SetDirectionValue(drive, gb.GetIValue() != 0);
seen = true;
+ platform.SetDirectionValue(drive, gb.GetIValue() != 0);
}
if (gb.Seen('R'))
{
@@ -3090,11 +3084,12 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply)
{
return false;
}
- platform.SetEnableValue(drive, (int8_t)gb.GetIValue());
seen = true;
+ platform.SetEnableValue(drive, (int8_t)gb.GetIValue());
}
if (gb.Seen('T'))
{
+ seen = true;
float timings[4];
size_t numTimings = ARRAY_SIZE(timings);
gb.GetFloatArray(timings, numTimings, true);
@@ -3105,33 +3100,42 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply)
break;
}
platform.SetDriverStepTiming(drive, timings);
- seen = true;
}
- bool badParameter = false;
- for (size_t axis = 0; axis < numTotalAxes; ++axis)
+
+#if HAS_SMART_DRIVERS
+ if (gb.Seen('D')) // set driver mode
{
- if (gb.Seen(axisLetters[axis]))
+ seen = true;
+ const unsigned int mode = gb.GetUIValue();
+ if (!SmartDrivers::SetDriverMode(drive, mode))
{
- badParameter = true;
+ reply.printf("Driver %u does not support mode '%s'", drive, TranslateDriverMode(mode));
+ result = GCodeResult::error;
+ break;
}
}
- if (gb.Seen(extrudeLetter))
- {
- badParameter = true;
- }
- if (badParameter)
+
+ if (gb.Seen('C')) // set chopper control register
{
- reply.copy("M569 no longer accepts XYZE parameters; use M584 instead");
- result = GCodeResult::error;
+ seen = true;
+ (void)SmartDrivers::SetChopperControlRegister(drive, gb.GetUIValue()); // currently this call never returns failure, so no error handling here
}
- else if (!seen)
+#endif
+ if (!seen)
{
float timings[4];
platform.GetDriverStepTiming(drive, timings);
- reply.printf("Drive %u runs %s, active %s enable, step timing %.1f,%.1f,%.1f,%.1f microseconds",
+ reply.printf("Drive %u runs %s, active %s enable,"
+#if HAS_SMART_DRIVERS
+ " mode %s,"
+#endif
+ " step timing %.1f,%.1f,%.1f,%.1f microseconds",
drive,
(platform.GetDirectionValue(drive)) ? "forwards" : "in reverse",
(platform.GetEnableValue(drive)) ? "high" : "low",
+#if HAS_SMART_DRIVERS
+ TranslateDriverMode(SmartDrivers::GetDriverMode(drive)),
+#endif
(double)timings[0], (double)timings[1], (double)timings[2], (double)timings[3]);
}
}
@@ -3990,7 +3994,7 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply)
break;
#if HAS_VOLTAGE_MONITOR
- case 911: // Enable auto save
+ case 911: // Enable auto save on loss of power
if (gb.Seen('S'))
{
const float saveVoltage = gb.GetFValue();
@@ -4087,7 +4091,6 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply)
break;
#endif
-#if HAS_VOLTAGE_MONITOR
case 916:
if (!platform.GetMassStorage()->FileExists(platform.GetSysDir(), RESUME_AFTER_POWER_FAIL_G))
{
@@ -4104,7 +4107,6 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply)
DoFileMacro(gb, RESUME_AFTER_POWER_FAIL_G, true);
}
break;
-#endif
// For case 917, see 906
generated by cgit v1.2.3 (git 2.25.1) at 2024-07-31 16:37:57 +0300