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Commands.cpp
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Commands.cpp
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/*
This file is part of Repetier-Firmware.
Repetier-Firmware is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
Repetier-Firmware is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with Repetier-Firmware. If not, see <http://www.gnu.org/licenses/>.
This firmware is a nearly complete rewrite of the sprinter firmware
by kliment (https://github.com/kliment/Sprinter)
which based on Tonokip RepRap firmware rewrite based off of Hydra-mmm firmware.
*/
#include "Repetier.h"
const int sensitive_pins[] PROGMEM = SENSITIVE_PINS; // Sensitive pin list for M42
int Commands::lowestRAMValue = MAX_RAM;
int Commands::lowestRAMValueSend = MAX_RAM;
void Commands::commandLoop()
{
while(true)
{
#ifdef DEBUG_PRINT
debugWaitLoop = 1;
#endif
GCode::readFromSerial();
GCode *code = GCode::peekCurrentCommand();
//UI_SLOW; // do longer timed user interface action
UI_MEDIUM; // do check encoder
if(code)
{
#if SDSUPPORT
if(sd.savetosd)
{
if(!(code->hasM() && code->M == 29)) // still writing to file
{
sd.writeCommand(code);
}
else
{
sd.finishWrite();
}
#if ECHO_ON_EXECUTE
code->echoCommand();
#endif
}
else
#endif
Commands::executeGCode(code);
code->popCurrentCommand();
}
Printer::defaultLoopActions();
}
}
void Commands::checkForPeriodicalActions(bool allowNewMoves)
{
if(!executePeriodical) return;
executePeriodical = 0;
Extruder::manageTemperatures();
if(--counter250ms == 0)
{
if(manageMonitor <= 1 + NUM_EXTRUDER)
writeMonitor();
counter250ms = 5;
}
// If called from queueDelta etc. it is an error to start a new move since it
// would invalidate old computation resulting in unpredicted behaviour.
// lcd controller can start new moves, so we disallow it if called from within
// a move command.
UI_SLOW(allowNewMoves);
}
/** \brief Waits until movement cache is empty.
Some commands expect no movement, before they can execute. This function
waits, until the steppers are stopped. In the meanwhile it buffers incoming
commands and manages temperatures.
*/
void Commands::waitUntilEndOfAllMoves()
{
#ifdef DEBUG_PRINT
debugWaitLoop = 8;
#endif
while(PrintLine::hasLines())
{
GCode::readFromSerial();
checkForPeriodicalActions(false);
UI_MEDIUM;
}
}
void Commands::waitUntilEndOfAllBuffers()
{
GCode *code = NULL;
#ifdef DEBUG_PRINT
debugWaitLoop = 9;
#endif
while(PrintLine::hasLines() || (code != NULL))
{
GCode::readFromSerial();
code = GCode::peekCurrentCommand();
UI_MEDIUM; // do check encoder
if(code)
{
#if SDSUPPORT
if(sd.savetosd)
{
if(!(code->hasM() && code->M == 29)) // still writing to file
sd.writeCommand(code);
else
sd.finishWrite();
#if ECHO_ON_EXECUTE
code->echoCommand();
#endif
}
else
#endif
Commands::executeGCode(code);
code->popCurrentCommand();
}
Commands::checkForPeriodicalActions(false); // only called from memory
UI_MEDIUM;
}
}
void Commands::printCurrentPosition(FSTRINGPARAM(s))
{
float x, y, z;
Printer::realPosition(x, y, z);
if (isnan(x) || isinf(x) || isnan(y) || isinf(y) || isnan(z) || isinf(z))
{
Com::printErrorFLN(s); // flag where the error condition came from
}
x += Printer::coordinateOffset[X_AXIS];
y += Printer::coordinateOffset[Y_AXIS];
z += Printer::coordinateOffset[Z_AXIS];
Com::printF(Com::tXColon, x * (Printer::unitIsInches ? 0.03937 : 1), 2);
Com::printF(Com::tSpaceYColon, y * (Printer::unitIsInches ? 0.03937 : 1), 2);
Com::printF(Com::tSpaceZColon, z * (Printer::unitIsInches ? 0.03937 : 1), 3);
Com::printFLN(Com::tSpaceEColon, Printer::currentPositionSteps[E_AXIS] * Printer::invAxisStepsPerMM[E_AXIS] * (Printer::unitIsInches ? 0.03937 : 1), 4);
//Com::printF(PSTR("OffX:"),Printer::offsetX); // to debug offset handling
//Com::printFLN(PSTR(" OffY:"),Printer::offsetY);
}
void Commands::printTemperatures(bool showRaw)
{
float temp = Extruder::current->tempControl.currentTemperatureC;
#if HEATED_BED_SENSOR_TYPE==0
Com::printF(Com::tTColon,temp);
Com::printF(Com::tSpaceSlash,Extruder::current->tempControl.targetTemperatureC,0);
#else
Com::printF(Com::tTColon,temp);
Com::printF(Com::tSpaceSlash,Extruder::current->tempControl.targetTemperatureC,0);
#if HAVE_HEATED_BED
Com::printF(Com::tSpaceBColon,Extruder::getHeatedBedTemperature());
Com::printF(Com::tSpaceSlash,heatedBedController.targetTemperatureC,0);
if(showRaw)
{
Com::printF(Com::tSpaceRaw,(int)NUM_EXTRUDER);
Com::printF(Com::tColon,(1023<<(2-ANALOG_REDUCE_BITS))-heatedBedController.currentTemperature);
}
Com::printF(Com::tSpaceBAtColon,(pwm_pos[heatedBedController.pwmIndex])); // Show output of autotune when tuning!
#endif
#endif
#if TEMP_PID
Com::printF(Com::tSpaceAtColon,(autotuneIndex==255?pwm_pos[Extruder::current->id]:pwm_pos[autotuneIndex])); // Show output of autotune when tuning!
#endif
#if NUM_EXTRUDER>1 && MIXING_EXTRUDER == 0
for(uint8_t i=0; i<NUM_EXTRUDER; i++)
{
Com::printF(Com::tSpaceT,(int)i);
Com::printF(Com::tColon,extruder[i].tempControl.currentTemperatureC);
Com::printF(Com::tSpaceSlash,extruder[i].tempControl.targetTemperatureC,0);
#if TEMP_PID
Com::printF(Com::tSpaceAt,(int)i);
Com::printF(Com::tColon,(pwm_pos[extruder[i].tempControl.pwmIndex])); // Show output of autotune when tuning!
#endif
if(showRaw)
{
Com::printF(Com::tSpaceRaw,(int)i);
Com::printF(Com::tColon,(1023<<(2-ANALOG_REDUCE_BITS))-extruder[i].tempControl.currentTemperature);
}
}
#endif
Com::println();
}
void Commands::changeFeedrateMultiply(int factor)
{
if(factor < 25) factor = 25;
if(factor > 500) factor = 500;
Printer::feedrate *= (float)factor / (float)Printer::feedrateMultiply;
Printer::feedrateMultiply = factor;
Com::printFLN(Com::tSpeedMultiply, factor);
}
void Commands::changeFlowateMultiply(int factor)
{
if(factor < 25) factor = 25;
if(factor > 200) factor = 200;
Printer::extrudeMultiply = factor;
Com::printFLN(Com::tFlowMultiply, factor);
}
void Commands::setFanSpeed(int speed,bool wait)
{
#if FAN_PIN>-1 && FEATURE_FAN_CONTROL
speed = constrain(speed,0,255);
Printer::setMenuMode(MENU_MODE_FAN_RUNNING,speed!=0);
if(wait)
Commands::waitUntilEndOfAllMoves(); // use only if neededthis to change the speed exactly at that point, but it may cause blobs if you do!
if(speed != pwm_pos[NUM_EXTRUDER + 2])
Com::printFLN(Com::tFanspeed,speed); // send only new values to break update loops!
pwm_pos[NUM_EXTRUDER + 2] = speed;
#endif
}
void Commands::reportPrinterUsage()
{
#if EEPROM_MODE!=0
float dist = Printer::filamentPrinted * 0.001 + HAL::eprGetFloat(EPR_PRINTING_DISTANCE);
Com::printF(Com::tPrintedFilament,dist,2);
Com::printF(Com::tSpacem);
bool alloff = true;
for(uint8_t i=0; i<NUM_EXTRUDER; i++)
if(tempController[i]->targetTemperatureC>15) alloff = false;
int32_t seconds = (alloff ? 0 : (HAL::timeInMilliseconds() - Printer::msecondsPrinting) / 1000) + HAL::eprGetInt32(EPR_PRINTING_TIME);
int32_t tmp = seconds / 86400;
seconds -= tmp * 86400;
Com::printF(Com::tPrintingTime,tmp);
tmp=seconds / 3600;
Com::printF(Com::tSpaceDaysSpace,tmp);
seconds-=tmp * 3600;
tmp = seconds / 60;
Com::printF(Com::tSpaceHoursSpace,tmp);
Com::printFLN(Com::tSpaceMin);
#endif
}
#if STEPPER_CURRENT_CONTROL == CURRENT_CONTROL_DIGIPOT
// Digipot methods for controling current and microstepping
#if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
int digitalPotWrite(int address, unsigned int value) // From Arduino DigitalPotControl example
{
WRITE(DIGIPOTSS_PIN,LOW); // take the SS pin low to select the chip
HAL::spiSend(address); // send in the address and value via SPI:
HAL::spiSend(value);
WRITE(DIGIPOTSS_PIN,HIGH); // take the SS pin high to de-select the chip:
//delay(10);
}
void setMotorCurrent(uint8_t driver, unsigned int current)
{
const uint8_t digipot_ch[] = DIGIPOT_CHANNELS;
digitalPotWrite(digipot_ch[driver], current);
}
#endif
void motorCurrentControlInit() //Initialize Digipot Motor Current
{
#if DIGIPOTSS_PIN && DIGIPOTSS_PIN > -1
const uint8_t digipot_motor_current[] = MOTOR_CURRENT;
HAL::spiInit(0); //SPI.begin();
SET_OUTPUT(DIGIPOTSS_PIN);
for(int i=0; i<=4; i++)
//digitalPotWrite(digipot_ch[i], digipot_motor_current[i]);
setMotorCurrent(i,digipot_motor_current[i]);
#endif
}
#endif
#if STEPPER_CURRENT_CONTROL==CURRENT_CONTROL_LTC2600
void setMotorCurrent( uint8_t channel, unsigned short level )
{
const uint8_t ltc_channels[] = LTC2600_CHANNELS;
if(channel>LTC2600_NUM_CHANNELS) return;
uint8_t address = ltc_channels[channel];
char i;
// NOTE: Do not increase the current endlessly. In case the engine reaches its current saturation, the engine and the driver can heat up and loss power.
// When the saturation is reached, more current causes more heating and more power loss.
// In case of engines with lower quality, the saturation current may be reached before the nominal current.
// configure the pins
WRITE( LTC2600_CS_PIN, HIGH );
SET_OUTPUT( LTC2600_CS_PIN );
WRITE( LTC2600_SCK_PIN, LOW );
SET_OUTPUT( LTC2600_SCK_PIN );
WRITE( LTC2600_SDI_PIN, LOW );
SET_OUTPUT( LTC2600_SDI_PIN );
// enable the command interface of the LTC2600
WRITE( LTC2600_CS_PIN, LOW );
// transfer command and address
for( i=7; i>=0; i-- )
{
WRITE( LTC2600_SDI_PIN, address & (0x01 << i));
WRITE( LTC2600_SCK_PIN, 1 );
WRITE( LTC2600_SCK_PIN, 0 );
}
// transfer the data word
for( i=15; i>=0; i-- )
{
WRITE( LTC2600_SDI_PIN, level & (0x01 << i));
WRITE( LTC2600_SCK_PIN, 1 );
WRITE( LTC2600_SCK_PIN, 0 );
}
// disable the ommand interface of the LTC2600 -
// this carries out the specified command
WRITE( LTC2600_CS_PIN, HIGH );
} // setLTC2600
void motorCurrentControlInit() //Initialize LTC2600 Motor Current
{
const unsigned int ltc_current[] = MOTOR_CURRENT;
uint8_t i;
for(i=0; i<LTC2600_NUM_CHANNELS; i++)
{
setMotorCurrent(i, ltc_current[i] );
}
}
#endif
#if defined(X_MS1_PIN) && X_MS1_PIN > -1
void microstepMS(uint8_t driver, int8_t ms1, int8_t ms2)
{
if(ms1 > -1) switch(driver)
{
case 0:
WRITE( X_MS1_PIN,ms1);
break;
case 1:
WRITE( Y_MS1_PIN,ms1);
break;
case 2:
WRITE( Z_MS1_PIN,ms1);
break;
case 3:
WRITE(E0_MS1_PIN,ms1);
break;
case 4:
WRITE(E1_MS1_PIN,ms1);
break;
}
if(ms2 > -1) switch(driver)
{
case 0:
WRITE( X_MS2_PIN,ms2);
break;
case 1:
WRITE( Y_MS2_PIN,ms2);
break;
case 2:
WRITE( Z_MS2_PIN,ms2);
break;
case 3:
WRITE(E0_MS2_PIN,ms2);
break;
case 4:
WRITE(E1_MS2_PIN,ms2);
break;
}
}
void microstepMode(uint8_t driver, uint8_t stepping_mode)
{
switch(stepping_mode)
{
case 1:
microstepMS(driver,MICROSTEP1);
break;
case 2:
microstepMS(driver,MICROSTEP2);
break;
case 4:
microstepMS(driver,MICROSTEP4);
break;
case 8:
microstepMS(driver,MICROSTEP8);
break;
case 16:
microstepMS(driver,MICROSTEP16);
break;
}
}
void microstepReadings()
{
Com::printFLN(Com::tMS1MS2Pins);
Com::printF(Com::tXColon,READ(X_MS1_PIN));
Com::printFLN(Com::tComma,READ(X_MS2_PIN));
Com::printF(Com::tYColon,READ(Y_MS1_PIN));
Com::printFLN(Com::tComma,READ(Y_MS2_PIN));
Com::printF(Com::tZColon,READ(Z_MS1_PIN));
Com::printFLN(Com::tComma,READ(Z_MS2_PIN));
Com::printF(Com::tE0Colon,READ(E0_MS1_PIN));
Com::printFLN(Com::tComma,READ(E0_MS2_PIN));
Com::printF(Com::tE1Colon,READ(E1_MS1_PIN));
Com::printFLN(Com::tComma,READ(E1_MS2_PIN));
}
#endif
void microstepInit()
{
#if defined(X_MS1_PIN) && X_MS1_PIN > -1
const uint8_t microstep_modes[] = MICROSTEP_MODES;
SET_OUTPUT(X_MS2_PIN);
SET_OUTPUT(Y_MS2_PIN);
SET_OUTPUT(Z_MS2_PIN);
SET_OUTPUT(E0_MS2_PIN);
SET_OUTPUT(E1_MS2_PIN);
for(int i=0; i<=4; i++) microstepMode(i,microstep_modes[i]);
#endif
}
/**
\brief Execute the Arc command stored in com.
*/
#if ARC_SUPPORT
void Commands::processArc(GCode *com)
{
float position[Z_AXIS_ARRAY];
Printer::realPosition(position[X_AXIS],position[Y_AXIS],position[Z_AXIS]);
if(!Printer::setDestinationStepsFromGCode(com)) return; // For X Y Z E F
float offset[2] = {Printer::convertToMM(com->hasI()?com->I:0),Printer::convertToMM(com->hasJ()?com->J:0)};
float target[E_AXIS_ARRAY] = {Printer::realXPosition(),Printer::realYPosition(),Printer::realZPosition(),Printer::destinationSteps[E_AXIS]*Printer::invAxisStepsPerMM[E_AXIS]};
float r;
if (com->hasR())
{
/*
We need to calculate the center of the circle that has the designated radius and passes
through both the current position and the target position. This method calculates the following
set of equations where [x,y] is the vector from current to target position, d == magnitude of
that vector, h == hypotenuse of the triangle formed by the radius of the circle, the distance to
the center of the travel vector. A vector perpendicular to the travel vector [-y,x] is scaled to the
length of h [-y/d*h, x/d*h] and added to the center of the travel vector [x/2,y/2] to form the new point
[i,j] at [x/2-y/d*h, y/2+x/d*h] which will be the center of our arc.
d^2 == x^2 + y^2
h^2 == r^2 - (d/2)^2
i == x/2 - y/d*h
j == y/2 + x/d*h
O <- [i,j]
- |
r - |
- |
- | h
- |
[0,0] -> C -----------------+--------------- T <- [x,y]
| <------ d/2 ---->|
C - Current position
T - Target position
O - center of circle that pass through both C and T
d - distance from C to T
r - designated radius
h - distance from center of CT to O
Expanding the equations:
d -> sqrt(x^2 + y^2)
h -> sqrt(4 * r^2 - x^2 - y^2)/2
i -> (x - (y * sqrt(4 * r^2 - x^2 - y^2)) / sqrt(x^2 + y^2)) / 2
j -> (y + (x * sqrt(4 * r^2 - x^2 - y^2)) / sqrt(x^2 + y^2)) / 2
Which can be written:
i -> (x - (y * sqrt(4 * r^2 - x^2 - y^2))/sqrt(x^2 + y^2))/2
j -> (y + (x * sqrt(4 * r^2 - x^2 - y^2))/sqrt(x^2 + y^2))/2
Which we for size and speed reasons optimize to:
h_x2_div_d = sqrt(4 * r^2 - x^2 - y^2)/sqrt(x^2 + y^2)
i = (x - (y * h_x2_div_d))/2
j = (y + (x * h_x2_div_d))/2
*/
r = Printer::convertToMM(com->R);
// Calculate the change in position along each selected axis
double x = target[X_AXIS]-position[X_AXIS];
double y = target[Y_AXIS]-position[Y_AXIS];
double h_x2_div_d = -sqrt(4 * r*r - x*x - y*y)/hypot(x,y); // == -(h * 2 / d)
// If r is smaller than d, the arc is now traversing the complex plane beyond the reach of any
// real CNC, and thus - for practical reasons - we will terminate promptly:
if(isnan(h_x2_div_d))
{
Com::printErrorFLN(Com::tInvalidArc);
return;
}
// Invert the sign of h_x2_div_d if the circle is counter clockwise (see sketch below)
if (com->G==3)
{
h_x2_div_d = -h_x2_div_d;
}
/* The counter clockwise circle lies to the left of the target direction. When offset is positive,
the left hand circle will be generated - when it is negative the right hand circle is generated.
T <-- Target position
^
Clockwise circles with this center | Clockwise circles with this center will have
will have > 180 deg of angular travel | < 180 deg of angular travel, which is a good thing!
\ | /
center of arc when h_x2_div_d is positive -> x <----- | -----> x <- center of arc when h_x2_div_d is negative
|
|
C <-- Current position */
// Negative R is g-code-alese for "I want a circle with more than 180 degrees of travel" (go figure!),
// even though it is advised against ever generating such circles in a single line of g-code. By
// inverting the sign of h_x2_div_d the center of the circles is placed on the opposite side of the line of
// travel and thus we get the unadvisably long arcs as prescribed.
if (r < 0)
{
h_x2_div_d = -h_x2_div_d;
r = -r; // Finished with r. Set to positive for mc_arc
}
// Complete the operation by calculating the actual center of the arc
offset[0] = 0.5*(x-(y*h_x2_div_d));
offset[1] = 0.5*(y+(x*h_x2_div_d));
}
else // Offset mode specific computations
{
r = hypot(offset[0], offset[1]); // Compute arc radius for arc
}
// Set clockwise/counter-clockwise sign for arc computations
uint8_t isclockwise = com->G == 2;
// Trace the arc
PrintLine::arc(position, target, offset, r, isclockwise);
}
#endif
/**
\brief Execute the G command stored in com.
*/
void Commands::processGCode(GCode *com)
{
uint32_t codenum; //throw away variable
switch(com->G)
{
case 0: // G0 -> G1
case 1: // G1
if(com->hasS()) Printer::setNoDestinationCheck(com->S != 0);
if(Printer::setDestinationStepsFromGCode(com)) // For X Y Z E F
#if NONLINEAR_SYSTEM
if (!PrintLine::queueDeltaMove(ALWAYS_CHECK_ENDSTOPS, true, true)) {
Com::printWarningFLN(PSTR("executeGCode / queueDeltaMove returns error"));
}
#else
PrintLine::queueCartesianMove(ALWAYS_CHECK_ENDSTOPS, true);
#endif
#if UI_HAS_KEYS
// ui can only execute motion commands if we are not waiting inside a move for an
// old move to finish. For normal response times, we always leave one free after
// sending a line. Drawback: 1 buffer line less for limited time. Since input cache
// gets filled while waiting, the lost is neglectible.
PrintLine::waitForXFreeLines(1, true);
#endif // UI_HAS_KEYS
break;
#if ARC_SUPPORT
case 2: // CW Arc
case 3: // CCW Arc MOTION_MODE_CW_ARC: case MOTION_MODE_CCW_ARC:
processArc(com);
break;
#endif
case 4: // G4 dwell
Commands::waitUntilEndOfAllMoves();
codenum = 0;
if(com->hasP()) codenum = com->P; // milliseconds to wait
if(com->hasS()) codenum = com->S * 1000; // seconds to wait
codenum += HAL::timeInMilliseconds(); // keep track of when we started waiting
while((uint32_t)(codenum-HAL::timeInMilliseconds()) < 2000000000 )
{
GCode::readFromSerial();
Commands::checkForPeriodicalActions(true);
}
break;
case 20: // G20 Units to inches
Printer::unitIsInches = 1;
break;
case 21: // G21 Units to mm
Printer::unitIsInches = 0;
break;
case 28: //G28 Home all Axis one at a time
{
uint8_t homeAllAxis = (com->hasNoXYZ() && !com->hasE());
if(com->hasE())
Printer::currentPositionSteps[E_AXIS] = 0;
if(homeAllAxis || !com->hasNoXYZ())
Printer::homeAxis(homeAllAxis || com->hasX(),homeAllAxis || com->hasY(),homeAllAxis || com->hasZ());
Printer::updateCurrentPosition();
}
break;
#if FEATURE_Z_PROBE
case 29: // G29 3 points, build average
{
GCode::executeFString(Com::tZProbeStartScript);
bool oldAutolevel = Printer::isAutolevelActive();
Printer::setAutolevelActive(false);
float sum = 0,last,oldFeedrate = Printer::feedrate;
Printer::moveTo(EEPROM::zProbeX1(),EEPROM::zProbeY1(),IGNORE_COORDINATE,IGNORE_COORDINATE,EEPROM::zProbeXYSpeed());
sum = Printer::runZProbe(true,false,Z_PROBE_REPETITIONS,false);
if(sum<0) break;
Printer::moveTo(EEPROM::zProbeX2(),EEPROM::zProbeY2(),IGNORE_COORDINATE,IGNORE_COORDINATE,EEPROM::zProbeXYSpeed());
last = Printer::runZProbe(false,false);
if(last<0) break;
sum+= last;
Printer::moveTo(EEPROM::zProbeX3(),EEPROM::zProbeY3(),IGNORE_COORDINATE,IGNORE_COORDINATE,EEPROM::zProbeXYSpeed());
last = Printer::runZProbe(false,true);
if(last<0) break;
sum+= last;
sum *= 0.33333333333333;
Com::printFLN(Com::tZProbeAverage,sum);
if(com->hasS() && com->S)
{
#if MAX_HARDWARE_ENDSTOP_Z
#if DRIVE_SYSTEM==DELTA
Printer::updateCurrentPosition();
Printer::zLength += sum - Printer::currentPosition[Z_AXIS];
Printer::updateDerivedParameter();
Printer::homeAxis(true,true,true);
#else
Printer::currentPositionSteps[Z_AXIS] = sum * Printer::axisStepsPerMM[Z_AXIS];
Printer::zLength = Printer::runZMaxProbe() + sum-ENDSTOP_Z_BACK_ON_HOME;
#endif
Com::printInfoFLN(Com::tZProbeZReset);
Com::printFLN(Com::tZProbePrinterHeight,Printer::zLength);
#else
Printer::currentPositionSteps[Z_AXIS] = sum * Printer::axisStepsPerMM[Z_AXIS];
Com::printFLN(PSTR("Adjusted z origin"));
#endif
}
Printer::feedrate = oldFeedrate;
Printer::setAutolevelActive(oldAutolevel);
if(com->hasS() && com->S == 2)
EEPROM::storeDataIntoEEPROM();
Printer::updateCurrentPosition(true);
printCurrentPosition(PSTR("G29 "));
}
break;
case 30: // G30 single probe set Z0
{
uint8_t p = (com->hasP() ? (uint8_t)com->P : 3);
bool oldAutolevel = Printer::isAutolevelActive();
Printer::setAutolevelActive(false);
Printer::runZProbe(p & 1,p & 2);
Printer::setAutolevelActive(oldAutolevel);
Printer::updateCurrentPosition(p & 1);
printCurrentPosition(PSTR("G30 "));
}
break;
case 31: // G31 display hall sensor output
Com::printF(Com::tZProbeState);
Com::print(Printer::isZProbeHit() ? 'H' : 'L');
Com::println();
break;
#if FEATURE_AUTOLEVEL
case 32: // G32 Auto-Bed leveling
{
GCode::executeFString(Com::tZProbeStartScript);
//bool iterate = com->hasP() && com->P>0;
Printer::coordinateOffset[X_AXIS] = Printer::coordinateOffset[Y_AXIS] = Printer::coordinateOffset[Z_AXIS] = 0;
Printer::setAutolevelActive(false); // iterate
float h1,h2,h3,hc,oldFeedrate = Printer::feedrate;
Printer::moveTo(EEPROM::zProbeX1(),EEPROM::zProbeY1(),IGNORE_COORDINATE,IGNORE_COORDINATE,EEPROM::zProbeXYSpeed());
h1 = Printer::runZProbe(true,false,Z_PROBE_REPETITIONS,false);
if(h1 < 0) break;
Printer::moveTo(EEPROM::zProbeX2(),EEPROM::zProbeY2(),IGNORE_COORDINATE,IGNORE_COORDINATE,EEPROM::zProbeXYSpeed());
h2 = Printer::runZProbe(false,false);
if(h2 < 0) break;
Printer::moveTo(EEPROM::zProbeX3(),EEPROM::zProbeY3(),IGNORE_COORDINATE,IGNORE_COORDINATE,EEPROM::zProbeXYSpeed());
h3 = Printer::runZProbe(false,true);
if(h3 < 0) break;
Printer::buildTransformationMatrix(h1,h2,h3);
//-(Rxx*Ryz*y-Rxz*Ryx*y+(Rxz*Ryy-Rxy*Ryz)*x)/(Rxy*Ryx-Rxx*Ryy)
// z = z-deviation from origin due to bed transformation
float z = -((Printer::autolevelTransformation[0] * Printer::autolevelTransformation[5] -
Printer::autolevelTransformation[2] * Printer::autolevelTransformation[3]) *
(float)Printer::currentPositionSteps[Y_AXIS] * Printer::invAxisStepsPerMM[Y_AXIS] +
(Printer::autolevelTransformation[2] * Printer::autolevelTransformation[4] -
Printer::autolevelTransformation[1] * Printer::autolevelTransformation[5]) *
(float)Printer::currentPositionSteps[X_AXIS] * Printer::invAxisStepsPerMM[X_AXIS]) /
(Printer::autolevelTransformation[1] * Printer::autolevelTransformation[3] - Printer::autolevelTransformation[0] * Printer::autolevelTransformation[4]);
Printer::zMin = 0;
if(com->hasS() && com->S < 3 && com->S > 0)
{
#if MAX_HARDWARE_ENDSTOP_Z
#if DRIVE_SYSTEM == DELTA
/* Printer::offsetX = 0;
Printer::offsetY = 0;
Printer::moveToReal(0,0,cz,IGNORE_COORDINATE,Printer::homingFeedrate[X_AXIS]);
PrintLine::moveRelativeDistanceInSteps(Printer::offsetX-Printer::currentPositionSteps[X_AXIS],Printer::offsetY-Printer::currentPositionSteps[Y_AXIS],0,0,Printer::homingFeedrate[X_AXIS],true,ALWAYS_CHECK_ENDSTOPS);
Printer::offsetX = 0;
Printer::offsetY = 0;*/
Printer::zLength += (h3 + z) - Printer::currentPosition[Z_AXIS];
#else
int32_t zBottom = Printer::currentPositionSteps[Z_AXIS] = (h3 + z) * Printer::axisStepsPerMM[Z_AXIS];
Printer::zLength = Printer::runZMaxProbe() + zBottom * Printer::invAxisStepsPerMM[Z_AXIS] - ENDSTOP_Z_BACK_ON_HOME;
#endif
Com::printFLN(Com::tZProbePrinterHeight,Printer::zLength);
#else // max hardware endstop
#if DRIVE_SYSTEM != DELTA
Printer::currentPositionSteps[Z_AXIS] = (h3 + z) * Printer::axisStepsPerMM[Z_AXIS];
#endif
#endif
Printer::setAutolevelActive(true);
if(com->S == 2)
EEPROM::storeDataIntoEEPROM();
}
else
{
#if DRIVE_SYSTEM != DELTA
Printer::currentPositionSteps[Z_AXIS] = (h3 + z) * Printer::axisStepsPerMM[Z_AXIS];
#endif
if(com->hasS() && com->S == 3)
EEPROM::storeDataIntoEEPROM();
}
Printer::setAutolevelActive(true);
Printer::updateDerivedParameter();
Printer::updateCurrentPosition(true);
printCurrentPosition(PSTR("G32 "));
#if DRIVE_SYSTEM==DELTA
Printer::homeAxis(true,true,true);
#endif
Printer::feedrate = oldFeedrate;
}
break;
#endif
#endif
case 90: // G90
Printer::relativeCoordinateMode = false;
if(com->internalCommand)
Com::printInfoFLN(PSTR("Absolute positioning"));
break;
case 91: // G91
Printer::relativeCoordinateMode = true;
if(com->internalCommand)
Com::printInfoFLN(PSTR("Relative positioning"));
break;
case 92: // G92
{
float xOff = Printer::coordinateOffset[X_AXIS];
float yOff = Printer::coordinateOffset[Y_AXIS];
float zOff = Printer::coordinateOffset[Z_AXIS];
if(com->hasX()) xOff = Printer::convertToMM(com->X) - Printer::currentPosition[X_AXIS];
if(com->hasY()) yOff = Printer::convertToMM(com->Y) - Printer::currentPosition[Y_AXIS];
if(com->hasZ()) zOff = Printer::convertToMM(com->Z) - Printer::currentPosition[Z_AXIS];
Printer::setOrigin(xOff, yOff, zOff);
if(com->hasE())
{
Printer::currentPositionSteps[E_AXIS] = Printer::convertToMM(com->E) * Printer::axisStepsPerMM[E_AXIS];
}
}
break;
#if DRIVE_SYSTEM == DELTA
case 100: // G100 Calibrate floor or rod radius
{
// Using manual control, adjust hot end to contact floor.
// G100 <no arguments> No action. Avoid accidental floor reset.
// G100 [X] [Y] [Z] set floor for argument passed in. Number ignored and may be absent.
// G100 R with X Y or Z flag error, sets only floor or radius, not both.
// G100 R[n] Add n to radius. Adjust to be above floor if necessary
// G100 R[0] set radius based on current z measurement. Moves to (0,0,0)
float currentZmm = Printer::currentPosition[Z_AXIS];
if (currentZmm/Printer::zLength > 0.1)
{
Com::printErrorFLN(PSTR("Calibration code is limited to bottom 10% of Z height"));
break;
}
if (com->hasR())
{
if (com->hasX() || com->hasY() || com->hasZ())
Com::printErrorFLN(PSTR("Cannot set radius and floor at same time."));
else if (com->R != 0)
{
//add r to radius
if (abs(com->R) <= 10) EEPROM::incrementRodRadius(com->R);
else Com::printErrorFLN(PSTR("Calibration movement is limited to 10mm."));
}
else
{
// auto set radius. Head must be at 0,0 and touching
// Z offset will be corrected for.
if (Printer::currentPosition[X_AXIS] == 0
&& Printer::currentPosition[Y_AXIS] == 0)
{
if(Printer::isLargeMachine())
{
// calculate radius assuming we are at surface
// If Z is greater than 0 it will get calculated out for correct radius
// Use either A or B tower as they acnhor x cartesian axis and always have
// Radius distance to center in simplest set up.
float h = Printer::deltaDiagonalStepsSquaredB.f;
unsigned long bSteps = Printer::currentDeltaPositionSteps[B_TOWER];
// The correct Rod Radius would put us here at z==0 and B height is
// square root (rod length squared minus rod radius squared)
// Reverse that to get calculated Rod Radius given B height
h -= RMath::sqr((float)bSteps);
h = sqrt(h);
EEPROM::setRodRadius(h*Printer::invAxisStepsPerMM[Z_AXIS]);
}
else
{
// calculate radius assuming we are at surface
// If Z is greater than 0 it will get calculated out for correct radius
// Use either A or B tower as they acnhor x cartesian axis and always have
// Radius distance to center in simplest set up.
unsigned long h = Printer::deltaDiagonalStepsSquaredB.l;
unsigned long bSteps = Printer::currentDeltaPositionSteps[B_TOWER];
// The correct Rod Radius would put us here at z==0 and B height is
// square root (rod length squared minus rod radius squared)
// Reverse that to get calculated Rod Radius given B height
h -= RMath::sqr(bSteps);
h = SQRT(h);
EEPROM::setRodRadius(h*Printer::invAxisStepsPerMM[Z_AXIS]);
}
}
else
Com::printErrorFLN(PSTR("First move to touch at x,y=0,0 to auto-set radius."));
}
}
else
{
bool tooBig = false;
if (com->hasX()) {
if (abs(com->X) <= 10)
EEPROM::setTowerXFloor(com->X + currentZmm + Printer::xMin);
else tooBig = true;
}
if (com->hasY()) {
if (abs(com->Y) <= 10)
EEPROM::setTowerYFloor(com->Y + currentZmm + Printer::yMin);
else tooBig = true;
}
if (com->hasZ()) {
if (abs(com->Z) <= 10)
EEPROM::setTowerZFloor(com->Z + currentZmm + Printer::zMin);
else tooBig = true;
}
if (tooBig)
Com::printErrorFLN(PSTR("Calibration movement is limited to 10mm."));
}
// after adjusting zero, physical position is out of sync with memory position
// this could cause jerky movement or push head into print surface.
// moving gets back into safe zero'ed position with respect to newle set floor or Radius.
Printer::moveTo(IGNORE_COORDINATE,IGNORE_COORDINATE,12.0,IGNORE_COORDINATE,IGNORE_COORDINATE);
break;
}
case 131: // G131 Remove offset
{
float cx,cy,cz;
Printer::realPosition(cx,cy,cz);
float oldfeedrate = Printer::feedrate;
Printer::offsetX = 0;
Printer::offsetY = 0;
Printer::moveToReal(cx,cy,cz,IGNORE_COORDINATE,Printer::homingFeedrate[X_AXIS]);
Printer::feedrate = oldfeedrate;
Printer::updateCurrentPosition();
}
break;
case 132: // G132 Calibrate endstop offsets
{
// This has the probably unintended side effect of turning off leveling.
Printer::setAutolevelActive(false); // don't let transformations change result!
Printer::coordinateOffset[X_AXIS] = 0;
Printer::coordinateOffset[Y_AXIS] = 0;
Printer::coordinateOffset[Z_AXIS] = 0;
// I think this is coded incorrectly, as it depends on the biginning position of the
// of the hot end, and so should first move to x,y,z= 0,0,0, but as that may not
// be possible if the printer is not in the homes/zeroed state, the printer
// cannot safely move to 0 z coordinate without crashong into the print surface.
// so other than commenting, I'm not meddling.
// but you will always get different counts from different positions.
Printer::deltaMoveToTopEndstops(Printer::homingFeedrate[Z_AXIS]);
int32_t m = RMath::max(Printer::stepsRemainingAtXHit,RMath::max(Printer::stepsRemainingAtYHit,Printer::stepsRemainingAtZHit));
int32_t offx = m-Printer::stepsRemainingAtXHit;
int32_t offy = m-Printer::stepsRemainingAtYHit;
int32_t offz = m-Printer::stepsRemainingAtZHit;
Com::printFLN(Com::tTower1,offx);
Com::printFLN(Com::tTower2,offy);
Com::printFLN(Com::tTower3,offz);
#if EEPROM_MODE != 0
if(com->hasS() && com->S>0)
{
EEPROM::setDeltaTowerXOffsetSteps(offx);
EEPROM::setDeltaTowerYOffsetSteps(offy);
EEPROM::setDeltaTowerZOffsetSteps(offz);
}
#endif
Printer::homeAxis(true,true,true);
}
break;
case 133: // G133 Measure steps to top
{
bool oldAuto = Printer::isAutolevelActive();
Printer::setAutolevelActive(false); // don't let transformations change result!
Printer::currentPositionSteps[X_AXIS] = 0;
Printer::currentPositionSteps[Y_AXIS] = 0;
Printer::currentPositionSteps[Z_AXIS] = 0;
Printer::coordinateOffset[X_AXIS] = 0;
Printer::coordinateOffset[Y_AXIS] = 0;
Printer::coordinateOffset[Z_AXIS] = 0;
Printer::currentDeltaPositionSteps[A_TOWER] = 0;
Printer::currentDeltaPositionSteps[B_TOWER] = 0;
Printer::currentDeltaPositionSteps[C_TOWER] = 0;
// similar to comment above, this will get a different answer from any different starting point
// so it is unclear how this is helpful. It must start at a well defined point.
Printer::deltaMoveToTopEndstops(Printer::homingFeedrate[Z_AXIS]);
int32_t offx = HOME_DISTANCE_STEPS-Printer::stepsRemainingAtXHit;
int32_t offy = HOME_DISTANCE_STEPS-Printer::stepsRemainingAtYHit;
int32_t offz = HOME_DISTANCE_STEPS-Printer::stepsRemainingAtZHit;
Com::printFLN(Com::tTower1,offx);
Com::printFLN(Com::tTower2,offy);
Com::printFLN(Com::tTower3,offz);
Printer::setAutolevelActive(oldAuto);
Printer::homeAxis(true,true,true);
}
break;
case 134: // G134
Com::printF(PSTR("CompDelta:"),Printer::currentDeltaPositionSteps[A_TOWER]);
Com::printF(Com::tComma,Printer::currentDeltaPositionSteps[B_TOWER]);
Com::printFLN(Com::tComma,Printer::currentDeltaPositionSteps[C_TOWER]);
#ifdef DEBUG_REAL_POSITION
Com::printF(PSTR("RealDelta:"),Printer::realDeltaPositionSteps[A_TOWER]);
Com::printF(Com::tComma,Printer::realDeltaPositionSteps[B_TOWER]);
Com::printFLN(Com::tComma,Printer::realDeltaPositionSteps[C_TOWER]);
#endif
Printer::updateCurrentPosition();
Com::printF(PSTR("PosFromSteps:"));
printCurrentPosition(PSTR("G134 "));
break;
#endif // DRIVE_SYSTEM
default:
if(Printer::debugErrors())
{
Com::printF(Com::tUnknownCommand);
com->printCommand();
}
}
previousMillisCmd = HAL::timeInMilliseconds();
}
/**
\brief Execute the G command stored in com.
*/
void Commands::processMCode(GCode *com)
{
uint32_t codenum; //throw away variable
switch( com->M )
{
#if SDSUPPORT
case 20: // M20 - list SD card
sd.ls();
break;
case 21: // M21 - init SD card
sd.mount();
break;
case 22: //M22 - release SD card
sd.unmount();
break;
case 23: //M23 - Select file
if(com->hasString())
{
sd.fat.chdir();
sd.selectFile(com->text);
}
break;
case 24: //M24 - Start SD print
sd.startPrint();
break;
case 25: //M25 - Pause SD print
sd.pausePrint();
break;
case 26: //M26 - Set SD index
if(com->hasS())
sd.setIndex(com->S);