void TemperatureControl::on_gcode_received(void* argument){ Gcode* gcode = static_cast<Gcode*>(argument); if (gcode->has_m) { // Get temperature if( gcode->m == this->get_m_code ){ char buf[32]; // should be big enough for any status int n= snprintf(buf, sizeof(buf), "%s:%3.1f /%3.1f @%d ", this->designator.c_str(), this->get_temperature(), ((target_temperature == UNDEFINED)?0.0:target_temperature), this->o); gcode->txt_after_ok.append(buf, n); gcode->mark_as_taken(); } else if (gcode->m == 301) { gcode->mark_as_taken(); if (gcode->has_letter('S') && (gcode->get_value('S') == this->pool_index)) { if (gcode->has_letter('P')) setPIDp( gcode->get_value('P') ); if (gcode->has_letter('I')) setPIDi( gcode->get_value('I') ); if (gcode->has_letter('D')) setPIDd( gcode->get_value('D') ); if (gcode->has_letter('X')) this->i_max = gcode->get_value('X'); } //gcode->stream->printf("%s(S%d): Pf:%g If:%g Df:%g X(I_max):%g Pv:%g Iv:%g Dv:%g O:%d\n", this->designator.c_str(), this->pool_index, this->p_factor, this->i_factor/this->PIDdt, this->d_factor*this->PIDdt, this->i_max, this->p, this->i, this->d, o); gcode->stream->printf("%s(S%d): Pf:%g If:%g Df:%g X(I_max):%g O:%d\n", this->designator.c_str(), this->pool_index, this->p_factor, this->i_factor/this->PIDdt, this->d_factor*this->PIDdt, this->i_max, o); } else if (gcode->m == 303) { if (gcode->has_letter('E') && (gcode->get_value('E') == this->pool_index)) { gcode->mark_as_taken(); float target = 150.0; if (gcode->has_letter('S')) { target = gcode->get_value('S'); gcode->stream->printf("Target: %5.1f\n", target); } int ncycles= 8; if (gcode->has_letter('C')) { ncycles= gcode->get_value('C'); } gcode->stream->printf("Start PID tune, command is %s\n", gcode->command.c_str()); this->pool->PIDtuner->begin(this, target, gcode->stream, ncycles); } } else if (gcode->m == 500 || gcode->m == 503){// M500 saves some volatile settings to config override file, M503 just prints the settings gcode->stream->printf(";PID settings:\nM301 S%d P%1.4f I%1.4f D%1.4f\n", this->pool_index, this->p_factor, this->i_factor/this->PIDdt, this->d_factor*this->PIDdt); gcode->mark_as_taken(); } else if( ( gcode->m == this->set_m_code || gcode->m == this->set_and_wait_m_code ) && gcode->has_letter('S') ) { // Attach gcodes to the last block for on_gcode_execute THEKERNEL->conveyor->append_gcode(gcode); // push an empty block if we have to wait, so the Planner can get things right, and we can prevent subsequent non-move gcodes from executing if (gcode->m == this->set_and_wait_m_code) // ensure that no subsequent gcodes get executed with our M109 or similar THEKERNEL->conveyor->queue_head_block(); } } }
void Extruder::on_gcode_received(void *argument){ Gcode *gcode = static_cast<Gcode*>(argument); // Gcodes to execute immediately if (gcode->has_m){ if (gcode->m == 114){ gcode->stream->printf("E:%4.1f ", this->current_position); gcode->add_nl = true; gcode->mark_as_taken(); } if (gcode->m == 92 ){ double spm = this->steps_per_millimeter; if (gcode->has_letter('E')) spm = gcode->get_value('E'); gcode->stream->printf("E:%g ", spm); gcode->add_nl = true; gcode->mark_as_taken(); } } // Gcodes to pass along to on_gcode_execute if( ( gcode->has_m && (gcode->m == 17 || gcode->m == 18 || gcode->m == 82 || gcode->m == 83 || gcode->m == 84 || gcode->m == 92 ) ) || ( gcode->has_g && gcode->g == 92 && gcode->has_letter('E') ) || ( gcode->has_g && ( gcode->g == 90 || gcode->g == 91 ) ) ){ gcode->mark_as_taken(); if( this->kernel->conveyor->queue.size() == 0 ){ this->kernel->call_event(ON_GCODE_EXECUTE, gcode ); }else{ Block* block = this->kernel->conveyor->queue.get_ref( this->kernel->conveyor->queue.size() - 1 ); block->append_gcode(gcode); } } // Add to the queue for on_gcode_execute to process if( gcode->has_g && gcode->g < 4 && gcode->has_letter('E') ){ if( !gcode->has_letter('X') && !gcode->has_letter('Y') && !gcode->has_letter('Z') ){ // This is a solo move, we add an empty block to the queue //If the queue is empty, execute immediatly, otherwise attach to the last added block if( this->kernel->conveyor->queue.size() == 0 ){ this->kernel->call_event(ON_GCODE_EXECUTE, gcode ); this->append_empty_block(); }else{ Block* block = this->kernel->conveyor->queue.get_ref( this->kernel->conveyor->queue.size() - 1 ); block->append_gcode(gcode); this->append_empty_block(); } } }else{ // This is for follow move } }
void SimpleShell::on_gcode_received(void *argument) { Gcode *gcode = static_cast<Gcode *>(argument); string args= get_arguments(gcode->command); if (gcode->has_m) { if (gcode->m == 20) { // list sd card gcode->mark_as_taken(); gcode->stream->printf("Begin file list\r\n"); ls_command("/sd", gcode->stream); gcode->stream->printf("End file list\r\n"); } else if (gcode->m == 30) { // remove file gcode->mark_as_taken(); rm_command("/sd/" + args, gcode->stream); } } }
void Panel::on_gcode_received(void *argument) { Gcode *gcode = static_cast<Gcode *>(argument); if ( gcode->has_m) { if ( gcode->m == 117 ) { // set LCD message this->message = get_arguments(gcode->get_command()); if (this->message.size() > 20) this->message = this->message.substr(0, 20); gcode->mark_as_taken(); } } }
void SimpleShell::on_gcode_received(void *argument) { Gcode *gcode = static_cast<Gcode*>(argument); if (gcode->has_m) { if (gcode->m == 20) { // list sd card gcode->mark_as_taken(); gcode->stream->printf("Begin file list\r\n"); ls_command("/sd", gcode->stream); gcode->stream->printf("End file list\r\n"); } } }
//A GCode has been received //See if the current Gcode line has some orders for us void Robot::on_gcode_received(void *argument) { Gcode *gcode = static_cast<Gcode *>(argument); this->motion_mode = -1; //G-letter Gcodes are mostly what the Robot module is interrested in, other modules also catch the gcode event and do stuff accordingly if( gcode->has_g) { switch( gcode->g ) { case 0: this->motion_mode = MOTION_MODE_SEEK; gcode->mark_as_taken(); break; case 1: this->motion_mode = MOTION_MODE_LINEAR; gcode->mark_as_taken(); break; case 2: this->motion_mode = MOTION_MODE_CW_ARC; gcode->mark_as_taken(); break; case 3: this->motion_mode = MOTION_MODE_CCW_ARC; gcode->mark_as_taken(); break; case 4: { uint32_t delay_ms= 0; if (gcode->has_letter('P')) { delay_ms= gcode->get_int('P'); } if (gcode->has_letter('S')) { delay_ms += gcode->get_int('S') * 1000; } if (delay_ms > 0){ // drain queue THEKERNEL->conveyor->wait_for_empty_queue(); // wait for specified time uint32_t start= us_ticker_read(); // mbed call while ((us_ticker_read() - start) < delay_ms*1000) { THEKERNEL->call_event(ON_IDLE, this); } } gcode->mark_as_taken(); } break; case 17: this->select_plane(X_AXIS, Y_AXIS, Z_AXIS); gcode->mark_as_taken(); break; case 18: this->select_plane(X_AXIS, Z_AXIS, Y_AXIS); gcode->mark_as_taken(); break; case 19: this->select_plane(Y_AXIS, Z_AXIS, X_AXIS); gcode->mark_as_taken(); break; case 20: this->inch_mode = true; gcode->mark_as_taken(); break; case 21: this->inch_mode = false; gcode->mark_as_taken(); break; case 90: this->absolute_mode = true; gcode->mark_as_taken(); break; case 91: this->absolute_mode = false; gcode->mark_as_taken(); break; case 92: { if(gcode->get_num_args() == 0) { for (int i = X_AXIS; i <= Z_AXIS; ++i) { reset_axis_position(0, i); } } else { for (char letter = 'X'; letter <= 'Z'; letter++) { if ( gcode->has_letter(letter) ) { reset_axis_position(this->to_millimeters(gcode->get_value(letter)), letter - 'X'); } } } gcode->mark_as_taken(); return; } } } else if( gcode->has_m) { switch( gcode->m ) { case 0: // M0 - Pause until pause button pressed again THEKERNEL->pauser->take(); return; case 92: // M92 - set steps per mm if (gcode->has_letter('X')) actuators[0]->change_steps_per_mm(this->to_millimeters(gcode->get_value('X'))); if (gcode->has_letter('Y')) actuators[1]->change_steps_per_mm(this->to_millimeters(gcode->get_value('Y'))); if (gcode->has_letter('Z')) actuators[2]->change_steps_per_mm(this->to_millimeters(gcode->get_value('Z'))); if (gcode->has_letter('F')) seconds_per_minute = gcode->get_value('F'); gcode->stream->printf("X:%g Y:%g Z:%g F:%g ", actuators[0]->steps_per_mm, actuators[1]->steps_per_mm, actuators[2]->steps_per_mm, seconds_per_minute); gcode->add_nl = true; gcode->mark_as_taken(); check_max_actuator_speeds(); return; case 114: { char buf[64]; int n = snprintf(buf, sizeof(buf), "C: X:%1.3f Y:%1.3f Z:%1.3f A:%1.3f B:%1.3f C:%1.3f ", from_millimeters(this->last_milestone[0]), from_millimeters(this->last_milestone[1]), from_millimeters(this->last_milestone[2]), actuators[X_AXIS]->get_current_position(), actuators[Y_AXIS]->get_current_position(), actuators[Z_AXIS]->get_current_position() ); gcode->txt_after_ok.append(buf, n); gcode->mark_as_taken(); } return; case 120: { // push state gcode->mark_as_taken(); bool b= this->absolute_mode; saved_state_t s(this->feed_rate, this->seek_rate, b); state_stack.push(s); } break; case 121: // pop state gcode->mark_as_taken(); if(!state_stack.empty()) { auto s= state_stack.top(); state_stack.pop(); this->feed_rate= std::get<0>(s); this->seek_rate= std::get<1>(s); this->absolute_mode= std::get<2>(s); } break; case 203: // M203 Set maximum feedrates in mm/sec if (gcode->has_letter('X')) this->max_speeds[X_AXIS] = gcode->get_value('X'); if (gcode->has_letter('Y')) this->max_speeds[Y_AXIS] = gcode->get_value('Y'); if (gcode->has_letter('Z')) this->max_speeds[Z_AXIS] = gcode->get_value('Z'); if (gcode->has_letter('A')) alpha_stepper_motor->set_max_rate(gcode->get_value('A')); if (gcode->has_letter('B')) beta_stepper_motor->set_max_rate(gcode->get_value('B')); if (gcode->has_letter('C')) gamma_stepper_motor->set_max_rate(gcode->get_value('C')); check_max_actuator_speeds(); gcode->stream->printf("X:%g Y:%g Z:%g A:%g B:%g C:%g ", this->max_speeds[X_AXIS], this->max_speeds[Y_AXIS], this->max_speeds[Z_AXIS], alpha_stepper_motor->get_max_rate(), beta_stepper_motor->get_max_rate(), gamma_stepper_motor->get_max_rate()); gcode->add_nl = true; gcode->mark_as_taken(); break; case 204: // M204 Snnn - set acceleration to nnn, Znnn sets z acceleration gcode->mark_as_taken(); if (gcode->has_letter('S')) { float acc = gcode->get_value('S'); // mm/s^2 // enforce minimum if (acc < 1.0F) acc = 1.0F; THEKERNEL->planner->acceleration = acc; } if (gcode->has_letter('Z')) { float acc = gcode->get_value('Z'); // mm/s^2 // enforce positive if (acc < 0.0F) acc = 0.0F; THEKERNEL->planner->z_acceleration = acc; } break; case 205: // M205 Xnnn - set junction deviation, Z - set Z junction deviation, Snnn - Set minimum planner speed, Ynnn - set minimum step rate gcode->mark_as_taken(); if (gcode->has_letter('X')) { float jd = gcode->get_value('X'); // enforce minimum if (jd < 0.0F) jd = 0.0F; THEKERNEL->planner->junction_deviation = jd; } if (gcode->has_letter('Z')) { float jd = gcode->get_value('Z'); // enforce minimum, -1 disables it and uses regular junction deviation if (jd < -1.0F) jd = -1.0F; THEKERNEL->planner->z_junction_deviation = jd; } if (gcode->has_letter('S')) { float mps = gcode->get_value('S'); // enforce minimum if (mps < 0.0F) mps = 0.0F; THEKERNEL->planner->minimum_planner_speed = mps; } if (gcode->has_letter('Y')) { alpha_stepper_motor->default_minimum_actuator_rate = gcode->get_value('Y'); } break; case 220: // M220 - speed override percentage gcode->mark_as_taken(); if (gcode->has_letter('S')) { float factor = gcode->get_value('S'); // enforce minimum 10% speed if (factor < 10.0F) factor = 10.0F; // enforce maximum 10x speed if (factor > 1000.0F) factor = 1000.0F; seconds_per_minute = 6000.0F / factor; } break; case 400: // wait until all moves are done up to this point gcode->mark_as_taken(); THEKERNEL->conveyor->wait_for_empty_queue(); break; case 500: // M500 saves some volatile settings to config override file case 503: { // M503 just prints the settings gcode->stream->printf(";Steps per unit:\nM92 X%1.5f Y%1.5f Z%1.5f\n", actuators[0]->steps_per_mm, actuators[1]->steps_per_mm, actuators[2]->steps_per_mm); gcode->stream->printf(";Acceleration mm/sec^2:\nM204 S%1.5f Z%1.5f\n", THEKERNEL->planner->acceleration, THEKERNEL->planner->z_acceleration); gcode->stream->printf(";X- Junction Deviation, Z- Z junction deviation, S - Minimum Planner speed mm/sec:\nM205 X%1.5f Z%1.5f S%1.5f\n", THEKERNEL->planner->junction_deviation, THEKERNEL->planner->z_junction_deviation, THEKERNEL->planner->minimum_planner_speed); gcode->stream->printf(";Max feedrates in mm/sec, XYZ cartesian, ABC actuator:\nM203 X%1.5f Y%1.5f Z%1.5f A%1.5f B%1.5f C%1.5f\n", this->max_speeds[X_AXIS], this->max_speeds[Y_AXIS], this->max_speeds[Z_AXIS], alpha_stepper_motor->get_max_rate(), beta_stepper_motor->get_max_rate(), gamma_stepper_motor->get_max_rate()); // get or save any arm solution specific optional values BaseSolution::arm_options_t options; if(arm_solution->get_optional(options) && !options.empty()) { gcode->stream->printf(";Optional arm solution specific settings:\nM665"); for(auto &i : options) { gcode->stream->printf(" %c%1.4f", i.first, i.second); } gcode->stream->printf("\n"); } gcode->mark_as_taken(); break; } case 665: { // M665 set optional arm solution variables based on arm solution. gcode->mark_as_taken(); // the parameter args could be any letter each arm solution only accepts certain ones BaseSolution::arm_options_t options= gcode->get_args(); options.erase('S'); // don't include the S options.erase('U'); // don't include the U if(options.size() > 0) { // set the specified options arm_solution->set_optional(options); } options.clear(); if(arm_solution->get_optional(options)) { // foreach optional value for(auto &i : options) { // print all current values of supported options gcode->stream->printf("%c: %8.4f ", i.first, i.second); gcode->add_nl = true; } } if(gcode->has_letter('S')) { // set delta segments per second, not saved by M500 this->delta_segments_per_second = gcode->get_value('S'); gcode->stream->printf("Delta segments set to %8.4f segs/sec\n", this->delta_segments_per_second); }else if(gcode->has_letter('U')) { // or set mm_per_line_segment, not saved by M500 this->mm_per_line_segment = gcode->get_value('U'); this->delta_segments_per_second = 0; gcode->stream->printf("mm per line segment set to %8.4f\n", this->mm_per_line_segment); } break; } } } if( this->motion_mode < 0) return; //Get parameters float target[3], offset[3]; clear_vector(offset); memcpy(target, this->last_milestone, sizeof(target)); //default to last target for(char letter = 'I'; letter <= 'K'; letter++) { if( gcode->has_letter(letter) ) { offset[letter - 'I'] = this->to_millimeters(gcode->get_value(letter)); } } for(char letter = 'X'; letter <= 'Z'; letter++) { if( gcode->has_letter(letter) ) { target[letter - 'X'] = this->to_millimeters(gcode->get_value(letter)) + (this->absolute_mode ? this->toolOffset[letter - 'X'] : target[letter - 'X']); } } if( gcode->has_letter('F') ) { if( this->motion_mode == MOTION_MODE_SEEK ) this->seek_rate = this->to_millimeters( gcode->get_value('F') ); else this->feed_rate = this->to_millimeters( gcode->get_value('F') ); } //Perform any physical actions switch(this->motion_mode) { case MOTION_MODE_CANCEL: break; case MOTION_MODE_SEEK : this->append_line(gcode, target, this->seek_rate / seconds_per_minute ); break; case MOTION_MODE_LINEAR: this->append_line(gcode, target, this->feed_rate / seconds_per_minute ); break; case MOTION_MODE_CW_ARC: case MOTION_MODE_CCW_ARC: this->compute_arc(gcode, offset, target ); break; } // last_milestone was set to target in append_milestone, no need to do it again }
//A GCode has been received //See if the current Gcode line has some orders for us void SCARAcal::on_gcode_received(void *argument) { Gcode *gcode = static_cast<Gcode *>(argument); if( gcode->has_m) { switch( gcode->m ) { case 114: { // Extra stuff for Morgan calibration char buf[32]; float cartesian[6], actuators[6]; THEKERNEL->robot->get_axis_position(cartesian); // get actual position from robot THEKERNEL->robot->arm_solution->cartesian_to_actuator( cartesian, actuators ); // translate to get actuator position int n = snprintf(buf, sizeof(buf), " A: Th:%1.3f Ps:%1.3f", actuators[0], actuators[1]); // display actuator angles Theta and Psi. gcode->txt_after_ok.append(buf, n); gcode->mark_as_taken(); } return; case 360: { float target[2] = {0.0F, 120.0F}, S_trim[3]; this->get_trim(S_trim[0], S_trim[1], S_trim[2]); // get current trim to conserve other calbration values if(gcode->has_letter('P')) { // Program the current position as target float cartesian[6], actuators[6], S_delta[2], S_trim[3]; THEKERNEL->robot->get_axis_position(cartesian); // get actual position from robot THEKERNEL->robot->arm_solution->cartesian_to_actuator( cartesian, actuators ); // translate to get actuator position S_delta[0] = actuators[0] - target[0]; set_trim(S_delta[0], S_trim[1], 0, gcode->stream); } else { set_trim(0, S_trim[1], 0, gcode->stream); // reset trim for calibration move this->home(); // home SCARA_ang_move(target[0], target[1], 100.0F, slow_rate * 3.0F); // move to target } gcode->mark_as_taken(); } return; case 361: { float target[2] = {90.0F, 130.0F}; if(gcode->has_letter('P')) { // Program the current position as target float cartesian[6], actuators[6]; THEKERNEL->robot->get_axis_position(cartesian); // get actual position from robot THEKERNEL->robot->arm_solution->cartesian_to_actuator( cartesian, actuators ); // translate to get actuator position STEPPER[0]->change_steps_per_mm(actuators[0] / target[0] * STEPPER[0]->get_steps_per_mm()); // Find angle difference STEPPER[1]->change_steps_per_mm(STEPPER[0]->get_steps_per_mm()); // and change steps_per_mm to ensure correct steps per *angle* } else { this->home(); // home - This time leave trims as adjusted. SCARA_ang_move(target[0], target[1], 100.0F, slow_rate * 3.0F); // move to target } gcode->mark_as_taken(); } return; case 364: { float target[2] = {45.0F, 135.0F}, S_trim[3]; this->get_trim(S_trim[0], S_trim[1], S_trim[2]); // get current trim to conserve other calbration values if(gcode->has_letter('P')) { // Program the current position as target float cartesian[6], actuators[6], S_delta[2]; THEKERNEL->robot->get_axis_position(cartesian); // get actual position from robot THEKERNEL->robot->arm_solution->cartesian_to_actuator( cartesian, actuators ); // translate it to get actual actuator angles S_delta[1] = actuators[1] - target[1]; // Find difference, and set_trim(S_trim[0], S_delta[1], 0, gcode->stream); // set trim to reflect the difference } else { set_trim(S_trim[0], 0, 0, gcode->stream); // reset trim for calibration move this->home(); // home SCARA_ang_move(target[0], target[1], 100.0F, slow_rate * 3.0F); // move to target } gcode->mark_as_taken(); } return; } } }
void Extruder::on_gcode_received(void *argument) { Gcode *gcode = static_cast<Gcode *>(argument); // M codes most execute immediately, most only execute if enabled if (gcode->has_m) { if (gcode->m == 114 && this->enabled) { char buf[16]; int n = snprintf(buf, sizeof(buf), " E:%1.3f ", this->current_position); gcode->txt_after_ok.append(buf, n); gcode->mark_as_taken(); } else if (gcode->m == 92 && ( (this->enabled && !gcode->has_letter('P')) || (gcode->has_letter('P') && gcode->get_value('P') == this->identifier) ) ) { float spm = this->steps_per_millimeter; if (gcode->has_letter('E')) { spm = gcode->get_value('E'); this->steps_per_millimeter = spm; } gcode->stream->printf("E:%g ", spm); gcode->add_nl = true; gcode->mark_as_taken(); } else if (gcode->m == 200 && ( (this->enabled && !gcode->has_letter('P')) || (gcode->has_letter('P') && gcode->get_value('P') == this->identifier)) ) { if (gcode->has_letter('D')) { THEKERNEL->conveyor->wait_for_empty_queue(); // only apply after the queue has emptied this->filament_diameter = gcode->get_value('D'); if(filament_diameter > 0.01) { this->volumetric_multiplier = 1.0F / (powf(this->filament_diameter / 2, 2) * PI); } else { this->volumetric_multiplier = 1.0F; } } gcode->mark_as_taken(); } else if (gcode->m == 204 && gcode->has_letter('E') && ( (this->enabled && !gcode->has_letter('P')) || (gcode->has_letter('P') && gcode->get_value('P') == this->identifier)) ) { // extruder acceleration M204 Ennn mm/sec^2 (Pnnn sets the specific extruder for M500) this->acceleration= gcode->get_value('E'); gcode->mark_as_taken(); } else if (gcode->m == 207 && ( (this->enabled && !gcode->has_letter('P')) || (gcode->has_letter('P') && gcode->get_value('P') == this->identifier)) ) { // M207 - set retract length S[positive mm] F[feedrate mm/min] Z[additional zlift/hop] Q[zlift feedrate mm/min] if(gcode->has_letter('S')) retract_length = gcode->get_value('S'); if(gcode->has_letter('F')) retract_feedrate = gcode->get_value('F')/60.0F; // specified in mm/min converted to mm/sec if(gcode->has_letter('Z')) retract_zlift_length = gcode->get_value('Z'); if(gcode->has_letter('Q')) retract_zlift_feedrate = gcode->get_value('Q'); gcode->mark_as_taken(); } else if (gcode->m == 208 && ( (this->enabled && !gcode->has_letter('P')) || (gcode->has_letter('P') && gcode->get_value('P') == this->identifier)) ) { // M208 - set retract recover length S[positive mm surplus to the M207 S*] F[feedrate mm/min] if(gcode->has_letter('S')) retract_recover_length = gcode->get_value('S'); if(gcode->has_letter('F')) retract_recover_feedrate = gcode->get_value('F')/60.0F; // specified in mm/min converted to mm/sec gcode->mark_as_taken(); } else if (gcode->m == 221 && this->enabled) { // M221 S100 change flow rate by percentage if(gcode->has_letter('S')) this->extruder_multiplier= gcode->get_value('S')/100.0F; gcode->mark_as_taken(); } else if (gcode->m == 500 || gcode->m == 503) { // M500 saves some volatile settings to config override file, M503 just prints the settings if( this->single_config ) { gcode->stream->printf(";E Steps per mm:\nM92 E%1.4f\n", this->steps_per_millimeter); gcode->stream->printf(";E Filament diameter:\nM200 D%1.4f\n", this->filament_diameter); gcode->stream->printf(";E retract length, feedrate, zlift length, feedrate:\nM207 S%1.4f F%1.4f Z%1.4f Q%1.4f\n", this->retract_length, this->retract_feedrate*60.0F, this->retract_zlift_length, this->retract_zlift_feedrate); gcode->stream->printf(";E retract recover length, feedrate:\nM208 S%1.4f F%1.4f\n", this->retract_recover_length, this->retract_recover_feedrate*60.0F); gcode->stream->printf(";E acceleration mm/sec^2:\nM204 E%1.4f\n", this->acceleration); } else { gcode->stream->printf(";E Steps per mm:\nM92 E%1.4f P%d\n", this->steps_per_millimeter, this->identifier); gcode->stream->printf(";E Filament diameter:\nM200 D%1.4f P%d\n", this->filament_diameter, this->identifier); gcode->stream->printf(";E retract length, feedrate:\nM207 S%1.4f F%1.4f Z%1.4f Q%1.4f P%d\n", this->retract_length, this->retract_feedrate*60.0F, this->retract_zlift_length, this->retract_zlift_feedrate, this->identifier); gcode->stream->printf(";E retract recover length, feedrate:\nM208 S%1.4f F%1.4f P%d\n", this->retract_recover_length, this->retract_recover_feedrate*60.0F, this->identifier); gcode->stream->printf(";E acceleration mm/sec^2:\nM204 E%1.4f P%d\n", this->acceleration, this->identifier); } gcode->mark_as_taken(); } else if( gcode->m == 17 || gcode->m == 18 || gcode->m == 82 || gcode->m == 83 || gcode->m == 84 ) { // Mcodes to pass along to on_gcode_execute THEKERNEL->conveyor->append_gcode(gcode); gcode->mark_as_taken(); } } else if(gcode->has_g) { // G codes, NOTE some are ignored if not enabled if( (gcode->g == 92 && gcode->has_letter('E')) || (gcode->g == 90 || gcode->g == 91) ) { // Gcodes to pass along to on_gcode_execute THEKERNEL->conveyor->append_gcode(gcode); gcode->mark_as_taken(); } else if( this->enabled && gcode->g < 4 && gcode->has_letter('E') && !gcode->has_letter('X') && !gcode->has_letter('Y') && !gcode->has_letter('Z') ) { // This is a solo move, we add an empty block to the queue to prevent subsequent gcodes being executed at the same time THEKERNEL->conveyor->append_gcode(gcode); THEKERNEL->conveyor->queue_head_block(); gcode->mark_as_taken(); } else if( this->enabled && (gcode->g == 10 || gcode->g == 11) ) { // firmware retract command gcode->mark_as_taken(); // check we are in the correct state of retract or unretract if(gcode->g == 10 && !retracted) { this->retracted= true; this->cancel_zlift_restore= false; } else if(gcode->g == 11 && retracted) { this->retracted= false; } else return; // ignore duplicates // now we do a special hack to add zlift if needed, this should go in Robot but if it did the zlift would be executed before retract which is bad // this way zlift will happen after retract, (or before for unretract) NOTE we call the robot->on_gcode_receive directly to avoid recursion if(retract_zlift_length > 0 && gcode->g == 11 && !this->cancel_zlift_restore) { // reverse zlift happens before unretract // NOTE we do not do this if cancel_zlift_restore is set to true, which happens if there is an absolute Z move inbetween G10 and G11 char buf[32]; int n= snprintf(buf, sizeof(buf), "G0 Z%1.4f F%1.4f", -retract_zlift_length, retract_zlift_feedrate); string cmd(buf, n); Gcode gc(cmd, &(StreamOutput::NullStream)); bool oldmode= THEKERNEL->robot->absolute_mode; THEKERNEL->robot->absolute_mode= false; // needs to be relative mode THEKERNEL->robot->on_gcode_received(&gc); // send to robot directly THEKERNEL->robot->absolute_mode= oldmode; // restore mode } // This is a solo move, we add an empty block to the queue to prevent subsequent gcodes being executed at the same time THEKERNEL->conveyor->append_gcode(gcode); THEKERNEL->conveyor->queue_head_block(); if(retract_zlift_length > 0 && gcode->g == 10) { char buf[32]; int n= snprintf(buf, sizeof(buf), "G0 Z%1.4f F%1.4f", retract_zlift_length, retract_zlift_feedrate); string cmd(buf, n); Gcode gc(cmd, &(StreamOutput::NullStream)); bool oldmode= THEKERNEL->robot->absolute_mode; THEKERNEL->robot->absolute_mode= false; // needs to be relative mode THEKERNEL->robot->on_gcode_received(&gc); // send to robot directly THEKERNEL->robot->absolute_mode= oldmode; // restore mode } } else if( this->enabled && this->retracted && (gcode->g == 0 || gcode->g == 1) && gcode->has_letter('Z')) { // NOTE we cancel the zlift restore for the following G11 as we have moved to an absolute Z which we need to stay at this->cancel_zlift_restore= true; } } }
// Compute extrusion speed based on parameters and gcode distance of travel void Extruder::on_gcode_execute(void* argument){ Gcode* gcode = static_cast<Gcode*>(argument); // Absolute/relative mode if( gcode->has_m ){ if( gcode->m == 17 ){ this->en_pin.set(0); } if( gcode->m == 18 ){ this->en_pin.set(1); } if( gcode->m == 82 ){ this->absolute_mode = true; } if( gcode->m == 83 ){ this->absolute_mode = false; } if( gcode->m == 84 ){ this->en_pin.set(1); } if (gcode->m == 92 ){ if (gcode->has_letter('E')){ this->steps_per_millimeter = gcode->get_value('E'); } } } // The mode is OFF by default, and SOLO or FOLLOW only if we need to extrude this->mode = OFF; if( gcode->has_g ){ // G92: Reset extruder position if( gcode->g == 92 ){ gcode->mark_as_taken(); if( gcode->has_letter('E') ){ this->current_position = gcode->get_value('E'); this->target_position = this->current_position; this->unstepped_distance = 0; }else if( gcode->get_num_args() == 0){ this->current_position = 0.0; this->target_position = this->current_position; this->unstepped_distance = 0; } }else if ((gcode->g == 0) || (gcode->g == 1)){ // Extrusion length from 'G' Gcode if( gcode->has_letter('E' )){ // Get relative extrusion distance depending on mode ( in absolute mode we must substract target_position ) double extrusion_distance = gcode->get_value('E'); double relative_extrusion_distance = extrusion_distance; if (this->absolute_mode) { relative_extrusion_distance -= this->target_position; this->target_position = extrusion_distance; } else { this->target_position += relative_extrusion_distance; } // If the robot is moving, we follow it's movement, otherwise, we move alone if( fabs(gcode->millimeters_of_travel) < 0.0001 ){ // With floating numbers, we can have 0 != 0 ... beeeh. For more info see : http://upload.wikimedia.org/wikipedia/commons/0/0a/Cain_Henri_Vidal_Tuileries.jpg this->mode = SOLO; this->travel_distance = relative_extrusion_distance; }else{ // We move proportionally to the robot's movement this->mode = FOLLOW; this->travel_ratio = relative_extrusion_distance / gcode->millimeters_of_travel; // TODO: check resulting flowrate, limit robot speed if it exceeds max_speed } this->en_pin.set(0); } if (gcode->has_letter('F')) { this->feed_rate = gcode->get_value('F'); if (this->feed_rate > (this->max_speed * kernel->robot->seconds_per_minute)) this->feed_rate = this->max_speed * kernel->robot->seconds_per_minute; feed_rate /= kernel->robot->seconds_per_minute; } }else if( gcode->g == 90 ){ this->absolute_mode = true; }else if( gcode->g == 91 ){ this->absolute_mode = false; } } }
void TemperatureControl::on_gcode_received(void *argument) { Gcode *gcode = static_cast<Gcode *>(argument); if (gcode->has_m) { if( gcode->m == this->get_m_code ) { char buf[32]; // should be big enough for any status int n = snprintf(buf, sizeof(buf), "%s:%3.1f /%3.1f @%d ", this->designator.c_str(), this->get_temperature(), ((target_temperature == UNDEFINED) ? 0.0 : target_temperature), this->o); gcode->txt_after_ok.append(buf, n); gcode->mark_as_taken(); return; } if (gcode->m == 305) { // set or get sensor settings gcode->mark_as_taken(); if (gcode->has_letter('S') && (gcode->get_value('S') == this->pool_index)) { TempSensor::sensor_options_t args= gcode->get_args(); args.erase('S'); // don't include the S if(args.size() > 0) { // set the new options if(sensor->set_optional(args)) { this->sensor_settings= true; } else { gcode->stream->printf("Unable to properly set sensor settings, make sure you specify all required values\n"); } } else { // don't override this->sensor_settings= false; } } else if(!gcode->has_letter('S')) { gcode->stream->printf("%s(S%d): using %s\n", this->designator.c_str(), this->pool_index, this->readonly?"Readonly" : this->use_bangbang?"Bangbang":"PID"); sensor->get_raw(); TempSensor::sensor_options_t options; if(sensor->get_optional(options)) { for(auto &i : options) { // foreach optional value gcode->stream->printf("%s(S%d): %c%1.18f\n", this->designator.c_str(), this->pool_index, i.first, i.second); } } } return; } // readonly sensors don't handle the rest if(this->readonly) return; if (gcode->m == 301) { gcode->mark_as_taken(); if (gcode->has_letter('S') && (gcode->get_value('S') == this->pool_index)) { if (gcode->has_letter('P')) setPIDp( gcode->get_value('P') ); if (gcode->has_letter('I')) setPIDi( gcode->get_value('I') ); if (gcode->has_letter('D')) setPIDd( gcode->get_value('D') ); if (gcode->has_letter('X')) this->i_max = gcode->get_value('X'); if (gcode->has_letter('Y')) this->heater_pin.max_pwm(gcode->get_value('Y')); } else if(!gcode->has_letter('S')) { gcode->stream->printf("%s(S%d): Pf:%g If:%g Df:%g X(I_max):%g max pwm: %d O:%d\n", this->designator.c_str(), this->pool_index, this->p_factor, this->i_factor / this->PIDdt, this->d_factor * this->PIDdt, this->i_max, this->heater_pin.max_pwm(), o); } } else if (gcode->m == 500 || gcode->m == 503) { // M500 saves some volatile settings to config override file, M503 just prints the settings gcode->stream->printf(";PID settings:\nM301 S%d P%1.4f I%1.4f D%1.4f X%1.4f Y%d\n", this->pool_index, this->p_factor, this->i_factor / this->PIDdt, this->d_factor * this->PIDdt, this->i_max, this->heater_pin.max_pwm()); if(this->sensor_settings) { // get or save any sensor specific optional values TempSensor::sensor_options_t options; if(sensor->get_optional(options) && !options.empty()) { gcode->stream->printf(";Optional temp sensor specific settings:\nM305 S%d", this->pool_index); for(auto &i : options) { gcode->stream->printf(" %c%1.18f", i.first, i.second); } gcode->stream->printf("\n"); } } gcode->mark_as_taken(); } else if( ( gcode->m == this->set_m_code || gcode->m == this->set_and_wait_m_code ) && gcode->has_letter('S')) { gcode->mark_as_taken(); // this only gets handled if it is not controlled by the tool manager or is active in the toolmanager this->active = true; // this is safe as old configs as well as single extruder configs the toolmanager will not be running so will return false // this will also ignore anything that the tool manager is not controlling and return false, otherwise it returns the active tool /* TOADDBACK void *returned_data; bool ok = PublicData::get_value( tool_manager_checksum, is_active_tool_checksum, this->name_checksum, &returned_data ); if (ok) { uint16_t active_tool_name = *static_cast<uint16_t *>(returned_data); this->active = (active_tool_name == this->name_checksum); } */ if(this->active) { // required so temp change happens in order THEKERNEL->conveyor->wait_for_empty_queue(); float v = gcode->get_value('S'); if (v == 0.0) { this->target_temperature = UNDEFINED; this->heater_pin.set((this->o = 0)); } else { this->set_desired_temperature(v); // wait for temp to be reached, no more gcodes will be fetched until this is complete if( gcode->m == this->set_and_wait_m_code) { if(isinf(get_temperature()) && isinf(sensor->get_temperature())) { THEKERNEL->streams->printf("Temperature reading is unreliable HALT asserted - reset or M999 required\n"); THEKERNEL->call_event(ON_HALT, nullptr); return; } this->waiting = true; // on_second_tick will announce temps while ( get_temperature() < target_temperature ) { THEKERNEL->call_event(ON_IDLE, this); } this->waiting = false; } } } } } }
void Player::on_gcode_received(void *argument) { Gcode *gcode = static_cast<Gcode*>(argument); string args= get_arguments(gcode->command); if (gcode->has_m) { if (gcode->m == 21) { // Dummy code; makes Octoprint happy -- supposed to initialize SD card gcode->mark_as_taken(); gcode->stream->printf("SD card ok\r\n"); }else if (gcode->m == 23) { // select file gcode->mark_as_taken(); // Get filename this->filename= "/sd/" + this->absolute_from_relative(shift_parameter( args )); this->current_stream = &(StreamOutput::NullStream); if(this->current_file_handler != NULL) { this->playing_file = false; fclose(this->current_file_handler); } this->current_file_handler = fopen( this->filename.c_str(), "r"); // get size of file int result = fseek(this->current_file_handler, 0, SEEK_END); if (0 != result){ gcode->stream->printf("WARNING - Could not get file size\r\n"); file_size= -1; }else{ file_size= ftell(this->current_file_handler); fseek(this->current_file_handler, 0, SEEK_SET); } if(this->current_file_handler == NULL){ gcode->stream->printf("file.open failed: %s\r\n", this->filename.c_str()); }else{ gcode->stream->printf("File opened:%s Size:%ld\r\n", this->filename.c_str(),file_size); gcode->stream->printf("File selected\r\n"); } this->played_cnt= 0; this->elapsed_secs= 0; }else if (gcode->m == 24) { // start print gcode->mark_as_taken(); if (this->current_file_handler != NULL) { this->playing_file = true; this->reply_stream= gcode->stream; } }else if (gcode->m == 25) { // pause print gcode->mark_as_taken(); this->playing_file = false; }else if (gcode->m == 26) { // Reset print. Slightly different than M26 in Marlin and the rest gcode->mark_as_taken(); if(this->current_file_handler != NULL){ // abort the print abort_command("", gcode->stream); // reload the last file opened this->current_file_handler = fopen( this->filename.c_str(), "r"); if(this->current_file_handler == NULL){ gcode->stream->printf("file.open failed: %s\r\n", this->filename.c_str()); }else{ // get size of file int result = fseek(this->current_file_handler, 0, SEEK_END); if (0 != result){ gcode->stream->printf("WARNING - Could not get file size\r\n"); file_size= 0; }else{ file_size= ftell(this->current_file_handler); fseek(this->current_file_handler, 0, SEEK_SET); } } }else{ gcode->stream->printf("No file loaded\r\n"); } }else if (gcode->m == 27) { // report print progress, in format used by Marlin gcode->mark_as_taken(); progress_command("-b", gcode->stream); }else if (gcode->m == 32) { // select file and start print gcode->mark_as_taken(); // Get filename this->filename= "/sd/" + this->absolute_from_relative(shift_parameter( args )); this->current_stream = &(StreamOutput::NullStream); if(this->current_file_handler != NULL) { this->playing_file = false; fclose(this->current_file_handler); } this->current_file_handler = fopen( this->filename.c_str(), "r"); if(this->current_file_handler == NULL){ gcode->stream->printf("file.open failed: %s\r\n", this->filename.c_str()); }else{ this->playing_file = true; } } } }
//A GCode has been received //See if the current Gcode line has some orders for us void Robot::on_gcode_received(void * argument){ Gcode* gcode = static_cast<Gcode*>(argument); //Temp variables, constant properties are stored in the object uint8_t next_action = NEXT_ACTION_DEFAULT; this->motion_mode = -1; //G-letter Gcodes are mostly what the Robot module is interrested in, other modules also catch the gcode event and do stuff accordingly if( gcode->has_g){ switch( gcode->g ){ case 0: this->motion_mode = MOTION_MODE_SEEK; gcode->mark_as_taken(); break; case 1: this->motion_mode = MOTION_MODE_LINEAR; gcode->mark_as_taken(); break; case 2: this->motion_mode = MOTION_MODE_CW_ARC; gcode->mark_as_taken(); break; case 3: this->motion_mode = MOTION_MODE_CCW_ARC; gcode->mark_as_taken(); break; case 17: this->select_plane(X_AXIS, Y_AXIS, Z_AXIS); gcode->mark_as_taken(); break; case 18: this->select_plane(X_AXIS, Z_AXIS, Y_AXIS); gcode->mark_as_taken(); break; case 19: this->select_plane(Y_AXIS, Z_AXIS, X_AXIS); gcode->mark_as_taken(); break; case 20: this->inch_mode = true; gcode->mark_as_taken(); break; case 21: this->inch_mode = false; gcode->mark_as_taken(); break; case 90: this->absolute_mode = true; gcode->mark_as_taken(); break; case 91: this->absolute_mode = false; gcode->mark_as_taken(); break; case 92: { if(gcode->get_num_args() == 0){ clear_vector(this->last_milestone); }else{ for (char letter = 'X'; letter <= 'Z'; letter++){ if ( gcode->has_letter(letter) ) this->last_milestone[letter-'X'] = this->to_millimeters(gcode->get_value(letter)); } } memcpy(this->current_position, this->last_milestone, sizeof(double)*3); // current_position[] = last_milestone[]; this->arm_solution->millimeters_to_steps(this->current_position, this->kernel->planner->position); gcode->mark_as_taken(); return; // TODO: Wait until queue empty } } }else if( gcode->has_m){ switch( gcode->m ){ case 92: // M92 - set steps per mm double steps[3]; this->arm_solution->get_steps_per_millimeter(steps); if (gcode->has_letter('X')) steps[0] = this->to_millimeters(gcode->get_value('X')); if (gcode->has_letter('Y')) steps[1] = this->to_millimeters(gcode->get_value('Y')); if (gcode->has_letter('Z')) steps[2] = this->to_millimeters(gcode->get_value('Z')); if (gcode->has_letter('F')) seconds_per_minute = gcode->get_value('F'); this->arm_solution->set_steps_per_millimeter(steps); // update current position in steps this->arm_solution->millimeters_to_steps(this->current_position, this->kernel->planner->position); gcode->stream->printf("X:%g Y:%g Z:%g F:%g ", steps[0], steps[1], steps[2], seconds_per_minute); gcode->add_nl = true; gcode->mark_as_taken(); return; case 114: gcode->stream->printf("C: X:%1.3f Y:%1.3f Z:%1.3f ", from_millimeters(this->current_position[0]), from_millimeters(this->current_position[1]), from_millimeters(this->current_position[2])); gcode->add_nl = true; gcode->mark_as_taken(); return; // case 204: // M204 Snnn - set acceleration to nnn, NB only Snnn is currently supported // gcode->mark_as_taken(); // if (gcode->has_letter('S')) // { // double acc= gcode->get_value('S') * 60 * 60; // mm/min^2 // // enforce minimum // if (acc < 1.0) // acc = 1.0; // this->kernel->planner->acceleration= acc; // } // break; case 220: // M220 - speed override percentage gcode->mark_as_taken(); if (gcode->has_letter('S')) { double factor = gcode->get_value('S'); // enforce minimum 10% speed if (factor < 10.0) factor = 10.0; seconds_per_minute = factor * 0.6; } break; case 665: // M665 set optional arm solution variables based on arm solution gcode->mark_as_taken(); // the parameter args could be any letter so try each one for(char c='A';c<='Z';c++) { double v; bool supported= arm_solution->get_optional(c, &v); // retrieve current value if supported if(supported && gcode->has_letter(c)) { // set new value if supported v= gcode->get_value(c); arm_solution->set_optional(c, v); } if(supported) { // print all current values of supported options gcode->stream->printf("%c %8.3f ", c, v); gcode->add_nl = true; } } break; } } if( this->motion_mode < 0) return; //Get parameters double target[3], offset[3]; clear_vector(target); clear_vector(offset); memcpy(target, this->current_position, sizeof(target)); //default to last target for(char letter = 'I'; letter <= 'K'; letter++){ if( gcode->has_letter(letter) ){ offset[letter-'I'] = this->to_millimeters(gcode->get_value(letter)); } } for(char letter = 'X'; letter <= 'Z'; letter++){ if( gcode->has_letter(letter) ){ target[letter-'X'] = this->to_millimeters(gcode->get_value(letter)) + ( this->absolute_mode ? 0 : target[letter-'X']); } } if( gcode->has_letter('F') ) { if( this->motion_mode == MOTION_MODE_SEEK ) this->seek_rate = this->to_millimeters( gcode->get_value('F') ) / 60.0; else this->feed_rate = this->to_millimeters( gcode->get_value('F') ) / 60.0; } //Perform any physical actions switch( next_action ){ case NEXT_ACTION_DEFAULT: switch(this->motion_mode){ case MOTION_MODE_CANCEL: break; case MOTION_MODE_SEEK : this->append_line(gcode, target, this->seek_rate ); break; case MOTION_MODE_LINEAR: this->append_line(gcode, target, this->feed_rate ); break; case MOTION_MODE_CW_ARC: case MOTION_MODE_CCW_ARC: this->compute_arc(gcode, offset, target ); break; } break; } // As far as the parser is concerned, the position is now == target. In reality the // motion control system might still be processing the action and the real tool position // in any intermediate location. memcpy(this->current_position, target, sizeof(double)*3); // this->position[] = target[]; }