//Window constants (DEF_TITLE, etc) are defined in Gamelan_Window.h
Gamelan_Window::Gamelan_Window()
:Window( DEF_LOCATION, DEF_WIDTH, DEF_HEIGHT, DEF_TITLE ),
strings( 7, NULL ),
index(0), game(false),
//start screen objects
in_name( Point( 200, 200 ), 200, 30, "Name: "),
but_amazing( Point((x_max()-400),(y_max()-200)),200,20,"Amazing Grace", cb_amazing),
but_sweet( Point((x_max()-400),(y_max()-150)),200,20,"Swing Low, Sweet Chariot", cb_sweet),
but_west( Point((x_max()-400),(y_max()-100)),200,20,"Westminster", cb_west),
instr( Point( 100, 110 ), "Click the circles to get through the song as fast as you can!" ),
//Final Screen objects
top_scores( Point( 245, 110 ), "Top Scores" ),
your_score( Point( 100, 700 ), "" ),
score1( Point(100,275), "" ),
score2( Point(100,300), "" ),
score3( Point(100,325), "" ),
score4( Point(100,350), "" ),
score5( Point(100,375), "" )
{
for( int i = 0; i < 7; i++ )
strings[i] = new Gam_String( Point( 200 + 25*i, 50 ), -105 + 35*i, 700, NUM_DIVISIONS, COLORS[i] );
init();
}
My_window(Point xy, int w, int h, const string& title)
: Window(xy, w, h, title),
button_pressed(false),
next_button(Point(x_max() - 150, 0), 70, 20, "next", cb_next),
quit_button(Point(x_max() - 70, 0), 70, 20, "quit", cb_quit)
{
attach(next_button);
attach(quit_button);
}
Imagebutton_window::Imagebutton_window(Point xy, int w, int h, const string& title)
:Window(xy,w,h,title),
quit_button(Point(x_max()-70,0),70,20,"Quit",cb_quit),
image_button(Point(rint(0,x_max()-100),rint(0,y_max()-100)),100,100,"",cb_ibpushed),
button_image(image_button.loc,"pics_and_txt/snow_cpp.gif")
{
attach(quit_button);
attach(image_button);
button_image.set_mask(Point(110,70),100,100);
attach(button_image);
}
Calc_window::Calc_window(Point xy, int w, int h, const string& title)
:Quit_window(xy,w,h,title),
help_button(Point(x_max()-210,0),70,20,"Help",cb_help_button),
calc_button(Point(x_max()-140,0),70,20,"Calculate",cb_calc_button),
input(Point(53,30),x_max()-68,20,"Input:"),
output(Point(53,60),x_max()-68,20,"Output:")
{
attach(help_button);
attach(calc_button);
attach(input);
attach(output);
}
Checker_window(Point xy, int w, int h, const string& title)
: My_window(xy, w, h, title), outbox(Point(0, 0), x_max() - 160, 20, "(x, y)")
{
attach(outbox);
const int column = 4; // 列数
const int row = 4; // 行数
for(int i = 0; i < column * row; ++i){
checker.push_back(new Button(Point(x_max() / column * (i % column), (y_max() - 20) / row * (i / row) + 20),
x_max() / column, (y_max() - 20) / row, to_string(i), cb_checker));
attach(checker[i]);
}
}
Lines_window::Lines_window(Point xy, int w, int h, const string& title)
: Window(xy, w, h, title),
next_button(Point(x_max() - 150, 0), 70, 20, "Next point", cb_next),
quit_button(Point(x_max() - 70, 0), 70, 20, "Quit", cb_quit),
next_x(Point(x_max() - 310, 0), 50, 20, "next x:"),
next_y(Point(x_max() - 210, 0), 50, 20, "next y:"),
xy_out(Point(100, 0), 100, 20, "(x,y):")
{
attach(next_button);
attach(quit_button);
attach(next_x);
attach(next_y);
attach(xy_out);
attach(lines);
}
Pseudo_window::Pseudo_window(Point xy, int w, int h, const string& title) :
Window(xy,w,h,title),
next_button(Point(x_max()-100,0), 100, 50, "NEXT", cb_next),
button_pushed(false)
{
attach(next_button);
}
Simple_window::Simple_window(Point xy, int w, int h, const string& title) :
Window(xy,w,h,title),
next_button(Point(x_max()-70,0), 70, 20, "Next", cb_next),
button_pushed(false)
{
attach(next_button);
}
void Imagebutton_window::move()
{
int dx = rint(0,x_max()-100) - image_button.loc.x;
int dy = rint(0,y_max()-100) - image_button.loc.y;
image_button.move(dx,dy);
button_image.move(dx,dy);
}
void GL_widget_2::save_view(bool) {
QString bounding_box = tr("%1 %2 %3 %4").arg(x_min()).arg(x_max()).arg(y_min()).arg(y_max());
QSettings settings;
QString file_name = QFileDialog::getSaveFileName(
this,
"Choose a filename to save view",
settings.value("last-view-directory",QString()).toString(),
"View files (*.2view)");
if (file_name=="") return;
if (!file_name.endsWith(".2view")) file_name += ".2view";
QString save_directory = file_name;
save_directory.truncate(file_name.lastIndexOf('/'));
settings.setValue("last-view-directory",save_directory);
QFile f(file_name);
if ( !f.open( QIODevice::WriteOnly ) ) {
std::cout << LOG_ERROR << tr("File `%1' could not be open for writing!").arg(file_name).toStdString() << std::endl;
return;
}
QTextStream fs( &f );
fs << bounding_box;
f.close();
std::cout << "Camera view stored in " << file_name.toStdString() << std::endl;
}
Button_window::Button_window(Point xy, int w, int h, const string& title)
:My_window(xy,w,h,title),
menu1(Point(0,0),100,100,Menu::vertical,"menu1"),
menu2(Point(100,0),100,100,Menu::vertical,"menu2"),
menu3(Point(200,0),100,100,Menu::vertical,"menu3"),
menu4(Point(300,0),100,100,Menu::vertical,"menu4"),
xy_out(Point(x_max()-70,60),70,20,"(x,y)")
{
menu1.attach(new Button(Point(0,0),0,0,"1-1",cb_action11));
menu1.attach(new Button(Point(0,0),0,0,"1-2",cb_action12));
menu1.attach(new Button(Point(0,0),0,0,"1-3",cb_action13));
menu1.attach(new Button(Point(0,0),0,0,"1-4",cb_action14));
attach(menu1);
menu2.attach(new Button(Point(0,0),0,0,"2-1",cb_action21));
menu2.attach(new Button(Point(0,0),0,0,"2-2",cb_action22));
menu2.attach(new Button(Point(0,0),0,0,"2-3",cb_action23));
menu2.attach(new Button(Point(0,0),0,0,"2-4",cb_action24));
attach(menu2);
menu3.attach(new Button(Point(0,0),0,0,"3-1",cb_action31));
menu3.attach(new Button(Point(0,0),0,0,"3-2",cb_action32));
menu3.attach(new Button(Point(0,0),0,0,"3-3",cb_action33));
menu3.attach(new Button(Point(0,0),0,0,"3-4",cb_action34));
attach(menu3);
menu4.attach(new Button(Point(0,0),0,0,"4-1",cb_action41));
menu4.attach(new Button(Point(0,0),0,0,"4-2",cb_action42));
menu4.attach(new Button(Point(0,0),0,0,"4-3",cb_action43));
menu4.attach(new Button(Point(0,0),0,0,"4-4",cb_action44));
attach(menu4);
attach(xy_out);
xy_out.put("no point");
}
Lines_window::Lines_window(Point xy, int w, int h, const string& title)
: Graph_lib::Window{xy, w, h, title},
next_button{Point{x_max() - 150, 0}, 70, 20, "Next point",
[](Address, Address pw) {reference_to<Lines_window>(pw).next();}},
quit_button{Point{x_max()-70, 0}, 70, 20, "Quit",
[](Address, Address pw){reference_to<Lines_window>(pw).quit();}},
next_x{Point{x_max()-310, 0}, 50, 20, "next x:"},
next_y{Point{x_max()-210, 0}, 50, 20, "next y:"},
xy_out{Point{100, 0}, 100, 20, "current (x, y):"}
{
attach(next_button);
attach(quit_button);
attach(next_x);
attach(next_y);
attach(xy_out);
attach(lines);
}
/// find X_MAX endstop
void home_x_positive() {
queue_wait();
#if defined X_MAX_PIN
uint8_t denoise_count = 0;
// home X
x_enable();
// hit home hard
x_direction(1);
while (denoise_count < 8) {
// denoise
if (x_max())
denoise_count++;
else
denoise_count = 0;
// step
x_step();
delay(5);
unstep();
// wait until next step time
delay((uint32_t) (60.0 * 1000000.0 / STEPS_PER_M_X * 1000.0 / ((float) MAXIMUM_FEEDRATE_X)));
}
denoise_count = 0;
// back off slowly
x_direction(0);
while (x_max() != 0) {
// step
x_step();
delay(5);
unstep();
// wait until next step time
delay((uint32_t) (60.0 * 1000000.0 / STEPS_PER_M_X * 1000.0 / ((float) SEARCH_FEEDRATE_X)));
}
// set X home
TARGET t = {0, 0, 0, 0, 0};
// set position to MAX
startpoint.X = current_position.X = (int32_t)(X_MAX * 1000.0);
// go to zero
t.F = MAXIMUM_FEEDRATE_X;
enqueue(&t);
#endif
}
Shmenu_window::Shmenu_window(Point xy, int w, int h, const string& title)
:Window(xy,w,h,title),
quit_button(Point(x_max()-70,0),70,20,"Quit",cb_qpushed),
shapes_menu(Point(x_max()-70,30),70,20,Menu::vertical,"shapes"),
x_in(Point(x_max()-70,120),70,20,"x:"),
y_in(Point(x_max()-70,140),70,20,"y:"),
x(0),
y(0)
{
attach(quit_button);
shapes_menu.attach(new Button(Point(),0,0,"Circle",cb_circle));
shapes_menu.attach(new Button(Point(),0,0,"Square",cb_square));
shapes_menu.attach(new Button(Point(),0,0,"Triangle",cb_triangle));
shapes_menu.attach(new Button(Point(),0,0,"Hexagon",cb_hexagon));
attach(shapes_menu);
attach(x_in);
attach(y_in);
}
void volume::inset(double x_inset, double y_inset, double z_inset)
{
double x_min = this->x_min();
double y_min = this->y_min();
double z_min = this->z_min();
x_inset = area::inset(x_min, size.dx, x_inset);
y_inset = area::inset(y_min, size.dy, y_inset);
z_inset = area::inset(z_min, size.dz, z_inset);
assign(x_min + x_inset, y_min + y_inset, z_min + z_inset, x_max() - x_inset, y_max() - y_inset, z_max() - z_inset);
}
Random_window(Point xy, int w, int h, const string& title)
: My_window(xy, w, h, title),
x(rint(0, x_max() - 100)),
y(rint(20, y_max() - 100)),
image_button(Point(x, y), 100, 100, "", cb_image),
image(Point(x, y), "../image1.jpg")
{
attach(image_button);
attach(image);
}
void push() {
int tmp_x = rint(0, x_max()- 100);
int tmp_y = rint(20, y_max() - 100);
image_button.move(tmp_x - x, tmp_y - y);
image.move(tmp_x - x, tmp_y - y);
x = tmp_x;
y = tmp_y;
}
bool hit_home_stop_x (unsigned dir)
{
if (config.home_direction_x < 0)
{
return !x_min();
}
else
{
return !x_max();
}
}
Fgraph_window::Fgraph_window(Point xy, int w, int h, const string& title)
:Quit_window(xy,w,h,title),
draw_button(Point(x_max()-140,0),70,20,"Draw",cb_draw_button),
message_box(Point(15,15),x_max()-170,20,""),
fct_menu(Point(x_max()-85,210),70,20,Menu::vertical,"Function"),
fct_menu_button(Point(x_max()-85,210),70,20,"Function",cb_fct_mbutton),
input_r1(Point(x_max()-85,35),70,20,"r1:"),
input_r2(Point(x_max()-85,70),70,20,"r2:"),
input_count(Point(x_max()-85,105),70,20,"Count:"),
input_xscale(Point(x_max()-85,140),70,20,"xscale:"),
input_yscale(Point(x_max()-85,175),70,20,"yscale:"),
x_axis(Axis::x,Point(15,(y_max()-65)/2+50),x_max()-120,10,""),
y_axis(Axis::y,Point(15,y_max()-15),y_max()-65,10,""),
fl_funct(sin,0,10*pi,Point(15,(y_max()-65)/2+50)),
fct_pointer(sin)
{
attach(draw_button);
attach(message_box);
fct_menu.attach(new Button(Point(),0,0,"sin",cb_sin_button));
fct_menu.attach(new Button(Point(),0,0,"cos",cb_cos_button));
fct_menu.attach(new Button(Point(),0,0,"log",cb_log_button));
fct_menu.attach(new Button(Point(),0,0,"exp",cb_exp_button));
attach(fct_menu);
fct_menu.hide();
attach(fct_menu_button);
attach(input_r1);
attach(input_r2);
attach(input_count);
attach(input_xscale);
attach(input_yscale);
x_axis.label.set_color(Color::red);
x_axis.label.move(-180,0);
attach(x_axis);
y_axis.label.set_color(Color::red);
y_axis.label.move(30,20);
attach(y_axis);
fl_funct.set_color(Color::invisible); // we don't want to see anything yet
attach(fl_funct);
}
void reset_label(int max, double scale, Axis& a, Axis::Orientation a_or)
{
double notch = 0;
int x = x_max();
switch (a_or) {
case Axis::x:
notch = (max-115)/10.0/scale;
break;
case Axis::y:
notch = (max-65)/10.0/scale;
break;
}
ostringstream oss;
oss << "1 notch = " << fixed << setprecision(2) << notch;
a.label.set_label(oss.str());
}
void eval_radial_function(const TGrid &grid_2d, Value_type<TGrid> x, Value_type<TGrid> y, TVector &V)
{
using X = Value_type<TGrid>;
X r_max = x_max();
X fr_max = (*this)(r_max);
for(auto ix = 0; ix < grid_2d.nx; ix++)
{
for(auto iy = 0; iy < grid_2d.ny; iy++)
{
X r = grid_2d.R2(ix, iy, x, y);
int ixy = grid_2d.ind_col(ix, iy);
V[ixy] = (r < r_max)?(*this)(r):fr_max;
}
}
}
Currency_window::Currency_window(Point xy, int w, int h, const string& title)
:Quit_window(xy,w,h,title),
calc_button(Point(x_max()-140,0),70,20,"Calculate",cb_calc),
amount_in(Point(15,35),70,20,""),
from_cur_text(Point(95,52),"CAD"),
from_cur_menu(Point(95,60),70,20,Menu::vertical,"Change"),
from_cur_mbutton(Point(95,60),70,20,"Change",cb_from_mbutton),
equals(Point(175,52),"equals"),
amount_out(Point(250,35),70,20,""),
to_cur_text(Point(325,52),"CHF"),
to_cur_menu(Point(325,60),70,20,Menu::vertical,"Change"),
to_cur_mbutton(Point(325,60),70,20,"Change",cb_to_mbutton),
from_cur(CAD),
to_cur(CHF)
{
// Build GUI
attach(calc_button);
attach(amount_in);
attach(from_cur_text);
from_cur_menu.attach(new Button(Point(0,0),0,0,"CAD",cb_from_cur0));
from_cur_menu.attach(new Button(Point(0,0),0,0,"CHF",cb_from_cur1));
from_cur_menu.attach(new Button(Point(0,0),0,0,"KYD",cb_from_cur2));
attach(from_cur_menu);
from_cur_menu.hide();
attach(from_cur_mbutton);
attach(equals);
attach(amount_out);
attach(to_cur_text);
to_cur_menu.attach(new Button(Point(0,0),0,0,"CAD",cb_to_cur0));
to_cur_menu.attach(new Button(Point(0,0),0,0,"CHF",cb_to_cur1));
to_cur_menu.attach(new Button(Point(0,0),0,0,"KYD",cb_to_cur2));
attach(to_cur_menu);
to_cur_menu.hide();
attach(to_cur_mbutton);
// Add currency names
cur_labels.push_back("CAD");
cur_labels.push_back("CHF");
cur_labels.push_back("KYD");
// Read data from text file
get_conversion_rates();
}
void calendar_window::refresh(int m, int y)
{
req_month.label = "Month: "; // Clear the inbox text
req_year.label = "Year: ";
current_month = m;
current_year = y;
ostringstream ss;
ss << m; // Put the month - currently an int - into the buffer
string month = ss.str(); // Pull the characters - the month - out of the buffer as a string
ostringstream sss;
sss << y; // Put the month - currently an int - into the buffer
string year = sss.str(); // Pull the characters - the month - out of the buffer as a string
detach(*month_display);
month_display = new Text(Point(x_max()/2, 30), month + " " + year);
month_display->set_font_size(30);
attach(*month_display);
wait_for_button();
}
Lines_window::Lines_window(Point xy, int w, int h, const string& title)
: Window(xy, w, h, title),
next_button(Point(x_max() - 150, 0), 70, 20, "Next point", cb_next),
quit_button(Point(x_max() - 70, 0), 70, 20, "Quit", cb_quit),
next_x(Point(x_max() - 310, 0), 50, 20, "next x:"),
next_y(Point(x_max() - 210, 0), 50, 20, "next y:"),
xy_out(Point(100, 0), 100, 20, "(x,y):"),
color_menu(Point(x_max() - 70, 40), 70, 20, Menu::vertical, "color"),
color_menu_button(Point(x_max() - 70, 40), 70, 20, "color", cb_color_menu),
style_menu(Point(x_max() - 150, 40), 70, 20, Menu::vertical, "style"),
style_menu_button(Point(x_max() - 150, 40), 70, 20, "style", cb_style_menu)
{
attach(next_button);
attach(quit_button);
attach(next_x);
attach(next_y);
attach(xy_out);
xy_out.put("no print");
color_menu.attach(new Button(Point(0, 0), 0, 0, "red", cb_red));
color_menu.attach(new Button(Point(0, 0), 0, 0, "blue", cb_blue));
color_menu.attach(new Button(Point(0, 0), 0, 0, "black", cb_black));
attach(color_menu);
style_menu.attach(new Button(Point(0, 0), 0, 0, "solid", cb_solid));
style_menu.attach(new Button(Point(0, 0), 0, 0, "dash", cb_dash));
style_menu.attach(new Button(Point(0, 0), 0, 0, "dashdot", cb_dashdot));
style_menu.attach(new Button(Point(0, 0), 0, 0, "dashdotdot", cb_dashdotdot));
style_menu.attach(new Button(Point(0, 0), 0, 0, "dot", cb_dot));
attach(style_menu);
color_menu.hide();
style_menu.hide();
attach(color_menu_button);
attach(style_menu_button);
attach(lines);
}
calendar_window::calendar_window(Point xy, int w, int h, const string& title)
:Window(w,h,title),
submit1(Point((this->x_max()-100),0),90,20, "Submit:",cb_submit),
req_month(Point(60,0),90,20, "Month:"),
req_year(Point(200,0),90,20, "Year:"),
current_date(Point(100,70),100,20, " "),
calendar_template(Point(50,50),"calendar_template.jpg"),
button_pushed(false),
text_box(Point(100,100), day_num, event_text)
{
current_month = -5;
current_year = -5;
month_display = new Text(Point(x_max()/2, 30), "January 2000");
month_display->set_font_size(30);
attach(*month_display);
//Image calendar_template(Point(50,50),"calendar_template.jpg");
attach(calendar_template);
attach(req_month);
attach(req_year);
attach(submit1);
attach(current_date);
attach(text_box);
}
Shape_window(Point xy, int w, int h, const string& title)
: My_window(xy, w, h, title),
inbox_x(Point(20, 0), 70, 20, "X:"),
inbox_y(Point(120, 0), 70, 20, "Y:"),
menu(Point(x_max() - 230, 0), 70, 20, "kind", cb_menu),
kind(Point(x_max() - 230, 0), 70, 20, Menu::vertical, "shape kind")
{
attach(inbox_x);
attach(inbox_y);
attach(menu);
kind.attach(new Button(Point(x_max() - 230, 0), 70, 20, "circle", cb_circle));
kind.attach(new Button(Point(x_max() - 230, 20), 70, 20, "triangle", cb_triangle));
kind.attach(new Button(Point(x_max() - 230, 40), 70, 20, "square", cb_square));
kind.attach(new Button(Point(x_max() - 230, 60), 70, 20, "hexagon", cb_hexagon));
attach(kind);
kind.hide();
}
void Fgraph_window::draw_pressed()
try {
// set range
fl_funct.reset_range(get_double(input_r1),get_double(input_r2));
// reset count
fl_funct.reset_count(get_int(input_count));
// reset xscale
double xscale = get_double(input_xscale);
fl_funct.reset_xscale(xscale);
// reset axis label
reset_label(x_max(),xscale,x_axis,Axis::x);
// reset yscale
double yscale = get_double(input_yscale);
fl_funct.reset_yscale(yscale);
// reset axis label
reset_label(y_max(),yscale,y_axis,Axis::y);
// set function
fl_funct.reset_fct(fct_pointer);
// clear message window
message_box.put("");
// finally, make function visible in case this was the first time
fl_funct.set_color(Color::visible);
fl_funct.set_color(Color::blue);
redraw();
}
catch (exception& e) {
message_box.put(e.what());
}
My_window(Point xy, int w, int h, const string& title)
: Simple_window(xy, w, h, title),
quit_button(Point(x_max() - 70, 20), 70, 20, "Quit", cb_quit)
{
attach(quit_button);
}
void process_gcode_command() {
uint32_t backup_f;
// convert relative to absolute
if (next_target.option_all_relative) {
next_target.target.axis[X] += startpoint.axis[X];
next_target.target.axis[Y] += startpoint.axis[Y];
next_target.target.axis[Z] += startpoint.axis[Z];
}
// E relative movement.
// Matches Sprinter's behaviour as of March 2012.
if (next_target.option_e_relative)
next_target.target.e_relative = 1;
else
next_target.target.e_relative = 0;
if (next_target.option_all_relative && !next_target.option_e_relative)
next_target.target.axis[E] += startpoint.axis[E];
// implement axis limits
#ifdef X_MIN
if (next_target.target.axis[X] < (int32_t)(X_MIN * 1000.))
next_target.target.axis[X] = (int32_t)(X_MIN * 1000.);
#endif
#ifdef X_MAX
if (next_target.target.axis[X] > (int32_t)(X_MAX * 1000.))
next_target.target.axis[X] = (int32_t)(X_MAX * 1000.);
#endif
#ifdef Y_MIN
if (next_target.target.axis[Y] < (int32_t)(Y_MIN * 1000.))
next_target.target.axis[Y] = (int32_t)(Y_MIN * 1000.);
#endif
#ifdef Y_MAX
if (next_target.target.axis[Y] > (int32_t)(Y_MAX * 1000.))
next_target.target.axis[Y] = (int32_t)(Y_MAX * 1000.);
#endif
#ifdef Z_MIN
if (next_target.target.axis[Z] < (int32_t)(Z_MIN * 1000.))
next_target.target.axis[Z] = (int32_t)(Z_MIN * 1000.);
#endif
#ifdef Z_MAX
if (next_target.target.axis[Z] > (int32_t)(Z_MAX * 1000.))
next_target.target.axis[Z] = (int32_t)(Z_MAX * 1000.);
#endif
// The GCode documentation was taken from http://reprap.org/wiki/Gcode .
if (next_target.seen_T) {
//? --- T: Select Tool ---
//?
//? Example: T1
//?
//? Select extruder number 1 to build with. Extruder numbering starts at 0.
next_tool = next_target.T;
}
if (next_target.seen_G) {
uint8_t axisSelected = 0;
switch (next_target.G) {
case 0:
//? G0: Rapid Linear Motion
//?
//? Example: G0 X12
//?
//? In this case move rapidly to X = 12 mm. In fact, the RepRap firmware uses exactly the same code for rapid as it uses for controlled moves (see G1 below), as - for the RepRap machine - this is just as efficient as not doing so. (The distinction comes from some old machine tools that used to move faster if the axes were not driven in a straight line. For them G0 allowed any movement in space to get to the destination as fast as possible.)
//?
temp_wait();
backup_f = next_target.target.F;
next_target.target.F = MAXIMUM_FEEDRATE_X * 2L;
enqueue(&next_target.target);
next_target.target.F = backup_f;
break;
case 1:
//? --- G1: Linear Motion at Feed Rate ---
//?
//? Example: G1 X90.6 Y13.8 E22.4
//?
//? Go in a straight line from the current (X, Y) point to the point (90.6, 13.8), extruding material as the move happens from the current extruded length to a length of 22.4 mm.
//?
temp_wait();
enqueue(&next_target.target);
break;
// G2 - Arc Clockwise
// unimplemented
// G3 - Arc Counter-clockwise
// unimplemented
case 4:
//? --- G4: Dwell ---
//?
//? Example: G4 P200
//?
//? In this case sit still doing nothing for 200 milliseconds. During delays the state of the machine (for example the temperatures of its extruders) will still be preserved and controlled.
//?
queue_wait();
// delay
if (next_target.seen_P) {
for (;next_target.P > 0;next_target.P--) {
clock();
delay_ms(1);
}
}
break;
case 20:
//? --- G20: Set Units to Inches ---
//?
//? Example: G20
//?
//? Units from now on are in inches.
//?
next_target.option_inches = 1;
break;
case 21:
//? --- G21: Set Units to Millimeters ---
//?
//? Example: G21
//?
//? Units from now on are in millimeters. (This is the RepRap default.)
//?
next_target.option_inches = 0;
break;
case 28:
//? --- G28: Home ---
//?
//? Example: G28
//?
//? This causes the RepRap machine to search for its X, Y and Z
//? endstops. It does so at high speed, so as to get there fast. When
//? it arrives it backs off slowly until the endstop is released again.
//? Backing off slowly ensures more accurate positioning.
//?
//? If you add axis characters, then just the axes specified will be
//? seached. Thus
//?
//? G28 X Y72.3
//?
//? will zero the X and Y axes, but not Z. Coordinate values are
//? ignored.
//?
queue_wait();
if (next_target.seen_X) {
#if defined X_MIN_PIN
home_x_negative();
#elif defined X_MAX_PIN
home_x_positive();
#endif
axisSelected = 1;
}
if (next_target.seen_Y) {
#if defined Y_MIN_PIN
home_y_negative();
#elif defined Y_MAX_PIN
home_y_positive();
#endif
axisSelected = 1;
}
if (next_target.seen_Z) {
#if defined Z_MIN_PIN
home_z_negative();
#elif defined Z_MAX_PIN
home_z_positive();
#endif
axisSelected = 1;
}
// there's no point in moving E, as E has no endstops
if (!axisSelected) {
home();
}
break;
case 90:
//? --- G90: Set to Absolute Positioning ---
//?
//? Example: G90
//?
//? All coordinates from now on are absolute relative to the origin
//? of the machine. This is the RepRap default.
//?
//? If you ever want to switch back and forth between relative and
//? absolute movement keep in mind, X, Y and Z follow the machine's
//? coordinate system while E doesn't change it's position in the
//? coordinate system on relative movements.
//?
// No wait_queue() needed.
next_target.option_all_relative = 0;
break;
case 91:
//? --- G91: Set to Relative Positioning ---
//?
//? Example: G91
//?
//? All coordinates from now on are relative to the last position.
//?
// No wait_queue() needed.
next_target.option_all_relative = 1;
break;
case 92:
//? --- G92: Set Position ---
//?
//? Example: G92 X10 E90
//?
//? Allows programming of absolute zero point, by reseting the current position to the values specified. This would set the machine's X coordinate to 10, and the extrude coordinate to 90. No physical motion will occur.
//?
queue_wait();
if (next_target.seen_X) {
startpoint.axis[X] = next_target.target.axis[X];
axisSelected = 1;
}
if (next_target.seen_Y) {
startpoint.axis[Y] = next_target.target.axis[Y];
axisSelected = 1;
}
if (next_target.seen_Z) {
startpoint.axis[Z] = next_target.target.axis[Z];
axisSelected = 1;
}
if (next_target.seen_E) {
startpoint.axis[E] = next_target.target.axis[E];
axisSelected = 1;
}
if (axisSelected == 0) {
startpoint.axis[X] = next_target.target.axis[X] =
startpoint.axis[Y] = next_target.target.axis[Y] =
startpoint.axis[Z] = next_target.target.axis[Z] =
startpoint.axis[E] = next_target.target.axis[E] = 0;
}
dda_new_startpoint();
break;
case 161:
//? --- G161: Home negative ---
//?
//? Find the minimum limit of the specified axes by searching for the limit switch.
//?
#if defined X_MIN_PIN
if (next_target.seen_X)
home_x_negative();
#endif
#if defined Y_MIN_PIN
if (next_target.seen_Y)
home_y_negative();
#endif
#if defined Z_MIN_PIN
if (next_target.seen_Z)
home_z_negative();
#endif
break;
case 162:
//? --- G162: Home positive ---
//?
//? Find the maximum limit of the specified axes by searching for the limit switch.
//?
#if defined X_MAX_PIN
if (next_target.seen_X)
home_x_positive();
#endif
#if defined Y_MAX_PIN
if (next_target.seen_Y)
home_y_positive();
#endif
#if defined Z_MAX_PIN
if (next_target.seen_Z)
home_z_positive();
#endif
break;
// unknown gcode: spit an error
default:
sersendf_P(PSTR("E: Bad G-code %d\n"), next_target.G);
return;
}
}
else if (next_target.seen_M) {
uint8_t i;
switch (next_target.M) {
case 0:
//? --- M0: machine stop ---
//?
//? Example: M0
//?
//? http://linuxcnc.org/handbook/RS274NGC_3/RS274NGC_33a.html#1002379
//? Unimplemented, especially the restart after the stop. Fall trough to M2.
//?
case 2:
case 84: // For compatibility with slic3rs default end G-code.
//? --- M2: program end ---
//?
//? Example: M2
//?
//? http://linuxcnc.org/handbook/RS274NGC_3/RS274NGC_33a.html#1002379
//?
queue_wait();
for (i = 0; i < NUM_HEATERS; i++)
temp_set(i, 0);
power_off();
serial_writestr_P(PSTR("\nstop\n"));
break;
case 6:
//? --- M6: tool change ---
//?
//? Undocumented.
tool = next_tool;
break;
#ifdef SD
case 20:
//? --- M20: list SD card. ---
sd_list("/");
break;
case 21:
//? --- M21: initialise SD card. ---
//?
//? Has to be done before doing any other operation, including M20.
sd_mount();
break;
case 22:
//? --- M22: release SD card. ---
//?
//? Not mandatory. Just removing the card is fine, but results in
//? odd behaviour when trying to read from the card anyways. M22
//? makes also sure SD card printing is disabled, even with the card
//? inserted.
sd_unmount();
break;
case 23:
//? --- M23: select file. ---
//?
//? This opens a file for reading. This file is valid up to M22 or up
//? to the next M23.
sd_open(gcode_str_buf);
break;
case 24:
//? --- M24: start/resume SD print. ---
//?
//? This makes the SD card available as a G-code source. File is the
//? one selected with M23.
gcode_sources |= GCODE_SOURCE_SD;
break;
case 25:
//? --- M25: pause SD print. ---
//?
//? This removes the SD card from the bitfield of available G-code
//? sources. The file is kept open. The position inside the file
//? is kept as well, to allow resuming.
gcode_sources &= ! GCODE_SOURCE_SD;
break;
#endif /* SD */
case 82:
//? --- M82 - Set E codes absolute ---
//?
//? This is the default and overrides G90/G91.
//? M82/M83 is not documented in the RepRap wiki, behaviour
//? was taken from Sprinter as of March 2012.
//?
//? While E does relative movements, it doesn't change its
//? position in the coordinate system. See also comment on G90.
//?
// No wait_queue() needed.
next_target.option_e_relative = 0;
break;
case 83:
//? --- M83 - Set E codes relative ---
//?
//? Counterpart to M82.
//?
// No wait_queue() needed.
next_target.option_e_relative = 1;
break;
// M3/M101- extruder on
case 3:
case 101:
//? --- M101: extruder on ---
//?
//? Undocumented.
temp_wait();
#ifdef DC_EXTRUDER
heater_set(DC_EXTRUDER, DC_EXTRUDER_PWM);
#endif
break;
// M5/M103- extruder off
case 5:
case 103:
//? --- M103: extruder off ---
//?
//? Undocumented.
#ifdef DC_EXTRUDER
heater_set(DC_EXTRUDER, 0);
#endif
break;
case 104:
//? --- M104: Set Extruder Temperature (Fast) ---
//?
//? Example: M104 S190
//?
//? Set the temperature of the current extruder to 190<sup>o</sup>C
//? and return control to the host immediately (''i.e.'' before that
//? temperature has been reached by the extruder). For waiting, see M116.
//?
//? Teacup supports an optional P parameter as a zero-based temperature
//? sensor index to address (e.g. M104 P1 S100 will set the temperature
//? of the heater connected to the second temperature sensor rather
//? than the extruder temperature).
//?
if ( ! next_target.seen_S)
break;
if ( ! next_target.seen_P)
#ifdef HEATER_EXTRUDER
next_target.P = HEATER_EXTRUDER;
#else
next_target.P = 0;
#endif
temp_set(next_target.P, next_target.S);
break;
case 105:
//? --- M105: Get Temperature(s) ---
//?
//? Example: M105
//?
//? Request the temperature of the current extruder and the build base
//? in degrees Celsius. For example, the line sent to the host in
//? response to this command looks like
//?
//? <tt>ok T:201 B:117</tt>
//?
//? Teacup supports an optional P parameter as a zero-based temperature
//? sensor index to address.
//?
#ifdef ENFORCE_ORDER
queue_wait();
#endif
if ( ! next_target.seen_P)
next_target.P = TEMP_SENSOR_none;
temp_print(next_target.P);
break;
case 7:
case 106:
//? --- M106: Set Fan Speed / Set Device Power ---
//?
//? Example: M106 S120
//?
//? Control the cooling fan (if any).
//?
//? Teacup supports an optional P parameter as a zero-based heater
//? index to address. The heater index can differ from the temperature
//? sensor index, see config.h.
#ifdef ENFORCE_ORDER
// wait for all moves to complete
queue_wait();
#endif
if ( ! next_target.seen_P)
#ifdef HEATER_FAN
next_target.P = HEATER_FAN;
#else
next_target.P = 0;
#endif
if ( ! next_target.seen_S)
break;
heater_set(next_target.P, next_target.S);
break;
case 110:
//? --- M110: Set Current Line Number ---
//?
//? Example: N123 M110
//?
//? Set the current line number to 123. Thus the expected next line after this command will be 124.
//? This is a no-op in Teacup.
//?
break;
#ifdef DEBUG
case 111:
//? --- M111: Set Debug Level ---
//?
//? Example: M111 S6
//?
//? Set the level of debugging information transmitted back to the host to level 6. The level is the OR of three bits:
//?
//? <Pre>
//? #define DEBUG_PID 1
//? #define DEBUG_DDA 2
//? #define DEBUG_POSITION 4
//? </pre>
//?
//? This command is only available in DEBUG builds of Teacup.
if ( ! next_target.seen_S)
break;
debug_flags = next_target.S;
break;
#endif /* DEBUG */
case 112:
//? --- M112: Emergency Stop ---
//?
//? Example: M112
//?
//? Any moves in progress are immediately terminated, then the printer
//? shuts down. All motors and heaters are turned off. Only way to
//? restart is to press the reset button on the master microcontroller.
//? See also M0.
//?
timer_stop();
queue_flush();
power_off();
cli();
for (;;)
wd_reset();
break;
case 114:
//? --- M114: Get Current Position ---
//?
//? Example: M114
//?
//? This causes the RepRap machine to report its current X, Y, Z and E coordinates to the host.
//?
//? For example, the machine returns a string such as:
//?
//? <tt>ok C: X:0.00 Y:0.00 Z:0.00 E:0.00</tt>
//?
#ifdef ENFORCE_ORDER
// wait for all moves to complete
queue_wait();
#endif
update_current_position();
sersendf_P(PSTR("X:%lq,Y:%lq,Z:%lq,E:%lq,F:%lu\n"),
current_position.axis[X], current_position.axis[Y],
current_position.axis[Z], current_position.axis[E],
current_position.F);
if (mb_tail_dda != NULL) {
if (DEBUG_POSITION && (debug_flags & DEBUG_POSITION)) {
sersendf_P(PSTR("Endpoint: X:%ld,Y:%ld,Z:%ld,E:%ld,F:%lu,c:%lu}\n"),
mb_tail_dda->endpoint.axis[X],
mb_tail_dda->endpoint.axis[Y],
mb_tail_dda->endpoint.axis[Z],
mb_tail_dda->endpoint.axis[E],
mb_tail_dda->endpoint.F,
#ifdef ACCELERATION_REPRAP
mb_tail_dda->end_c
#else
mb_tail_dda->c
#endif
);
}
print_queue();
}
break;
case 115:
//? --- M115: Get Firmware Version and Capabilities ---
//?
//? Example: M115
//?
//? Request the Firmware Version and Capabilities of the current microcontroller
//? The details are returned to the host computer as key:value pairs separated by spaces and terminated with a linefeed.
//?
//? sample data from firmware:
//? FIRMWARE_NAME:Teacup FIRMWARE_URL:http://github.com/traumflug/Teacup_Firmware/ PROTOCOL_VERSION:1.0 MACHINE_TYPE:Mendel EXTRUDER_COUNT:1 TEMP_SENSOR_COUNT:1 HEATER_COUNT:1
//?
sersendf_P(PSTR("FIRMWARE_NAME:Teacup FIRMWARE_URL:http://github.com/traumflug/Teacup_Firmware/ PROTOCOL_VERSION:1.0 MACHINE_TYPE:Mendel EXTRUDER_COUNT:%d TEMP_SENSOR_COUNT:%d HEATER_COUNT:%d\n"), 1, NUM_TEMP_SENSORS, NUM_HEATERS);
break;
case 116:
//? --- M116: Wait ---
//?
//? Example: M116
//?
//? Wait for temperatures and other slowly-changing variables to arrive at their set values.
temp_set_wait();
break;
case 119:
//? --- M119: report endstop status ---
//? Report the current status of the endstops configured in the
//? firmware to the host.
power_on();
endstops_on();
delay_ms(10); // allow the signal to stabilize
{
#if ! (defined(X_MIN_PIN) || defined(X_MAX_PIN) || \
defined(Y_MIN_PIN) || defined(Y_MAX_PIN) || \
defined(Z_MIN_PIN) || defined(Z_MAX_PIN))
serial_writestr_P(PSTR("No endstops defined."));
#else
const char* const open = PSTR("open ");
const char* const triggered = PSTR("triggered ");
#endif
#if defined(X_MIN_PIN)
serial_writestr_P(PSTR("x_min:"));
x_min() ? serial_writestr_P(triggered) : serial_writestr_P(open);
#endif
#if defined(X_MAX_PIN)
serial_writestr_P(PSTR("x_max:"));
x_max() ? serial_writestr_P(triggered) : serial_writestr_P(open);
#endif
#if defined(Y_MIN_PIN)
serial_writestr_P(PSTR("y_min:"));
y_min() ? serial_writestr_P(triggered) : serial_writestr_P(open);
#endif
#if defined(Y_MAX_PIN)
serial_writestr_P(PSTR("y_max:"));
y_max() ? serial_writestr_P(triggered) : serial_writestr_P(open);
#endif
#if defined(Z_MIN_PIN)
serial_writestr_P(PSTR("z_min:"));
z_min() ? serial_writestr_P(triggered) : serial_writestr_P(open);
#endif
#if defined(Z_MAX_PIN)
serial_writestr_P(PSTR("z_max:"));
z_max() ? serial_writestr_P(triggered) : serial_writestr_P(open);
#endif
}
endstops_off();
serial_writechar('\n');
break;
#ifdef EECONFIG
case 130:
//? --- M130: heater P factor ---
//? Undocumented.
// P factor in counts per degreeC of error
if ( ! next_target.seen_P)
#ifdef HEATER_EXTRUDER
next_target.P = HEATER_EXTRUDER;
#else
next_target.P = 0;
#endif
if (next_target.seen_S)
pid_set_p(next_target.P, next_target.S);
break;
case 131:
//? --- M131: heater I factor ---
//? Undocumented.
// I factor in counts per C*s of integrated error
if ( ! next_target.seen_P)
#ifdef HEATER_EXTRUDER
next_target.P = HEATER_EXTRUDER;
#else
next_target.P = 0;
#endif
if (next_target.seen_S)
pid_set_i(next_target.P, next_target.S);
break;
case 132:
//? --- M132: heater D factor ---
//? Undocumented.
// D factor in counts per degreesC/second
if ( ! next_target.seen_P)
#ifdef HEATER_EXTRUDER
next_target.P = HEATER_EXTRUDER;
#else
next_target.P = 0;
#endif
if (next_target.seen_S)
pid_set_d(next_target.P, next_target.S);
break;
case 133:
//? --- M133: heater I limit ---
//? Undocumented.
if ( ! next_target.seen_P)
#ifdef HEATER_EXTRUDER
next_target.P = HEATER_EXTRUDER;
#else
next_target.P = 0;
#endif
if (next_target.seen_S)
pid_set_i_limit(next_target.P, next_target.S);
break;
case 134:
//? --- M134: save PID settings to eeprom ---
//? Undocumented.
heater_save_settings();
break;
#endif /* EECONFIG */
#ifdef DEBUG
case 136:
//? --- M136: PRINT PID settings to host ---
//? Undocumented.
//? This comand is only available in DEBUG builds.
if ( ! next_target.seen_P)
#ifdef HEATER_EXTRUDER
next_target.P = HEATER_EXTRUDER;
#else
next_target.P = 0;
#endif
heater_print(next_target.P);
break;
#endif /* DEBUG */
case 140:
//? --- M140: Set heated bed temperature ---
//? Undocumented.
#ifdef HEATER_BED
if ( ! next_target.seen_S)
break;
temp_set(HEATER_BED, next_target.S);
#endif
break;
case 220:
//? --- M220: Set speed factor override percentage ---
if ( ! next_target.seen_S)
break;
// Scale 100% = 256
next_target.target.f_multiplier = (next_target.S * 64 + 12) / 25;
break;
case 221:
//? --- M221: Control the extruders flow ---
if ( ! next_target.seen_S)
break;
// Scale 100% = 256
next_target.target.e_multiplier = (next_target.S * 64 + 12) / 25;
break;
#ifdef DEBUG
case 240:
//? --- M240: echo off ---
//? Disable echo.
//? This command is only available in DEBUG builds.
debug_flags &= ~DEBUG_ECHO;
serial_writestr_P(PSTR("Echo off\n"));
break;
case 241:
//? --- M241: echo on ---
//? Enable echo.
//? This command is only available in DEBUG builds.
debug_flags |= DEBUG_ECHO;
serial_writestr_P(PSTR("Echo on\n"));
break;
#endif /* DEBUG */
// unknown mcode: spit an error
default:
sersendf_P(PSTR("E: Bad M-code %d\n"), next_target.M);
} // switch (next_target.M)
} // else if (next_target.seen_M)
} // process_gcode_command()
void process_gcode_command() {
uint32_t backup_f;
// convert relative to absolute
if (next_target.option_all_relative) {
next_target.target.X += startpoint.X;
next_target.target.Y += startpoint.Y;
next_target.target.Z += startpoint.Z;
}
// E relative movement.
// Matches Sprinter's behaviour as of March 2012.
if (next_target.option_all_relative || next_target.option_e_relative)
next_target.target.e_relative = 1;
else
next_target.target.e_relative = 0;
// implement axis limits
#ifdef X_MIN
if (next_target.target.X < X_MIN * 1000.)
next_target.target.X = X_MIN * 1000.;
#endif
#ifdef X_MAX
if (next_target.target.X > X_MAX * 1000.)
next_target.target.X = X_MAX * 1000.;
#endif
#ifdef Y_MIN
if (next_target.target.Y < Y_MIN * 1000.)
next_target.target.Y = Y_MIN * 1000.;
#endif
#ifdef Y_MAX
if (next_target.target.Y > Y_MAX * 1000.)
next_target.target.Y = Y_MAX * 1000.;
#endif
#ifdef Z_MIN
if (next_target.target.Z < Z_MIN * 1000.)
next_target.target.Z = Z_MIN * 1000.;
#endif
#ifdef Z_MAX
if (next_target.target.Z > Z_MAX * 1000.)
next_target.target.Z = Z_MAX * 1000.;
#endif
// The GCode documentation was taken from http://reprap.org/wiki/Gcode .
if (next_target.seen_T) {
//? --- T: Select Tool ---
//?
//? Example: T1
//?
//? Select extruder number 1 to build with. Extruder numbering starts at 0.
next_tool = next_target.T;
}
if (next_target.seen_G) {
uint8_t axisSelected = 0;
switch (next_target.G) {
case 0:
//? G0: Rapid Linear Motion
//?
//? Example: G0 X12
//?
//? In this case move rapidly to X = 12 mm. In fact, the RepRap firmware uses exactly the same code for rapid as it uses for controlled moves (see G1 below), as - for the RepRap machine - this is just as efficient as not doing so. (The distinction comes from some old machine tools that used to move faster if the axes were not driven in a straight line. For them G0 allowed any movement in space to get to the destination as fast as possible.)
//?
backup_f = next_target.target.F;
next_target.target.F = MAXIMUM_FEEDRATE_X * 2L;
enqueue(&next_target.target);
next_target.target.F = backup_f;
break;
case 1:
//? --- G1: Linear Motion at Feed Rate ---
//?
//? Example: G1 X90.6 Y13.8 E22.4
//?
//? Go in a straight line from the current (X, Y) point to the point (90.6, 13.8), extruding material as the move happens from the current extruded length to a length of 22.4 mm.
//?
enqueue(&next_target.target);
break;
// G2 - Arc Clockwise
// unimplemented
// G3 - Arc Counter-clockwise
// unimplemented
case 4:
//? --- G4: Dwell ---
//?
//? Example: G4 P200
//?
//? In this case sit still doing nothing for 200 milliseconds. During delays the state of the machine (for example the temperatures of its extruders) will still be preserved and controlled.
//?
queue_wait();
// delay
if (next_target.seen_P) {
for (;next_target.P > 0;next_target.P--) {
clock();
delay_ms(1);
}
}
break;
case 20:
//? --- G20: Set Units to Inches ---
//?
//? Example: G20
//?
//? Units from now on are in inches.
//?
next_target.option_inches = 1;
break;
case 21:
//? --- G21: Set Units to Millimeters ---
//?
//? Example: G21
//?
//? Units from now on are in millimeters. (This is the RepRap default.)
//?
next_target.option_inches = 0;
break;
case 30:
//? --- G30: Go home via point ---
//?
//? Undocumented.
enqueue(&next_target.target);
// no break here, G30 is move and then go home
case 28:
//? --- G28: Home ---
//?
//? Example: G28
//?
//? This causes the RepRap machine to move back to its X, Y and Z zero endstops. It does so accelerating, so as to get there fast. But when it arrives it backs off by 1 mm in each direction slowly, then moves back slowly to the stop. This ensures more accurate positioning.
//?
//? If you add coordinates, then just the axes with coordinates specified will be zeroed. Thus
//?
//? G28 X0 Y72.3
//?
//? will zero the X and Y axes, but not Z. The actual coordinate values are ignored.
//?
queue_wait();
if (next_target.seen_X) {
#if defined X_MIN_PIN
home_x_negative();
#elif defined X_MAX_PIN
home_x_positive();
#endif
axisSelected = 1;
}
if (next_target.seen_Y) {
#if defined Y_MIN_PIN
home_y_negative();
#elif defined Y_MAX_PIN
home_y_positive();
#endif
axisSelected = 1;
}
if (next_target.seen_Z) {
#if defined Z_MAX_PIN
home_z_positive();
#elif defined Z_MIN_PIN
home_z_negative();
#endif
axisSelected = 1;
}
// there's no point in moving E, as E has no endstops
if (!axisSelected) {
home();
}
break;
case 90:
//? --- G90: Set to Absolute Positioning ---
//?
//? Example: G90
//?
//? All coordinates from now on are absolute relative to the origin
//? of the machine. This is the RepRap default.
//?
//? If you ever want to switch back and forth between relative and
//? absolute movement keep in mind, X, Y and Z follow the machine's
//? coordinate system while E doesn't change it's position in the
//? coordinate system on relative movements.
//?
// No wait_queue() needed.
next_target.option_all_relative = 0;
break;
case 91:
//? --- G91: Set to Relative Positioning ---
//?
//? Example: G91
//?
//? All coordinates from now on are relative to the last position.
//?
// No wait_queue() needed.
next_target.option_all_relative = 1;
break;
case 92:
//? --- G92: Set Position ---
//?
//? Example: G92 X10 E90
//?
//? Allows programming of absolute zero point, by reseting the current position to the values specified. This would set the machine's X coordinate to 10, and the extrude coordinate to 90. No physical motion will occur.
//?
queue_wait();
if (next_target.seen_X) {
startpoint.X = next_target.target.X;
axisSelected = 1;
}
if (next_target.seen_Y) {
startpoint.Y = next_target.target.Y;
axisSelected = 1;
}
if (next_target.seen_Z) {
startpoint.Z = next_target.target.Z;
axisSelected = 1;
}
if (next_target.seen_E) {
startpoint.E = next_target.target.E;
axisSelected = 1;
}
if (axisSelected == 0) {
startpoint.X = next_target.target.X =
startpoint.Y = next_target.target.Y =
startpoint.Z = next_target.target.Z =
startpoint.E = next_target.target.E = 0;
}
dda_new_startpoint();
break;
case 161:
//? --- G161: Home negative ---
//?
//? Find the minimum limit of the specified axes by searching for the limit switch.
//?
if (next_target.seen_X)
home_x_negative();
if (next_target.seen_Y)
home_y_negative();
if (next_target.seen_Z)
home_z_negative();
break;
case 162:
//? --- G162: Home positive ---
//?
//? Find the maximum limit of the specified axes by searching for the limit switch.
//?
if (next_target.seen_X)
home_x_positive();
if (next_target.seen_Y)
home_y_positive();
if (next_target.seen_Z)
home_z_positive();
break;
// unknown gcode: spit an error
default:
sersendf_P(PSTR("E: Bad G-code %d"), next_target.G);
// newline is sent from gcode_parse after we return
return;
}
}
else if (next_target.seen_M) {
uint8_t i;
switch (next_target.M) {
case 0:
//? --- M0: machine stop ---
//?
//? Example: M0
//?
//? http://linuxcnc.org/handbook/RS274NGC_3/RS274NGC_33a.html#1002379
//? Unimplemented, especially the restart after the stop. Fall trough to M2.
//?
case 2:
case 84: // For compatibility with slic3rs default end G-code.
//? --- M2: program end ---
//?
//? Example: M2
//?
//? http://linuxcnc.org/handbook/RS274NGC_3/RS274NGC_33a.html#1002379
//?
queue_wait();
for (i = 0; i < NUM_HEATERS; i++)
temp_set(i, 0);
power_off();
break;
case 112:
//? --- M112: Emergency Stop ---
//?
//? Example: M112
//?
//? Any moves in progress are immediately terminated, then RepRap shuts down. All motors and heaters are turned off.
//? It can be started again by pressing the reset button on the master microcontroller. See also M0.
//?
timer_stop();
queue_flush();
power_off();
cli();
for (;;)
wd_reset();
break;
case 6:
//? --- M6: tool change ---
//?
//? Undocumented.
tool = next_tool;
break;
case 82:
//? --- M82 - Set E codes absolute ---
//?
//? This is the default and overrides G90/G91.
//? M82/M83 is not documented in the RepRap wiki, behaviour
//? was taken from Sprinter as of March 2012.
//?
//? While E does relative movements, it doesn't change its
//? position in the coordinate system. See also comment on G90.
//?
// No wait_queue() needed.
next_target.option_e_relative = 0;
break;
case 83:
//? --- M83 - Set E codes relative ---
//?
//? Counterpart to M82.
//?
// No wait_queue() needed.
next_target.option_e_relative = 1;
break;
// M3/M101- extruder on
case 3:
case 101:
//? --- M101: extruder on ---
//?
//? Undocumented.
if (temp_achieved() == 0) {
enqueue(NULL);
}
#ifdef DC_EXTRUDER
heater_set(DC_EXTRUDER, DC_EXTRUDER_PWM);
#elif E_STARTSTOP_STEPS > 0
do {
// backup feedrate, move E very quickly then restore feedrate
backup_f = startpoint.F;
startpoint.F = MAXIMUM_FEEDRATE_E;
SpecialMoveE(E_STARTSTOP_STEPS, MAXIMUM_FEEDRATE_E);
startpoint.F = backup_f;
} while (0);
#endif
break;
// M102- extruder reverse
// M5/M103- extruder off
case 5:
case 103:
//? --- M103: extruder off ---
//?
//? Undocumented.
#ifdef DC_EXTRUDER
heater_set(DC_EXTRUDER, 0);
#elif E_STARTSTOP_STEPS > 0
do {
// backup feedrate, move E very quickly then restore feedrate
backup_f = startpoint.F;
startpoint.F = MAXIMUM_FEEDRATE_E;
SpecialMoveE(-E_STARTSTOP_STEPS, MAXIMUM_FEEDRATE_E);
startpoint.F = backup_f;
} while (0);
#endif
break;
case 104:
//? --- M104: Set Extruder Temperature (Fast) ---
//?
//? Example: M104 S190
//?
//? Set the temperature of the current extruder to 190<sup>o</sup>C
//? and return control to the host immediately (''i.e.'' before that
//? temperature has been reached by the extruder). For waiting, see M116.
//?
//? Teacup supports an optional P parameter as a zero-based temperature
//? sensor index to address (e.g. M104 P1 S100 will set the temperature
//? of the heater connected to the second temperature sensor rather
//? than the extruder temperature).
//?
if ( ! next_target.seen_S)
break;
#ifdef HEATER_EXTRUDER
if ( ! next_target.seen_P)
next_target.P = HEATER_EXTRUDER;
// else use the first available device
#endif
temp_set(next_target.P, next_target.S);
break;
case 105:
//? --- M105: Get Temperature(s) ---
//?
//? Example: M105
//?
//? Request the temperature of the current extruder and the build base
//? in degrees Celsius. For example, the line sent to the host in
//? response to this command looks like
//?
//? <tt>ok T:201 B:117</tt>
//?
//? Teacup supports an optional P parameter as a zero-based temperature
//? sensor index to address.
//?
#ifdef ENFORCE_ORDER
queue_wait();
#endif
if ( ! next_target.seen_P)
next_target.P = TEMP_SENSOR_none;
temp_print(next_target.P);
break;
case 7:
case 106:
//? --- M106: Set Fan Speed / Set Device Power ---
//?
//? Example: M106 S120
//?
//? Control the cooling fan (if any).
//?
//? Teacup supports an optional P parameter as a zero-based heater
//? index to address. The heater index can differ from the temperature
//? sensor index, see config.h.
#ifdef ENFORCE_ORDER
// wait for all moves to complete
queue_wait();
#endif
#ifdef HEATER_FAN
if ( ! next_target.seen_P)
next_target.P = HEATER_FAN;
// else use the first available device
#endif
if ( ! next_target.seen_S)
break;
heater_set(next_target.P, next_target.S);
break;
case 110:
//? --- M110: Set Current Line Number ---
//?
//? Example: N123 M110
//?
//? Set the current line number to 123. Thus the expected next line after this command will be 124.
//? This is a no-op in Teacup.
//?
break;
#ifdef DEBUG
case 111:
//? --- M111: Set Debug Level ---
//?
//? Example: M111 S6
//?
//? Set the level of debugging information transmitted back to the host to level 6. The level is the OR of three bits:
//?
//? <Pre>
//? #define DEBUG_PID 1
//? #define DEBUG_DDA 2
//? #define DEBUG_POSITION 4
//? </pre>
//?
//? This command is only available in DEBUG builds of Teacup.
if ( ! next_target.seen_S)
break;
debug_flags = next_target.S;
break;
#endif
case 114:
//? --- M114: Get Current Position ---
//?
//? Example: M114
//?
//? This causes the RepRap machine to report its current X, Y, Z and E coordinates to the host.
//?
//? For example, the machine returns a string such as:
//?
//? <tt>ok C: X:0.00 Y:0.00 Z:0.00 E:0.00</tt>
//?
#ifdef ENFORCE_ORDER
// wait for all moves to complete
queue_wait();
#endif
update_current_position();
sersendf_P(PSTR("X:%lq,Y:%lq,Z:%lq,E:%lq,F:%lu"),
current_position.X, current_position.Y,
current_position.Z, current_position.E,
current_position.F);
#ifdef DEBUG
if (DEBUG_POSITION && (debug_flags & DEBUG_POSITION)) {
sersendf_P(PSTR(",c:%lu}\nEndpoint: X:%ld,Y:%ld,Z:%ld,E:%ld,F:%lu,c:%lu}"),
movebuffer[mb_tail].c, movebuffer[mb_tail].endpoint.X,
movebuffer[mb_tail].endpoint.Y, movebuffer[mb_tail].endpoint.Z,
movebuffer[mb_tail].endpoint.E, movebuffer[mb_tail].endpoint.F,
#ifdef ACCELERATION_REPRAP
movebuffer[mb_tail].end_c
#else
movebuffer[mb_tail].c
#endif
);
print_queue();
}
#endif /* DEBUG */
// newline is sent from gcode_parse after we return
break;
case 115:
//? --- M115: Get Firmware Version and Capabilities ---
//?
//? Example: M115
//?
//? Request the Firmware Version and Capabilities of the current microcontroller
//? The details are returned to the host computer as key:value pairs separated by spaces and terminated with a linefeed.
//?
//? sample data from firmware:
//? FIRMWARE_NAME:Teacup FIRMWARE_URL:http://github.com/triffid/Teacup_Firmware/ PROTOCOL_VERSION:1.0 MACHINE_TYPE:Mendel EXTRUDER_COUNT:1 TEMP_SENSOR_COUNT:1 HEATER_COUNT:1
//?
sersendf_P(PSTR("FIRMWARE_NAME:Teacup FIRMWARE_URL:http://github.com/triffid/Teacup_Firmware/ PROTOCOL_VERSION:1.0 MACHINE_TYPE:Mendel EXTRUDER_COUNT:%d TEMP_SENSOR_COUNT:%d HEATER_COUNT:%d"), 1, NUM_TEMP_SENSORS, NUM_HEATERS);
// newline is sent from gcode_parse after we return
break;
case 116:
//? --- M116: Wait ---
//?
//? Example: M116
//?
//? Wait for temperatures and other slowly-changing variables to arrive at their set values.
enqueue(NULL);
break;
case 119:
//? --- M119: report endstop status ---
//? Report the current status of the endstops configured in the
//? firmware to the host.
power_on();
endstops_on();
delay_ms(10); // allow the signal to stabilize
#if defined(X_MIN_PIN)
sersendf_P(PSTR("x_min:%d "), x_min());
#endif
#if defined(X_MAX_PIN)
sersendf_P(PSTR("x_max:%d "), x_max());
#endif
#if defined(Y_MIN_PIN)
sersendf_P(PSTR("y_min:%d "), y_min());
#endif
#if defined(Y_MAX_PIN)
sersendf_P(PSTR("y_max:%d "), y_max());
#endif
#if defined(Z_MIN_PIN)
sersendf_P(PSTR("z_min:%d "), z_min());
#endif
#if defined(Z_MAX_PIN)
sersendf_P(PSTR("z_max:%d "), z_max());
#endif
#if ! (defined(X_MIN_PIN) || defined(X_MAX_PIN) || \
defined(Y_MIN_PIN) || defined(Y_MAX_PIN) || \
defined(Z_MIN_PIN) || defined(Z_MAX_PIN))
sersendf_P(PSTR("no endstops defined"));
#endif
endstops_off();
break;
#ifdef EECONFIG
case 130:
//? --- M130: heater P factor ---
//? Undocumented.
#ifdef HEATER_EXTRUDER
if ( ! next_target.seen_P)
next_target.P = HEATER_EXTRUDER;
// else use the first available device
#endif
if (next_target.seen_S)
pid_set_p(next_target.P, next_target.S);
break;
case 131:
//? --- M131: heater I factor ---
//? Undocumented.
#ifdef HEATER_EXTRUDER
if ( ! next_target.seen_P)
next_target.P = HEATER_EXTRUDER;
#endif
if (next_target.seen_S)
pid_set_i(next_target.P, next_target.S);
break;
case 132:
//? --- M132: heater D factor ---
//? Undocumented.
#ifdef HEATER_EXTRUDER
if ( ! next_target.seen_P)
next_target.P = HEATER_EXTRUDER;
#endif
if (next_target.seen_S)
pid_set_d(next_target.P, next_target.S);
break;
case 133:
//? --- M133: heater I limit ---
//? Undocumented.
#ifdef HEATER_EXTRUDER
if ( ! next_target.seen_P)
next_target.P = HEATER_EXTRUDER;
#endif
if (next_target.seen_S)
pid_set_i_limit(next_target.P, next_target.S);
break;
case 134:
//? --- M134: save PID settings to eeprom ---
//? Undocumented.
heater_save_settings();
break;
#endif /* EECONFIG */
#ifdef DEBUG
case 136:
//? --- M136: PRINT PID settings to host ---
//? Undocumented.
//? This comand is only available in DEBUG builds.
if ( ! next_target.seen_P)
next_target.P = HEATER_EXTRUDER;
heater_print(next_target.P);
break;
#endif
case 140:
//? --- M140: Set heated bed temperature ---
//? Undocumented.
#ifdef HEATER_BED
if ( ! next_target.seen_S)
break;
temp_set(HEATER_BED, next_target.S);
#endif
break;
#ifdef DEBUG
case 240:
//? --- M240: echo off ---
//? Disable echo.
//? This command is only available in DEBUG builds.
debug_flags &= ~DEBUG_ECHO;
serial_writestr_P(PSTR("Echo off"));
// newline is sent from gcode_parse after we return
break;
case 241:
//? --- M241: echo on ---
//? Enable echo.
//? This command is only available in DEBUG builds.
debug_flags |= DEBUG_ECHO;
serial_writestr_P(PSTR("Echo on"));
// newline is sent from gcode_parse after we return
break;
#endif /* DEBUG */
// unknown mcode: spit an error
default:
sersendf_P(PSTR("E: Bad M-code %d"), next_target.M);
// newline is sent from gcode_parse after we return
} // switch (next_target.M)
} // else if (next_target.seen_M)
} // process_gcode_command()
