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[];
}
