Implementation of g-code commands. More...

#include "commands.h"
#include "movement/planner.h"
#include "movement/block_handler.h"
#include "hardware/steppers.h"
#include "temperature/temperature.h"
#include "util/delays.h"
#include <math.h>
#include <stdbool.h>

Defines
#define	MIN_TEMP_C 0.0
	The lowest possible temperature that can be set for the nozzle and the print bed in degrees celcius.
#define	MAX_TEMP_C 300.0
	The highest possible temperature that can be set for the nozzle and the print bed in degrees celcius.
Functions
static void	ok (cmd_response_t *r)
	Initializes a cmd_reponse_t structure to be an 'OK' response.
static void	invalid (cmd_response_t r, char info)
	Initializes a cmd_reponse_t structure to be an 'invalid' response.
static void	temperatures (cmd_response_t *r, float t, float b)
	Initializes a cmd_reponse_t structure to be a 'temperatures' response.
static void	coordinates (cmd_response_t *r, float x, float y, float z, float e)
	Initializes a cmd_reponse_t structure to be a 'coordinates' response.
void	cmd_init ()
	Initializes the command component.
void	cmd_controlled_move (cmd_response_t *r, float x, float y, float z, float e, float f)
	G1: Controlled move (buffered)
void	cmd_set_units_inches (cmd_response_t *r)
	G20: Set Units to Inches.
void	cmd_set_units_millimeters (cmd_response_t *r)
	G21: Set Units to Millimeters.
void	cmd_move_to_origin (cmd_response_t *r, bool x, bool y, bool z)
	G28: Move to Origin (buffered)
void	cmd_set_absolute_positioning (cmd_response_t *r)
	G90: Set to absolute positioning (unbuffered)
void	cmd_set_relative_positioning (cmd_response_t *r)
	G91: Set to relative positioning (unbuffered)
void	cmd_set_position (cmd_response_t *r, float x, float y, float z, float e)
	G92: Set Position.
void	cmd_stop_idle_hold (cmd_response_t *r)
	M84: Stop idle hold (unbuffered)
static bool	_is_valid_temperature (float c)
void	cmd_set_extruder_temp_async (cmd_response_t *r, float c)
	M104: Set nozzle temperature (non-blocking)
void	cmd_read_nozzle_and_printbed_temp (cmd_response_t *r)
	M105: Read extruder and printbed temperature.
void	cmd_set_extruder_temp_sync (cmd_response_t *r, float c)
	M109: Set nozzle temperature (blocking)
void	cmd_set_extruder_pwm (cmd_response_t *r, float s)
	M113: Set extruder PWM.
void	cmd_get_position (cmd_response_t *r)
	M114: Get current position.
static void	nozzle_temperature_wait (void)
	Waits for the nozzle temperature to have been reached.
static void	printbed_temperature_wait (void)
	Waits for the print bed temperature to have been reached.
void	cmd_wait (cmd_response_t *r)
	M116: Wait.
void	cmd_set_printbed_temp_async (cmd_response_t *r, float c)
	M140: Set print bed temperature (non-blocking)
void	cmd_select_tool (cmd_response_t *r, int tool)
	T: Select tool.
Variables
static bool	use_relative_coordinates
	Whether the received coordinates are absolute or relative to the current position.
static speed_t	last_feed_rate
	The feed rate of the last received movement.

Detailed Description

Implementation of g-code commands.

Author:: Pieter Agten (pieter.agten@gmail.com)

Date:: 21 sep 2011

Definition in file commands.c.

Function Documentation

void cmd_controlled_move	(	cmd_response_t *	r,
		float	x,
		float	y,
		float	z,
		float	e,
		float	f
	)

G1: Controlled move (buffered)

Parameters:

r	pointer to a cmd_response_t structure to write the response in
x	determines the x coordinate of the destination position
y	determines the y coordinate of the destination position
z	determines the z coordinate of the destination position
e	determines the e coordinate of the destination position
f	the maximum speed of the movement in mm/min

Go in a straight line from the current position to the specified position, with a maximum feed rate of f. The x, y, z and e values are interpreted as absolute or relative coordinates, depending on whether G90 or G91 was executed.

Definition at line 153 of file commands.c.

void cmd_get_position ( cmd_response_t * r )

M114: Get current position.

Parameters:

r	pointer to a cmd_response_t structure to write the response in

Sends the current virtual x, y, z and e coordinates to the host.

Definition at line 301 of file commands.c.

void cmd_move_to_origin	(	cmd_response_t *	r,
		bool	x,
		bool	y,
		bool	z
	)

G28: Move to Origin (buffered)

Parameters:

r	pointer to a cmd_response_t structure to write the response in
x	whether to move the x axis to its origin
y	whether to move the y axis to its origin
z	whether to move the z axis to its origin

This causes the machine to move one or more of its axes to its origin.

Definition at line 194 of file commands.c.

void cmd_read_nozzle_and_printbed_temp ( cmd_response_t * r )

M105: Read extruder and printbed temperature.

Parameters:

r	pointer to a cmd_response_t structure to write the response in

Reads the current temperature of the nozzle and the print bed in degrees celsius and sends them to the host.

Definition at line 271 of file commands.c.

void cmd_select_tool	(	cmd_response_t *	r,
		int	tool
	)

T: Select tool.

Parameters:

r	pointer to a cmd_response_t structure to write the response in
tool	0-based index of the tool to select

Selects the extruder to build with. Yarf only supports a single extruder, so this command will send an 'invalid' response when called with any tool index other than 0.

Definition at line 369 of file commands.c.

void cmd_set_absolute_positioning ( cmd_response_t * r )

G90: Set to absolute positioning (unbuffered)

Parameters:

r	pointer to a cmd_response_t structure to write the response in

Definition at line 209 of file commands.c.

void cmd_set_extruder_pwm	(	cmd_response_t *	r,
		float	s
	)

M113: Set extruder PWM.

Parameters:

r	pointer to a cmd_response_t structure to write the response in
s	pwm value to which to set the extruder motor

This command is not supported because yarf only supports stepper motors, which do not require a PWM to be set. An 'invalid' response will be sent back to the host if the s value is anything but NAN.

Definition at line 288 of file commands.c.

void cmd_set_extruder_temp_async	(	cmd_response_t *	r,
		float	c
	)

M104: Set nozzle temperature (non-blocking)

Parameters:

r	pointer to a cmd_response_t structure to write the response in
c	temperature in degrees celcius to which to set the nozzle

See also:: cmd_set_extruder_temp_sync; cmd_wait

Sets the temperature of the nozzle to the specified number of degrees and returns control to the host immediately (i.e. before that temperature has been reached by the extruder).

Definition at line 259 of file commands.c.

void cmd_set_extruder_temp_sync	(	cmd_response_t *	r,
		float	c
	)

M109: Set nozzle temperature (blocking)

Parameters:

r	pointer to a cmd_response_t structure to write the response in
c	temperature in degrees celcius to which to set the nozzle

See also:: cmd_set_extruder_temp_async; cmd_wait

Sets the temperature of the nozzle to the specified number of degrees and waits for it to reach that temperature before sending a response back to the host.

Definition at line 278 of file commands.c.

void cmd_set_position	(	cmd_response_t *	r,
		float	x,
		float	y,
		float	z,
		float	e
	)

G92: Set Position.

Parameters:

r	pointer to a cmd_response_t structure to write the response in
x	determines the x coordinate of the position
y	determines the y coordinate of the position
z	determines the z coordinate of the position
e	determines the e coordinate of the position

Sets the current virtual position to the specified position. The x, y, z and e values are interpreted as absolute or relative coordinates, depending on whether G90 or G91 was executed.

Definition at line 225 of file commands.c.

void cmd_set_printbed_temp_async	(	cmd_response_t *	r,
		float	c
	)

M140: Set print bed temperature (non-blocking)

Parameters:

r	pointer to a cmd_response_t structure to write the response in
c	temperature in degrees celcius to which to set the print bed

See also:: cmd_wait

Sets the temperature of the print bed to the specified number of degrees and returns control to the host immediately (i.e. before that temperature has been reached by the extruder).

Definition at line 357 of file commands.c.

void cmd_set_relative_positioning ( cmd_response_t * r )

G91: Set to relative positioning (unbuffered)

Parameters:

r	pointer to a cmd_response_t structure to write the response in

Definition at line 217 of file commands.c.

void cmd_set_units_inches ( cmd_response_t * r )

G20: Set Units to Inches.

Parameters:

r	pointer to a cmd_response_t structure to write the response in

This command is not supported and will send an 'invalid' response when executed.

Definition at line 179 of file commands.c.

void cmd_set_units_millimeters ( cmd_response_t * r )

G21: Set Units to Millimeters.

Parameters:

r	pointer to a cmd_response_t structure to write the response in

Units from now on are in millimeters.

Definition at line 186 of file commands.c.

void cmd_stop_idle_hold ( cmd_response_t * r )

M84: Stop idle hold (unbuffered)

Parameters:

r	pointer to a cmd_response_t structure to write the response in

Stops the idle hold on all axes (including the extruder) by disabling their stepper motors.

Definition at line 245 of file commands.c.

void cmd_wait ( cmd_response_t * r )

M116: Wait.

Parameters:

r	pointer to a cmd_response_t structure to write the response in

Waits for the nozzle and print bed temperatures to reach their set values.

Definition at line 339 of file commands.c.

static void coordinates	(	cmd_response_t *	r,
		float	x,
		float	y,
		float	z,
		float	e
	)		`[static]`

Initializes a cmd_reponse_t structure to be a 'coordinates' response.

Parameters:

r	pointer to the cmd_response_t structure to initialize
x	x coordinate to put in the response
y	y coordinate to put in the response
z	z coordinate to put in the response
e	e coordinate to put in the response

Definition at line 131 of file commands.c.

static void invalid	(	cmd_response_t *	r,
		char *	info
	)		`[static]`

Initializes a cmd_reponse_t structure to be an 'invalid' response.

Parameters:

r	pointer to the cmd_response_t structure to initialize
info	pointer to a string which provides extra information on the reason of the failure

Definition at line 89 of file commands.c.

static void ok ( cmd_response_t * r ) [static]

Initializes a cmd_reponse_t structure to be an 'OK' response.

Parameters:

r	pointer to the cmd_response_t structure to initialize

Definition at line 69 of file commands.c.

static void temperatures	(	cmd_response_t *	r,
		float	t,
		float	b
	)		`[static]`

Initializes a cmd_reponse_t structure to be a 'temperatures' response.

Parameters:

r	pointer to the cmd_response_t structure to initialize
t	temperature value of the nozzle, in degrees celcius
b	temperature value of the print bed, in degrees celcius

Definition at line 109 of file commands.c.

Defines

Functions

Variables

Detailed Description

Function Documentation