extern "C" uint32_t __malloc_free_list;
extern "C" uint32_t _sbrk(int size);
+
// command lookup table
const SimpleShell::ptentry_t SimpleShell::commands_table[] = {
{"ls", SimpleShell::ls_command},
{"cat", SimpleShell::cat_command},
{"rm", SimpleShell::rm_command},
{"mv", SimpleShell::mv_command},
+ {"mkdir", SimpleShell::mkdir_command},
{"upload", SimpleShell::upload_command},
{"reset", SimpleShell::reset_command},
{"dfu", SimpleShell::dfu_command},
break;
case 'H':
- THEKERNEL->call_event(ON_HALT, (void *)1); // clears on_halt
+ if(THEKERNEL->is_halted()) THEKERNEL->call_event(ON_HALT, (void *)1); // clears on_halt
if(THEKERNEL->is_grbl_mode()) {
// issue G28.2 which is force homing cycle
Gcode gcode("G28.2", new_message.stream);
Gcode gcode("G28", new_message.stream);
THEKERNEL->call_event(ON_GCODE_RECEIVED, &gcode);
}
+ new_message.stream->printf("ok\n");
break;
default:
} else if (cmd == "play" || cmd == "progress" || cmd == "abort" || cmd == "suspend" || cmd == "resume") {
// these are handled by Player module
+ } else if (cmd == "fire") {
+ // these are handled by Laser module
+
} else if (cmd == "ok") {
// probably an echo so reply ok
new_message.stream->printf("ok\n");
else stream->printf("renamed %s to %s\r\n", from.c_str(), to.c_str());
}
+// Create a new directory
+void SimpleShell::mkdir_command( string parameters, StreamOutput *stream )
+{
+ string path = absolute_from_relative(shift_parameter( parameters ));
+ int result = mkdir(path.c_str(), 0);
+ if (result != 0) stream->printf("could not create directory %s\r\n", path.c_str());
+ else stream->printf("created directory %s\r\n", path.c_str());
+}
+
// Change current absolute path to provided path
void SimpleShell::cd_command( string parameters, StreamOutput *stream )
{
AHB1.debug(stream);
}
- stream->printf("Block size: %u bytes\n", sizeof(Block));
+ stream->printf("Block size: %u bytes, Tickinfo size: %u bytes\n", sizeof(Block), sizeof(Block::tickinfo_t) * Block::n_actuators);
}
static uint32_t getDeviceType()
const char *mcu = (dev & 0x00100000) ? "LPC1769" : "LPC1768";
stream->printf("Build version: %s, Build date: %s, MCU: %s, System Clock: %ldMHz\r\n", vers.get_build(), vers.get_build_date(), mcu, SystemCoreClock / 1000000);
#ifdef CNC
- stream->printf(" CNC Build\r\n");
+ stream->printf(" CNC Build ");
+ #endif
+ #ifdef DISABLEMSD
+ stream->printf(" NOMSD Build\r\n");
#endif
+ stream->printf("%d axis\n", MAX_ROBOT_ACTUATORS);
}
// Reset the system
}
} else if (what == "pos") {
- // convenience to call all the various M114 variants
- char buf[64];
- THEROBOT->print_position(0, buf, sizeof buf); stream->printf("last %s\n", buf);
- THEROBOT->print_position(1, buf, sizeof buf); stream->printf("realtime %s\n", buf);
- THEROBOT->print_position(2, buf, sizeof buf); stream->printf("%s\n", buf);
- THEROBOT->print_position(3, buf, sizeof buf); stream->printf("%s\n", buf);
- THEROBOT->print_position(4, buf, sizeof buf); stream->printf("%s\n", buf);
- THEROBOT->print_position(5, buf, sizeof buf); stream->printf("%s\n", buf);
+ // convenience to call all the various M114 variants, shows ABC axis where relevant
+ std::string buf;
+ THEROBOT->print_position(0, buf); stream->printf("last %s\n", buf.c_str()); buf.clear();
+ THEROBOT->print_position(1, buf); stream->printf("realtime %s\n", buf.c_str()); buf.clear();
+ THEROBOT->print_position(2, buf); stream->printf("%s\n", buf.c_str()); buf.clear();
+ THEROBOT->print_position(3, buf); stream->printf("%s\n", buf.c_str()); buf.clear();
+ THEROBOT->print_position(4, buf); stream->printf("%s\n", buf.c_str()); buf.clear();
+ THEROBOT->print_position(5, buf); stream->printf("%s\n", buf.c_str()); buf.clear();
} else if (what == "wcs") {
// print the wcs state
} else if (what == "state") {
// also $G
// [G0 G54 G17 G21 G90 G94 M0 M5 M9 T0 F0.]
- stream->printf("[G%d %s G%d G%d G%d G94 M0 M5 M9 T%d F%1.4f]\n",
+ stream->printf("[G%d %s G%d G%d G%d G94 M0 M5 M9 T%d F%1.4f S%1.4f]\n",
THEKERNEL->gcode_dispatch->get_modal_command(),
wcs2gcode(THEROBOT->get_current_wcs()).c_str(),
THEROBOT->plane_axis_0 == X_AXIS && THEROBOT->plane_axis_1 == Y_AXIS && THEROBOT->plane_axis_2 == Z_AXIS ? 17 :
THEROBOT->inch_mode ? 20 : 21,
THEROBOT->absolute_mode ? 90 : 91,
get_active_tool(),
- THEROBOT->from_millimeters(THEROBOT->get_feed_rate()));
+ THEROBOT->from_millimeters(THEROBOT->get_feed_rate()),
+ THEROBOT->get_s_value());
} else if (what == "status") {
// also ? on serial and usb
struct SerialMessage message{&StreamOutput::NullStream, cmd};
THEKERNEL->call_event(ON_CONSOLE_LINE_RECEIVED, &message );
if(THEKERNEL->is_halted()) break;
- THECONVEYOR->wait_for_idle();
toggle= !toggle;
}
stream->printf("done\n");
THEROBOT->push_state();
char cmd[64];
- snprintf(cmd, sizeof(cmd), "G91 G0 X%f Y0 F%f", -r, f);
+ snprintf(cmd, sizeof(cmd), "G91 G0 X%f F%f G90", -r, f);
stream->printf("%s\n", cmd);
struct SerialMessage message{&StreamOutput::NullStream, cmd};
THEKERNEL->call_event(ON_CONSOLE_LINE_RECEIVED, &message );
for (uint32_t i = 0; i < n; ++i) {
if(THEKERNEL->is_halted()) break;
- snprintf(cmd, sizeof(cmd), "G2 X%f Y0 I%f J0 F%f", -r, r, f);
+ snprintf(cmd, sizeof(cmd), "G2 I%f J0 F%f", r, f);
stream->printf("%s\n", cmd);
message.message= cmd;
THEKERNEL->call_event(ON_CONSOLE_LINE_RECEIVED, &message );
- THECONVEYOR->wait_for_idle();
}
+
+ // leave it where it started
+ if(!THEKERNEL->is_halted()) {
+ snprintf(cmd, sizeof(cmd), "G91 G0 X%f F%f G90", r, f);
+ stream->printf("%s\n", cmd);
+ struct SerialMessage message{&StreamOutput::NullStream, cmd};
+ THEKERNEL->call_event(ON_CONSOLE_LINE_RECEIVED, &message );
+ }
+
THEROBOT->pop_state();
stream->printf("done\n");
THEKERNEL->call_event(ON_CONSOLE_LINE_RECEIVED, &message );
}
if(THEKERNEL->is_halted()) break;
- THECONVEYOR->wait_for_idle();
- }
+ }
stream->printf("done\n");
}else if (what == "raw") {
return;
}
- uint8_t a= toupper(axis[0]) - 'X';
+ char ax= toupper(axis[0]);
+ uint8_t a= ax >= 'X' ? ax - 'X' : ax - 'A' + 3;
int steps= strtol(stepstr.c_str(), NULL, 10);
bool dir= steps >= 0;
steps= std::abs(steps);
- if(a > Z_AXIS) {
- stream->printf("error: axis must be x y or z\n");
+ if(a > C_AXIS) {
+ stream->printf("error: axis must be x, y, z, a, b, c\n");
+ return;
+ }
+
+ if(a >= THEROBOT->get_number_registered_motors()) {
+ stream->printf("error: axis is out of range\n");
return;
}
HCoop / clinton / Smoothieware.git / blobdiff