diff options
| -rw-r--r-- | docs/G-Codes.md | 2 | ||||
| -rw-r--r-- | klippy/gcode.py | 53 | ||||
| -rw-r--r-- | klippy/homing.py | 4 |
3 files changed, 42 insertions, 17 deletions
diff --git a/docs/G-Codes.md b/docs/G-Codes.md index e2c7ea2c..9e9cd8fe 100644 --- a/docs/G-Codes.md +++ b/docs/G-Codes.md @@ -63,6 +63,8 @@ The following standard commands are supported: - `QUERY_ENDSTOPS`: Probe the axis endstops and report if they are "triggered" or in an "open" state. This command is typically used to verify that an endstop is working correctly. +- `GET_POSITION`: Return information on the current location of the + toolhead. - `RESTART`: This will cause the host software to reload its config and perform an internal reset. This command will not clear error state from the micro-controller (see FIRMWARE_RESTART) nor will it diff --git a/klippy/gcode.py b/klippy/gcode.py index 4c1e4c83..dee03a16 100644 --- a/klippy/gcode.py +++ b/klippy/gcode.py @@ -367,9 +367,9 @@ class GCodeParser: self.run_script(self.extruder.get_activate_gcode(True)) all_handlers = [ 'G1', 'G4', 'G28', 'M18', 'M400', - 'G20', 'M82', 'M83', 'G90', 'G91', 'G92', 'M206', 'M220', 'M221', + 'G20', 'M82', 'M83', 'G90', 'G91', 'G92', 'M114', 'M206', 'M220', 'M221', 'M105', 'M104', 'M109', 'M140', 'M190', 'M106', 'M107', - 'M112', 'M114', 'M115', 'IGNORE', 'QUERY_ENDSTOPS', 'PID_TUNE', + 'M112', 'M115', 'IGNORE', 'QUERY_ENDSTOPS', 'GET_POSITION', 'PID_TUNE', 'RESTART', 'FIRMWARE_RESTART', 'ECHO', 'STATUS', 'HELP'] # G-Code movement commands cmd_G1_aliases = ['G0'] @@ -463,6 +463,12 @@ class GCodeParser: self.base_position[p] = self.last_position[p] - offset if not offsets: self.base_position = list(self.last_position) + cmd_M114_when_not_ready = True + def cmd_M114(self, params): + # Get Current Position + p = [lp - bp for lp, bp in zip(self.last_position, self.base_position)] + p[3] /= self.extrude_factor + self.respond("X:%.3f Y:%.3f Z:%.3f E:%.3f" % tuple(p)) def cmd_M206(self, params): # Set home offset offsets = { self.axis2pos[a]: self.get_float(a, params) @@ -513,17 +519,6 @@ class GCodeParser: def cmd_M112(self, params): # Emergency Stop self.printer.invoke_shutdown("Shutdown due to M112 command") - cmd_M114_when_not_ready = True - def cmd_M114(self, params): - # Get Current Position - if self.toolhead is None: - self.cmd_default(params) - return - raw_pos = homing.query_position(self.toolhead) - self.respond("X:%.3f Y:%.3f Z:%.3f E:%.3f Count %s" % ( - self.last_position[0], self.last_position[1], - self.last_position[2], self.last_position[3], - " ".join(["%s:%d" % (n.upper(), p) for n, p in raw_pos]))) cmd_M115_when_not_ready = True def cmd_M115(self, params): # Get Firmware Version and Capabilities @@ -542,6 +537,38 @@ class GCodeParser: res = homing.query_endstops(self.toolhead) self.respond(" ".join(["%s:%s" % (name, ["open", "TRIGGERED"][not not t]) for name, t in res])) + cmd_GET_POSITION_when_not_ready = True + def cmd_GET_POSITION(self, params): + if self.toolhead is None: + self.cmd_default(params) + return + kin = self.toolhead.get_kinematics() + steppers = kin.get_steppers() + mcu_pos = " ".join(["%s:%d" % (s.name, s.mcu_stepper.get_mcu_position()) + for s in steppers]) + stepper_pos = " ".join( + ["%s:%.6f" % (s.name, s.mcu_stepper.get_commanded_position()) + for s in steppers]) + kinematic_pos = " ".join(["%s:%.6f" % (a, v) + for a, v in zip("XYZE", kin.get_position())]) + toolhead_pos = " ".join(["%s:%.6f" % (a, v) for a, v in zip( + "XYZE", self.toolhead.get_position())]) + gcode_pos = " ".join(["%s:%.6f" % (a, v) + for a, v in zip("XYZE", self.last_position)]) + origin_pos = " ".join(["%s:%.6f" % (a, v) + for a, v in zip("XYZE", self.base_position)]) + homing_pos = " ".join(["%s:%.6f" % (a, v) + for a, v in zip("XYZE", self.homing_add)]) + self.respond_info( + "mcu: %s\n" + "stepper: %s\n" + "kinematic: %s\n" + "toolhead: %s\n" + "gcode: %s\n" + "gcode origin: %s\n" + "gcode homing: %s" % ( + mcu_pos, stepper_pos, kinematic_pos, toolhead_pos, + gcode_pos, origin_pos, homing_pos)) cmd_PID_TUNE_help = "Run PID Tuning" cmd_PID_TUNE_aliases = ["M303"] def cmd_PID_TUNE(self, params): diff --git a/klippy/homing.py b/klippy/homing.py index 6bd11304..97879730 100644 --- a/klippy/homing.py +++ b/klippy/homing.py @@ -123,10 +123,6 @@ def query_endstops(toolhead): out.append((name, mcu_endstop.query_endstop_wait())) return out -def query_position(toolhead): - steppers = toolhead.get_kinematics().get_steppers() - return [(s.name.upper(), s.mcu_stepper.get_mcu_position()) for s in steppers] - class EndstopError(Exception): pass |