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Merge pull request #491 from tmpvar/G38.2+

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G38.2+
This commit is contained in:
Sonny Jeon
2014-09-25 19:29:42 -06:00
parent 39cf822944 297f4d1dd6
commit 15071385f7
8 changed files with 89 additions and 43 deletions
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57
motion_control.c
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@@ -287,9 +287,9 @@ void mc_homing_cycle()
// Perform tool length probe cycle. Requires probe switch.
// NOTE: Upon probe failure, the program will be stopped and placed into ALARM state.
#ifdef USE_LINE_NUMBERS
void mc_probe_cycle(float *target, float feed_rate, uint8_t invert_feed_rate, int32_t line_number)
void mc_probe_cycle(float *target, float feed_rate, uint8_t invert_feed_rate, uint8_t mode, int32_t line_number)
#else
void mc_probe_cycle(float *target, float feed_rate, uint8_t invert_feed_rate)
void mc_probe_cycle(float *target, float feed_rate, uint8_t invert_feed_rate, uint8_t mode)
#endif
{
// TODO: Need to update this cycle so it obeys a non-auto cycle start.
@@ -298,9 +298,10 @@ void mc_homing_cycle()
// Finish all queued commands and empty planner buffer before starting probe cycle.
protocol_buffer_synchronize();
uint8_t auto_start_state = sys.auto_start; // Store run state
uint8_t perform_pull_off = 1;
// After syncing, check if probe is already triggered. If so, halt and issue alarm.
if (probe_get_state()) {
if (probe_get_state(mode) && probe_errors_enabled(mode)) {
bit_true_atomic(sys.execute, EXEC_CRIT_EVENT);
protocol_execute_runtime();
}
@@ -314,7 +315,7 @@ void mc_homing_cycle()
#endif
// Activate the probing monitor in the stepper module.
sys.probe_state = PROBE_ACTIVE;
sys.probe_state = PROBE_ACTIVE | mode;
// Perform probing cycle. Wait here until probe is triggered or motion completes.
bit_true_atomic(sys.execute, EXEC_CYCLE_START);
@@ -324,7 +325,15 @@ void mc_homing_cycle()
} while ((sys.state != STATE_IDLE) && (sys.state != STATE_QUEUED));
// Probing motion complete. If the probe has not been triggered, error out.
if (sys.probe_state == PROBE_ACTIVE) { bit_true_atomic(sys.execute, EXEC_CRIT_EVENT); }
if (sys.probe_state & PROBE_ACTIVE) {
if (probe_errors_enabled(mode)) {
bit_true_atomic(sys.execute, EXEC_CRIT_EVENT);
} else {
perform_pull_off = 0;
probe_finalize(0);
}
}
protocol_execute_runtime(); // Check and execute run-time commands
if (sys.abort) { return; } // Check for system abort
@@ -332,24 +341,26 @@ void mc_homing_cycle()
st_reset(); // Reest step segment buffer.
plan_reset(); // Reset planner buffer. Zero planner positions. Ensure probing motion is cleared.
plan_sync_position(); // Sync planner position to current machine position.
// Pull-off triggered probe to the trigger location since we had to decelerate a little beyond
// it to stop the machine in a controlled manner.
uint8_t idx;
for(idx=0; idx<N_AXIS; idx++){
// NOTE: The target[] variable updated here will be sent back and synced with the g-code parser.
target[idx] = (float)sys.probe_position[idx]/settings.steps_per_mm[idx];
}
#ifdef USE_LINE_NUMBERS
mc_line(target, feed_rate, invert_feed_rate, line_number);
#else
mc_line(target, feed_rate, invert_feed_rate);
#endif
// Execute pull-off motion and wait until it completes.
bit_true_atomic(sys.execute, EXEC_CYCLE_START);
protocol_buffer_synchronize();
if (sys.abort) { return; } // Return if system reset has been issued.
if (perform_pull_off) {
// Pull-off triggered probe to the trigger location since we had to decelerate a little beyond
// it to stop the machine in a controlled manner.
uint8_t idx;
for(idx=0; idx<N_AXIS; idx++){
// NOTE: The target[] variable updated here will be sent back and synced with the g-code parser.
target[idx] = (float)sys.probe_position[idx]/settings.steps_per_mm[idx];
}
#ifdef USE_LINE_NUMBERS
mc_line(target, feed_rate, invert_feed_rate, line_number);
#else
mc_line(target, feed_rate, invert_feed_rate);
#endif
// Execute pull-off motion and wait until it completes.
bit_true_atomic(sys.execute, EXEC_CYCLE_START);
protocol_buffer_synchronize();
if (sys.abort) { return; } // Return if system reset has been issued.
}
sys.auto_start = auto_start_state; // Restore run state before returning