Checkpoint

g2core/canonical_machine.cpp

@@ -1578,12 +1578,12 @@ static void _exec_program_finalize(float *value, bool *flag)
 
 void cm_cycle_start()
 {
-    cm_request_operation(OPERATION_CYCLE_START, nullptr);
-//    if (cm->cycle_type == CYCLE_NONE) {                     // don't (re)start homing, probe or other canned cycles
-//        cm->cycle_type = CYCLE_MACHINING;
-//        cm->machine_state = MACHINE_CYCLE;
-//        qr_init_queue_report();                             // clear queue reporting buffer counts//
-//    }
+//    cm_request_operation(OPERATION_CYCLE_START, nullptr);
+    if (cm->cycle_type == CYCLE_NONE) {                     // don't (re)start homing, probe or other canned cycles
+        cm->cycle_type = CYCLE_MACHINING;
+        cm->machine_state = MACHINE_CYCLE;
+        qr_init_queue_report();                             // clear queue reporting buffer counts//
+    }
 }
 
 void cm_cycle_end()

g2core/canonical_machine.h

@@ -134,16 +134,25 @@ typedef enum {                  // cycle start and feedhold requests
 typedef enum {                  // feedhold state machine
     FEEDHOLD_P1_EXIT = -1,      // set when p1 feedhold is due to exit
     FEEDHOLD_OFF = 0,           // no feedhold in effect
-    FEEDHOLD_INITIATED,         // feedhold has been requested but not started yet
+//    FEEDHOLD_INITIATED,         // feedhold has been requested but not started yet
     FEEDHOLD_SYNC,              // start hold - sync to latest aline segment
     FEEDHOLD_DECEL_CONTINUE,    // in deceleration that will not end at zero
     FEEDHOLD_DECEL_TO_ZERO,     // in deceleration that will go to zero
     FEEDHOLD_DECEL_COMPLETE,    // feedhold deceleration has completed, but motors may not have stopped yet
     FEEDHOLD_MOTION_STOPPING,   // waiting for motors to have stopped at hold point (motion stop)
     FEEDHOLD_MOTION_STOPPED,    // motion has stopped at hold point
-    FEEDHOLD_P2_START,          // enter secondary planner and perform feedhold actions (once)
-    FEEDHOLD_P2_WAIT,           // wait for feedhold actions to complete
+//    FEEDHOLD_P2_START,          // enter secondary planner and perform feedhold actions (once)
+//    FEEDHOLD_P2_WAIT,           // wait for feedhold actions to complete
+    
+    FEEDHOLD_HOLD_ACTION_START,
+    FEEDHOLD_HOLD_PENDING,      // wait for feedhold actions to complete
+    FEEDHOLD_HOLD_DONE,         // 
+    
     FEEDHOLD_HOLD,              // holding (steady state) Must be last state
+
+    FEEDHOLD_HOLD_EXIT_PENDING, // performing exit actions
+    FEEDHOLD_HOLD_EXIT_DONE,    // completed exit actions
+
     FEEDHOLD_P2_EXIT            // set when p2 feedhold is finishing
 } cmFeedholdState;
 

g2core/controller.cpp

@@ -159,10 +159,11 @@ static void _controller_HSM()
     DISPATCH(sr_status_report_callback());      // conditionally send status report
     DISPATCH(qr_queue_report_callback());       // conditionally send queue report
 
-    DISPATCH(cm_feedhold_sequencing_callback());// feedhold state machine runner
-    DISPATCH(cm_operation_callback());          // operation action runner
+//    DISPATCH(cm_feedhold_sequencing_callback());// feedhold state machine runner
     DISPATCH(mp_planner_callback());            // motion planner
     DISPATCH(cm_arc_callback(cm));              // arc generation runs as a cycle above lines
+    DISPATCH(cm_operation_callback());          // operation action runner
+
     DISPATCH(cm_homing_cycle_callback());       // homing cycle operation (G28.2)
     DISPATCH(cm_probing_cycle_callback());      // probing cycle operation (G38.2)
     DISPATCH(cm_jogging_cycle_callback());      // jog cycle operation

g2core/g2core.cppproj

@@ -73,7 +73,7 @@
         <InterfaceName>SWD</InterfaceName>
       </ToolOptions>
       <ToolType>com.atmel.avrdbg.tool.atmelice</ToolType>
-      <ToolNumber>J41800036434</ToolNumber>
+      <ToolNumber>J41800030015</ToolNumber>
       <ToolName>Atmel-ICE</ToolName>
     </com_atmel_avrdbg_tool_atmelice>
     <UseGdb>True</UseGdb>
@@ -100,7 +100,7 @@
       <HWProgramCounterSampling>True</HWProgramCounterSampling>
     </PercepioTrace>
     <preserveEEPROM>true</preserveEEPROM>
-    <avrtoolserialnumber>J41800036434</avrtoolserialnumber>
+    <avrtoolserialnumber>J41800030015</avrtoolserialnumber>
     <avrdeviceexpectedsignature>0x284E0A60</avrdeviceexpectedsignature>
     <avrtoolinterfaceclock>10000000</avrtoolinterfaceclock>
     <custom>

g2core/plan_exec.cpp

@@ -485,7 +485,8 @@ stat_t mp_exec_aline(mpBuf_t *bf)
     // Feedhold Processing - We need to handle the following cases (listed in rough sequence order):
     if (cm->hold_state != FEEDHOLD_OFF) {
         // if FEEDHOLD_P2_START, FEEDHOLD_P2_WAIT, FEEDHOLD HOLD or FEEDHOLD_P2_EXIT
-        if (cm->hold_state >= FEEDHOLD_P2_START) { // handles _exec_aline_feedhold_processing case (7)
+//        if (cm->hold_state >= FEEDHOLD_P2_START) { // handles _exec_aline_feedhold_processing case (7)
+        if (cm->hold_state >= FEEDHOLD_HOLD_ACTION_START) { // handles _exec_aline_feedhold_processing case (7)
             return (STAT_NOOP);                    // VERY IMPORTANT to exit as a NOOP. Do not load another move
         }
         // STAT_OK terminates aline execution for this move
@@ -1056,7 +1057,7 @@ static stat_t _exec_aline_feedhold(mpBuf_t *bf)
                 st_request_forward_plan();                  // replan the current bf buffer
                 
                 // Set state to enable transition to p2 and perform entry actions in the p2 planner
-                cm->hold_state = FEEDHOLD_P2_START;         // executes entirely out of p2 planner
+                cm->hold_state = FEEDHOLD_HOLD_ACTION_START; // signal operations runner to start actions
             }
             
             sr_request_status_report(SR_REQUEST_IMMEDIATE);