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Lightened up planner reset to not destroy position values and other data; Corrected coolant and spindle ordering in feedhold exit actions; Added {dw:n} to report progress of dwells; Added RADIUS_MIN value and compile-time and runtime tests for tests for zero radius values. Illegal due to divide by zero

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This commit is contained in:
Alden Hart
2017-02-06 15:10:30 -05:00
parent edf2b845b5
commit 17ddf830ff
8 changed files with 30 additions and 15 deletions
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g2core/canonical_machine.cpp
+2 -2
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@@ -367,7 +367,7 @@ void cm_set_tool_number(GCodeState_t *gcode_state, const uint8_t tool)
void cm_set_absolute_override(GCodeState_t *gcode_state, const uint8_t absolute_override)
{
gcode_state->absolute_override = (cmAbsoluteOverride)absolute_override;
cm_set_work_offsets(MODEL); // must reset offsets if you change absolute override
// cm_set_work_offsets(MODEL); // must reset offsets if you change absolute override
}
void cm_set_model_linenum(const uint32_t linenum)
@@ -2082,7 +2082,7 @@ stat_t cm_set_tn(nvObj_t *nv) { return (set_float(nv, cm->a[_axis(nv)].travel_mi
stat_t cm_get_tm(nvObj_t *nv) { return (get_float(nv, cm->a[_axis(nv)].travel_max)); }
stat_t cm_set_tm(nvObj_t *nv) { return (set_float(nv, cm->a[_axis(nv)].travel_max)); }
stat_t cm_get_ra(nvObj_t *nv) { return (get_float(nv, cm->a[_axis(nv)].radius)); }
stat_t cm_set_ra(nvObj_t *nv) { return (get_float(nv, cm->a[_axis(nv)].radius)); }
stat_t cm_set_ra(nvObj_t *nv) { return (set_float_range(nv, cm->a[_axis(nv)].radius, RADIUS_MIN, 1000000)); }
/**** Axis Jerk Primitives
* cm_get_axis_jerk() - returns jerk for an axis
g2core/canonical_machine.h
+2 -1
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@@ -47,8 +47,9 @@
#define DISABLE_SOFT_LIMIT (999999)
#define JERK_INPUT_MIN (0.01) // minimum allowable jerk setting in millions mm/min^3
#define JERK_INPUT_MAX (1000000) // maximum allowable jerk setting in millions mm/min^3
#define JERK_INPUT_MAX (1000000) // maximum allowable jerk setting in millions mm/min^3
#define PROBES_STORED 3 // we store three probes for coordinate rotation computation
#define RADIUS_MIN (0.0001) // minimum value for ABC radius settings
/*****************************************************************************
* MACHINE STATE MODEL
g2core/config_app.cpp
+4 -4
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@@ -669,15 +669,15 @@ const cfgItem_t cfgArray[] = {
{ "", "er", _f0, 0, tx_print_nul, rpt_er, set_nul, (float *)&cs.null, 0 }, // get bogus exception report for testing
{ "", "qf", _f0, 0, tx_print_nul, get_nul, cm_run_qf, (float *)&cs.null, 0 }, // SET to invoke queue flush
{ "", "rx", _f0, 0, tx_print_int, get_rx, set_nul, (float *)&cs.null, 0 }, // get RX buffer bytes or packets
{ "", "dw", _f0, 0, tx_print_int, st_get_dw, set_nul, (float *)&cs.null, 0 }, // get dwell time remaining
{ "", "dw", _f0, 0, tx_print_int, st_get_dw, set_noop, (float *)&cs.null, 0 }, // get dwell time remaining
{ "", "msg", _f0, 0, tx_print_str, get_nul, set_noop, (float *)&cs.null, 0 }, // no operation on messages
{ "", "alarm",_f0,0, tx_print_nul, cm_alrm, cm_alrm, (float *)&cs.null, 0 }, // trigger alarm
{ "", "panic",_f0,0, tx_print_nul, cm_pnic, cm_pnic, (float *)&cs.null, 0 }, // trigger panic
{ "", "shutd",_f0,0, tx_print_nul, cm_shutd, cm_shutd, (float *)&cs.null, 0 }, // trigger shutdown
{ "", "clear",_f0,0, tx_print_nul, cm_clr, cm_clr, (float *)&cs.null, 0 }, // GET "clear" to clear alarm state
{ "", "clr", _f0,0, tx_print_nul, cm_clr, cm_clr, (float *)&cs.null, 0 }, // synonym for "clear"
{ "", "tick", _f0,0, tx_print_int, get_tick, set_nul, (float *)&cs.null, 0 }, // get system time tic
{ "", "tram", _f0,0, cm_print_tram,cm_get_tram,cm_set_tram,(float *)&cs.null, 0 }, // SET to attempt setting rotation matrix from probes
{ "", "clr", _f0, 0, tx_print_nul, cm_clr, cm_clr, (float *)&cs.null, 0 }, // synonym for "clear"
{ "", "tick",_f0, 0, tx_print_int, get_tick, set_nul, (float *)&cs.null, 0 }, // get system time tic
{ "", "tram",_f0, 0, cm_print_tram,cm_get_tram,cm_set_tram,(float *)&cs.null, 0 }, // SET to attempt setting rotation matrix from probes
{ "", "defa",_f0, 0, tx_print_nul, help_defa,set_defaults,(float *)&cs.null,0 }, // set/print defaults / help screen
{ "", "flash",_f0,0, tx_print_nul, help_flash,hw_flash, (float *)&cs.null,0 },
g2core/cycle_feedhold.cpp
+1 -1
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@@ -348,8 +348,8 @@ static void _sync_to_p1_hold_entry_actions_done(float* vect, bool* flag)
static stat_t _run_p1_hold_exit_actions() // LATER: if value == true return with offset corrections
{
// perform end-hold actions --- while still in secondary machine
spindle_control_sync(SPINDLE_RESUME); // resume spindle if paused
coolant_control_sync(COOLANT_RESUME, COOLANT_BOTH); // resume coolant if paused
spindle_control_sync(SPINDLE_RESUME); // resume spindle if paused
// do return move though an intermediate point; queue a wait
cm2.return_flags[AXIS_Z] = false;
g2core/error.h
-1
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@@ -205,7 +205,6 @@ char *get_status_message(stat_t status);
#define STAT_MAX_DEPTH_EXCEEDED 115 // JSON exceeded maximum nesting depth
#define STAT_VALUE_TYPE_ERROR 116 // JSON value does not agree with variable type
//#define STAT_ERROR_DEVICE_NOT_ACTIVE 117 // Device cannot receive commands at this time
#define STAT_INPUT_FROM_MUTED_CHANNEL_ERROR 117 // input from a muted channel was ignored
#define STAT_ERROR_118 118
#define STAT_ERROR_119 119
g2core/planner.cpp
+4 -2
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@@ -200,9 +200,11 @@ void planner_init(mpPlanner_t *_mp, mpPlannerRuntime_t *_mr, mpBuf_t *queue, uin
_mr->p = &_mr->bf[1];
}
void planner_reset(mpPlanner_t *_mp)
void planner_reset(mpPlanner_t *_mp) // reset planner queue, cease MR activity, but leave positions alone
{
planner_init(_mp, _mp->mr, _mp->q.bf, _mp->q.queue_size); // reset parent planner and linked Q and MR
// planner_init(_mp, _mp->mr, _mp->q.bf, _mp->q.queue_size); // reset parent planner and linked Q and MR
// _mp->mr.block_state == BLOCK_INACTIVE;
_init_planner_queue(_mp, _mp->q.bf, _mp->q.queue_size);
}
stat_t planner_test_assertions(const mpPlanner_t *_mp)
g2core/settings.h
Executable → Regular
+16 -1
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@@ -2,7 +2,7 @@
* settings.h - default runtime settings
* This file is part of the g2core project
*
* Copyright (c) 2010 - 2016 Alden S. Hart Jr.
* Copyright (c) 2010 - 2017 Alden S. Hart Jr.
*
* This file ("the software") is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License, version 2 as published by the
@@ -35,6 +35,8 @@
#ifndef SETTINGS_H_ONCE
#define SETTINGS_H_ONCE
#include "canonical_machine.h"
/**** MACHINE PROFILES ******************************************************
*
* Provide an optional SETTINGS_FILE in the makefile or compiler command line:
@@ -54,4 +56,17 @@
// The defaults below generally disable that function
#include "settings/settings_default.h"
// compile-time assertions - mostly checking the settings are not impossible
#define stringify2(a) #a
#define stringify(a) stringify2(a)
//static_assert ( bool_constexpr , message ) // bool_constexpr must be true or assertion will fail
static_assert ( (A_RADIUS > RADIUS_MIN), "A axis radius must be more than " stringify(RADIUS_MIN) ", but is " stringify(A_RADIUS) );
static_assert ( (B_RADIUS > RADIUS_MIN), "B axis radius must be more than " stringify(RADIUS_MIN) ", but is " stringify(B_RADIUS) );
static_assert ( (C_RADIUS > RADIUS_MIN), "C axis radius must be more than " stringify(RADIUS_MIN) ", but is " stringify(C_RADIUS) );
#undef stringify
#undef stringify2
#endif // End of include guard: SETTINGS_H_ONCE
g2core/stepper.cpp
+1 -3
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@@ -603,9 +603,7 @@ static void _load_move()
// handle dwells and commands
} else if (st_pre.block_type == BLOCK_TYPE_DWELL) {
st_run.dwell_ticks_downcount = st_pre.dwell_ticks;
// We now use SysTick events to handle dwells
SysTickTimer.registerEvent(&dwell_systick_event);
SysTickTimer.registerEvent(&dwell_systick_event); // We now use SysTick events to handle dwells
// handle synchronous commands
} else if (st_pre.block_type == BLOCK_TYPE_COMMAND) {