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Fixed text mode compile; fixed zero length move ends in cycle regression

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Alden Hart
2017-03-12 08:57:32 -04:00
parent 8df3aeada6
commit 2675557b9b
6 changed files with 32 additions and 24 deletions
Download Patch File Download Diff File Expand all files Collapse all files
g2core/canonical_machine.cpp
+11 -6
View File
@@ -1320,9 +1320,12 @@ stat_t cm_straight_traverse(const float target[], const bool flags[])
cm_cycle_start(); // required for homing & other cycles
stat_t status = mp_aline(&cm.gm); // send the move to the planner
cm_finalize_move();
if (status == STAT_MINIMUM_LENGTH_MOVE && !mp_has_runnable_buffer()) {
cm_cycle_end();
return (STAT_OK);
if (status == STAT_MINIMUM_LENGTH_MOVE) {
if (!mp_has_runnable_buffer()) { // handle condition where zero-length move is last or only move
cm_cycle_end(); // ...otherwise cycle will not end properly
}
status = STAT_OK;
}
return (status);
}
@@ -1478,9 +1481,11 @@ stat_t cm_straight_feed(const float target[], const bool flags[])
cm_finalize_move(); // <-- ONLY safe because we don't care about status...
if (status == STAT_MINIMUM_LENGTH_MOVE && !mp_has_runnable_buffer()) {
cm_cycle_end();
return (STAT_OK);
if (status == STAT_MINIMUM_LENGTH_MOVE) {
if (!mp_has_runnable_buffer()) { // handle condition where zero-length move is last or only move
cm_cycle_end(); // ...otherwise cycle will not end properly
}
status = STAT_OK;
}
return (status);
}
g2core/canonical_machine.h
+2
View File
@@ -949,6 +949,8 @@ stat_t cm_get_tram(nvObj_t *nv); // return if the rotation matrix is non-
#define cm_print_mtoe tx_print_stub
#define cm_print_mto tx_print_stub
#define cm_print_tram tx_print_stub
#define cm_print_am tx_print_stub // axis print functions
#define cm_print_fr tx_print_stub
#define cm_print_vm tx_print_stub
g2core/g2core.cppproj
+2 -2
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@@ -5,7 +5,7 @@
<ProjectVersion>7.0</ProjectVersion>
<ToolchainName>com.Atmel.ARMGCC.CPP</ToolchainName>
<ProjectGuid>{44ea8fec-55d7-4149-8a78-a574fc26bf51}</ProjectGuid>
<avrdevice>ATSAM3X8E</avrdevice>
<avrdevice>ATSAM3X8C</avrdevice>
<avrdeviceseries>none</avrdeviceseries>
<OutputType>Executable</OutputType>
<Language>CPP</Language>
@@ -101,7 +101,7 @@
</PercepioTrace>
<preserveEEPROM>true</preserveEEPROM>
<avrtoolserialnumber>J41800036434</avrtoolserialnumber>
<avrdeviceexpectedsignature>0x285E0A60</avrdeviceexpectedsignature>
<avrdeviceexpectedsignature>0x284E0A60</avrdeviceexpectedsignature>
<avrtoolinterfaceclock>2000000</avrtoolinterfaceclock>
<custom>
<ToolOptions xmlns="">
g2core/g2core.h
+6 -6
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@@ -40,15 +40,15 @@
/****** COMPILE-TIME SETTINGS ******/
#define __TEXT_MODE // enable text mode support (~14Kb) (also disables help screens)
#define __HELP_SCREENS // enable help screens (~3.5Kb)
#define __USER_DATA // enable user defined data groups
#define __STEP_CORRECTION // enable virtual encoder step correction
//#define __TEXT_MODE // enable text mode support (~14Kb) (also disables help screens)
//#define __HELP_SCREENS // enable help screens (~3.5Kb)
//#define __USER_DATA // enable user defined data groups
//#define __STEP_CORRECTION // enable virtual encoder step correction
/****** DEVELOPMENT SETTINGS ******/
#define __DIAGNOSTICS // enables various debug functions
#define __DIAGNOSTIC_PARAMETERS // enables system diagnostic parameters (_xx) in config_app
//#define __DIAGNOSTICS // enables various debug functions
//#define __DIAGNOSTIC_PARAMETERS // enables system diagnostic parameters (_xx) in config_app
/******************************************************************************
***** APPLICATION DEFINITIONS ************************************************
g2core/gpio.h
Executable → Regular
+3 -2
View File
@@ -2,8 +2,8 @@
* gpio.h - Digital IO handling functions
* This file is part of the g2core project
*
* Copyright (c) 2015 - 2016 Alden S. Hart, Jr.
* Copyright (c) 2015 - 2016 Robert Giseburt
* Copyright (c) 2015 - 2017 Alden S. Hart, Jr.
* Copyright (c) 2015 - 2017 Robert Giseburt
*
* 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
@@ -155,6 +155,7 @@ stat_t io_set_output(nvObj_t *nv);
#define io_print_fn tx_print_stub
#define io_print_in tx_print_stub
#define io_print_st tx_print_stub
#define io_print_domode tx_print_stub
#define io_print_out tx_print_stub
#endif // __TEXT_MODE
g2core/plan_line.cpp
+8 -8
View File
@@ -197,12 +197,12 @@ stat_t mp_aline(GCodeState_t* gm_in)
// exit if the move has zero movement. At all.
if (fp_ZERO(length)) {
sr_request_status_report(SR_REQUEST_TIMED_FULL); // Was SR_REQUEST_IMMEDIATE_FULL
return (STAT_OK); // preferred over STAT_MINIMUM_LENGTH_MOVE
sr_request_status_report(SR_REQUEST_TIMED_FULL);// Was SR_REQUEST_IMMEDIATE_FULL
return (STAT_MINIMUM_LENGTH_MOVE); // STAT_MINIMUM_LENGTH_MOVE needed to end cycle
}
// get a cleared buffer and copy in the Gcode model state
if ((bf = mp_get_write_buffer()) == NULL) { // never supposed to fail
if ((bf = mp_get_write_buffer()) == NULL) { // never supposed to fail
return (cm_panic(STAT_FAILED_GET_PLANNER_BUFFER, "aline()"));
}
memcpy(&bf->gm, gm_in, sizeof(GCodeState_t));
@@ -210,11 +210,11 @@ stat_t mp_aline(GCodeState_t* gm_in)
copy_vector(bf->gm.target, target_rotated); // copy the rotated taget in place
// setup the buffer
bf->bf_func = mp_exec_aline; // register the callback to the exec function
bf->length = length; // record the length
for (uint8_t axis = 0; axis < AXES; axis++) { // compute the unit vector and set flags
if ((bf->axis_flags[axis] = flags[axis])) { // yes, this is supposed to be = and not ==
bf->unit[axis] = axis_length[axis] / length; // nb: bf-> unit was cleared by mp_get_write_buffer()
bf->bf_func = mp_exec_aline; // register the callback to the exec function
bf->length = length; // record the length
for (uint8_t axis = 0; axis < AXES; axis++) { // compute the unit vector and set flags
if ((bf->axis_flags[axis] = flags[axis])) { // yes, this is supposed to be = and not ==
bf->unit[axis] = axis_length[axis] / length;// nb: bf-> unit was cleared by mp_get_write_buffer()
}
}
_calculate_jerk(bf); // compute bf->jerk values