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Make feedhold and feedhold exit interruptable, and Z-lift to max only when homed

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This commit is contained in:
Rob Giseburt
2020-01-10 19:30:27 -06:00
parent e16a9a8238
commit 2dfbb8c42d
3 changed files with 47 additions and 26 deletions
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g2core/canonical_machine.h
+1 -1
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@@ -133,7 +133,7 @@ typedef enum { // feedhold final operation
typedef enum { // feedhold state machine
FEEDHOLD_OFF = 0, // 0 - no feedhold in effect
FEEDHOLD_REQUESTED, // 1 - feedhold has been requested but not started yet
FEEDHOLD_REQUESTED, // 1 - feedhold has been requested but not started yet (NOT USED)
FEEDHOLD_SYNC, // 2 - start hold - sync to latest aline segment
FEEDHOLD_DECEL_CONTINUE, // 3 - in deceleration that will not end at zero
FEEDHOLD_DECEL_TO_ZERO, // 4 - in deceleration that will go to zero
g2core/cycle_feedhold.cpp
+45 -25
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@@ -600,15 +600,7 @@ void _start_job_kill()
void cm_request_feedhold(cmFeedholdType type, cmFeedholdExit exit)
{
// Can only initiate a feedhold if not already in a feedhold
if ((cm1.hold_state == FEEDHOLD_OFF)
// #ifdef ENABLE_INTERLOCK_AND_ESTOP
// && (cm1.estop_state == 0)
// #endif
) {
// OLD: Can only initiate a feedhold if you are in a machining cycle, running, and not already in a feedhold
// OLD: && (cm1.machine_state == MACHINE_CYCLE) && (cm1.motion_state == MOTION_RUN)
// NEW: Will run the operations even if not moving, they will each need to handle cycle/running state correctly
if ((cm1.hold_state == FEEDHOLD_OFF)) {
cm1.hold_type = type;
cm1.hold_exit = exit;
cm1.hold_profile =
@@ -646,10 +638,9 @@ void cm_request_feedhold(cmFeedholdType type, cmFeedholdExit exit)
}
// Look for p2 feedhold (feedhold in a feedhold)
if ((cm1.hold_state == FEEDHOLD_HOLD) &&
if ((cm1.hold_state >= FEEDHOLD_HOLD) &&
(cm2.hold_state == FEEDHOLD_OFF) && (cm2.machine_state == MACHINE_CYCLE)) {
// FIXME: Nothing catches this signal -- however, there's no way to get here ATM either
cm2.hold_state = FEEDHOLD_REQUESTED;
cm2.hold_state = FEEDHOLD_SYNC;
return;
}
@@ -805,8 +796,6 @@ stat_t _feedhold_with_actions() // Execute Case (5)
{
// if entered while OFF start a feedhold
if (cm1.hold_state == FEEDHOLD_OFF) {
cm1.hold_type = FEEDHOLD_TYPE_ACTIONS;
// cm1.hold_exit = FEEDHOLD_EXIT_STOP; // default exit for ACTIONS is STOP...
if (mp_runtime_is_idle()) { // if motion has already stopped declare that you are in a feedhold
_check_motion_stopped();
cm1.hold_state = FEEDHOLD_HOLD;
@@ -819,24 +808,36 @@ stat_t _feedhold_with_actions() // Execute Case (5)
// Code to run once motion has stopped
if (cm1.hold_state == FEEDHOLD_MOTION_STOPPED) {
cm->hold_state = FEEDHOLD_HOLD_ACTIONS_PENDING; // next state
_enter_p2(); // enter p2 correctly
cm_set_g30_position(); // set position to return to on exit
cm1.hold_state = FEEDHOLD_HOLD_ACTIONS_PENDING; // next state
// check for re-entry into feedhold from a cancelled resume
if (cm != &cm2) {
_enter_p2(); // enter p2 correctly
cm_set_g30_position(); // set position to return to on exit
}
// execute feedhold actions
if (fp_NOT_ZERO(cm->feedhold_z_lift)) { // optional Z lift
if (fp_NOT_ZERO(cm->feedhold_z_lift)) {// optional Z lift
bool flags[] = { 0,0,1,0,0,0 };
float target[] = { 0,0,0,0,0,0 }; // convert to inches if in inches mode
if (cm->feedhold_z_lift < 0) { // if the value is negative, we want to go to Z-max position with G53
cm_set_absolute_override(MODEL, ABSOLUTE_OVERRIDE_ON_DISPLAY_WITH_OFFSETS); // Position stored in abs coords
cm_set_distance_mode(ABSOLUTE_DISTANCE_MODE); // Must run in absolute distance mode
target[AXIS_Z] = _to_inches(cm->a[AXIS_Z].travel_max);
bool skip_move = false;
if (cm->feedhold_z_lift < 0) { // if the value is negative, we want to go to Z-max position with G53
if (cm->homed[AXIS_Z]) { // ONLY IF HOMED
cm_set_absolute_override(MODEL, ABSOLUTE_OVERRIDE_ON_DISPLAY_WITH_OFFSETS); // Position stored in abs coords
cm_set_distance_mode(ABSOLUTE_DISTANCE_MODE); // Must run in absolute distance mode
target[AXIS_Z] = _to_inches(cm->a[AXIS_Z].travel_max);
} else {
skip_move = true;
}
} else {
cm_set_distance_mode(INCREMENTAL_DISTANCE_MODE);
cm_set_distance_mode(INCREMENTAL_DISTANCE_MODE);
target[AXIS_Z] = _to_inches(cm->feedhold_z_lift);
}
cm_straight_traverse(target, flags, PROFILE_NORMAL);
cm_set_distance_mode(cm1.gm.distance_mode); // restore distance mode to p1 setting
if (!skip_move) {
cm_straight_traverse(target, flags, PROFILE_NORMAL);
cm_set_distance_mode(cm1.gm.distance_mode); // restore distance mode to p1 setting
}
}
spindle_control_sync(SPINDLE_PAUSE); // optional spindle pause
coolant_control_sync(COOLANT_PAUSE, COOLANT_BOTH); // optional coolant pause
@@ -907,6 +908,21 @@ stat_t _feedhold_restart_with_actions() // Execute Cases (6) and (7)
// wait for exit actions to complete
if (cm1.hold_state == FEEDHOLD_EXIT_ACTIONS_PENDING) {
if (cm2.hold_state == FEEDHOLD_MOTION_STOPPED) {
if (!mp_runtime_is_idle()) { // if there's still motion, wait
return (STAT_EAGAIN);
}
cm2.hold_state = FEEDHOLD_OFF; // "inner" feedhold is now done, clear it as off
cm1.hold_state = FEEDHOLD_MOTION_STOPPED; // pass back the state as motion has stopped for clean re-entry
// flush the queue of moves and commands for the exit, return cm2 to STOPPED
_run_queue_flush();
// now done with exiting
return (STAT_OK);
}
return (STAT_EAGAIN);
}
@@ -921,6 +937,10 @@ stat_t _feedhold_restart_with_actions() // Execute Cases (6) and (7)
stat_t _run_restart_cycle(void)
{
if (cm1.hold_state == FEEDHOLD_MOTION_STOPPED) {
// the restart was cancelled, move along, nothing to see here...
return (STAT_OK);
}
cm1.hold_state = FEEDHOLD_OFF; // must precede st_request_exec_move()
if (mp_has_runnable_buffer(&mp1)) {
g2core/spindle.cpp
+1
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@@ -426,6 +426,7 @@ bool spindle_speed_ramp_from_systick() {
pwm_set_duty(PWM_1, _get_spindle_pwm(spindle, pwm));
} else {
spindle.speed_actual = 0;
spindle.state = SPINDLE_PAUSE;
pwm_set_duty(PWM_1, _get_spindle_pwm(spindle, pwm));
done = (cm1.hold_state != FEEDHOLD_OFF);
}