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083.18 changes to jogging function to agree with OMC production

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This commit is contained in:
alden.hart
2015-05-05 21:34:19 -04:00
parent 07cec50386
commit 32b9933370
2 changed files with 28 additions and 26 deletions
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TinyG2/cycle_jogging.cpp
+27 -25
View File
@@ -50,6 +50,7 @@ struct jmJoggingSingleton { // persistent jogging runtime variables
uint8_t saved_units_mode; // G20,G21 global setting
uint8_t saved_coord_system; // G54 - G59 setting
uint8_t saved_distance_mode; // G90,G91 global setting
uint8_t saved_feed_rate_mode;
float saved_jerk; // saved and restored for each axis jogged
};
static struct jmJoggingSingleton jog;
@@ -86,13 +87,15 @@ stat_t cm_jogging_cycle_start(uint8_t axis)
jog.saved_units_mode = cm_get_units_mode(ACTIVE_MODEL); //cm.gm.units_mode;
jog.saved_coord_system = cm_get_coord_system(ACTIVE_MODEL); //cm.gm.coord_system;
jog.saved_distance_mode = cm_get_distance_mode(ACTIVE_MODEL); //cm.gm.distance_mode;
jog.saved_feed_rate = cm_get_distance_mode(ACTIVE_MODEL); //cm.gm.feed_rate;
jog.saved_feed_rate_mode = cm_get_feed_rate_mode(ACTIVE_MODEL);
jog.saved_feed_rate = (ACTIVE_MODEL)->feed_rate; //cm.gm.feed_rate;
jog.saved_jerk = cm.a[axis].jerk_max;
// set working values
cm_set_units_mode(MILLIMETERS);
cm_set_distance_mode(ABSOLUTE_MODE);
cm_set_coord_system(ABSOLUTE_COORDS); // jogging is done in machine coordinates
cm_set_feed_rate_mode(UNITS_PER_MINUTE_MODE);
jog.velocity_start = JOGGING_START_VELOCITY; // see canonical_machine.h for #define
jog.velocity_max = cm.a[axis].velocity_max;
@@ -121,11 +124,15 @@ stat_t cm_jogging_cycle_start(uint8_t axis)
stat_t cm_jogging_cycle_callback(void)
{
if (cm.cycle_state != CYCLE_JOG) { return (STAT_NOOP); } // exit if not in a jogging cycle
if(jog.func == _jogging_finalize_exit && cm_get_runtime_busy() == true)
{ return (STAT_EAGAIN); } // sync to planner move ends
if(jog.func == _jogging_axis_ramp_jog && mp_get_planner_buffers_available() < PLANNER_BUFFER_HEADROOM)
{ return (STAT_EAGAIN); } // prevent flooding the queue with jog moves
if (cm.cycle_state != CYCLE_JOG) {
return (STAT_NOOP); // exit if not in a jogging cycle
}
if (jog.func == _jogging_finalize_exit && cm_get_runtime_busy() == true) {
return (STAT_EAGAIN); // sync to planner move ends
}
if (jog.func == _jogging_axis_ramp_jog && mp_get_planner_buffers_available() < PLANNER_BUFFER_HEADROOM) {
return (STAT_EAGAIN); // prevent flooding the queue with jog moves
}
return (jog.func(jog.axis)); // execute the current jogging move
}
@@ -137,11 +144,7 @@ static stat_t _set_jogging_func(stat_t (*func)(int8_t axis))
static stat_t _jogging_axis_start(int8_t axis)
{
mp_flush_planner();
// if (cm.hold_state == FEEDHOLD_HOLD); {
// cm_end_hold();
// }
cm_end_hold(); // ends hold if on is in effect
// cm_end_hold(); // ends hold if one is in effect
return (_set_jogging_func(_jogging_axis_ramp_jog));
}
@@ -166,10 +169,11 @@ static stat_t _jogging_axis_ramp_jog(int8_t axis) // run the jog ramp
_jogging_axis_move(axis, target, velocity);
jog.step++;
if(last)
if(last) {
return (_set_jogging_func(_jogging_finalize_exit));
else
} else {
return (_set_jogging_func(_jogging_axis_ramp_jog));
}
}
static stat_t _jogging_axis_move(int8_t axis, float target, float velocity)
@@ -185,19 +189,17 @@ static stat_t _jogging_axis_move(int8_t axis, float target, float velocity)
static stat_t _jogging_finalize_exit(int8_t axis) // finish a jog
{
mp_flush_planner();
// if (cm.hold_state == FEEDHOLD_HOLD);
// cm_end_hold();
cm_end_hold(); // ends hold if on is in effect
// cm_end_hold(); // ends hold if one is in effect
cm_set_coord_system(jog.saved_coord_system); // restore to work coordinate system
cm_set_units_mode(jog.saved_units_mode);
cm_set_distance_mode(jog.saved_distance_mode);
cm_set_feed_rate(jog.saved_feed_rate);
cm_set_motion_mode(MODEL, MOTION_MODE_CANCEL_MOTION_MODE);
cm_canned_cycle_end();
printf("{\"jog\":0}\n"); // needed by OMC jogging function
return (STAT_OK);
cm_set_coord_system(jog.saved_coord_system); // restore to work coordinate system
cm_set_units_mode(jog.saved_units_mode);
cm_set_distance_mode(jog.saved_distance_mode);
cm_set_feed_rate_mode(jog.saved_feed_rate_mode);
(MODEL)->feed_rate = jog.saved_feed_rate;
cm_set_motion_mode(MODEL, MOTION_MODE_CANCEL_MOTION_MODE);
cm_canned_cycle_end();
printf("{\"jog\":0}\n"); // needed by OMC jogging function
return (STAT_OK);
}
/*
TinyG2/tinyg2.h
+1 -1
View File
@@ -38,7 +38,7 @@
/****** REVISIONS ******/
#ifndef TINYG_FIRMWARE_BUILD
#define TINYG_FIRMWARE_BUILD 083.17 // fixed homing startup condition with Otherplan; added settings_othermill_test.h
#define TINYG_FIRMWARE_BUILD 083.18 // changes to jogging function to agree with OMC production
#endif
#define TINYG_FIRMWARE_VERSION 0.98 // firmware major version