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This commit is contained in:
Alden Hart
2017-02-27 20:46:05 -05:00
parent e0f3f159d2
commit 4228e56065
5 changed files with 33 additions and 30 deletions
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g2core/canonical_machine.cpp
-4
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@@ -1110,10 +1110,6 @@ stat_t cm_resume_origin_offsets()
stat_t cm_straight_traverse(const float target[], const bool flags[])
{
if (target[AXIS_Y] == 20) { // +++ DEBUG TRAP
cm->gm.P_word = 20;
}
cm->gm.motion_mode = MOTION_MODE_STRAIGHT_TRAVERSE;
// it's legal for a G0 to have no axis words but we don't want to process it
g2core/cycle_feedhold.cpp
+8 -4
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@@ -78,7 +78,7 @@ static stat_t _feedhold_alarm_exit(void);
* Feedhold Processing - Performs the following cases (listed in rough sequence order):
* (0) - Feedhold request arrives or cm_start_hold()
*
* Control transfers to plan_exec.cpp feedhold functions:
* Control transfers to plan_exec.cpp feedhold functions:
*
* (1) - Feedhold arrives while we are in the middle executing of a block
* (1a) - The block is currently accelerating - wait for the end of acceleration
@@ -91,24 +91,28 @@ static stat_t _feedhold_alarm_exit(void);
* (1d) - The block is currently in the tail - wait until the end of the block
* (1e) - We have a new block and a new feedhold request that arrived at EXACTLY the same time
* (unlikely, but handled as 1b).
*
* (2) - The block has decelerated to some velocity > zero, so needs continuation into next block
*
* (3) - The block has decelerated to zero velocity
* (3a) - The end of deceleration is detected inline in mp_exec_aline()
* (3b) - The end of deceleration is signaled and state is transitioned
* (4) - We have finished all the runtime work now we have to wait for the motors to stop
*
* (4) - Finished all the runtime work, now wait for the motors to stop
* (4a) - It's a homing or probing feedhold - ditch the remaining buffer & go directly to OFF
* (4b) - It's a p2 feedhold - ditch the remaining buffer & signal we want a p2 queue flush
* (4c) - It's a normal feedhold - signal we want the p2 entry actions to execute
*
* (5) - The steppers have stopped. No motion should occur. Allows hold actions to complete
*
* Control transfers back to cycle_feedhold.cpp feedhold functions:
* Control transfers back to cycle_feedhold.cpp feedhold functions:
*
* (6) - Removing the hold state and there is queued motion - see cycle_feedhold.cpp
* (7) - Removing the hold state and there is no queued motion - see cycle_feedhold.cpp
*/
/****************************************************************************************
* cm_has_hold() - return true if a hold condition exists (or a pending hold request)
* cm_has_hold() - return true if a hold condition exists (or a pending hold request)
*/
bool cm_has_hold()
{
g2core/g2core.cppproj
+2 -2
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@@ -73,7 +73,7 @@
<InterfaceName>SWD</InterfaceName>
</ToolOptions>
<ToolType>com.atmel.avrdbg.tool.atmelice</ToolType>
<ToolNumber>J41800030015</ToolNumber>
<ToolNumber>J41800036434</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>J41800030015</avrtoolserialnumber>
<avrtoolserialnumber>J41800036434</avrtoolserialnumber>
<avrdeviceexpectedsignature>0x284E0A60</avrdeviceexpectedsignature>
<avrtoolinterfaceclock>10000000</avrtoolinterfaceclock>
<custom>
g2core/plan_exec.cpp
+17 -14
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@@ -460,9 +460,6 @@ stat_t mp_exec_aline(mpBuf_t *bf)
mr->waypoint[SECTION_BODY][axis] = mr->position[axis] + mr->unit[axis] * (mr->r->head_length + mr->r->body_length);
mr->waypoint[SECTION_TAIL][axis] = mr->position[axis] + mr->unit[axis] * (mr->r->head_length + mr->r->body_length + mr->r->tail_length);
}
// if (mr->waypoint[SECTION_TAIL][AXIS_X] < 0) { //+++++
// bf->hint = (blockHint)0;
// }
}
// Feed Override Processing - We need to handle the following cases (listed in rough sequence order):
@@ -994,14 +991,14 @@ static void _exec_aline_normalize_block(mpBlockRuntimeBuf_t *b)
static stat_t _exec_aline_feedhold(mpBuf_t *bf)
{
// Case (4) - Wait for the steppers to stop
// Case (4) - Completing the feedhold - Wait for the steppers to stop
if (cm->hold_state == FEEDHOLD_MOTORS_STOPPING) {
if (mp_runtime_is_idle()) { // wait for steppers to actually finish
mp_zero_segment_velocity(); // finalize velocity for reporting purposes
// If in a p2 hold, exit the p2 hold set up a flush of the p2 planner queue
if (cm == &cm2) {
// copy_vector(mp->position, mr->position); // +++++ update planner position from runtime
// copy_vector(mp->position, mr->position); // +++++ update planner position from runtime
cm->hold_state = FEEDHOLD_P2_EXIT;
}
// At this point we know we are in a p1 hold
@@ -1017,12 +1014,17 @@ static stat_t _exec_aline_feedhold(mpBuf_t *bf)
// If exiting a regular p1 hold set state to FEEDHOLD_ACTIONS_START.
// This enables transition to p2 planner; then Z-lift, spindle, coolant actions
else {
if (bf->gm.linenum == 10) { // +++ DEBUG TRAP
bf->override_factor *= 1.01;
}
// copy_vector(mp->position, mr->position); // ++++ update planner position from runtime
// bf->length = get_axis_vector_length(mr->position, mr->target); //+++++
cm->hold_state = FEEDHOLD_ACTIONS_START;
mr->block_state = BLOCK_INACTIVE; // invalidate mr buffer to reset the new move
bf->block_state = BLOCK_INITIAL_ACTION; // tell _exec to re-use the bf buffer
bf->length = get_axis_vector_length(mr->position, mr->target); // get remaining length in move
// copy_vector(mr->position, mr->target); // update position from previous target
copy_vector(mp->position, mr->position); // update planner position from runtime
bf->plannable = true; // needed so black can be adjusted
mp_replan_queue(mp_get_r()); // make it replan all the blocks
cm->hold_state = FEEDHOLD_ACTIONS_START; // executes entirely out of p2 planner
}
sr_request_status_report(SR_REQUEST_IMMEDIATE);
@@ -1034,10 +1036,11 @@ static stat_t _exec_aline_feedhold(mpBuf_t *bf)
// Case (3b) - Decelerated to zero. See also Feedhold Case (3a) in mp_exec_aline()
// Update the run buffer then force a replan of the whole planner queue. Replans from zero velocity
if (cm->hold_state == FEEDHOLD_DECEL_COMPLETE) {
mr->block_state = BLOCK_INACTIVE; // invalidate mr buffer to reset the new move
bf->block_state = BLOCK_INITIAL_ACTION; // tell _exec to re-use the bf buffer
cm->hold_state = FEEDHOLD_MOTORS_STOPPING; // wait for the motors to come to a complete stop
mp_replan_queue(mp_get_r()); // make it replan all the blocks
// mr->block_state = BLOCK_INACTIVE; // invalidate mr buffer to reset the new move
// bf->block_state = BLOCK_INITIAL_ACTION; // tell _exec to re-use the bf buffer
// bf->plannable = true; // needed so black can be adjusted
// mp_replan_queue(mp_get_r()); // make it replan all the blocks
return (STAT_OK); // exit from mp_exec_aline()
}
g2core/planner.cpp
+6 -6
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@@ -179,22 +179,22 @@ void _init_planner_queue(mpPlanner_t *_mp, mpBuf_t *queue, uint8_t size)
void planner_init(mpPlanner_t *_mp, mpPlannerRuntime_t *_mr, mpBuf_t *queue, uint8_t queue_size)
{
// init planner master structure
memset(_mp, 0, sizeof(mpPlanner_t));// clear all values, pointers and status
_mp->magic_start = MAGICNUM; // set boundary condition assertions
memset(_mp, 0, sizeof(mpPlanner_t)); // clear all values, pointers and status
_mp->magic_start = MAGICNUM; // set boundary condition assertions
_mp->magic_end = MAGICNUM;
_mp->mfo_factor = 1.00;
// init planner queues
_mp->q.bf = queue; // assign puffer pool to queue manager structure
_mp->q.bf = queue; // assign puffer pool to queue manager structure
_init_planner_queue(_mp, queue, queue_size);
// init runtime structs
_mp->mr = _mr;
memset(_mr, 0, sizeof(mpPlannerRuntime_t)); // clear all values, pointers and status
_mr->magic_start = MAGICNUM; // mr assertions
memset(_mr, 0, sizeof(mpPlannerRuntime_t)); // clear all values, pointers and status
_mr->magic_start = MAGICNUM; // mr assertions
_mr->magic_end = MAGICNUM;
_mr->block[0].nx = &_mr->block[1]; // Handle the two "stub blocks" in the runtime structure
_mr->block[0].nx = &_mr->block[1]; // Handle the two "stub blocks" in the runtime structure
_mr->block[1].nx = &_mr->block[0];
_mr->r = &_mr->block[0];
_mr->p = &_mr->block[1];