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This commit is contained in:
Alden Hart
2017-02-05 14:43:32 -05:00
parent 2e911caaee
commit 6898f86bad
4 changed files with 32 additions and 34 deletions
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g2core/canonical_machine.cpp
+13 -16
View File
@@ -948,21 +948,22 @@ static void _exec_offset(float *value, bool *flag)
/*
* cm_set_position_by_axis() - set the position of a single axis in the model, planner and runtime
* cm_reset_position_to_absolute_position() - set all positions to current absolute position in mr
*
* This command sets an axis/axes to a position provided as an argument.
* This is useful for setting origins for homing, probing, and other operations.
* This command sets an axis/axes to a position provided as an argument.
* This is useful for setting origins for homing, probing, and other operations.
*
* !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
* !!!!! DO NOT CALL THIS FUNCTION WHILE IN A MACHINING CYCLE !!!!!
* !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
* !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
* !!!!! DO NOT CALL THESE FUNCTIONS WHILE IN A MACHINING CYCLE !!!!!
* !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
*
* More specifically, do not call this function if there are any moves in the planner or
* if the runtime is moving. The system must be quiescent or you will introduce positional
* errors. This is true because the planned / running moves have a different reference frame
* than the one you are now going to set. These functions should only be called during
* initialization sequences and during cycles (such as homing cycles) when you know there
* are no more moves in the planner and that all motion has stopped.
* Use cm_get_runtime_busy() to be sure the system is quiescent.
* More specifically, do not call these functions if there are any moves in the planner or
* if the runtime is moving. The system must be quiescent or you will introduce positional
* errors. This is true because the planned / running moves have a different reference frame
* than the one you are now going to set. These functions should only be called during
* initialization sequences and during cycles (such as homing cycles) when you know there
* are no more moves in the planner and that all motion has stopped.
* You can use cm_get_runtime_busy() to be sure the system is quiescent.
*/
void cm_set_position_by_axis(const uint8_t axis, const float position)
@@ -975,10 +976,6 @@ void cm_set_position_by_axis(const uint8_t axis, const float position)
mp_set_steps_to_runtime_position();
}
/*
* cm_reset_position_to_absolute_position() - set all positions to current absolute position in mr
*/
void cm_reset_position_to_absolute_position(cmMachine_t *_cm)
{
mpPlanner_t *_mp = (mpPlanner_t *)_cm->mp;
g2core/canonical_machine.h
+3 -5
View File
@@ -108,8 +108,7 @@ typedef enum {
} cmMotionState;
typedef enum { // feedhold state machine
// FEEDHOLD_FLUSH = -2, // set when p2 feedhold is ready to flush p2 queue
FEEDHOLD_EXIT = -1, // set when feedhold is due to exit
FEEDHOLD_P1_EXIT = -1, // set when p1 feedhold is due to exit
FEEDHOLD_OFF = 0, // no feedhold in effect
FEEDHOLD_REQUESTED, // feedhold has been requested but not started yet
FEEDHOLD_SYNC, // start hold - sync to latest aline segment
@@ -119,7 +118,8 @@ typedef enum { // feedhold state machine
FEEDHOLD_STOPPING, // waiting to complete deceleration once planner motion stops
FEEDHOLD_ACTIONS_START, // enter secondary planner and perform feedhold actions (once)
FEEDHOLD_ACTIONS_WAIT, // wait for feedhold actions to complete
FEEDHOLD_HOLD // holding (steady state) Must be last state
FEEDHOLD_HOLD, // holding (steady state) Must be last state
FEEDHOLD_P2_EXIT // set when p2 feedhold is finishing
} cmFeedholdState;
typedef enum { // applies to cm->homing_state
@@ -367,8 +367,6 @@ stat_t cm_set_g10_data(const uint8_t P_word, const bool P_flag, // G
void cm_set_position_by_axis(const uint8_t axis, const float position); // set position to abs pos - single axis
void cm_reset_position_to_absolute_position(cmMachine_t *_cm); // set position to abs pos - all axes
//void cm_set_position(const uint8_t axis, const float position); // set absolute position - single axis
//void cm_set_positions(cmMachine_t *_cm); // set absolute position - all axes
stat_t cm_set_absolute_origin(const float origin[], bool flag[]); // G28.3
void cm_set_axis_origin(uint8_t axis, const float position); // G28.3 planner callback
g2core/cycle_feedhold.cpp
+14 -11
View File
@@ -223,20 +223,26 @@ stat_t cm_feedhold_sequencing_callback()
_run_p1_hold_entry_actions();
}
// p2 feedhold states - feedhold in feedhold
if (cm2.hold_state == FEEDHOLD_REQUESTED) {
if (mp_has_runnable_buffer(&mp2)) {
cm_set_motion_state(MOTION_HOLD);
cm2.hold_state = FEEDHOLD_SYNC;
}
}
// queue flush won't run until the hold is complete and all (subsequent) motion has stopped
// if ((cm2.flush_state == FLUSH_REQUESTED) && (mp_runtime_is_idle())) {
if (cm2.flush_state == FLUSH_REQUESTED) {
if (cm2.hold_state == FEEDHOLD_P2_EXIT) {
cm2.hold_state = FEEDHOLD_OFF;
// copy_vector (mr1.position, mr2.position);
cm_reset_position_to_absolute_position(&cm2); // get the absolute position before destroying it
// cm_reset_position_to_absolute_position(&cm1);
cm_queue_flush(&cm2);
cm_set_motion_state(MOTION_STOP);
cm_cycle_end();
sr_request_status_report(SR_REQUEST_IMMEDIATE);
return (STAT_OK);
}
// queue flush won't run until the hold is complete and all (subsequent) motion has stopped
if ((cm1.flush_state == FLUSH_REQUESTED) && (cm1.hold_state == FEEDHOLD_HOLD) &&
(mp_runtime_is_idle())) { // don't flush planner during movement
cm_queue_flush(&cm1);
@@ -256,7 +262,7 @@ stat_t cm_feedhold_sequencing_callback()
_run_p1_hold_exit_actions(); // runs once only
}
}
if (cm1.hold_state == FEEDHOLD_EXIT) {
if (cm1.hold_state == FEEDHOLD_P1_EXIT) {
return(_finalize_p1_hold_exit()); // run multiple times until actions are complete
}
return (STAT_OK);
@@ -364,13 +370,13 @@ static stat_t _run_p1_hold_exit_actions() // LATER: if value == true return
static void _sync_to_p1_hold_exit_actions_done(float* vect, bool* flag)
{
cm1.hold_state = FEEDHOLD_EXIT; // penultimate state before transitioning to FEEDHOLD_OFF
cm1.hold_state = FEEDHOLD_P1_EXIT; // penultimate state before transitioning to FEEDHOLD_OFF
}
static stat_t _finalize_p1_hold_exit()
{
// skip out if not ready to finalize the exit
if (cm1.hold_state != FEEDHOLD_EXIT) {
if (cm1.hold_state != FEEDHOLD_P1_EXIT) {
return (STAT_NOOP); // ??? return (STAT_EAGAIN);
}
@@ -380,12 +386,9 @@ static stat_t _finalize_p1_hold_exit()
mr = mp->mr;
// execute this block if a queue flush was performed
// adjust primary planner positions to runtime positions
// adjust p1 planner positions to runtime positions
if (cm1.flush_state == FLUSH_WAS_RUN) {
cm_reset_position_to_absolute_position(cm);
// for (uint8_t axis = AXIS_X; axis < AXES; axis++) {
// cm_set_position(axis, mp_get_runtime_absolute_position(&mr2, axis));
// }
cm1.flush_state = FLUSH_OFF;
}
g2core/plan_exec.cpp
+2 -2
View File
@@ -547,8 +547,8 @@ stat_t mp_exec_aline(mpBuf_t *bf)
if ((cm->cycle_state == CYCLE_HOMING) || (cm->cycle_state == CYCLE_PROBE)) {
cm->hold_state = FEEDHOLD_OFF;
} else if (cm == &cm2) { // if in p2 hold set up a flush
cm->hold_state = FEEDHOLD_OFF;
cm->flush_state = FLUSH_REQUESTED;
// cm_reset_position_to_absolute_position(&cm2);
cm->hold_state = FEEDHOLD_P2_EXIT;
} else {
cm->hold_state = FEEDHOLD_ACTIONS_START; // perform Z-lift, spindle, coolant actions
}