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Make dwell/spindle spin-up feedhold-aware

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Rob Giseburt
2020-01-10 19:30:27 -06:00
parent 56f21080a1
commit 8efe84d25d
1 changed files with 16 additions and 6 deletions
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g2core/stepper.cpp
+16 -6
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@@ -74,12 +74,22 @@ exec_timer_type exec_timer; // triggers calculation of next+1 stepper se
fwd_plan_timer_type fwd_plan_timer; // triggers planning of next block
// SystickEvent for handling dwells (must be registered before it is active)
Motate::SysTickEvent dwell_systick_event {[&] {
if (spindle_speed_ramp_from_systick() && (--st_run.dwell_ticks_downcount == 0)) {
SysTickTimer.unregisterEvent(&dwell_systick_event);
_load_move(); // load the next move at the current interrupt level
}
}, nullptr};
Motate::SysTickEvent dwell_systick_event{
[&] {
// we're either in a dewll or a spindle speed ramp "dwell"
// in either case, if a feedhold comes in, we need to bail, and since the dwell *is* the motion
// move the state machine along from here
if (cm->hold_state == FEEDHOLD_SYNC) {
st_run.dwell_ticks_downcount = 1; // this'll decerement to zero shortly
cm->hold_state = FEEDHOLD_MOTION_STOPPED;
}
if (spindle_speed_ramp_from_systick() && (--st_run.dwell_ticks_downcount == 0)) {
st_run.dwell_ticks_downcount = 0; // in the case of stop==true, this is needed
SysTickTimer.unregisterEvent(&dwell_systick_event);
_load_move(); // load the next move at the current interrupt level
}
},
nullptr};
/* Note on the above:
It's a lambda function creating a closure function.