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Make M2/M30 not load up the queue

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Fixes #72
This commit is contained in:
Rob Giseburt
2019-11-18 16:25:10 -06:00
parent 68679c556c
commit 917bb06d9a
2 changed files with 40 additions and 67 deletions
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87
g2core/canonical_machine.cpp
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@@ -564,6 +564,12 @@ void cm_set_display_offsets(GCodeState_t *gcode_state)
}
}
}
// If we're not in cycle, then no moves are queued to update the runtime offsets
// So let's do that
if ((gcode_state == MODEL) && (cm->machine_state != MACHINE_CYCLE)) {
mp_set_runtime_display_offset(gcode_state->display_offset);
}
}
/*
@@ -1035,20 +1041,8 @@ stat_t cm_set_g10_data(const uint8_t P_word, const bool P_flag,
* cm_set_tl_offset() - G43
* cm_cancel_tl_offset() - G49
* cm_set_coord_system() - G54-G59
* _exec_offset() - callback from planner command
*/
static void _exec_offset(float *value, bool *flag)
{
uint8_t coord_system = ((uint8_t)value[0]); // coordinate system is passed in value[0] element
float offsets[AXES];
for (uint8_t axis = AXIS_X; axis < AXES; axis++) {
offsets[axis] = cm->coord_offset[coord_system][axis] + cm->tool_offset[axis] +
(cm->gmx.g92_offset[axis] * cm->gmx.g92_offset_enable);
}
mp_set_runtime_display_offset(offsets);
}
stat_t cm_set_tl_offset(const uint8_t H_word, const bool H_flag, const bool apply_additional)
{
uint8_t tool;
@@ -1074,9 +1068,6 @@ stat_t cm_set_tl_offset(const uint8_t H_word, const bool H_flag, const bool appl
}
}
cm_set_display_offsets(MODEL); // display new offsets in the model right now
float value[] = { (float)cm->gm.coord_system }; // pass coordinate system in value[0] element
mp_queue_command(_exec_offset, value, nullptr); // second vector (flags) is not used, so fake it
return (STAT_OK);
}
@@ -1086,19 +1077,13 @@ stat_t cm_cancel_tl_offset()
cm->tool_offset[axis] = 0;
}
cm_set_display_offsets(MODEL); // display new offsets in the model right now
float value[] = { (float)cm->gm.coord_system };
mp_queue_command(_exec_offset, value, nullptr); // changes it in the runtime when executed
return (STAT_OK);
return (STAT_OK);
}
stat_t cm_set_coord_system(const uint8_t coord_system) // set coordinate system sync'd with planner
{
cm->gm.coord_system = (cmCoordSystem)coord_system;
cm_set_display_offsets(MODEL); // must reset display offsets if you change coordinate system
float value[] = { (float)coord_system };
mp_queue_command(_exec_offset, value, nullptr);
return (STAT_OK);
}
@@ -1205,8 +1190,6 @@ stat_t cm_set_g92_offsets(const float offset[], const bool flag[])
}
}
// now pass the offset to the callback - setting the coordinate system also applies the offsets
float value[] = { (float)cm->gm.coord_system }; // pass coordinate system in value[0] element
mp_queue_command(_exec_offset, value, nullptr);
cm_set_display_offsets(MODEL);
return (STAT_OK);
}
@@ -1217,8 +1200,6 @@ stat_t cm_reset_g92_offsets()
for (uint8_t axis = AXIS_X; axis < AXES; axis++) {
cm->gmx.g92_offset[axis] = 0;
}
float value[] = { (float)cm->gm.coord_system };
mp_queue_command(_exec_offset, value, nullptr);
cm_set_display_offsets(MODEL);
return (STAT_OK);
}
@@ -1226,8 +1207,6 @@ stat_t cm_reset_g92_offsets()
stat_t cm_suspend_g92_offsets()
{
cm->gmx.g92_offset_enable = false;
float value[] = { (float)cm->gm.coord_system };
mp_queue_command(_exec_offset, value, nullptr);
cm_set_display_offsets(MODEL);
return (STAT_OK);
}
@@ -1235,8 +1214,6 @@ stat_t cm_suspend_g92_offsets()
stat_t cm_resume_g92_offsets()
{
cm->gmx.g92_offset_enable = true;
float value[] = { (float)cm->gm.coord_system };
mp_queue_command(_exec_offset, value, nullptr);
cm_set_display_offsets(MODEL);
return (STAT_OK);
}
@@ -1262,9 +1239,9 @@ stat_t cm_straight_traverse(const float *target, const bool *flags, const uint8_
}
cm_set_model_target(target, flags);
ritorno (cm_test_soft_limits(cm->gm.target)); // test soft limits; exit if thrown
cm_set_display_offsets(&cm->gm); // capture the fully resolved offsets to the state
cm_set_display_offsets(MODEL); // capture the fully resolved offsets to the state
cm_cycle_start(); // required here for homing & other cycles
stat_t status = mp_aline(&cm->gm); // send the move to the planner
stat_t status = mp_aline(MODEL); // send the move to the planner
cm_update_model_position(); // update gmx.position to ready for next incoming move
if (status == STAT_MINIMUM_LENGTH_MOVE) {
@@ -1424,9 +1401,9 @@ stat_t cm_straight_feed(const float *target, const bool *flags, const uint8_t mo
cm_set_model_target(target, flags);
ritorno (cm_test_soft_limits(cm->gm.target)); // test soft limits; exit if thrown
cm_set_display_offsets(&cm->gm); // capture the fully resolved offsets to the state
cm_set_display_offsets(MODEL); // capture the fully resolved offsets to the state
cm_cycle_start(); // required for homing & other cycles
stat_t status = mp_aline(&cm->gm); // send the move to the planner
stat_t status = mp_aline(MODEL); // send the move to the planner
cm_update_model_position(); // <-- ONLY safe because we don't care about status...
if (status == STAT_MINIMUM_LENGTH_MOVE) {
@@ -1668,12 +1645,6 @@ stat_t cm_tro_control(const float P_word, const bool P_flag) // M50.1
* Note that the stop occurs at the end of the immediately preceding command
* (i.e. the stop is queued behind the last command).
*
* It is vital that cm_program_end, cm_program_stop etc. do NOT queue _exec_program_finalize!
*
* It is also equally important that _exec_program_finalize execut anything that effects
* interpretation of commands following it (IOW, manipulating the gcode model) be done immediately,
* and anything that is to happen syncronous with motion/other queued commands be queued.
*
* cm_program_end is a stop that also resets the machine to initial state
*
* cm_program_end() implements M2 and M30
@@ -1704,13 +1675,20 @@ stat_t cm_tro_control(const float P_word, const bool P_flag) // M50.1
*/
static void _exec_program_finalize(float* value, bool* flag) {
// perform the following resets if it's a program END
if (cm->machine_state == MACHINE_PROGRAM_END) {
spindle_control_immediate(SPINDLE_OFF); // immediate M5
coolant_control_immediate(COOLANT_OFF,COOLANT_BOTH);// immediate M9
temperature_reset(); // turn off all heaters and fans
}
sr_request_status_report(SR_REQUEST_IMMEDIATE); // request a final and full status report (not filtered)
}
static void _exec_program_stop_end(cmMachineState machine_state)
{
// Repeat from above:
// If it effects cm->gm or cm->gmx (GM), do it NOW (don't queue it), otherwise queue it (Q).
// WARNING: We must not queue more than four things here, or we'll use up all the spare queue slots and crash the system
// The good news is we shouldn't need to queue much
// If we are already out of cycle, then adjust the machine state
if ((cm->cycle_type == CYCLE_NONE) && // cm->cycle_type == CYCLE_MACHINING ||
@@ -1725,26 +1703,21 @@ static void _exec_program_stop_end(cmMachineState machine_state)
// perform the following resets if it's a program END
if (machine_state == MACHINE_PROGRAM_END) {
// (Q) means it queus something, and (GM) means it manipulates the gode model
cm_suspend_g92_offsets(); // (Q) G92.2 - as per NIST
cm_set_coord_system(cm->default_coord_system); // (Q) reset to default coordinate system
cm_select_plane(cm->default_select_plane); // (GM) reset to default arc plane
cm_set_distance_mode(cm->default_distance_mode); // (GM) reset to default distance mode
cm_set_arc_distance_mode(INCREMENTAL_DISTANCE_MODE);// (GM) always the default
// toolhead.control_sync(TOOLHEAD_OFF); // (Q) M5
spindle_control_sync(SPINDLE_OFF); // (Q) M5
coolant_control_sync(COOLANT_OFF,COOLANT_BOTH); // (Q) M9
cm_set_feed_rate_mode(UNITS_PER_MINUTE_MODE); // (Q) G94
cm_set_motion_mode(MODEL, MOTION_MODE_CANCEL_MOTION_MODE);// (GM) NIST specifies G1 (MOTION_MODE_STRAIGHT_FEED), but we cancel motion mode. Safer.
cm_reset_overrides(); // (GM) enable G48, reset feed rate, traverse and spindle overrides
cm_suspend_g92_offsets(); // G92.2 - as per NIST
cm_set_coord_system(cm->default_coord_system); // reset to default coordinate system
cm_select_plane(cm->default_select_plane); // reset to default arc plane
cm_set_distance_mode(cm->default_distance_mode); // reset to default distance mode
cm_set_arc_distance_mode(INCREMENTAL_DISTANCE_MODE);// always the default
cm_set_feed_rate_mode(UNITS_PER_MINUTE_MODE); // G94
cm_set_motion_mode(MODEL, MOTION_MODE_CANCEL_MOTION_MODE); // NIST specifies G1 (MOTION_MODE_STRAIGHT_FEED), but we cancel motion mode. Safer.
cm_reset_overrides(); // enable G48, reset feed rate, traverse and spindle overrides
/* FIXME */ temperature_reset(); // (IMMEDIATE - should me Q) turn off all heaters and fans
// the rest will be queued and executed in _exec_program_finalize()
}
cm_set_motion_state(MOTION_STOP); // also changes active model back to MODEL
float value[] = { (float)machine_state };
mp_queue_command(_exec_program_finalize, value, nullptr);
mp_queue_command(_exec_program_finalize, nullptr, nullptr);
}
// Will start a cycle regardless of whether the planner has moves or not

20
g2core/plan_arc.cpp
View File

@@ -105,7 +105,7 @@ stat_t cm_arc_feed(const float target[], const bool target_f[], // target en
const cmMotionMode motion_mode) // defined motion mode
{
// Start setting up the arc and trapping arc specification errors
// Trap some precursor cases. Since motion mode (MODAL_GROUP_G1) persists from the
// previous move it's possible for non-modal commands such as F or P to arrive here
// when no motion has actually been specified. It's also possible to run an arc as
@@ -216,8 +216,8 @@ stat_t cm_arc_feed(const float target[], const bool target_f[], // target en
// *** now get down to the rest of the work setting up the arc for execution ***
cm->gm.motion_mode = motion_mode;
cm_set_display_offsets(&cm->gm); // capture the fully resolved offsets to gm
memcpy(&(cm->arc.gm), &cm->gm, sizeof(GCodeState_t)); // copy GCode context to arc singleton - some will be overwritten to run segments
cm_set_display_offsets(MODEL); // capture the fully resolved offsets to gm
memcpy(&(cm->arc.gm), MODEL, sizeof(GCodeState_t)); // copy GCode context to arc singleton - some will be overwritten to run segments
copy_vector(cm->arc.position, cm->gmx.position); // set initial arc position from gcode model
// setup offsets if in center format mode
@@ -290,14 +290,14 @@ static stat_t _compute_arc(const bool radius_f)
// center by more than (.05 inch/.5 mm) OR ((.0005 inch/.005mm) AND .1% of radius)."
// Compute end radius from the center of circle (offsets) to target endpoint
float end_0 = cm->arc.gm.target[cm->arc.plane_axis_0] -
cm->arc.position[cm->arc.plane_axis_0] -
float end_0 = cm->arc.gm.target[cm->arc.plane_axis_0] -
cm->arc.position[cm->arc.plane_axis_0] -
cm->arc.ijk_offset[cm->arc.plane_axis_0];
float end_1 = cm->arc.gm.target[cm->arc.plane_axis_1] -
cm->arc.position[cm->arc.plane_axis_1] -
float end_1 = cm->arc.gm.target[cm->arc.plane_axis_1] -
cm->arc.position[cm->arc.plane_axis_1] -
cm->arc.ijk_offset[cm->arc.plane_axis_1];
float err = std::abs(hypotf(end_0, end_1) - cm->arc.radius); // end radius - start radius
if ((err > ARC_RADIUS_ERROR_MAX) ||
((err > ARC_RADIUS_ERROR_MIN) && (err > cm->arc.radius * ARC_RADIUS_TOLERANCE))) {
@@ -322,7 +322,7 @@ static stat_t _compute_arc(const bool radius_f)
// add in travel for rotations
if (cm->arc.angular_travel >= 0) { cm->arc.angular_travel += 2*M_PI * cm->arc.rotations; }
else { cm->arc.angular_travel -= 2*M_PI * cm->arc.rotations; }
}
}
// Compute full-circle arcs
else {
if (cm->arc.gm.motion_mode == MOTION_MODE_CCW_ARC) { cm->arc.rotations *= -1; }