Added Zlift parameter; uncommented m48 enable

2026-02-06 02:51:54 +08:00 · 2017-01-12 14:08:02 -05:00
parent d245a6e1f5
commit 9a84732d70
4 changed files with 44 additions and 30 deletions
--- a/g2core/canonical_machine.cpp
+++ b/g2core/canonical_machine.cpp
@@ -2682,6 +2682,9 @@ stat_t cm_set_jt(nvObj_t *nv)
 stat_t cm_get_ct(nvObj_t *nv) { return(get_float(nv, cm->chordal_tolerance)); }
 stat_t cm_set_ct(nvObj_t *nv) { return(set_float_range(nv, cm->chordal_tolerance, CHORDAL_TOLERANCE_MIN, 10000000)); }

+stat_t cm_get_zl(nvObj_t *nv) { return(get_float(nv, cm->feedhold_z_lift)); }
+stat_t cm_set_zl(nvObj_t *nv) { return(set_float(nv, cm->feedhold_z_lift)); }
+
 stat_t cm_get_sl(nvObj_t *nv) { return(get_int(nv, cm->soft_limit_enable)); }
 stat_t cm_set_sl(nvObj_t *nv) { return(set_int(nv, (uint8_t &)cm->soft_limit_enable, 0, 1)); }

@@ -2691,6 +2694,9 @@ stat_t cm_set_lim(nvObj_t *nv) { return(set_int(nv, (uint8_t &)cm->limit_enable,
 stat_t cm_get_saf(nvObj_t *nv) { return(get_int(nv, cm->safety_interlock_enable)); }
 stat_t cm_set_saf(nvObj_t *nv) { return(set_int(nv, (uint8_t &)cm->safety_interlock_enable, 0, 1)); }

+stat_t cm_get_m48(nvObj_t *nv) { return(get_int(nv, cm->gmx.m48_enable)); }
+stat_t cm_set_m48(nvObj_t *nv) { return(set_int(nv, (uint8_t &)cm->gmx.m48_enable, 0, 1)); }
+
 stat_t cm_get_froe(nvObj_t *nv) { return(get_int(nv, cm->gmx.mfo_enable)); }
 stat_t cm_set_froe(nvObj_t *nv) { return(set_int(nv, (uint8_t &)cm->gmx.mfo_enable, 0, 1)); }
 stat_t cm_get_fro(nvObj_t *nv)  { return(get_float(nv, cm->gmx.mfo_factor)); }
@@ -2853,26 +2859,28 @@ void cm_print_gdi(nvObj_t *nv) { text_print(nv, fmt_gdi);}  // TYPE_INT

 /* system parameter print functions */

-static const char fmt_jt[] = "[jt]  junction integrgation time%6.2f\n";
+static const char fmt_jt[] = "[jt]  junction integration time%7.2f\n";
 static const char fmt_ct[] = "[ct]  chordal tolerance%17.4f%s\n";
+static const char fmt_zl[] = "[zl]  Z lift on feedhold%16.3f%s\n";
 static const char fmt_sl[] = "[sl]  soft limit enable%12d [0=disable,1=enable]\n";
 static const char fmt_lim[] ="[lim] limit switch enable%10d [0=disable,1=enable]\n";
 static const char fmt_saf[] ="[saf] safety interlock enable%6d [0=disable,1=enable]\n";

 void cm_print_jt(nvObj_t *nv) { text_print(nv, fmt_jt);}        // TYPE FLOAT
 void cm_print_ct(nvObj_t *nv) { text_print_flt_units(nv, fmt_ct, GET_UNITS(ACTIVE_MODEL));}
+void cm_print_zl(nvObj_t *nv) { text_print_flt_units(nv, fmt_zl, GET_UNITS(ACTIVE_MODEL));}
 void cm_print_sl(nvObj_t *nv) { text_print(nv, fmt_sl);}        // TYPE_INT
 void cm_print_lim(nvObj_t *nv){ text_print(nv, fmt_lim);}       // TYPE_INT
 void cm_print_saf(nvObj_t *nv){ text_print(nv, fmt_saf);}       // TYPE_INT

-//static const char fmt_m48e[] = "[m48e] overrides enabled%11d [0=disable,1=enable]\n";
+static const char fmt_m48[]  = "[m48] overrides enabled%12d [0=disable,1=enable]\n";
 static const char fmt_froe[] = "[froe] feed override enable%8d [0=disable,1=enable]\n";
 static const char fmt_fro[]  = "[fro]  feedrate override%15.3f [0.05 < mfo < 2.00]\n";
 static const char fmt_troe[] = "[troe] traverse over enable%8d [0=disable,1=enable]\n";
 static const char fmt_tro[]  = "[tro]  traverse override%15.3f [0.05 < mto < 1.00]\n";
 static const char fmt_tram[] = "[tram] is coordinate space rotated to be tram %s\n";

-//void cm_print_m48e(nvObj_t *nv) { text_print(nv, fmt_m48e);}    // TYPE_INT
+void cm_print_m48(nvObj_t *nv)  { text_print(nv, fmt_m48);}    // TYPE_INT
 void cm_print_froe(nvObj_t *nv) { text_print(nv, fmt_froe);}    // TYPE INT
 void cm_print_fro(nvObj_t *nv)  { text_print(nv, fmt_fro);}     // TYPE FLOAT
 void cm_print_troe(nvObj_t *nv) { text_print(nv, fmt_troe);}    // TYPE INT
--- a/g2core/canonical_machine.h
+++ b/g2core/canonical_machine.h
@@ -221,6 +221,7 @@ typedef struct cmMachine {                  // struct to manage canonical machin
    // System group settings
    float junction_integration_time;        // how aggressively will the machine corner? 1.6 or so is about the upper limit
    float chordal_tolerance;                // arc chordal accuracy setting in mm
+    float feedhold_z_lift;                  // mm to move Z axis on feedhold, or 0 to disable
    bool soft_limit_enable;                 // true to enable soft limit testing on Gcode inputs
    bool limit_enable;                      // true to enable limit switches (disabled is same as override)
    bool safety_interlock_enable;           // true to enable safety interlock system
@@ -568,6 +569,8 @@ stat_t cm_get_jt(nvObj_t *nv);          // get junction integration time constan
 stat_t cm_set_jt(nvObj_t *nv);          // set junction integration time constant
 stat_t cm_get_ct(nvObj_t *nv);          // get chordal tolerance
 stat_t cm_set_ct(nvObj_t *nv);          // set chordal tolerance
+stat_t cm_get_zl(nvObj_t *nv);          // get feedhold Z lift
+stat_t cm_set_zl(nvObj_t *nv);          // set feedhold Z lift
 stat_t cm_get_sl(nvObj_t *nv);          // get soft limit enable
 stat_t cm_set_sl(nvObj_t *nv);          // set soft limit enable
 stat_t cm_get_lim(nvObj_t *nv);         // get hard limit enable
@@ -575,6 +578,8 @@ stat_t cm_set_lim(nvObj_t *nv);         // set hard limit enable
 stat_t cm_get_saf(nvObj_t *nv);         // get safety interlock enable
 stat_t cm_set_saf(nvObj_t *nv);         // set safety interlock enable

+stat_t cm_get_m48(nvObj_t *nv);         // get M48 value (enable/disable overrides)
+stat_t cm_set_m48(nvObj_t *nv);         // set M48 value (enable/disable overrides)
 stat_t cm_get_froe(nvObj_t *nv);        // get feedrate override enable
 stat_t cm_set_froe(nvObj_t *nv);        // set feedrate override enable
 stat_t cm_get_fro(nvObj_t *nv);         // get feedrate override factor
@@ -637,11 +642,12 @@ stat_t cm_set_gdi(nvObj_t *nv);         // set gcode default distance mode

  void cm_print_jt(nvObj_t *nv);    // global CM settings
  void cm_print_ct(nvObj_t *nv);
+  void cm_print_zl(nvObj_t *nv);
  void cm_print_sl(nvObj_t *nv);
  void cm_print_lim(nvObj_t *nv);
  void cm_print_saf(nvObj_t *nv);

-//  void cm_print_m48e(nvObj_t *nv);
+  void cm_print_m48(nvObj_t *nv);
  void cm_print_froe(nvObj_t *nv);
  void cm_print_fro(nvObj_t *nv);
  void cm_print_troe(nvObj_t *nv);
@@ -703,15 +709,17 @@ stat_t cm_set_gdi(nvObj_t *nv);         // set gcode default distance mode

    #define cm_print_jt tx_print_stub       // global CM settings
    #define cm_print_ct tx_print_stub
+    #define cm_print_zl tx_print_stub
    #define cm_print_sl tx_print_stub
    #define cm_print_lim tx_print_stub
    #define cm_print_saf tx_print_stub

-    #define cm_print_m48e tx_print_stub
-    #define cm_print_mfoe tx_print_stub
-    #define cm_print_mfo tx_print_stub
-    #define cm_print_mtoe tx_print_stub
-    #define cm_print_mto tx_print_stub
+    #define cm_print_m48 tx_print_stub
+    #define cm_print_froe tx_print_stub
+    #define cm_print_fro tx_print_stub
+    #define cm_print_troe tx_print_stub
+    #define cm_print_tro tx_print_stub
+    #define cm_print_tram tx_print_stub

    #define cm_print_am tx_print_stub    // axis print functions
    #define cm_print_fr tx_print_stub
--- a/g2core/config_app.cpp
+++ b/g2core/config_app.cpp
@@ -836,20 +836,20 @@ const cfgItem_t cfgArray[] = {
    { "jid","jidd",_f0, 0, tx_print_nul, get_data, set_data, (float *)&cfg.job_id[3], 0},

    // General system parameters
-    { "sys","jt", _fipn, 2, cm_print_jt,  cm_get_jt,  cm_set_jt,  (float *)&cs.null, JUNCTION_INTEGRATION_TIME },
-    { "sys","ct", _fipnc,4, cm_print_ct,  cm_get_ct,  cm_set_ct,  (float *)&cs.null, CHORDAL_TOLERANCE },
-    { "sys","sl", _fipn, 0, cm_print_sl,  cm_get_sl,  cm_set_sl,  (float *)&cs.null, SOFT_LIMIT_ENABLE },
-    { "sys","lim", _fipn,0, cm_print_lim, cm_get_lim, cm_set_lim, (float *)&cs.null, HARD_LIMIT_ENABLE },
-    { "sys","saf", _fipn,0, cm_print_saf, cm_get_saf, cm_set_saf, (float *)&cs.null, SAFETY_INTERLOCK_ENABLE },
-    { "sys","froe",_fipn,0, cm_print_froe,cm_get_froe,cm_get_froe,(float *)&cs.null, FEED_OVERRIDE_ENABLE},
-    { "sys","fro", _fipn,3, cm_print_fro, cm_get_fro, cm_set_fro, (float *)&cs.null, FEED_OVERRIDE_FACTOR},
-    { "sys","troe",_fipn,0, cm_print_troe,cm_get_troe,cm_get_troe,(float *)&cs.null, TRAVERSE_OVERRIDE_ENABLE},
-    { "sys","tro", _fipn,3, cm_print_tro, cm_get_tro, cm_set_tro, (float *)&cs.null, TRAVERSE_OVERRIDE_FACTOR},
-//    { "sys","zl",  _fipn,3, cm_print_zl,  cm_get_zl,  cm_set_zl,  (float *)&cs.null, FEEDHOLD_Z_LIFT},        
-    { "sys","mt",  _fipn,2, st_print_mt,  st_get_mt,  st_set_mt,  (float *)&cs.null, MOTOR_POWER_TIMEOUT},
-    { "",   "me",  _f0,  0, st_print_me,  get_nul,    st_set_me,  (float *)&cs.null, 0 },    // SET to enable motors
-    { "",   "md",  _f0,  0, st_print_md,  get_nul,    st_set_md,  (float *)&cs.null, 0 },    // SET to disable motors
-//    { "sys","m48e",_fipn,0, cm_print_m48e,get_ui8,   set_01,      (float *)&cm->gmx.m48_enable, 0 },   // M48/M49 feedrate & spindle override enable
+    { "sys","jt",  _fipn, 2, cm_print_jt,  cm_get_jt,  cm_set_jt,  (float *)&cs.null, JUNCTION_INTEGRATION_TIME },
+    { "sys","ct",  _fipnc,4, cm_print_ct,  cm_get_ct,  cm_set_ct,  (float *)&cs.null, CHORDAL_TOLERANCE },
+    { "sys","zl",  _fipnc,3, cm_print_zl,  cm_get_zl,  cm_set_zl,  (float *)&cs.null, FEEDHOLD_Z_LIFT},
+    { "sys","sl",  _fipn, 0, cm_print_sl,  cm_get_sl,  cm_set_sl,  (float *)&cs.null, SOFT_LIMIT_ENABLE },
+    { "sys","lim", _fipn, 0, cm_print_lim, cm_get_lim, cm_set_lim, (float *)&cs.null, HARD_LIMIT_ENABLE },
+    { "sys","saf", _fipn, 0, cm_print_saf, cm_get_saf, cm_set_saf, (float *)&cs.null, SAFETY_INTERLOCK_ENABLE },
+    { "sys","m48", _fipn, 0, cm_print_m48, cm_get_m48, cm_get_m48, (float *)&cs.null, 0 },   // M48/M49 feedrate & spindle override enable
+    { "sys","froe",_fipn, 0, cm_print_froe,cm_get_froe,cm_get_froe,(float *)&cs.null, FEED_OVERRIDE_ENABLE},
+    { "sys","fro", _fipn, 3, cm_print_fro, cm_get_fro, cm_set_fro, (float *)&cs.null, FEED_OVERRIDE_FACTOR},
+    { "sys","troe",_fipn, 0, cm_print_troe,cm_get_troe,cm_get_troe,(float *)&cs.null, TRAVERSE_OVERRIDE_ENABLE},
+    { "sys","tro", _fipn, 3, cm_print_tro, cm_get_tro, cm_set_tro, (float *)&cs.null, TRAVERSE_OVERRIDE_FACTOR},
+    { "sys","mt",  _fipn, 2, st_print_mt,  st_get_mt,  st_set_mt,  (float *)&cs.null, MOTOR_POWER_TIMEOUT},
+    { "",   "me",  _f0,   0, st_print_me,  get_nul,    st_set_me,  (float *)&cs.null, 0 },    // SET to enable motors
+    { "",   "md",  _f0,   0, st_print_md,  get_nul,    st_set_md,  (float *)&cs.null, 0 },    // SET to disable motors

    // Spindle functions
    { "sys","spep",_fipn,0, cm_print_spep,get_ui8, set_01,   (float *)&spindle.enable_polarity,     SPINDLE_ENABLE_POLARITY },
--- a/g2core/g2core.cppproj
+++ b/g2core/g2core.cppproj
@@ -5,7 +5,7 @@
    <ProjectVersion>7.0</ProjectVersion>
    <ToolchainName>com.Atmel.ARMGCC.CPP</ToolchainName>
    <ProjectGuid>{44ea8fec-55d7-4149-8a78-a574fc26bf51}</ProjectGuid>
-    <avrdevice>ATSAM3X8E</avrdevice>
+    <avrdevice>ATSAM3X8C</avrdevice>
    <avrdeviceseries>none</avrdeviceseries>
    <OutputType>Executable</OutputType>
    <Language>CPP</Language>
@@ -21,10 +21,8 @@
    <OverrideVtorValue>exception_table</OverrideVtorValue>
    <eraseonlaunchrule>1</eraseonlaunchrule>
    <AsfVersion>3.5.0</AsfVersion>
-    <avrtoolinterface>
-    </avrtoolinterface>
-    <avrtool>
-    </avrtool>
+    <avrtoolinterface>SWD</avrtoolinterface>
+    <avrtool>com.atmel.avrdbg.tool.atmelice</avrtool>
    <com_atmel_avrdbg_tool_samice>
      <ToolType>com.atmel.avrdbg.tool.samice</ToolType>
      <ToolName>J-Link</ToolName>
@@ -70,7 +68,7 @@
    <com_atmel_avrdbg_tool_atmelice>
      <ToolOptions>
        <InterfaceProperties>
-          <SwdClock>10000000</SwdClock>
+          <SwdClock>2000000</SwdClock>
        </InterfaceProperties>
        <InterfaceName>SWD</InterfaceName>
      </ToolOptions>
@@ -104,7 +102,7 @@
    <preserveEEPROM>true</preserveEEPROM>
    <avrtoolserialnumber>J41800030015</avrtoolserialnumber>
    <avrdeviceexpectedsignature>0x284E0A60</avrdeviceexpectedsignature>
-    <avrtoolinterfaceclock>10000000</avrtoolinterfaceclock>
+    <avrtoolinterfaceclock>2000000</avrtoolinterfaceclock>
    <custom>
      <ToolOptions xmlns="">
        <InterfaceProperties>