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Switch is working enough to take commands

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This commit is contained in:
Alden Hart
2017-01-11 11:12:18 -05:00
parent dc8800b7bd
commit 9b6ae6c553
4 changed files with 29 additions and 59 deletions
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g2core/canonical_machine.cpp
+21 -47
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@@ -151,7 +151,7 @@ void canonical_machine_init(cmMachine_t *_cm, void *_mp)
canonical_machine_init_assertions(_cm); // establish assertions
cm_arc_init(_cm); // setup arcs. Note: spindle and coolant inits are independent
_cm->mp = _mp; // point to associated planner
ACTIVE_MODEL = MODEL; // setup initial Gcode model pointer
_cm->am = MODEL; // setup initial Gcode model pointer
}
// *** Note: Run canonical_machine_init and profile initializations beforehand ***
@@ -244,37 +244,39 @@ stat_t canonical_machine_test_assertions(cmMachine_t *_cm)
stat_t cm_switch(nvObj_t *nv)
{
// Test for:
// - must be in the correct CM
// - must be fully stopped in a hold
// Must be in the correct CM and must be fully stopped in a hold
if ((cm != &cm1) || (cm->hold_state != FEEDHOLD_HOLD)) {
nv->valuetype = TYPE_NULL;
return (STAT_COMMAND_NOT_ACCEPTED);
}
// initialize the secondary context to agree with the primary
// copy the primary canonical machine to the secondary,
// fix the planner pointer, and reset the secondary planner
memcpy(&cm2, &cm1, sizeof(cmMachine_t));
cm2.mp = &mp2;
planner_reset((mpPlanner_t *)cm2.mp); // mp is a void pointer
// now make the changes so you can actually use it
// set parameters in cm, gm and gmx so you can actually use it
cmMachine_t *_cm = &cm2;
_cm->motion_state = MOTION_STOP;
_cm->hold_state = FEEDHOLD_OFF;
_cm->hold_disabled = true;
// setup the gm and gmx
_cm->gm.motion_mode = MOTION_MODE_CANCEL_MOTION_MODE;
_cm->gm.absolute_override = ABSOLUTE_OVERRIDE_OFF;
_cm->gm.feed_rate = 0;
memset(&(_cm->gm.target), 0 , sizeof(_cm->gm.target));
memset(&(_cm->gm.target_comp), 0 , sizeof(_cm->gm.target_comp));
copy_vector(_cm->gmx.position, mr->position); // get the current holding position
// clear the target and set the positions to the current hold position
memset(&(_cm->gm.target), 0, sizeof(_cm->gm.target));
memset(&(_cm->gm.target_comp), 0, sizeof(_cm->gm.target_comp));
copy_vector(_cm->gmx.position, mr->position);
copy_vector(mp2.position, mr->position);
// reassign the globals to the secondary planner (this must be last)
// reassign the globals to the secondary planner (this must be next-to-last)
cm = &cm2;
mp = (mpPlanner_t *)cm->mp; // cm->mp is a void pointer
mp = (mpPlanner_t *)cm->mp; // mp is a void pointer
mr = mp->mr;
// finally, set motion state and ACTIVE_MODEL. This must be performed after cm is set to cm2
cm_set_motion_state(MOTION_STOP);
return (STAT_OK);
}
@@ -377,7 +379,6 @@ cmCombinedState cm_get_combined_state()
/* These getters and setters will work on any gm model with inputs:
* MODEL (GCodeState_t *)&cm->gm // absolute pointer from canonical machine gm model
* PLANNER (GCodeState_t *)&bf->gm // relative to buffer *bf is currently pointing to
* RUNTIME (GCodeState_t *)&mr->gm // absolute pointer from runtime mm struct
* ACTIVE_MODEL cm->am // active model pointer is maintained by state management
*/
@@ -465,12 +466,8 @@ float cm_get_active_coord_offset(const uint8_t axis)
}
/*
* cm_get_work_offset() - return a coord offset from the gcode_state
*
* MODEL (GCodeState_t *)&cm->gm // absolute pointer from canonical machine gm model
* PLANNER (GCodeState_t *)&bf->gm // relative to buffer *bf is currently pointing to
* RUNTIME (GCodeState_t *)&mr->gm // absolute pointer from runtime mm struct
* ACTIVE_MODEL cm->am // active model pointer is maintained by state management
* cm_get_work_offset() - return a coord offset from the active Gcode dynamic model
* cm_set_work_offsets() - capture coord offsets from the model into absolute values in the active Gcode dynamic model
*/
float cm_get_work_offset(const GCodeState_t *gcode_state, const uint8_t axis)
@@ -478,15 +475,6 @@ float cm_get_work_offset(const GCodeState_t *gcode_state, const uint8_t axis)
return (gcode_state->work_offset[axis]);
}
/*
* cm_set_work_offsets() - capture coord offsets from the model into absolute values in the gcode_state
*
* MODEL (GCodeState_t *)&cm->gm // absolute pointer from canonical machine gm model
* PLANNER (GCodeState_t *)&bf->gm // relative to buffer *bf is currently pointing to
* RUNTIME (GCodeState_t *)&mr->gm // absolute pointer from runtime mm struct
* ACTIVE_MODEL cm->am // active model pointer is maintained by state management
*/
void cm_set_work_offsets(GCodeState_t *gcode_state)
{
for (uint8_t axis = AXIS_X; axis < AXES; axis++) {
@@ -495,14 +483,9 @@ void cm_set_work_offsets(GCodeState_t *gcode_state)
}
/*
* cm_get_absolute_position() - get position of axis in absolute coordinates
* cm_get_absolute_position() - get position of axis in absolute coordinates from the active Gcode dynamic model
*
* This function accepts as input:
* MODEL (GCodeState_t *)&cm->gm // absolute pointer from canonical machine gm model
* RUNTIME (GCodeState_t *)&mr->gm // absolute pointer from runtime mm struct
*
* NOTE: Only MODEL and RUNTIME are supported (no PLANNER or bf's)
* NOTE: Machine position is always returned in mm mode. No units conversion is performed
* ... machine position is always returned in mm mode. No units conversion is performed
*/
float cm_get_absolute_position(const GCodeState_t *gcode_state, const uint8_t axis)
@@ -514,18 +497,9 @@ float cm_get_absolute_position(const GCodeState_t *gcode_state, const uint8_t ax
}
/*
* cm_get_work_position() - return work position in external form
* cm_get_work_position() - return work position in external form from the active Gcode dynamic model
*
* ... that means in prevailing units (mm/inch) and with all offsets applied
*
* NOTE: This function only works after the gcode_state struct as had the work_offsets setup by
* calling cm_get_model_coord_offset_vector() first.
*
* This function accepts as input:
* MODEL (GCodeState_t *)&cm->gm // absolute pointer from canonical machine gm model
* RUNTIME (GCodeState_t *)&mr->gm // absolute pointer from runtime mm struct
*
* NOTE: Only MODEL and RUNTIME are supported (no PLANNER or bf's)
*/
float cm_get_work_position(const GCodeState_t *gcode_state, const uint8_t axis)
g2core/canonical_machine.h
+1 -2
View File
@@ -39,9 +39,8 @@
/* Defines, Macros, and Assorted Parameters */
#define MODEL (GCodeState_t *)&cm->gm // absolute pointer from canonical machine gm model
#define PLANNER (GCodeState_t *)&bf->gm // relative to buffer *bf is currently pointing to
#define RUNTIME (GCodeState_t *)&mr->gm // absolute pointer from runtime mm struct
#define ACTIVE_MODEL cm->am // active model pointer is maintained by state management
#define ACTIVE_MODEL cm->am // active model pointer is maintained by cm_set_motion_state()
#define _to_millimeters(a) ((cm->gm.units_mode == INCHES) ? (a * MM_PER_INCH) : a)
g2core/plan_line.cpp
+6 -6
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@@ -180,7 +180,7 @@ stat_t mp_aline(GCodeState_t* gm_in)
gm_in->target[2] * cm->rotation_matrix[2][2] +
cm->rotation_z_offset;
// copy rotation axes ABC
// copy rotation axes for ABC (no changes)
target_rotated[3] = gm_in->target[3];
target_rotated[4] = gm_in->target[4];
target_rotated[5] = gm_in->target[5];
@@ -204,13 +204,13 @@ stat_t mp_aline(GCodeState_t* gm_in)
// get a cleared buffer and copy in the Gcode model state
mpBuf_t* bf = mp_get_write_buffer();
if (bf == NULL) { // never supposed to fail
// if ((bf = mp_get_write_buffer()) == NULL) { // never supposed to fail
return (cm_panic(STAT_FAILED_GET_PLANNER_BUFFER, "aline()"));
}
memcpy(&bf->gm, gm_in, sizeof(GCodeState_t));
// Since bf->gm.target is being used all over the place, we'll make it the rotated target
copy_vector(bf->gm.target, target_rotated); // copy the rotated taget in place
copy_vector(bf->gm.target, target_rotated); // copy the rotated target in place
// setup the buffer
bf->bf_func = mp_exec_aline; // register the callback to the exec function
@@ -225,7 +225,7 @@ stat_t mp_aline(GCodeState_t* gm_in)
_set_bf_diagnostics(bf); //+++++DIAGNOSTIC
// Note: these next lines must remain in exact order. Position must update before committing the buffer.
copy_vector(mp->position, bf->gm.target); // set the planner position
copy_vector(mp->position, bf->gm.target); // set the planner position
mp_commit_write_buffer(BLOCK_TYPE_ALINE); // commit current block (must follow the position update)
return (STAT_OK);
}
@@ -304,8 +304,8 @@ static mpBuf_t* _plan_block(mpBuf_t* bf)
if (bf->nx->plannable) { // read in new buffers until EMPTY
return (bf->nx);
}
mp->planning_return = bf->nx; // where to return after planning is complete
mp->planner_state = PLANNER_BACK_PLANNING; // start backplanning
mp->planning_return = bf->nx; // where to return after planning is complete
mp->planner_state = PLANNER_BACK_PLANNING; // start backplanning
}
// Backward Planning Pass
g2core/planner.cpp
+1 -4
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@@ -747,15 +747,12 @@ mpBuf_t * mp_get_prev_buffer(const mpBuf_t *bf) { return (bf->pv); }
mpBuf_t * mp_get_next_buffer(const mpBuf_t *bf) { return (bf->nx); }
*/
//mpBuf_t * mp_get_w(int8_t q) { return ((q == ACTIVE_Q) ? mb.q[mb.active_q].w : mb.q[q].w); }
//mpBuf_t * mp_get_r(int8_t q) { return ((q == ACTIVE_Q) ? mb.q[mb.active_q].r : mb.q[q].r); }
mpBuf_t * mp_get_w() { return (mp->q.w); } //++++ should this be a DI function?
mpBuf_t * mp_get_r() { return (mp->q.r); } //+++++ ditto
mpBuf_t * mp_get_write_buffer() // get & clear a buffer
{
// mpQueue_t *q = &mb.q[mb.active_q];
mpPlannerQueue_t *q = &(mp->q);
if (q->w->buffer_state == MP_BUFFER_EMPTY) {