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Intermediate commit - changing canonical machine struct to work by pointer - not absolute. Compiles. Does not run.

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This commit is contained in:
Alden Hart
2016-12-09 07:41:31 -05:00
parent 58a615358f
commit a4330f42cc
20 changed files with 704 additions and 680 deletions
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g2core/plan_exec.cpp
+25 -25
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@@ -253,7 +253,7 @@ stat_t mp_exec_move()
// first-time operations
if (bf->buffer_state != MP_BUFFER_RUNNING) {
if ((bf->buffer_state < MP_BUFFER_PREPPED) && (cm.motion_state == MOTION_RUN)) {
if ((bf->buffer_state < MP_BUFFER_PREPPED) && (cm->motion_state == MOTION_RUN)) {
__asm__("BKPT"); // mp_exec_move() buffer is not prepped
// IMPORTANT: We can't rpt_exception from here!
st_prep_null();
@@ -266,7 +266,7 @@ stat_t mp_exec_move()
}
if (bf->buffer_state == MP_BUFFER_PREPPED) {
if (cm.motion_state == MOTION_RUN) {
if (cm->motion_state == MOTION_RUN) {
__asm__("BKPT"); // we are running but don't have a block planned
}
// We need to have it planned. We don't want to do this here, as it
@@ -292,7 +292,7 @@ stat_t mp_exec_move()
}
// Manage motion state transitions
if ((cm.motion_state != MOTION_RUN) && (cm.motion_state != MOTION_HOLD)) {
if ((cm->motion_state != MOTION_RUN) && (cm->motion_state != MOTION_HOLD)) {
cm_set_motion_state(MOTION_RUN);
}
}
@@ -519,20 +519,20 @@ stat_t mp_exec_aline(mpBuf_t *bf)
// (8) - We are removing the hold state and there is queued motion (handled outside this routine)
// (9) - We are removing the hold state and there is no queued motion (also handled outside this routine)
if (cm.motion_state == MOTION_HOLD) {
if (cm->motion_state == MOTION_HOLD) {
// Case (7) - all motion has ceased
if (cm.hold_state == FEEDHOLD_HOLD) {
if (cm->hold_state == FEEDHOLD_HOLD) {
return (STAT_NOOP); // VERY IMPORTANT to exit as a NOOP. No more movement
}
// Case (6) - wait for the steppers to stop
if (cm.hold_state == FEEDHOLD_PENDING) {
if (cm->hold_state == FEEDHOLD_PENDING) {
if (mp_runtime_is_idle()) { // wait for the steppers to actually clear out
if ((cm.cycle_state == CYCLE_HOMING) || (cm.cycle_state == CYCLE_PROBE)) {
if ((cm->cycle_state == CYCLE_HOMING) || (cm->cycle_state == CYCLE_PROBE)) {
// when homing, we don't need to stay in HOLD
cm.hold_state = FEEDHOLD_OFF;
cm->hold_state = FEEDHOLD_OFF;
} else {
cm.hold_state = FEEDHOLD_HOLD;
cm->hold_state = FEEDHOLD_HOLD;
}
mp_zero_segment_velocity(); // for reporting purposes
sr_request_status_report(SR_REQUEST_IMMEDIATE); // was SR_REQUEST_TIMED
@@ -543,16 +543,16 @@ stat_t mp_exec_aline(mpBuf_t *bf)
// Case (5) - decelerated to zero
// Update the run buffer then force a replan of the whole planner queue
if (cm.hold_state == FEEDHOLD_DECEL_END) {
if (cm->hold_state == FEEDHOLD_DECEL_END) {
mr.block_state = BLOCK_INACTIVE; // invalidate mr buffer to reset the new move
bf->block_state = BLOCK_INITIAL_ACTION; // tell _exec to re-use the bf buffer
bf->length = get_axis_vector_length(mr.target, mr.position);// reset length
//bf->entry_vmax = 0; // set bp+0 as hold point
cm.hold_state = FEEDHOLD_PENDING;
cm->hold_state = FEEDHOLD_PENDING;
// No point bothering with the rest of this move if homing or probing
if ((cm.cycle_state == CYCLE_HOMING) || (cm.cycle_state == CYCLE_PROBE)) {
if ((cm->cycle_state == CYCLE_HOMING) || (cm->cycle_state == CYCLE_PROBE)) {
mp_free_run_buffer();
}
@@ -564,15 +564,15 @@ stat_t mp_exec_aline(mpBuf_t *bf)
// Cases (1a, 1b), Case (2), Case (4)
// Build a tail-only move from here. Decelerate as fast as possible in the space we have.
if ((cm.hold_state == FEEDHOLD_SYNC) ||
((cm.hold_state == FEEDHOLD_DECEL_CONTINUE) && (mr.block_state == BLOCK_INITIAL_ACTION))) {
if ((cm->hold_state == FEEDHOLD_SYNC) ||
((cm->hold_state == FEEDHOLD_DECEL_CONTINUE) && (mr.block_state == BLOCK_INITIAL_ACTION))) {
// Case (3a) - already decelerating, continue the deceleration.
if (mr.section == SECTION_TAIL) { // if already in a tail don't decelerate. You already are
if (fp_ZERO(mr.r->exit_velocity)) {
cm.hold_state = FEEDHOLD_DECEL_TO_ZERO;
cm->hold_state = FEEDHOLD_DECEL_TO_ZERO;
} else {
cm.hold_state = FEEDHOLD_DECEL_CONTINUE;
cm->hold_state = FEEDHOLD_DECEL_CONTINUE;
}
// Case (3b) - currently accelerating - is simply skipped and waited for
@@ -590,17 +590,17 @@ stat_t mp_exec_aline(mpBuf_t *bf)
mr.r->tail_length = mp_get_target_length(0, mr.r->cruise_velocity, bf); // braking length
if (fp_ZERO(available_length - mr.r->tail_length)) { // (1c) the deceleration time is almost exactly the remaining of the current move
cm.hold_state = FEEDHOLD_DECEL_TO_ZERO;
cm->hold_state = FEEDHOLD_DECEL_TO_ZERO;
mr.r->tail_length = available_length;
mr.r->exit_velocity = 0;
} else if (available_length < mr.r->tail_length) { // (1b) the deceleration has to span multiple moves
cm.hold_state = FEEDHOLD_DECEL_CONTINUE;
cm->hold_state = FEEDHOLD_DECEL_CONTINUE;
mr.r->tail_length = available_length;
mr.r->exit_velocity = mp_get_decel_velocity(mr.r->cruise_velocity, mr.r->tail_length, bf);
} else { // (1a)the deceleration will fit into the current move
cm.hold_state = FEEDHOLD_DECEL_TO_ZERO;
cm->hold_state = FEEDHOLD_DECEL_TO_ZERO;
mr.r->exit_velocity = 0;
}
mr.r->tail_time = mr.r->tail_length*2 / (mr.r->exit_velocity + mr.r->cruise_velocity);
@@ -627,8 +627,8 @@ stat_t mp_exec_aline(mpBuf_t *bf)
}
// Feedhold Case (5): Look for the end of the deceleration to go into HOLD state
if ((cm.hold_state == FEEDHOLD_DECEL_TO_ZERO) && (status == STAT_OK)) {
cm.hold_state = FEEDHOLD_DECEL_END;
if ((cm->hold_state == FEEDHOLD_DECEL_TO_ZERO) && (status == STAT_OK)) {
cm->hold_state = FEEDHOLD_DECEL_END;
bf->block_state = BLOCK_INITIAL_ACTION; // reset bf so it can restart the rest of the move
}
@@ -652,7 +652,7 @@ stat_t mp_exec_aline(mpBuf_t *bf)
if (bf->block_state == BLOCK_ACTIVE) {
if (mp_free_run_buffer()) { // returns true of the buffer is empty
if (cm.hold_state == FEEDHOLD_OFF) {
if (cm->hold_state == FEEDHOLD_OFF) {
cm_cycle_end(); // free buffer & end cycle if planner is empty
}
} else {
@@ -677,7 +677,7 @@ stat_t mp_plan_feedhold_move()
/*
* mp_exit_hold_state() - end a feedhold
*
* Feedhold is executed as cm.hold_state transitions executed inside _exec_aline()
* Feedhold is executed as cm->hold_state transitions executed inside _exec_aline()
* Invoke a feedhold by calling cm_request_hold() or cm_start_hold() directly
* Return from feedhold by calling cm_request_end_hold() or cm_end_hold directly.
* See canonical_macine.c for a more detailed explanation of feedhold operation.
@@ -685,7 +685,7 @@ stat_t mp_plan_feedhold_move()
void mp_exit_hold_state()
{
cm.hold_state = FEEDHOLD_OFF;
cm->hold_state = FEEDHOLD_OFF;
if (mp_has_runnable_buffer(ACTIVE_Q)) {
cm_set_motion_state(MOTION_RUN);
sr_request_status_report(SR_REQUEST_IMMEDIATE);
@@ -1029,7 +1029,7 @@ static stat_t _exec_aline_segment()
// Otherwise if not at a section waypoint compute target from segment time and velocity
// Don't do waypoint correction if you are going into a hold.
if ((--mr.segment_count == 0) && (cm.motion_state != MOTION_HOLD)) {
if ((--mr.segment_count == 0) && (cm->motion_state != MOTION_HOLD)) {
copy_vector(mr.gm.target, mr.waypoint[mr.section]);
} else {
float segment_length = mr.segment_velocity * mr.segment_time;