Minor commit

g2core/cycle_feedhold.cpp

@@ -91,8 +91,8 @@ static stat_t _finalize_p2_hold_exit(void);
  *          (unlikely, but handled as 1b).
  *  (2) - The block has decelerated to some velocity > zero, so needs continuation into next block
  *  (3) - The block has decelerated to zero velocity
- *   (3a) - The end of deceleration is detected (inline in mp_exec_aline())
- *   (3b) - The end of deceleration is signeled and transitioned
+ *   (3a) - The end of deceleration is detected inline in mp_exec_aline()
+ *   (3b) - The end of deceleration is signaled and state is transitioned
  *  (4) - We have finished all the runtime work now we have to wait for the motors to stop
  *   (4a) - It's a homing or probing feedhold - ditch the remaining buffer & go directly to OFF
  *   (4b) - It's a p2 feedhold - ditch the remaining buffer & signal we want a p2 queue flush

g2core/cycle_probing.cpp

@@ -39,7 +39,8 @@
 #include "util.h"
 #include "xio.h"
 
-/**** Probe singleton structure ****/
+
+/**** Local stuff ****/
 
 #define MINIMUM_PROBE_TRAVEL 0.254      // mm of travel below which the probe will err out
 
@@ -71,14 +72,9 @@ static stat_t _probing_backoff();
 static stat_t _probing_finish();
 static stat_t _probing_exception_exit(stat_t status);
 static stat_t _probe_move(const float target[], const bool flags[]);
+static void _motion_end_callback(float* vect, bool* flag);
 static void _send_probe_report(void);
 
-// helper
-static void _motion_end_callback(float* vect, bool* flag)
-{
-    pb.wait_for_motion_end = false;
-}
-
 /***********************************************************************************
  **** G38.x Probing Cycle **********************************************************
  ***********************************************************************************/
@@ -147,7 +143,7 @@ uint8_t cm_straight_probe(float target[], bool flags[], bool trip_sense, bool al
 
     // initialize the probe input; error if no probe input specified
     if ((pb.probe_input = gpio_get_probing_input()) == -1) {
-        return(cm_alarm(STAT_NO_PROBE_INPUT_CONFIGURED, "No probe input"));
+        return(cm_alarm(STAT_NO_PROBE_INPUT_CONFIGURED, "Probe input not configured"));
     }
 
     // setup
@@ -273,18 +269,27 @@ static stat_t _probing_backoff()
 }
 
 /***********************************************************************************
- * _probe_move() - function to execute probing moves
+ * _probe_move()          - function to execute probing moves
+ * _motion_end_callback() - callback completes when motion has stopped
  *
  *  target[] must be provided in machine canonical coordinates (absolute, mm)
  *  cm_set_absolute_override() also zeros work offsets, which are restored on exit.
  */
 
+static void _motion_end_callback(float* vect, bool* flag)
+{
+    while (!mp_runtime_is_idle()) {
+        __NOP();                        // block until current segment is done 
+    };
+    pb.wait_for_motion_end = false;
+}
+
 static stat_t _probe_move(const float target[], const bool flags[])
 {
     cm_set_absolute_override(MODEL, ABSOLUTE_OVERRIDE_ON);  
     pb.wait_for_motion_end = true;          // set this BEFORE the motion starts
-    cm_straight_feed(target, flags);
-    mp_queue_command(_motion_end_callback, nullptr, nullptr);      // the last two arguments are ignored anyway
+    cm_straight_feed(target, flags);        // NB: feed rate was set earlier, so it's OK
+    mp_queue_command(_motion_end_callback, nullptr, nullptr); // the last two arguments are ignored anyway
     return (STAT_EAGAIN);
 }
 

g2core/g2core.cppproj

@@ -73,7 +73,7 @@
         <InterfaceName>SWD</InterfaceName>
       </ToolOptions>
       <ToolType>com.atmel.avrdbg.tool.atmelice</ToolType>
-      <ToolNumber>J41800030015</ToolNumber>
+      <ToolNumber>J41800036434</ToolNumber>
       <ToolName>Atmel-ICE</ToolName>
     </com_atmel_avrdbg_tool_atmelice>
     <UseGdb>True</UseGdb>
@@ -100,7 +100,7 @@
       <HWProgramCounterSampling>True</HWProgramCounterSampling>
     </PercepioTrace>
     <preserveEEPROM>true</preserveEEPROM>
-    <avrtoolserialnumber>J41800030015</avrtoolserialnumber>
+    <avrtoolserialnumber>J41800036434</avrtoolserialnumber>
     <avrdeviceexpectedsignature>0x284E0A60</avrdeviceexpectedsignature>
     <avrtoolinterfaceclock>10000000</avrtoolinterfaceclock>
     <custom>

g2core/kinematics.cpp

@@ -2,7 +2,8 @@
  * kinematics.cpp - inverse kinematics routines
  * This file is part of the g2core project
  *
- * Copyright (c) 2010 - 2016 Alden S. Hart, Jr.
+ * Copyright (c) 2010 - 2017 Alden S. Hart, Jr.
+ * Copyright (c) 2016 - 2017 Rob Giseburt
  *
  * This file ("the software") is free software: you can redistribute it and/or modify
  * it under the terms of the GNU General Public License, version 2 as published by the
@@ -127,7 +128,6 @@ static void _inverse_kinematics(const float travel[], float joint[]) {
  *
  * This function is NOT to be used where high-speed is important. If that becomes the case,
  * there are many opportunities for caching and optimization for performance here.
- *
  */
 
 void kn_forward_kinematics(const float steps[], float travel[]) {
@@ -139,7 +139,7 @@ void kn_forward_kinematics(const float steps[], float travel[]) {
         best_steps_per_unit[axis] = -1.0;
     }
 
-    // Scan through each axis, and then through each motor
+    // Scan through each axis then through each motor
     for (uint8_t axis = 0; axis < AXES; axis++) {
         if (cm->a[axis].axis_mode == AXIS_INHIBITED) {
             travel[axis] = 0.0;
@@ -147,13 +147,12 @@ void kn_forward_kinematics(const float steps[], float travel[]) {
         }
         for (uint8_t motor = 0; motor < MOTORS; motor++) {
             if (st_cfg.mot[motor].motor_map == axis) {
-                // If this motor has a better (or the only) resolution, then we use this motor's value
+                // If this motor has a better (or the only) resolution, then use this motor's value
                 if (best_steps_per_unit[axis] < st_cfg.mot[motor].steps_per_unit) {
                     best_steps_per_unit[axis] = st_cfg.mot[motor].steps_per_unit;
                     travel[axis]              = steps[motor] * st_cfg.mot[motor].units_per_step;
-
-                    // If a econd motor has the same reolution for the same axis, we'll average their values
-                } else if (fp_EQ(best_steps_per_unit[axis], st_cfg.mot[motor].steps_per_unit)) {
+                } // If a second motor has the same resolution for the same axis average their values
+                else if (fp_EQ(best_steps_per_unit[axis], st_cfg.mot[motor].steps_per_unit)) {
                     travel[axis] = (travel[axis] + (steps[motor] * st_cfg.mot[motor].units_per_step)) / 2.0;
                 }
             }