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More testing, some name changes to clarify things

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This commit is contained in:
Alden Hart
2017-02-01 13:14:01 -05:00
parent e37cc0b094
commit b8af55c653
3 changed files with 25 additions and 29 deletions
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5
g2core/canonical_machine.h
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@@ -766,9 +766,8 @@ stat_t cm_homing_cycle_start_no_set(void); // G28.4
stat_t cm_homing_cycle_callback(void); // G28.2/.4 main loop callback
// Probe cycles
stat_t cm_straight_probe(float target[], bool flags[],
bool alarm_if_fail,
bool move_toward_contact); // G38.x
stat_t cm_straight_probe(float target[], bool flags[], // G38.x
bool trip_sense, bool alarm_flag);
stat_t cm_probing_cycle_callback(void); // G38.x main loop callback
// Jogging cycle

45
g2core/cycle_probing.cpp
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@@ -41,7 +41,7 @@
/**** Probe singleton structure ****/
#define MINIMUM_PROBE_TRAVEL 0.254
#define MINIMUM_PROBE_TRAVEL 0.254 // mm of travel below which the probe will err out
struct pbProbingSingleton { // persistent probing runtime variables
@@ -50,10 +50,10 @@ struct pbProbingSingleton { // persistent probing runtime variables
bool flags[AXES];
// controls for probing cycle
int8_t probe_input; // which input should we check?
bool wait_for_motion_end; // flag to use to now when the motion has ended
bool alarm_if_fail; // flag for G38.2 and G38.4, where failure is NOT an option
bool move_toward_contact; // flag for G38.4 and G38.5, where we move off of the contact
int8_t probe_input; // digital input to read
bool trip_sense; // true if contact CLOSURE trips probe (true for G38.2 and G38.3)
bool alarm_flag; // true if failure triggers alarm (true for G38.2 and G38.4)
bool wait_for_motion_end; // flag to know when the motion has ended
stat_t (*func)(); // binding for callback function state machine
// saved gcode model state
@@ -133,11 +133,11 @@ static void _motion_end_callback(float* vect, bool* flag)
* the spindle to be turned on.
*/
uint8_t cm_straight_probe(float target[], bool flags[], bool alarm_if_fail, bool move_toward_contact)
uint8_t cm_straight_probe(float target[], bool flags[], bool trip_sense, bool alarm_flag)
{
// error if zero feed rate
if (fp_ZERO(cm.gm.feed_rate)) {
if (alarm_if_fail) {
if (alarm_flag) {
cm_alarm(STAT_GCODE_FEEDRATE_NOT_SPECIFIED, "Feedrate is zero");
}
return (STAT_GCODE_FEEDRATE_NOT_SPECIFIED);
@@ -146,7 +146,7 @@ uint8_t cm_straight_probe(float target[], bool flags[], bool alarm_if_fail, bool
// error if no axes specified
if (!(flags[AXIS_X] | flags[AXIS_Y] | flags[AXIS_Z] |
flags[AXIS_A] | flags[AXIS_B] | flags[AXIS_C])) {
if (alarm_if_fail) {
if (alarm_flag) {
cm_alarm(STAT_GCODE_AXIS_IS_MISSING, "Axis is missing");
}
return (STAT_GCODE_AXIS_IS_MISSING);
@@ -154,15 +154,15 @@ uint8_t cm_straight_probe(float target[], bool flags[], bool alarm_if_fail, bool
// initialize the probe input; error if no probe input specified
if ((pb.probe_input = gpio_get_probing_input()) == -1) {
if (alarm_if_fail) {
if (alarm_flag) {
cm_alarm(STAT_NO_PROBE_INPUT_CONFIGURED, "No probe input");
}
return (STAT_NO_PROBE_INPUT_CONFIGURED);
}
// setup
pb.alarm_if_fail = alarm_if_fail;
pb.move_toward_contact = move_toward_contact;
pb.alarm_flag = alarm_flag;
pb.trip_sense = trip_sense;
pb.func = _probing_start; // bind probing start function
cm_set_model_target(target, flags); // convert target to canonical form taking all offsets into account
@@ -257,7 +257,9 @@ static uint8_t _probing_start()
// Input == false is the correct start condition for G38.2 and G38.3
// Input == true is the right start condition for G38.4 and G38.5
// If the initial input is the same as the target state it's an error
if (pb.move_toward_contact == gpio_read_input(pb.probe_input)) { // == is exclusive nor for booleans
// pb.input_state = gpio_read_input(pb.probe_input);
// if (pb.trip_sense == pb.input_state) { // == is exclusive nor for booleans
if (pb.trip_sense == gpio_read_input(pb.probe_input)) { // == is exclusive nor for booleans
return(_probing_exception_exit(STAT_PROBE_IS_ALREADY_TRIPPED));
}
@@ -275,17 +277,12 @@ static uint8_t _probing_start()
static stat_t _probing_backoff()
{
// Test if we've contacted
// INPUT_INACTIVE (false) is the correct start condition for G38.2 and G38.3
// INPUT_ACTIVE (true) is the right start condition for G38.4 and G38.5
// Note that we're testing for SUCCESS here
bool probe = gpio_read_input(pb.probe_input);
if (probe == (pb.move_toward_contact ? INPUT_ACTIVE : INPUT_INACTIVE)) {
// if (pb.move_toward_contact ^ gpio_read_input(pb.probe_input)) { // exclusive or for booleans
cm.probe_state[0] = PROBE_SUCCEEDED;
// Test if we've contacted. If so, do the backoff. Convert the contact position
// captured from the encoder in step space to steps to mm. The encoder snapshot
// was taken by input interrupt at the time of closure.
// capture contact position in step space and convert from steps to mm.
// snapshot was taken by input interrupt at the time of closure
if (pb.trip_sense == gpio_read_input(pb.probe_input)) { // exclusive or for booleans
cm.probe_state[0] = PROBE_SUCCEEDED;
float contact_position[AXES];
kn_forward_kinematics(en_get_encoder_snapshot_vector(), contact_position);
_probe_axis_move(contact_position, pb.flags); // NB: feed rate is the same as the probe move
@@ -349,7 +346,7 @@ static stat_t _probing_finish()
}
// handle failure cases
if (pb.alarm_if_fail) {
if (pb.alarm_flag) {
cm_alarm(STAT_PROBE_CYCLE_FAILED, "probing error");
}
return (STAT_OK);
@@ -359,7 +356,7 @@ static stat_t _probing_exception_exit(stat_t status)
{
_probe_restore_settings(); // cleanup first
if (pb.alarm_if_fail) { // generate an alarm
if (pb.alarm_flag) { // generate an alarm
cm_alarm(status, "probe error");
}
return (status);

4
g2core/gcode_parser.cpp
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@@ -691,8 +691,8 @@ static stat_t _execute_gcode_block(char *active_comment)
case NEXT_ACTION_HOMING_NO_SET: { status = cm_homing_cycle_start_no_set(); break;} // G28.4
case NEXT_ACTION_STRAIGHT_PROBE_ERR: { status = cm_straight_probe(cm.gn.target, cm.gf.target, true, true); break;} // G38.2
case NEXT_ACTION_STRAIGHT_PROBE: { status = cm_straight_probe(cm.gn.target, cm.gf.target, false, true); break;} // G38.3
case NEXT_ACTION_STRAIGHT_PROBE_AWAY_ERR:{ status = cm_straight_probe(cm.gn.target, cm.gf.target, true, false); break;} // G38.4
case NEXT_ACTION_STRAIGHT_PROBE: { status = cm_straight_probe(cm.gn.target, cm.gf.target, true, false); break;} // G38.3
case NEXT_ACTION_STRAIGHT_PROBE_AWAY_ERR:{ status = cm_straight_probe(cm.gn.target, cm.gf.target, false, true); break;} // G38.4
case NEXT_ACTION_STRAIGHT_PROBE_AWAY: { status = cm_straight_probe(cm.gn.target, cm.gf.target, false, false); break;}// G38.5
case NEXT_ACTION_SET_G10_DATA: { status = cm_set_g10_data(cm.gn.parameter, cm.gn.L_word, cm.gn.target, cm.gf.target); break;}