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Checkpoint. Passes G28 and G53 tests

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This commit is contained in:
Alden Hart
2017-02-08 13:22:49 -05:00
parent e21e583eb0
commit e592ce1339
6 changed files with 28 additions and 20 deletions
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g2core/canonical_machine.cpp
+17 -11
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@@ -367,7 +367,7 @@ void cm_set_tool_number(GCodeState_t *gcode_state, const uint8_t tool)
void cm_set_absolute_override(GCodeState_t *gcode_state, const uint8_t absolute_override)
{
gcode_state->absolute_override = (cmAbsoluteOverride)absolute_override;
// cm_set_work_offsets(MODEL); // must reset offsets if you change absolute override
cm_set_work_offsets(MODEL); // must reset offsets if you change absolute override
}
void cm_set_model_linenum(const uint32_t linenum)
@@ -410,16 +410,22 @@ void cm_set_model_linenum(const uint32_t linenum)
* which merely returns what's in the work_offset[] array.
*
* Takes G5x, G92 into account to return the active offset for this move.
* If absolute_override is provided and is ON it will zero offsets for an absolute override move.
* If you don;t want that, just set absolute_override false in the function call.
*
* Absolute Override is the Gcode G53 convention to allow one and only one Gcode block
* to be run in absolute coordinates, regardless of coordinate offsets, G92 offsets, and
* tool offsets. If absolute_override is set to ABSOLUTE_OVERRIDE_ON_AND_DISPLAY this
* function will return 0.0 for the offset value. This bit is here to support G28 and G30
* return moves and other moves that run in absolute override mode but may want position
* to be reported using all current offsets (work offsets), versus an explicit G53 move that
* should be displayed in absolute coordinates.
*/
float cm_get_active_coord_offset(const uint8_t axis, const bool use_absolute_override)
float cm_get_active_coord_offset(const uint8_t axis, const bool absolute)
{
if (use_absolute_override) {
if (cm->gm.absolute_override == use_absolute_override) { // no offset if in absolute override mode
return (0.0);
}
// if absolute override is on and is to be displayed with no offsets:
// if (cm->gm.absolute_override == ABSOLUTE_OVERRIDE_ON_AND_DISPLAY) {
if (absolute & (cm->gm.absolute_override == ABSOLUTE_OVERRIDE_ON)) {
return (0.0);
}
float offset = cm->offset[cm->gm.coord_system][axis] + cm->tl_offset[axis];
if (cm->gmx.origin_offset_enable == true) {
@@ -823,7 +829,7 @@ stat_t cm_set_arc_distance_mode(const uint8_t mode)
* during the Gcode cycle. The persist flag is used to persist offsets once the cycle
* has ended. You can also use $g54x - $g59c config functions to change offsets.
*
* It also does not reset the work_offsets which may be accomplished by calling
* It also does not reset the work offsets which may be accomplished by calling
* cm_set_work_offsets() immediately afterwards.
*/
@@ -934,6 +940,7 @@ stat_t cm_cancel_tl_offset()
stat_t cm_set_coord_system(const uint8_t coord_system) // set coordinate system sync'd with planner
{
cm->gm.coord_system = (cmCoordSystem)coord_system;
cm_set_work_offsets(MODEL); // must reset offsets if you change coordinate system //++++++
float value[] = { (float)coord_system };
mp_queue_command(_exec_offset, value, nullptr);
@@ -949,7 +956,6 @@ static void _exec_offset(float *value, bool *flag)
(cm->gmx.origin_offset[axis] * cm->gmx.origin_offset_enable);
}
mp_set_runtime_work_offset(offsets);
cm_set_work_offsets(MODEL); // set work offsets in the Gcode model
}
/*
@@ -1138,7 +1144,7 @@ stat_t _goto_stored_position(const float stored_position[], // always in mm
// If G20 adjust stored position (always in mm) to inches so traverse will be correct
float target[AXES]; // make a local stored position as it may be modified
copy_vector(target, stored_position);
if (cm->gm.units_mode == INCHES) {
if (cm->gm.units_mode == INCHES) {
for (uint8_t i=0; i<AXES; i++) {
target[i] *= INCHES_PER_MM;
}
g2core/canonical_machine.h
+1 -1
View File
@@ -333,7 +333,7 @@ void cm_set_absolute_override(GCodeState_t *gcode_state, const uint8_t absolute_
void cm_set_model_linenum(const uint32_t linenum);
// Coordinate systems and offsets
float cm_get_active_coord_offset(const uint8_t axis, const bool use_absolute_override);
float cm_get_active_coord_offset(const uint8_t axis, const bool absolute);
float cm_get_work_offset(const GCodeState_t *gcode_state, const uint8_t axis);
void cm_set_work_offsets(GCodeState_t *gcode_state);
float cm_get_absolute_position(const GCodeState_t *gcode_state, const uint8_t axis);
g2core/cycle_probing.cpp
+1
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@@ -324,6 +324,7 @@ static stat_t _probe_axis_move(const float target[], bool exact_position) {
if (exact_position) {
cm->gm.units_mode = stored_units_mode;
cm->gm.distance_mode = stored_distance_mode;
cm_set_absolute_override(MODEL, ABSOLUTE_OVERRIDE_OFF); // ++++
}
// the last two arguments are ignored anyway
g2core/g2core.cppproj
+2 -2
View File
@@ -73,7 +73,7 @@
<InterfaceName>SWD</InterfaceName>
</ToolOptions>
<ToolType>com.atmel.avrdbg.tool.atmelice</ToolType>
<ToolNumber>J41800036434</ToolNumber>
<ToolNumber>J41800030015</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>J41800036434</avrtoolserialnumber>
<avrtoolserialnumber>J41800030015</avrtoolserialnumber>
<avrdeviceexpectedsignature>0x284E0A60</avrdeviceexpectedsignature>
<avrtoolinterfaceclock>10000000</avrtoolinterfaceclock>
<custom>
g2core/gcode.h
+4 -3
View File
@@ -119,8 +119,9 @@ typedef enum {
#define COORD_SYSTEM_MAX G59 // set this manually to the last one
typedef enum {
ABSOLUTE_OVERRIDE_OFF = 0,// G53 enabled
ABSOLUTE_OVERRIDE_ON
ABSOLUTE_OVERRIDE_OFF = 0, // G53 disabled
ABSOLUTE_OVERRIDE_ON, // G53 enabled for movement
ABSOLUTE_OVERRIDE_ON_AND_DISPLAY // G53 enabled for movement and display
} cmAbsoluteOverride;
typedef enum { // G Modal Group 13
@@ -215,7 +216,7 @@ typedef struct GCodeState { // Gcode model state - used by model, pl
float target[AXES]; // XYZABC where the move should go
float target_comp[AXES]; // summation compensation (Kahan) overflow value
float work_offset[AXES]; // offset from the work coordinate system (for reporting only)
float work_offset[AXES]; // work offsets from the machine coordinate system (for reporting only)
float feed_rate; // F - normalized to millimeters/minute or in inverse time mode
float P_word; // P - parameter used for dwell time in seconds, G10 coord select...
g2core/gcode_parser.cpp
+3 -3
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@@ -580,7 +580,7 @@ static stat_t _parse_gcode_block(char *buf, char *active_comment)
break;
}
case 49: SET_NON_MODAL (next_action, NEXT_ACTION_CANCEL_TL_OFFSET);
case 53: SET_NON_MODAL (absolute_override, true);
case 53: SET_NON_MODAL (absolute_override, ABSOLUTE_OVERRIDE_ON_AND_DISPLAY);
case 54: SET_MODAL (MODAL_GROUP_G12, coord_system, G54);
case 55: SET_MODAL (MODAL_GROUP_G12, coord_system, G55);
case 56: SET_MODAL (MODAL_GROUP_G12, coord_system, G56);
@@ -826,7 +826,7 @@ static stat_t _execute_gcode_block(char *active_comment)
// case NEXT_ACTION_JSON_COMMAND_IMMEDIATE: { status = mp_json_command_immediate(active_comment); break;} // M102
case NEXT_ACTION_DEFAULT: {
cm_set_absolute_override(MODEL, gv.absolute_override); // apply absolute override
cm_set_absolute_override(MODEL, gv.absolute_override); // apply absolute override & display as absolute
switch (gv.motion_mode) {
case MOTION_MODE_CANCEL_MOTION_MODE: { cm->gm.motion_mode = gv.motion_mode; break;} // G80
case MOTION_MODE_STRAIGHT_TRAVERSE: { status = cm_straight_traverse(gv.target, gf.target); break;} // G0
@@ -842,7 +842,7 @@ static stat_t _execute_gcode_block(char *active_comment)
}
default: break;
}
cm_set_absolute_override(MODEL, ABSOLUTE_OVERRIDE_OFF); // un-set absolute override once the move is planned
cm_set_absolute_override(MODEL, ABSOLUTE_OVERRIDE_OFF); // un-set absolute override once the move is planned
}
}