Mirrors_Framework/grblHAL
1
0
Fork 0
mirror of https://github.com/grblHAL/core.git synced 2026-09-23 20:44:04 +08:00
Code Issues Actions Packages Projects Releases Wiki Activity

Large spindle handling refactoring and enhancement++, see the changelog for more.

Browse Source
This commit is contained in:
Terje Io
2023-02-13 22:14:48 +01:00
parent e2ba6db69c
commit 04ce2c5c8c
33 changed files with 1430 additions and 604 deletions
Download Patch File Download Diff File Expand all files Collapse all files
protocol.c
+16 -14
View File
@@ -180,7 +180,7 @@ bool protocol_main_loop (void)
// Ensure spindle and coolant is switched off on a cold start
if(sys.cold_start) {
hal.spindle.set_state((spindle_state_t){0}, 0.0f);
spindle_all_off();
hal.coolant.set_state((coolant_state_t){0});
if(realtime_queue.head != realtime_queue.tail)
system_set_exec_state_flag(EXEC_RT_COMMAND); // execute any boot up commands
@@ -411,7 +411,7 @@ bool protocol_exec_rt_system (void)
if((sys.reset_pending = !!(sys.rt_exec_state & EXEC_RESET))) {
// Kill spindle and coolant.
killed = true;
hal.spindle.set_state((spindle_state_t){0}, 0.0f);
spindle_all_off();
hal.coolant.set_state((coolant_state_t){0});
}
@@ -468,7 +468,7 @@ bool protocol_exec_rt_system (void)
if(!killed) {
// Kill spindle and coolant.
hal.spindle.set_state((spindle_state_t){0}, 0.0f);
spindle_all_off();
hal.coolant.set_state((coolant_state_t){0});
}
@@ -500,11 +500,7 @@ bool protocol_exec_rt_system (void)
sys.override.control = gc_state.modal.override_ctrl;
gc_state.tool_change = false;
gc_state.modal.spindle_rpm_mode = SpindleSpeedMode_RPM;
// Kill spindle and coolant. TODO: Check Mach3 behaviour?
gc_spindle_off();
gc_coolant_off();
gc_state.modal.spindle.rpm_mode = SpindleSpeedMode_RPM;
// Tell driver/plugins about reset.
hal.driver_reset();
@@ -523,6 +519,11 @@ bool protocol_exec_rt_system (void)
} else*/
st_reset();
sync_position();
// Kill spindle and coolant. TODO: Check Mach3 behaviour?
gc_spindle_off();
gc_coolant_off();
flush_override_buffers();
if(!((state_get() == STATE_ALARM) && (sys.alarm == Alarm_LimitsEngaged || sys.alarm == Alarm_HomingRequried)))
state_set(hal.control.get_state().safety_door_ajar ? STATE_SAFETY_DOOR : STATE_IDLE);
@@ -567,8 +568,8 @@ bool protocol_exec_rt_system (void)
if((rt_exec = get_feed_override())) {
int_fast16_t new_f_override = sys.override.feed_rate;
uint_fast8_t new_r_override = sys.override.rapid_rate;
override_t new_f_override = sys.override.feed_rate;
override_t new_r_override = sys.override.rapid_rate;
do {
@@ -611,13 +612,14 @@ bool protocol_exec_rt_system (void)
} while((rt_exec = get_feed_override()));
plan_feed_override((uint_fast8_t)new_f_override, new_r_override);
plan_feed_override(new_f_override, new_r_override);
}
if((rt_exec = get_accessory_override())) {
bool spindle_stop = false;
int_fast16_t last_s_override = sys.override.spindle_rpm;
spindle_ptrs_t *spindle = gc_spindle_get();
override_t last_s_override = spindle->param->override_pct;
coolant_state_t coolant_state = gc_state.modal.coolant;
do {
@@ -670,7 +672,7 @@ bool protocol_exec_rt_system (void)
} while((rt_exec = get_accessory_override()));
spindle_set_override((uint_fast8_t)last_s_override);
spindle_set_override(spindle, last_s_override);
// NOTE: Since coolant state always performs a planner sync whenever it changes, the current
// run state can be determined by checking the parser state.
@@ -681,7 +683,7 @@ bool protocol_exec_rt_system (void)
grbl.on_override_changed(OverrideChanged_CoolantState);
}
if (spindle_stop && state_get() == STATE_HOLD && gc_state.modal.spindle.on) {
if (spindle_stop && state_get() == STATE_HOLD && gc_state.modal.spindle.state.on) {
// Spindle stop override allowed only while in HOLD state.
// NOTE: Report flag is set in spindle_set_state() when spindle stop is executed.
if (!sys.override.spindle_stop.value)