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Updated motion in units per revolution mode (G95) to handle spindle RPM changes.

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Changed initial wait for two index pulses to check RPM > 0 before starting such motion.
This commit is contained in:
Terje Io
2025-09-26 09:57:05 +02:00
parent e3803a252a
commit 17a4648a1d
9 changed files with 67 additions and 23 deletions
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planner.c
+15 -1
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@@ -307,7 +307,7 @@ bool plan_check_full_buffer (void)
float plan_compute_profile_nominal_speed (plan_block_t *block)
{
float nominal_speed = block->condition.units_per_rev || block->spindle.state.synchronized
? block->programmed_rate * block->spindle.hal->get_data(SpindleData_RPM)->rpm
? block->programmed_rate * (pl.actual_rpm = block->spindle.hal->get_data(SpindleData_RPM)->rpm)
: block->programmed_rate;
if(block->condition.rapid_motion)
@@ -711,6 +711,20 @@ static bool plan_update_velocity_profile_parameters (void)
return block_buffer_tail != block_buffer_head;
}
// Re-calulates feed rate on RPM changes for units per revolution blocks (G95)
// Called periodically from stepper.c
void plan_sync_velocity (void *block)
{
float rpm = ((plan_block_t *)block)->spindle.hal->get_data(SpindleData_RPM)->rpm;
if(pl.actual_rpm != rpm) {
pl.actual_rpm = rpm;
if(plan_update_velocity_profile_parameters())
plan_cycle_reinitialize();
} else
task_add_delayed(plan_sync_velocity, block, 10);
}
// Set feed overrides
void plan_feed_override (override_t feed_override, override_t rapid_override)
{