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Moved HAL entry point for realtime commands enqueueing to stream struct,

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added some crossbar pin definitions and limited $TPW retract to Z home.
Moved some common driver code to the core and update of current position on steps/mm changes.
This commit is contained in:
Terje Io
2021-07-26 15:35:55 +02:00
parent 222ba55724
commit 2068165e62
17 changed files with 222 additions and 137 deletions
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tool_change.c
+5 -4
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@@ -65,7 +65,7 @@ static void change_completed (void)
if(enqueue_realtime_command) {
while(spin_lock);
hal.irq_disable();
hal.stream.enqueue_realtime_command = enqueue_realtime_command;
hal.stream.set_enqueue_rt_handler(enqueue_realtime_command);
enqueue_realtime_command = NULL;
hal.irq_enable();
}
@@ -312,8 +312,7 @@ static status_code_t tool_change (parser_state_t *parser_state)
// Trap cycle start command and control signal.
block_cycle_start = settings.tool_change.mode != ToolChange_SemiAutomatic;
enqueue_realtime_command = hal.stream.enqueue_realtime_command;
hal.stream.enqueue_realtime_command = trap_stream_cycle_start;
enqueue_realtime_command = hal.stream.set_enqueue_rt_handler(trap_stream_cycle_start);
control_interrupt_callback = hal.control.interrupt_callback;
hal.control.interrupt_callback = trap_control_cycle_start;
@@ -339,7 +338,7 @@ static status_code_t tool_change (parser_state_t *parser_state)
// tool_change_position = ?
//else
tool_change_position = sys.home_position[plane.axis_linear] - settings.homing.flags.force_set_origin ? LINEAR_AXIS_HOME_OFFSET : 0.0f;
tool_change_position = sys.home_position[plane.axis_linear]; // - settings.homing.flags.force_set_origin ? LINEAR_AXIS_HOME_OFFSET : 0.0f;
// Rapid to home position of linear axis.
memcpy(&target, &previous, sizeof(coord_data_t));
@@ -459,6 +458,8 @@ status_code_t tc_probe_workpiece (void)
system_convert_array_steps_to_mpos(target.values, sys.probe_position);
plan_data.feed_rate = settings.tool_change.seek_rate;
target.values[plane.axis_linear] += TOOL_CHANGE_PROBE_RETRACT_DISTANCE * 2.0f;
if(target.values[plane.axis_linear] > tool_change_position)
target.values[plane.axis_linear] = tool_change_position;
ok = mc_line(target.values, &plan_data);
}
}