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More fixes for issue #332: setting tool table data cleared current coordinate system offset, incomplete handling of G10 L10 and L11.

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Added free memory to $I output when available, example: [FREE MEMORY:102K]
Changed reported position for failed probe to target. Parameters #5061 - #5069 returns position in coordinate system used when probing.
This commit is contained in:
Terje Io
2023-08-08 18:42:59 +02:00
parent 909b7f9eed
commit 244bbb3454
7 changed files with 66 additions and 22 deletions
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23
motion_control.c
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@@ -944,10 +944,19 @@ status_code_t mc_homing_cycle (axes_signals_t cycle)
// NOTE: Upon probe failure, the program will be stopped and placed into ALARM state.
gc_probe_t mc_probe_cycle (float *target, plan_line_data_t *pl_data, gc_parser_flags_t parser_flags)
{
uint_fast8_t idx = N_AXIS;
// TODO: Need to update this cycle so it obeys a non-auto cycle start.
if (state_get() == STATE_CHECK_MODE)
return GCProbe_CheckMode;
do {
idx--;
sys.probe_position[idx] = lroundf(target[idx] * settings.axis[idx].steps_per_mm);
} while(idx);
sys.probe_coordsys_id = gc_state.modal.coord_system.id;
// Finish all queued commands and empty planner buffer before starting probe cycle.
if (!protocol_buffer_synchronize())
return GCProbe_Abort; // Return if system reset has been issued.
@@ -1007,16 +1016,12 @@ gc_probe_t mc_probe_cycle (float *target, plan_line_data_t *pl_data, gc_parser_f
// Probing cycle complete!
// Set state variables and error out, if the probe failed and cycle with error is enabled.
if (sys.probing_state == Probing_Active) {
if (parser_flags.probe_is_no_error)
memcpy(sys.probe_position, sys.position, sizeof(sys.position));
else
if(sys.probing_state == Probing_Active) {
memcpy(sys.probe_position, sys.position, sizeof(sys.position));
if(!parser_flags.probe_is_no_error)
system_set_exec_alarm(Alarm_ProbeFailContact);
} else {
// Indicate to system the probing cycle completed successfully.
sys.probe_coordsys_id = gc_state.modal.coord_system.id;
sys.flags.probe_succeeded = On;
}
} else
sys.flags.probe_succeeded = On; // Indicate to system the probing cycle completed successfully.
sys.probing_state = Probing_Off; // Ensure probe state monitor is disabled.
hal.probe.configure(false, false); // Re-initialize invert mask.