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Merge pull request #673 from Expatria-Technologies/PR_FAST_SEMIAUTO

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Proposed PR for faster semi-automatic toolchanges.
This commit is contained in:
Terje Io
2025-02-25 09:40:21 +01:00
committed by GitHub
parent 3e84d4b96c debffc391b
commit 4f883b92d5
3 changed files with 35 additions and 12 deletions
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tool_change.c
+30 -9
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@@ -237,6 +237,15 @@ static void execute_probe (void *data)
{
system_convert_array_steps_to_mpos(target.values, sys.probe_position);
if(settings.tool_change.mode == ToolChange_FastSemiAutomatic){
// Retract slowly until contact lost.
plan_data.feed_rate = settings.tool_change.feed_rate;
target.values[plane.axis_linear] += TOOL_CHANGE_PROBE_RETRACT_DISTANCE;
flags.probe_is_away = true;
ok = mc_probe_cycle(target.values, &plan_data, flags) == GCProbe_Found;
} else {
// Retract a bit and perform slow probe.
plan_data.feed_rate = settings.tool_change.pulloff_rate;
target.values[plane.axis_linear] += TOOL_CHANGE_PROBE_RETRACT_DISTANCE;
@@ -246,6 +255,7 @@ static void execute_probe (void *data)
ok = mc_probe_cycle(target.values, &plan_data, flags) == GCProbe_Found;
}
}
}
if(ok) {
if(!(sys.tlo_reference_set.mask & bit(plane.axis_linear))) {
@@ -277,7 +287,12 @@ ISR_CODE static void ISR_FUNC(trap_control_cycle_start)(control_signals_t signal
if(signals.cycle_start) {
if(!execute_posted) {
if(!block_cycle_start)
execute_posted = protocol_enqueue_foreground_task(settings.tool_change.mode == ToolChange_SemiAutomatic ? execute_probe : execute_restore, NULL);
execute_posted = protocol_enqueue_foreground_task(
(settings.tool_change.mode == ToolChange_SemiAutomatic ||
settings.tool_change.mode == ToolChange_FastSemiAutomatic)
? execute_probe
: execute_restore,
NULL);
else
protocol_enqueue_foreground_task(execute_warning, NULL);
}
@@ -297,7 +312,12 @@ ISR_CODE static bool ISR_FUNC(trap_stream_cycle_start)(char c)
if((drop = (c == CMD_CYCLE_START || c == CMD_CYCLE_START_LEGACY))) {
if(!execute_posted) {
if(!block_cycle_start)
execute_posted = protocol_enqueue_foreground_task(settings.tool_change.mode == ToolChange_SemiAutomatic ? execute_probe : execute_restore, NULL);
execute_posted = protocol_enqueue_foreground_task(
(settings.tool_change.mode == ToolChange_SemiAutomatic ||
settings.tool_change.mode == ToolChange_FastSemiAutomatic)
? execute_probe
: execute_restore,
NULL);
else
protocol_enqueue_foreground_task(execute_warning, NULL);
}
@@ -336,7 +356,7 @@ static status_code_t tool_change (parser_state_t *parser_state)
return Status_OK;
#if COMPATIBILITY_LEVEL > 1
if(settings.tool_change.mode == ToolChange_Manual_G59_3 || settings.tool_change.mode == ToolChange_SemiAutomatic)
if(settings.tool_change.mode == ToolChange_Manual_G59_3 || settings.tool_change.mode == ToolChange_SemiAutomatic || settings.tool_change.mode == ToolChange_FastSemiAutomatic)
return Status_GcodeUnsupportedCommand;
#endif
@@ -361,12 +381,12 @@ static status_code_t tool_change (parser_state_t *parser_state)
if((sys.homed.mask & homed_req) != homed_req)
return Status_HomingRequired;
if(settings.tool_change.mode != ToolChange_SemiAutomatic && grbl.on_probe_completed != onProbeCompleted) {
on_probe_completed = grbl.on_probe_completed;
grbl.on_probe_completed = onProbeCompleted;
}
if(settings.tool_change.mode != ToolChange_SemiAutomatic &&
settings.tool_change.mode != ToolChange_FastSemiAutomatic)
grbl.on_probe_completed = on_probe_completed;
block_cycle_start = settings.tool_change.mode != ToolChange_SemiAutomatic;
block_cycle_start = (settings.tool_change.mode != ToolChange_SemiAutomatic &&
settings.tool_change.mode != ToolChange_FastSemiAutomatic);
// Stop spindle and coolant.
spindle_all_off();
@@ -376,7 +396,8 @@ static status_code_t tool_change (parser_state_t *parser_state)
probe_toolsetter = grbl.on_probe_toolsetter != NULL &&
(settings.tool_change.mode == ToolChange_Manual ||
settings.tool_change.mode == ToolChange_Manual_G59_3 ||
settings.tool_change.mode == ToolChange_SemiAutomatic);
settings.tool_change.mode == ToolChange_SemiAutomatic ||
settings.tool_change.mode == ToolChange_FastSemiAutomatic);
// Save current position.
system_convert_array_steps_to_mpos(previous.values, sys.position);