mirror of
https://github.com/grblHAL/core.git
synced 2026-08-18 08:57:24 +08:00
Fixed regression introduced with PR#673.
Added G30 as optional position for tool change. Moved new tool change mode from PR#673 to $346 - Tool change options. Moved Modbus RTU code from spindle plugin to the core. Fixed bug in delayed task handler, might occasionally hang the controller.
This commit is contained in:
Terje Io
@@ -10,6 +10,7 @@ target_sources(grbl INTERFACE
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${CMAKE_CURRENT_LIST_DIR}/machine_limits.c
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${CMAKE_CURRENT_LIST_DIR}/messages.c
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${CMAKE_CURRENT_LIST_DIR}/modbus.c
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${CMAKE_CURRENT_LIST_DIR}/modbus_rtu.c
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${CMAKE_CURRENT_LIST_DIR}/motion_control.c
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${CMAKE_CURRENT_LIST_DIR}/my_plugin.c
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${CMAKE_CURRENT_LIST_DIR}/nuts_bolts.c
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@@ -1,6 +1,6 @@
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## grblHAL ##
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Latest build date is 20250415, see the [changelog](changelog.md) for details.
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Latest build date is 20250419, see the [changelog](changelog.md) for details.
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> [!NOTE]
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> A settings reset will be performed on an update of builds prior to 20241208. Backup and restore of settings is recommended.
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@@ -89,4 +89,4 @@ G/M-codes not supported by [legacy Grbl](https://github.com/gnea/grbl/wiki) are
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Some [plugins](https://github.com/grblHAL/plugins) implements additional M-codes.
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---
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20250413
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20250419
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@@ -1,5 +1,26 @@
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## grblHAL changelog
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<a name="20250419">20250419
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Core:
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* Fixed regression introduced with [PR#673](https://github.com/grblHAL/core/pull/673), added G30 as optional position for tool change and moved new tool change mode from PR#673 to `$346` - _Tool change options_.
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* Moved Modbus RTU code from spindle plugin to the core.
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* For developers: deprecated `protocol_enqueue_foreground_task()`, replaced by `task_run_on_startup()` - added alias for the deprecated version.
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Changed signature of `modbus_isup()` to return capabilities flag instead of boolean.
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* Fixed bug in delayed task handler, might occasionally hang the controller. May be part of keypad issue [#17](https://github.com/grblHAL/Plugin_keypad/issues/17).
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Plugins:
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Keypad and spindle: updated for core changes.
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Keypad, I2C display interface: fixed alignment issue that caused hardfault on WCO changes on some platforms. May resolve issue [#17](https://github.com/grblHAL/Plugin_keypad/issues/17).
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---
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<a name="20250415">20250415
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Core:
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@@ -1351,7 +1351,7 @@ and less range over the total 255 PWM levels to signal different spindle speeds.
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// Tool change settings (Group_Toolchange)
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/*! @name $341 - Setting_ToolChangeMode
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0 = Normal mode, 1 = Manual change, 2 = Manual change @ G59.3, 3 = Manual change and probe sensor @ G59.3 - sets TLO
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0 = Normal mode, 1 = Manual change, 2 = Manual change @ G59.3, 3 = Manual change and probe tolsetter @ G59.3, 4 = Ignore M6
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*/
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///@{
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#if !defined DEFAULT_TOOLCHANGE_MODE || defined __DOXYGEN__
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@@ -1392,12 +1392,18 @@ and less range over the total 255 PWM levels to signal different spindle speeds.
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#endif
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///@}
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/*! @name $346 - Setting_ToolChangeRestorePosition
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/*! @name $346 - Setting_ToolChangeOptions
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*/
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///@{
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#if !defined DEFAULT_TOOLCHANGE_NO_RESTORE_POSITION || defined __DOXYGEN__
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#define DEFAULT_TOOLCHANGE_NO_RESTORE_POSITION Off
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#endif
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#if !defined DEFAULT_TOOLCHANGE_AT_G30 || defined __DOXYGEN__
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#define DEFAULT_TOOLCHANGE_AT_G30 Off
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#endif
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#if !defined DEFAULT_TOOLCHANGE_FAST_PROBE_PULLOFF || defined __DOXYGEN__
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#define DEFAULT_TOOLCHANGE_FAST_PROBE_PULLOFF Off
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#endif
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///@}
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// Homing settings (Group_Homing)
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@@ -89,6 +89,7 @@ typedef void (*on_state_change_ptr)(sys_state_t state);
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typedef void (*on_override_changed_ptr)(override_changed_t override);
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typedef void (*on_spindle_programmed_ptr)(spindle_ptrs_t *spindle, spindle_state_t state, float rpm, spindle_rpm_mode_t mode);
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typedef void (*on_wco_changed_ptr)(void);
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typedef void (*on_wco_saved_ptr)(coord_system_id_t id, coord_data_t *data);
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typedef void (*on_program_completed_ptr)(program_flow_t program_flow, bool check_mode);
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typedef void (*on_execute_realtime_ptr)(sys_state_t state);
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typedef void (*on_unknown_accessory_override_ptr)(uint8_t cmd);
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@@ -220,6 +221,7 @@ typedef struct {
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on_report_handlers_init_ptr on_report_handlers_init;
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on_spindle_programmed_ptr on_spindle_programmed;
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on_wco_changed_ptr on_wco_changed;
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on_wco_saved_ptr on_wco_saved;
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on_program_completed_ptr on_program_completed;
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on_execute_realtime_ptr on_execute_realtime;
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on_execute_realtime_ptr on_execute_delay;
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@@ -42,7 +42,7 @@
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#else
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#define GRBL_VERSION "1.1f"
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#endif
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#define GRBL_BUILD 20250415
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#define GRBL_BUILD 20250419
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#define GRBL_URL "https://github.com/grblHAL"
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@@ -76,7 +76,7 @@ typedef union {
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} driver_startup_t;
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#ifndef CORE_TASK_POOL_SIZE
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#define CORE_TASK_POOL_SIZE 30
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#define CORE_TASK_POOL_SIZE 40
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#endif
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typedef struct core_task {
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@@ -92,7 +92,7 @@ DCRAM grbl_hal_t hal;
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DCRAM static core_task_t task_pool[CORE_TASK_POOL_SIZE];
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static driver_startup_t driver = { .ok = 0xFF };
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static core_task_t *next_task = NULL, *immediate_task = NULL, *systick_task = NULL, *last_freed = NULL;
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static core_task_t *next_task = NULL, *immediate_task = NULL, *on_booted = NULL, *systick_task = NULL, *last_freed = NULL;
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static on_linestate_changed_ptr on_linestate_changed;
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static settings_changed_ptr hal_settings_changed;
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@@ -181,8 +181,10 @@ static void output_welcome_message (void *data)
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static void onLinestateChanged (serial_linestate_t state)
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{
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if(state.dtr)
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if(state.dtr) {
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task_delete(output_welcome_message, NULL);
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task_add_delayed(output_welcome_message, NULL, 200);
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}
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if(on_linestate_changed)
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on_linestate_changed(state);
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@@ -343,7 +345,7 @@ int grbl_enter (void)
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if(driver.ok != 0xFF) {
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sys.alarm = Alarm_SelftestFailed;
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protocol_enqueue_foreground_task(report_driver_error, NULL);
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task_run_on_startup(report_driver_error, NULL);
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}
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hal.stepper.enable(settings.steppers.energize, true);
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@@ -465,6 +467,7 @@ __attribute__((always_inline)) static inline core_task_t *task_alloc (void)
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__attribute__((always_inline)) static inline void task_free (core_task_t *task)
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{
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task->fn = NULL;
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task->next = NULL;
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if(last_freed == NULL)
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last_freed = task;
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}
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@@ -541,7 +544,7 @@ ISR_CODE bool ISR_FUNC(task_add_delayed)(foreground_task_ptr fn, void *data, uin
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if(next_task == NULL)
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next_task = task;
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else if((int32_t)(task->time - next_task->time) < 0) {
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else if((int32_t)(task->time - next_task->time) <= 0) {
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task->next = next_task;
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next_task = task;
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} else {
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@@ -662,3 +665,59 @@ ISR_CODE bool ISR_FUNC(task_add_immediate)(foreground_task_ptr fn, void *data)
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return task != NULL;
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}
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/*! \brief Enqueue a function to be called once by the foreground process after the boot sequence is completed.
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\param fn pointer to a \a foreground_task_ptr type of function.
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\param data pointer to data to be passed to the callee.
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\returns true if successful, false otherwise.
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*/
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ISR_CODE bool ISR_FUNC(task_run_on_startup)(foreground_task_ptr fn, void *data)
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{
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if(sys.cold_start) {
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core_task_t *task = NULL;
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hal.irq_disable();
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if(fn && (task = task_alloc())) {
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task->fn = fn;
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task->data = data;
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task->next = NULL;
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if(on_booted == NULL)
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on_booted = task;
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else {
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core_task_t *t = on_booted;
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while(t->next)
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t = t->next;
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t->next = task;
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}
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}
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hal.irq_enable();
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return task != NULL;
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} else
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return task_add_immediate(fn, data); // TODO: for now, to be removed...
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}
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// for core use only, called once from protocol.c on cold start
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void task_execute_on_startup (void)
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{
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if(on_booted) do {
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core_task_t *task = on_booted;
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foreground_task_ptr fn = task->fn;
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void *data = task->data;
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on_booted = task->next;
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task_free(task);
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fn(data);
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} while(on_booted);
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if(!sys.driver_started)
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while(true);
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}
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+2
-2
@@ -3,7 +3,7 @@
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Part of grblHAL
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Copyright (c) 2023-2024 Terje Io
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Copyright (c) 2023-2025 Terje Io
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Transforms derived from mzavatsky at Trossen Robotics
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https://hypertriangle.com/~alex/delta-robot-tutorial/
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get_cuboid_envelope() derived from javascript code in
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@@ -541,7 +541,7 @@ static void delta_homing_complete (axes_signals_t cycle, bool success)
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: machine.home_z - settings.homing.pulloff;
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if(machine.cfg.flags.home_to_cuboid_top)
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protocol_enqueue_foreground_task(delta_go_home, NULL);
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task_add_immediate(delta_go_home, NULL);
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}
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if(on_homing_completed)
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+4
-3
@@ -44,9 +44,10 @@ PROGMEM static const message_t messages[] = {
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{ .id = Message_CycleStart2Continue, .text = "Press cycle start to continue." },
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{ .id = Message_TPCycleStart2Continue, .text = "Remove any touch plate and press cycle start to continue." },
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{ .id = Message_ProbeFailedRetry, .text = "Probe failed, try again." },
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{ .id = Message_ExecuteTPW, .text = "Perform a probe with $TPW first!", .type = Message_Warning},
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{ .id = Message_ProbeProtected, .text = "Probe protection activated."},
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{ .id = Message_Stop, .text = "Stop"}
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{ .id = Message_ExecuteTPW, .text = "Perform a probe with $TPW first!", .type = Message_Warning },
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{ .id = Message_ProbeProtected, .text = "Probe protection activated." },
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{ .id = Message_Stop, .text = "Stop" },
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{ .id = Message_CycleStart2TouchOff, .text = "Press cycle start to position for touch-off." }
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};
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const message_t *message_get (message_code_t id)
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+2
-1
@@ -47,7 +47,8 @@ typedef enum {
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Message_ExecuteTPW = 20, //!< 20
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Message_ProbeProtected = 21, //!< 21
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Message_Stop = 22, //!< 22
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Message_NextMessage //!< 23 - next unassigned message number.
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Message_CycleStart2TouchOff = 23, //!< 23
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Message_NextMessage //!< 24 - next unassigned message number.
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||||
} message_code_t;
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||||
|
||||
typedef enum {
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||||
|
||||
@@ -4,20 +4,20 @@
|
||||
|
||||
Part of grblHAL
|
||||
|
||||
Copyright (c) 2023 Terje Io
|
||||
Copyright (c) 2023-2025 Terje Io
|
||||
|
||||
Grbl is free software: you can redistribute it and/or modify
|
||||
grblHAL is free software: you can redistribute it and/or modify
|
||||
it under the terms of the GNU General Public License as published by
|
||||
the Free Software Foundation, either version 3 of the License, or
|
||||
(at your option) any later version.
|
||||
|
||||
Grbl is distributed in the hope that it will be useful,
|
||||
grblHAL is distributed in the hope that it will be useful,
|
||||
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
GNU General Public License for more details.
|
||||
|
||||
You should have received a copy of the GNU General Public License
|
||||
along with Grbl. If not, see <http://www.gnu.org/licenses/>.
|
||||
along with grblHAL. If not, see <http://www.gnu.org/licenses/>.
|
||||
|
||||
*/
|
||||
|
||||
@@ -25,21 +25,37 @@
|
||||
|
||||
#include <string.h>
|
||||
|
||||
#include "nuts_bolts.h"
|
||||
|
||||
#define N_MODBUS_API 2
|
||||
|
||||
static uint_fast16_t n_api = 0, tcp_api = N_MODBUS_API, rtu_api = N_MODBUS_API;
|
||||
static modbus_api_t modbus[N_MODBUS_API] = {0};
|
||||
|
||||
bool modbus_isup (void)
|
||||
modbus_cap_t modbus_isup (void)
|
||||
{
|
||||
bool ok = n_api > 0;
|
||||
uint_fast16_t idx = n_api;
|
||||
modbus_cap_t cap = {};
|
||||
|
||||
if(idx) do {
|
||||
ok &= modbus[--idx].is_up();
|
||||
idx--;
|
||||
if(modbus[idx].is_up()) switch(modbus[idx].interface) {
|
||||
|
||||
case Modbus_InterfaceRTU:
|
||||
cap.rtu = On;
|
||||
break;
|
||||
|
||||
case Modbus_InterfaceASCII:
|
||||
cap.ascii = On;
|
||||
break;
|
||||
|
||||
case Modbus_InterfaceTCP:
|
||||
cap.tcp = On;
|
||||
break;
|
||||
}
|
||||
} while(idx);
|
||||
|
||||
return ok;
|
||||
return cap;
|
||||
}
|
||||
|
||||
bool modbus_enabled (void)
|
||||
|
||||
@@ -4,20 +4,20 @@
|
||||
|
||||
Part of grblHAL
|
||||
|
||||
Copyright (c) 2023 Terje Io
|
||||
Copyright (c) 2023-2025 Terje Io
|
||||
|
||||
Grbl is free software: you can redistribute it and/or modify
|
||||
grblHAL is free software: you can redistribute it and/or modify
|
||||
it under the terms of the GNU General Public License as published by
|
||||
the Free Software Foundation, either version 3 of the License, or
|
||||
(at your option) any later version.
|
||||
|
||||
Grbl is distributed in the hope that it will be useful,
|
||||
grblHAL is distributed in the hope that it will be useful,
|
||||
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
GNU General Public License for more details.
|
||||
|
||||
You should have received a copy of the GNU General Public License
|
||||
along with Grbl. If not, see <http://www.gnu.org/licenses/>.
|
||||
along with grblHAL. If not, see <http://www.gnu.org/licenses/>.
|
||||
|
||||
*/
|
||||
|
||||
@@ -83,6 +83,16 @@ typedef union {
|
||||
};
|
||||
} modbus_silence_timeout_t;
|
||||
|
||||
typedef union {
|
||||
uint8_t ok;
|
||||
struct {
|
||||
uint8_t rtu :1,
|
||||
ascii :1,
|
||||
tcp :1,
|
||||
unassigned :6;
|
||||
};
|
||||
} modbus_cap_t;
|
||||
|
||||
typedef bool (*modbus_is_up_ptr)(void);
|
||||
typedef void (*modbus_flush_queue_ptr)(void);
|
||||
typedef void (*modbus_set_silence_ptr)(const modbus_silence_timeout_t *timeout);
|
||||
@@ -96,7 +106,7 @@ typedef struct {
|
||||
modbus_send_ptr send;
|
||||
} modbus_api_t;
|
||||
|
||||
bool modbus_isup (void);
|
||||
modbus_cap_t modbus_isup (void);
|
||||
bool modbus_enabled (void);
|
||||
void modbus_flush_queue (void);
|
||||
void modbus_set_silence (const modbus_silence_timeout_t *timeout);
|
||||
|
||||
+590
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,56 @@
|
||||
/*
|
||||
|
||||
modbus_rtu.h - a lightweight ModBus RTU implementation
|
||||
|
||||
Part of grblHAL
|
||||
|
||||
Copyright (c) 2020-2025 Terje Io
|
||||
|
||||
grblHAL is free software: you can redistribute it and/or modify
|
||||
it under the terms of the GNU General Public License as published by
|
||||
the Free Software Foundation, either version 3 of the License, or
|
||||
(at your option) any later version.
|
||||
|
||||
grblHAL is distributed in the hope that it will be useful,
|
||||
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
GNU General Public License for more details.
|
||||
|
||||
You should have received a copy of the GNU General Public License
|
||||
along with grblHAL. If not, see <http://www.gnu.org/licenses/>.
|
||||
|
||||
*/
|
||||
|
||||
#ifndef _MODBUS_RTU_H_
|
||||
#define _MODBUS_RTU_H_
|
||||
|
||||
#include "grbl/modbus.h"
|
||||
|
||||
typedef enum {
|
||||
ModBus_Idle,
|
||||
ModBus_Silent,
|
||||
ModBus_TX,
|
||||
ModBus_AwaitReply,
|
||||
ModBus_Timeout,
|
||||
ModBus_GotReply,
|
||||
ModBus_Exception,
|
||||
ModBus_Retry
|
||||
} modbus_state_t;
|
||||
|
||||
typedef void (*stream_set_direction_ptr)(bool tx);
|
||||
|
||||
typedef struct {
|
||||
set_baud_rate_ptr set_baud_rate;
|
||||
stream_set_direction_ptr set_direction; // NULL if auto direction
|
||||
get_stream_buffer_count_ptr get_tx_buffer_count;
|
||||
get_stream_buffer_count_ptr get_rx_buffer_count;
|
||||
stream_write_n_ptr write;
|
||||
stream_read_ptr read;
|
||||
flush_stream_buffer_ptr flush_tx_buffer;
|
||||
flush_stream_buffer_ptr flush_rx_buffer;
|
||||
} modbus_stream_t;
|
||||
|
||||
void modbus_rtu_init (void);
|
||||
bool modbus_rtu_send (modbus_message_t *msg, const modbus_callbacks_t *callbacks, bool block);
|
||||
|
||||
#endif
|
||||
+2
-2
@@ -3,7 +3,7 @@
|
||||
|
||||
Part of grblHAL
|
||||
|
||||
Copyright (c) 2017-2024 Terje Io
|
||||
Copyright (c) 2017-2025 Terje Io
|
||||
Copyright (c) 2012-2016 Sungeun K. Jeon for Gnea Research LLC
|
||||
Copyright (c) 2009-2011 Simen Svale Skogsrud
|
||||
|
||||
@@ -286,7 +286,7 @@ bool nvs_buffer_init (void)
|
||||
grbl.report.status_message(Status_SettingReadFail);
|
||||
}
|
||||
} else
|
||||
protocol_enqueue_foreground_task(report_warning, "Not enough heap for NVS buffer!");
|
||||
task_run_on_startup(report_warning, "Not enough heap for NVS buffer!");
|
||||
|
||||
// Clear settings dirty flags
|
||||
memset(&settings_dirty, 0, sizeof(settings_dirty_t));
|
||||
|
||||
@@ -232,7 +232,7 @@ bool plan_reset (void)
|
||||
}
|
||||
|
||||
if(block_buffer_size != settings.planner_buffer_blocks)
|
||||
protocol_enqueue_foreground_task(report_plain, "Planner buffer size was reduced!");
|
||||
task_run_on_startup(report_plain, "Planner buffer size was reduced!");
|
||||
}
|
||||
|
||||
if(block_buffer == NULL)
|
||||
|
||||
+6
-89
@@ -49,25 +49,13 @@ typedef union {
|
||||
};
|
||||
} line_flags_t;
|
||||
|
||||
typedef struct {
|
||||
void *data;
|
||||
fg_task_ptr task;
|
||||
} delayed_task_t;
|
||||
|
||||
typedef struct {
|
||||
volatile uint_fast8_t head;
|
||||
volatile uint_fast8_t tail;
|
||||
delayed_task_t task[RT_QUEUE_SIZE];
|
||||
} realtime_queue_t;
|
||||
extern void task_execute_on_startup (void);
|
||||
|
||||
static uint_fast16_t char_counter = 0;
|
||||
static char line[LINE_BUFFER_SIZE]; // Line to be executed. Zero-terminated.
|
||||
static char xcommand[LINE_BUFFER_SIZE];
|
||||
static bool keep_rt_commands = false;
|
||||
static realtime_queue_t realtime_queue = {0};
|
||||
static on_execute_realtime_ptr on_execute_delay;
|
||||
|
||||
static void protocol_execute_rt_commands (sys_state_t state);
|
||||
static void protocol_exec_rt_suspend (sys_state_t state);
|
||||
|
||||
// add gcode to execute not originating from normal input stream
|
||||
@@ -86,16 +74,6 @@ bool protocol_enqueue_gcode (char *gcode)
|
||||
return ok;
|
||||
}
|
||||
|
||||
static void protocol_on_execute_delay (sys_state_t state)
|
||||
{
|
||||
if(sys.rt_exec_state & EXEC_RT_COMMAND) {
|
||||
system_clear_exec_state_flag(EXEC_RT_COMMAND);
|
||||
protocol_execute_rt_commands(0);
|
||||
}
|
||||
|
||||
on_execute_delay(state);
|
||||
}
|
||||
|
||||
static bool recheck_line (char *line, line_flags_t *flags)
|
||||
{
|
||||
bool keep_rt_commands = false, first_char = true;
|
||||
@@ -196,20 +174,16 @@ bool protocol_main_loop (void)
|
||||
}
|
||||
#endif
|
||||
// All systems go!
|
||||
protocol_enqueue_foreground_task(system_execute_startup, NULL); // Schedule startup script for execution.
|
||||
task_add_immediate(system_execute_startup, NULL); // Schedule startup script for execution.
|
||||
}
|
||||
|
||||
// Ensure spindle and coolant is switched off on a cold start
|
||||
if(sys.cold_start) {
|
||||
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
|
||||
on_execute_delay = grbl.on_execute_delay;
|
||||
grbl.on_execute_delay = protocol_on_execute_delay;
|
||||
sys.cold_start = false;
|
||||
} else // TODO: if flushing entries from the queue that has allocated data associated then these will be orphaned/leaked.
|
||||
memset(&realtime_queue, 0, sizeof(realtime_queue_t));
|
||||
system_set_exec_state_flag(EXEC_RT_COMMAND); // execute any statup up tasks
|
||||
}
|
||||
|
||||
// ---------------------------------------------------------------------------------
|
||||
// Primary loop! Upon a system abort, this exits back to main() to reset the system.
|
||||
@@ -642,7 +616,7 @@ bool protocol_exec_rt_system (void)
|
||||
report_pid_log();
|
||||
|
||||
if(rt_exec & EXEC_RT_COMMAND)
|
||||
protocol_execute_rt_commands(0);
|
||||
task_execute_on_startup();
|
||||
|
||||
rt_exec &= ~(EXEC_STOP|EXEC_STATUS_REPORT|EXEC_GCODE_REPORT|EXEC_PID_REPORT|EXEC_TLO_REPORT|EXEC_RT_COMMAND); // clear requests already processed
|
||||
|
||||
@@ -969,7 +943,7 @@ ISR_CODE bool ISR_FUNC(protocol_enqueue_realtime_command)(char c)
|
||||
|
||||
case CMD_MPG_MODE_TOGGLE: // Switch off MPG mode
|
||||
if((drop = hal.stream.type == StreamType_MPG))
|
||||
protocol_enqueue_foreground_task(stream_mpg_set_mode, NULL);
|
||||
task_add_immediate(stream_mpg_set_mode, NULL);
|
||||
break;
|
||||
|
||||
case CMD_AUTO_REPORTING_TOGGLE:
|
||||
@@ -1058,63 +1032,6 @@ ISR_CODE bool ISR_FUNC(protocol_enqueue_realtime_command)(char c)
|
||||
return drop;
|
||||
}
|
||||
|
||||
static const uint32_t dummy_data = 0;
|
||||
|
||||
|
||||
/*! \brief Enqueue a function to be called once by the foreground process.
|
||||
\param fn pointer to a \a foreground_task_ptr type of function.
|
||||
\param data pointer to data to be passed to the callee.
|
||||
\returns true if successful, false otherwise.
|
||||
*/
|
||||
ISR_CODE bool ISR_FUNC(protocol_enqueue_foreground_task)(fg_task_ptr fn, void *data)
|
||||
{
|
||||
bool ok;
|
||||
uint_fast8_t bptr = (realtime_queue.head + 1) & (RT_QUEUE_SIZE - 1); // Get next head pointer
|
||||
|
||||
if((ok = bptr != realtime_queue.tail)) { // If not buffer full
|
||||
realtime_queue.task[realtime_queue.head].data = data;
|
||||
realtime_queue.task[realtime_queue.head].task = fn; // add function pointer to buffer,
|
||||
realtime_queue.head = bptr; // update pointer and
|
||||
if(sys.driver_started)
|
||||
system_set_exec_state_flag(EXEC_RT_COMMAND); // flag it for execute
|
||||
}
|
||||
|
||||
return ok;
|
||||
}
|
||||
|
||||
/*! \brief Enqueue a function to be called once by the foreground process.
|
||||
\param fn pointer to a \a on_execute_realtime_ptr type of function.
|
||||
\returns true if successful, false otherwise.
|
||||
__NOTE:__ Deprecated, use protocol_enqueue_foreground_task instead.
|
||||
*/
|
||||
ISR_CODE bool ISR_FUNC(protocol_enqueue_rt_command)(on_execute_realtime_ptr fn)
|
||||
{
|
||||
return protocol_enqueue_foreground_task(fn, (void *)&dummy_data);
|
||||
}
|
||||
|
||||
// Execute enqueued functions.
|
||||
static void protocol_execute_rt_commands (sys_state_t state)
|
||||
{
|
||||
while(realtime_queue.tail != realtime_queue.head) {
|
||||
uint_fast8_t bptr = realtime_queue.tail;
|
||||
if(realtime_queue.task[bptr].task.fn) {
|
||||
if(realtime_queue.task[bptr].data == (void *)&dummy_data) {
|
||||
on_execute_realtime_ptr call = realtime_queue.task[bptr].task.fn_deprecated;
|
||||
realtime_queue.task[bptr].task.fn_deprecated = NULL;
|
||||
call(state_get());
|
||||
} else {
|
||||
foreground_task_ptr call = realtime_queue.task[bptr].task.fn;
|
||||
realtime_queue.task[bptr].task.fn = NULL;
|
||||
call(realtime_queue.task[bptr].data);
|
||||
}
|
||||
}
|
||||
realtime_queue.tail = (bptr + 1) & (RT_QUEUE_SIZE - 1);
|
||||
}
|
||||
|
||||
if(!sys.driver_started)
|
||||
while(true);
|
||||
}
|
||||
|
||||
void protocol_execute_noop (sys_state_t state)
|
||||
{
|
||||
(void)state;
|
||||
|
||||
+4
-3
@@ -3,7 +3,7 @@
|
||||
|
||||
Part of grblHAL
|
||||
|
||||
Copyright (c) 2016-2024 Terje Io
|
||||
Copyright (c) 2016-2025 Terje Io
|
||||
Copyright (c) 2011-2016 Sungeun K. Jeon for Gnea Research LLC
|
||||
Copyright (c) 2009-2011 Simen Svale Skogsrud
|
||||
|
||||
@@ -49,8 +49,9 @@ bool protocol_main_loop (void);
|
||||
bool protocol_execute_realtime (void);
|
||||
bool protocol_exec_rt_system (void);
|
||||
void protocol_execute_noop (uint_fast16_t state);
|
||||
bool protocol_enqueue_rt_command (on_execute_realtime_ptr fn);
|
||||
bool protocol_enqueue_foreground_task (fg_task_ptr fn, void *data);
|
||||
|
||||
// Deprecated, to be deleted
|
||||
#define protocol_enqueue_foreground_task(fn, data) task_run_on_startup(fn, data)
|
||||
|
||||
// Executes the auto cycle feature, if enabled.
|
||||
void protocol_auto_cycle_start (void);
|
||||
|
||||
+33
-15
@@ -84,6 +84,8 @@ PROGMEM const settings_t defaults = {
|
||||
.flags.force_initialization_alarm = DEFAULT_FORCE_INITIALIZATION_ALARM,
|
||||
.flags.restore_overrides = DEFAULT_RESET_OVERRIDES,
|
||||
.flags.no_restore_position_after_M6 = DEFAULT_TOOLCHANGE_NO_RESTORE_POSITION,
|
||||
.flags.tool_change_at_g30 = DEFAULT_TOOLCHANGE_AT_G30,
|
||||
.flags.tool_change_fast_pulloff = DEFAULT_TOOLCHANGE_FAST_PROBE_PULLOFF,
|
||||
.flags.no_unlock_after_estop = DEFAULT_NO_UNLOCK_AFTER_ESTOP,
|
||||
.flags.keep_offsets_on_reset = DEFAULT_KEEP_OFFSETS_ON_RESET,
|
||||
|
||||
@@ -1047,9 +1049,9 @@ static status_code_t set_probe_flags (setting_id_t id, uint_fast16_t int_value)
|
||||
|
||||
static status_code_t set_tool_change_mode (setting_id_t id, uint_fast16_t int_value)
|
||||
{
|
||||
if(!hal.driver_cap.atc && hal.stream.suspend_read && int_value <= ToolChange_FastSemiAutomatic) {
|
||||
if(!hal.driver_cap.atc && hal.stream.suspend_read && int_value <= ToolChange_Ignore) {
|
||||
#if COMPATIBILITY_LEVEL > 1
|
||||
if((toolchange_mode_t)int_value == ToolChange_Manual_G59_3 || (toolchange_mode_t)int_value == ToolChange_SemiAutomatic || (toolchange_mode_t)int_value == ToolChange_FastSemiAutomatic)
|
||||
if((toolchange_mode_t)int_value == ToolChange_Manual_G59_3 || (toolchange_mode_t)int_value == ToolChange_SemiAutomatic)
|
||||
return Status_InvalidStatement;
|
||||
#endif
|
||||
settings.tool_change.mode = (toolchange_mode_t)int_value;
|
||||
@@ -1070,12 +1072,14 @@ static status_code_t set_tool_change_probing_distance (setting_id_t id, float va
|
||||
return Status_OK;
|
||||
}
|
||||
|
||||
static status_code_t set_tool_restore_pos (setting_id_t id, uint_fast16_t int_value)
|
||||
static status_code_t set_toolchange_flags (setting_id_t id, uint_fast16_t int_value)
|
||||
{
|
||||
if(hal.driver_cap.atc)
|
||||
return Status_InvalidStatement;
|
||||
|
||||
settings.flags.no_restore_position_after_M6 = int_value == 0;
|
||||
settings.flags.no_restore_position_after_M6 = !(int_value & 0b001);
|
||||
settings.flags.tool_change_at_g30 = !!(int_value & 0b010);
|
||||
settings.flags.tool_change_fast_pulloff = !!(int_value & 0b100);
|
||||
|
||||
return Status_OK;
|
||||
}
|
||||
@@ -1570,8 +1574,10 @@ static uint32_t get_int (setting_id_t id)
|
||||
value = settings.tool_change.mode;
|
||||
break;
|
||||
|
||||
case Setting_ToolChangeRestorePosition:
|
||||
value = settings.flags.no_restore_position_after_M6 ? 0 : 1;
|
||||
case Setting_ToolChangeOptions:
|
||||
value = (settings.flags.no_restore_position_after_M6 ? 0b000 : 0b001) |
|
||||
(settings.flags.tool_change_at_g30 ? 0b010 : 0b000) |
|
||||
(settings.flags.tool_change_fast_pulloff ? 0b100 : 0b00);
|
||||
break;
|
||||
|
||||
case Setting_DisableG92Persistence:
|
||||
@@ -1863,7 +1869,7 @@ static bool is_setting_available (const setting_detail_t *setting, uint_fast16_t
|
||||
case Setting_ToolChangeFeedRate:
|
||||
case Setting_ToolChangeSeekRate:
|
||||
case Setting_ToolChangePulloffRate:
|
||||
case Setting_ToolChangeRestorePosition:
|
||||
case Setting_ToolChangeOptions:
|
||||
available = !hal.driver_cap.atc;
|
||||
break;
|
||||
|
||||
@@ -2139,12 +2145,12 @@ PROGMEM static const setting_detail_t setting_detail[] = {
|
||||
{ Setting_AxisHomingFeedRate, Group_Axis0, "-axis homing locate feed rate", axis_rate, Format_Decimal, "###0", NULL, NULL, Setting_NonCoreFn, set_axis_setting, get_float, is_setting_available, AXIS_OPTS },
|
||||
{ Setting_AxisHomingSeekRate, Group_Axis0, "-axis homing search seek rate", axis_rate, Format_Decimal, "###0", NULL, NULL, Setting_NonCoreFn, set_axis_setting, get_float, is_setting_available, AXIS_OPTS },
|
||||
{ Setting_SpindleAtSpeedTolerance, Group_Spindle, "Spindle at speed tolerance", "percent", Format_Decimal, "##0.0", NULL, NULL, Setting_IsExtendedFn, set_float, get_float, is_setting_available },
|
||||
{ Setting_ToolChangeMode, Group_Toolchange, "Tool change mode", NULL, Format_RadioButtons, "Normal,Manual touch off,Manual touch off @ G59.3,Automatic touch off @ G59.3,Ignore M6,Fast Automatic touch off @ G59.3", NULL, NULL, Setting_IsExtendedFn, set_tool_change_mode, get_int, is_setting_available },
|
||||
{ Setting_ToolChangeMode, Group_Toolchange, "Tool change mode", NULL, Format_RadioButtons, "Normal,Manual touch off,Manual touch off @ G59.3,Automatic touch off @ G59.3,Ignore M6", NULL, NULL, Setting_IsExtendedFn, set_tool_change_mode, get_int, is_setting_available },
|
||||
{ Setting_ToolChangeProbingDistance, Group_Toolchange, "Tool change probing distance", "mm", Format_Decimal, "#####0.0", NULL, NULL, Setting_IsExtendedFn, set_tool_change_probing_distance, get_float, is_setting_available },
|
||||
{ Setting_ToolChangeFeedRate, Group_Toolchange, "Tool change locate feed rate", "mm/min", Format_Decimal, "#####0.0", NULL, NULL, Setting_IsExtended, &settings.tool_change.feed_rate, NULL, is_setting_available },
|
||||
{ Setting_ToolChangeSeekRate, Group_Toolchange, "Tool change search seek rate", "mm/min", Format_Decimal, "#####0.0", NULL, NULL, Setting_IsExtended, &settings.tool_change.seek_rate, NULL, is_setting_available },
|
||||
{ Setting_ToolChangePulloffRate, Group_Toolchange, "Tool change probe pull-off rate", "mm/min", Format_Decimal, "#####0.0", NULL, NULL, Setting_IsExtended, &settings.tool_change.pulloff_rate, NULL, is_setting_available },
|
||||
{ Setting_ToolChangeRestorePosition, Group_Toolchange, "Restore position after M6", NULL, Format_Bool, NULL, NULL, NULL, Setting_IsExtendedFn, set_tool_restore_pos, get_int, is_setting_available },
|
||||
{ Setting_ToolChangeOptions, Group_Toolchange, "Tool change options", NULL, Format_Bitfield, "Restore position after M6,Change tool at G30,Fast probe pull off", NULL, NULL, Setting_IsExtendedFn, set_toolchange_flags, get_int, is_setting_available },
|
||||
{ Setting_DualAxisLengthFailPercent, Group_Limits_DualAxis, "Dual axis length fail", "percent", Format_Decimal, "##0.0", "0", "100", Setting_IsExtended, &settings.homing.dual_axis.fail_length_percent, NULL, is_setting_available },
|
||||
{ Setting_DualAxisLengthFailMin, Group_Limits_DualAxis, "Dual axis length fail min", "mm", Format_Decimal, "#####0.000", NULL, NULL, Setting_IsExtended, &settings.homing.dual_axis.fail_distance_min, NULL, is_setting_available },
|
||||
{ Setting_DualAxisLengthFailMax, Group_Limits_DualAxis, "Dual axis length fail max", "mm", Format_Decimal, "#####0.000", NULL, NULL, Setting_IsExtended, &settings.homing.dual_axis.fail_distance_max, NULL, is_setting_available },
|
||||
@@ -2331,17 +2337,21 @@ PROGMEM static const setting_descr_t setting_descr[] = {
|
||||
"NOTE: if the spindle on delay is set to 0 the timeout defaults to one minute."
|
||||
},
|
||||
{ Setting_ToolChangeMode, "Normal: allows jogging for manual touch off. Set new position manually.\\n\\n"
|
||||
"Manual touch off: retracts tool axis to home position for tool change, use jogging or $TPW for touch off.\\n\\n"
|
||||
"Manual touch off @ G59.3: retracts tool axis to home position then to G59.3 position for tool change, use jogging or $TPW for touch off.\\n\\n"
|
||||
"Automatic touch off @ G59.3: retracts tool axis to home position for tool change, then to G59.3 position for automatic touch off.\\n\\n"
|
||||
"Fast Automatic touch off @ G59.3: Same as automatic mode, except that it uses G38.4 style probing for faster touch off.\\n\\n"
|
||||
"All modes except \"Normal\" and \"Ignore M6\" returns the tool (controlled point) to original position after touch off."
|
||||
"Manual touch off: rapids to tool change position, use jogging or $TPW for touch off.\\n\\n"
|
||||
"Manual touch off @ G59.3: rapids to tool change position, after change to G59.3 position for manual touch off. Use jogging or $TPW for touch off.\\n\\n"
|
||||
"Automatic touch off @ G59.3: rapids to tool change position, after change to G59.3 position for automatic touch off.\\n\\n"
|
||||
"Depending on settings the tool (controlled point) will be moved back to the to original position after touch off. "
|
||||
"\"tool change position\" is either tool axis home, G59.3 or G30 position depending on settings."
|
||||
},
|
||||
{ Setting_ToolChangeProbingDistance, "Maximum probing distance for automatic or $TPW touch off." },
|
||||
{ Setting_ToolChangeFeedRate, "Feed rate to slowly engage tool change sensor to determine the tool offset accurately." },
|
||||
{ Setting_ToolChangeSeekRate, "Seek rate to quickly find the tool change sensor before the slower locating phase." },
|
||||
{ Setting_ToolChangePulloffRate, "Pull-off rate for the retract move before the slower locating phase." },
|
||||
{ Setting_ToolChangeRestorePosition, "When set the spindle is moved so that the controlled point (tool tip) is the same as before the M6 command, if not the spindle is only moved to the Z home position." },
|
||||
{ Setting_ToolChangeOptions, "Restore position after M6: when set the spindle is moved so that the controlled point (tool tip) is the same as before the M6 command,"
|
||||
"if not the spindle is only moved to the Z home position.\\n\\n"
|
||||
"Change tool at G30: when set rapids to the G30 position via tool axis home. Requires axes to be homed.\\n\\n"
|
||||
"Fast probe pulloff: use G38.4 style probing for faster touch off."
|
||||
},
|
||||
{ Setting_DualAxisLengthFailPercent, "Dual axis length fail in percent of axis max travel." },
|
||||
{ Setting_DualAxisLengthFailMin, "Dual axis length fail minimum distance." },
|
||||
{ Setting_DualAxisLengthFailMax, "Dual axis length fail maximum distance." },
|
||||
@@ -2475,6 +2485,9 @@ void settings_write_coord_data (coord_system_id_t id, float (*coord_data)[N_AXIS
|
||||
protocol_buffer_synchronize();
|
||||
#endif
|
||||
|
||||
if(grbl.on_wco_saved)
|
||||
grbl.on_wco_saved(id, (coord_data_t *)coord_data);
|
||||
|
||||
if(hal.nvs.type != NVS_None)
|
||||
hal.nvs.memcpy_to_nvs(NVS_ADDR_PARAMETERS + id * (sizeof(coord_data_t) + NVS_CRC_BYTES), (uint8_t *)coord_data, sizeof(coord_data_t), true);
|
||||
}
|
||||
@@ -2572,6 +2585,11 @@ static void sanity_check (void)
|
||||
} while(idx);
|
||||
}
|
||||
|
||||
if(settings.tool_change.mode > ToolChange_Ignore) {
|
||||
settings.tool_change.mode = ToolChange_SemiAutomatic;
|
||||
settings.flags.tool_change_fast_pulloff = On;
|
||||
}
|
||||
|
||||
if(SLEEP_DURATION <= 0.0f)
|
||||
settings.flags.sleep_enable = Off;
|
||||
|
||||
|
||||
+5
-4
@@ -214,7 +214,7 @@ typedef enum {
|
||||
Setting_ToolChangeFeedRate = 343,
|
||||
Setting_ToolChangeSeekRate = 344,
|
||||
Setting_ToolChangePulloffRate = 345,
|
||||
Setting_ToolChangeRestorePosition = 346,
|
||||
Setting_ToolChangeOptions = 346,
|
||||
|
||||
Setting_DualAxisLengthFailPercent = 347,
|
||||
Setting_DualAxisLengthFailMin = 348,
|
||||
@@ -592,7 +592,9 @@ typedef union {
|
||||
no_unlock_after_estop :1,
|
||||
settings_downgrade :1,
|
||||
keep_offsets_on_reset :1,
|
||||
unassigned :14;
|
||||
tool_change_at_g30 :1,
|
||||
tool_change_fast_pulloff :1,
|
||||
unassigned :12;
|
||||
};
|
||||
} settingflags_t;
|
||||
|
||||
@@ -815,8 +817,7 @@ typedef enum {
|
||||
ToolChange_Manual,
|
||||
ToolChange_Manual_G59_3,
|
||||
ToolChange_SemiAutomatic,
|
||||
ToolChange_Ignore,
|
||||
ToolChange_FastSemiAutomatic
|
||||
ToolChange_Ignore
|
||||
} toolchange_mode_t;
|
||||
|
||||
typedef struct {
|
||||
|
||||
@@ -339,7 +339,7 @@ static bool stream_select (const io_stream_t *stream, bool add)
|
||||
stream_mpg_enable(false);
|
||||
mpg.flags.mpg_control = On;
|
||||
} else if(mpg_enable)
|
||||
protocol_enqueue_foreground_task(stream_mpg_set_mode, (void *)1);
|
||||
task_add_immediate(stream_mpg_set_mode, (void *)1);
|
||||
|
||||
memcpy(&hal.stream, stream, sizeof(io_stream_t));
|
||||
|
||||
@@ -750,7 +750,7 @@ bool debug_stream_init (void)
|
||||
if(stream_enumerate_streams(debug_claim_stream))
|
||||
hal.debug.write(ASCII_EOL "UART debug active:" ASCII_EOL);
|
||||
else
|
||||
protocol_enqueue_foreground_task(report_warning, "Failed to initialize debug stream!");
|
||||
task_run_on_startup(report_warning, "Failed to initialize debug stream!");
|
||||
|
||||
return hal.debug.write == debug_write;
|
||||
}
|
||||
|
||||
+1
-1
@@ -168,7 +168,7 @@ void stream_passthru_init (uint8_t instance, uint32_t baud_rate, bool start)
|
||||
|
||||
if((hal.stream.state.passthru = stream != NULL)) {
|
||||
|
||||
protocol_enqueue_foreground_task(passthru_start1, NULL); // enter passthrouh mode after finished booting grblHAL
|
||||
task_run_on_startup(passthru_start1, NULL); // enter passthrouh mode after finished booting grblHAL
|
||||
|
||||
memcpy(&dest, stream, sizeof(io_stream_t));
|
||||
dest.set_enqueue_rt_handler(sink_uart_rx);
|
||||
|
||||
@@ -3,7 +3,7 @@
|
||||
|
||||
Part of grblHAL
|
||||
|
||||
Copyright (c) 2024 Terje Io
|
||||
Copyright (c) 2024-2025 Terje Io
|
||||
|
||||
grblHAL is free software: you can redistribute it and/or modify
|
||||
it under the terms of the GNU General Public License as published by
|
||||
@@ -26,6 +26,7 @@ typedef void (*foreground_task_ptr)(void *data);
|
||||
|
||||
bool task_add_immediate (foreground_task_ptr fn, void *data);
|
||||
bool task_add_delayed (foreground_task_ptr fn, void *data, uint32_t delay_ms);
|
||||
bool task_run_on_startup (foreground_task_ptr fn, void *data);
|
||||
void task_delete (foreground_task_ptr fn, void *data);
|
||||
bool task_add_systick (foreground_task_ptr fn, void *data);
|
||||
void task_delete_systick (foreground_task_ptr fn, void *data);
|
||||
|
||||
+194
-92
@@ -37,21 +37,21 @@
|
||||
#define TOOL_CHANGE_PROBE_RETRACT_DISTANCE 2.0f
|
||||
#endif
|
||||
|
||||
static bool block_cycle_start, probe_toolsetter;
|
||||
static bool block_cycle_start, probe_toolsetter, change_at_g30;
|
||||
static volatile bool execute_posted = false;
|
||||
static volatile uint32_t spin_lock = 0;
|
||||
static float tool_change_position;
|
||||
static tool_data_t current_tool = {0}, *next_tool = NULL;
|
||||
static tool_data_t current_tool = {}, *next_tool = NULL;
|
||||
static plane_t plane;
|
||||
static coord_data_t target = {0}, previous;
|
||||
static coord_data_t target = {}, previous;
|
||||
static driver_reset_ptr driver_reset = NULL;
|
||||
static enqueue_realtime_command_ptr enqueue_realtime_command = NULL;
|
||||
static control_signals_callback_ptr control_interrupt_callback = NULL;
|
||||
static on_homing_completed_ptr on_homing_completed = NULL;
|
||||
static on_probe_completed_ptr on_probe_completed;
|
||||
static on_wco_saved_ptr on_wco_saved;
|
||||
|
||||
// Clear tool length offset on homing
|
||||
static void tc_on_homing_complete (axes_signals_t homing_cycle, bool success)
|
||||
static void onHomingComplete (axes_signals_t homing_cycle, bool success)
|
||||
{
|
||||
if(on_homing_completed)
|
||||
on_homing_completed(homing_cycle, success);
|
||||
@@ -60,6 +60,15 @@ static void tc_on_homing_complete (axes_signals_t homing_cycle, bool success)
|
||||
system_clear_tlo_reference(homing_cycle);
|
||||
}
|
||||
|
||||
static void onWcoSaved (coord_system_id_t id, coord_data_t *offset)
|
||||
{
|
||||
if(on_wco_saved)
|
||||
on_wco_saved(id, offset);
|
||||
|
||||
if(id == gc_state.modal.coord_system.id && block_cycle_start)
|
||||
block_cycle_start = change_at_g30;
|
||||
}
|
||||
|
||||
// Set tool offset on successful $TPW probe, prompt for retry on failure.
|
||||
// Called via probe completed event.
|
||||
static void onProbeCompleted (void)
|
||||
@@ -128,21 +137,25 @@ static void reset (void)
|
||||
// Restore coolant and spindle status, return controlled point to original position.
|
||||
static bool restore (void)
|
||||
{
|
||||
bool ok;
|
||||
plan_line_data_t plan_data;
|
||||
|
||||
plan_data_init(&plan_data);
|
||||
plan_data.condition.rapid_motion = On;
|
||||
|
||||
target.values[plane.axis_linear] = tool_change_position;
|
||||
mc_line(target.values, &plan_data);
|
||||
if(!(ok = (target.values[plane.axis_0] == previous.values[plane.axis_0] &&
|
||||
target.values[plane.axis_1] == previous.values[plane.axis_1]))) {
|
||||
|
||||
if(!settings.flags.no_restore_position_after_M6) {
|
||||
memcpy(&target, &previous, sizeof(coord_data_t));
|
||||
target.values[plane.axis_linear] = tool_change_position;
|
||||
mc_line(target.values, &plan_data);
|
||||
target.values[plane.axis_linear] = sys.home_position[plane.axis_linear];
|
||||
|
||||
if((ok = mc_line(target.values, &plan_data)) && !settings.flags.no_restore_position_after_M6) {
|
||||
memcpy(&target, &previous, sizeof(coord_data_t));
|
||||
target.values[plane.axis_linear] = sys.home_position[plane.axis_linear];
|
||||
ok = mc_line(target.values, &plan_data);
|
||||
}
|
||||
}
|
||||
|
||||
if(protocol_buffer_synchronize()) {
|
||||
if(ok && protocol_buffer_synchronize()) {
|
||||
|
||||
sync_position();
|
||||
|
||||
@@ -164,6 +177,48 @@ static bool restore (void)
|
||||
return !ABORTED;
|
||||
}
|
||||
|
||||
static bool go_linear_home (plan_line_data_t *pl_data)
|
||||
{
|
||||
system_convert_array_steps_to_mpos(target.values, sys.position);
|
||||
|
||||
if(target.values[plane.axis_linear] != sys.home_position[plane.axis_linear]) {
|
||||
|
||||
target.values[plane.axis_linear] = sys.home_position[plane.axis_linear];
|
||||
if(!mc_line(target.values, pl_data))
|
||||
return false;
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
#if COMPATIBILITY_LEVEL <= 1
|
||||
|
||||
static bool go_toolsetter (plan_line_data_t *pl_data)
|
||||
{
|
||||
// G59.3 contains offsets to toolsetter.
|
||||
settings_read_coord_data(CoordinateSystem_G59_3, &target.values);
|
||||
|
||||
float tmp_pos = target.values[plane.axis_linear];
|
||||
|
||||
target.values[plane.axis_linear] = sys.home_position[plane.axis_linear];
|
||||
|
||||
if(probe_toolsetter)
|
||||
grbl.on_probe_toolsetter(next_tool, &target, false, true);
|
||||
|
||||
if(!mc_line(target.values, pl_data))
|
||||
return false;
|
||||
|
||||
target.values[plane.axis_linear] = tmp_pos;
|
||||
if(!mc_line(target.values, pl_data))
|
||||
return false;
|
||||
|
||||
if(probe_toolsetter)
|
||||
grbl.on_probe_toolsetter(next_tool, NULL, true, true);
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
// Issue warning on cycle start event if touch off by $TPW is pending.
|
||||
// Used in Manual and Manual_G59_3 modes ($341=1 or $341=2). Called from the foreground process.
|
||||
static void execute_warning (void *data)
|
||||
@@ -171,6 +226,38 @@ static void execute_warning (void *data)
|
||||
grbl.report.feedback_message(Message_ExecuteTPW);
|
||||
}
|
||||
|
||||
// Execute restore position after tool change, either back to original or to toolsetter for touch off.
|
||||
// Used when G30 position is used for changing the tool. Called from the foreground process.
|
||||
static void execute_return_from_g30 (void *data)
|
||||
{
|
||||
bool ok;
|
||||
plan_line_data_t plan_data;
|
||||
|
||||
plan_data_init(&plan_data);
|
||||
plan_data.condition.rapid_motion = On;
|
||||
|
||||
if((ok = go_linear_home(&plan_data))) {
|
||||
#if COMPATIBILITY_LEVEL <= 1
|
||||
if(settings.tool_change.mode == ToolChange_Manual_G59_3)
|
||||
ok = go_toolsetter(&plan_data);
|
||||
else
|
||||
#endif
|
||||
{
|
||||
// Rapid to original XY position.
|
||||
target.values[plane.axis_0] = previous.values[plane.axis_0];
|
||||
target.values[plane.axis_1] = previous.values[plane.axis_1];
|
||||
ok = mc_line(target.values, &plan_data);
|
||||
}
|
||||
}
|
||||
|
||||
if(ok) {
|
||||
protocol_buffer_synchronize();
|
||||
sync_position();
|
||||
}
|
||||
|
||||
change_at_g30 = execute_posted = false;
|
||||
}
|
||||
|
||||
// Execute restore position after touch off (on cycle start event).
|
||||
// Used in Manual and Manual_G59_3 modes ($341=1 or $341=2). Called from the foreground process.
|
||||
static void execute_restore (void *data)
|
||||
@@ -205,7 +292,7 @@ static void execute_probe (void *data)
|
||||
bool ok;
|
||||
coord_data_t offset;
|
||||
plan_line_data_t plan_data;
|
||||
gc_parser_flags_t flags = {0};
|
||||
gc_parser_flags_t flags = {};
|
||||
|
||||
// G59.3 contains offsets to position of TLS.
|
||||
settings_read_coord_data(CoordinateSystem_G59_3, &offset.values);
|
||||
@@ -213,13 +300,15 @@ static void execute_probe (void *data)
|
||||
plan_data_init(&plan_data);
|
||||
plan_data.condition.rapid_motion = On;
|
||||
|
||||
ok = !change_at_g30 || go_linear_home(&plan_data);
|
||||
|
||||
target.values[plane.axis_0] = offset.values[plane.axis_0];
|
||||
target.values[plane.axis_1] = offset.values[plane.axis_1];
|
||||
|
||||
if(probe_toolsetter)
|
||||
grbl.on_probe_toolsetter(next_tool, &target, false, true);
|
||||
|
||||
if((ok = mc_line(target.values, &plan_data))) {
|
||||
if((ok = ok && mc_line(target.values, &plan_data))) {
|
||||
|
||||
target.values[plane.axis_linear] = offset.values[plane.axis_linear];
|
||||
ok = mc_line(target.values, &plan_data);
|
||||
@@ -233,29 +322,24 @@ static void execute_probe (void *data)
|
||||
|
||||
set_probe_target(&target, plane.axis_linear);
|
||||
|
||||
if((ok = ok && mc_probe_cycle(target.values, &plan_data, flags) == GCProbe_Found))
|
||||
{
|
||||
if((ok = ok && mc_probe_cycle(target.values, &plan_data, flags) == GCProbe_Found)) {
|
||||
|
||||
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;
|
||||
if((ok = mc_line(target.values, &plan_data))) {
|
||||
plan_data.feed_rate = settings.tool_change.feed_rate;
|
||||
target.values[plane.axis_linear] -= (TOOL_CHANGE_PROBE_RETRACT_DISTANCE + 2.0f);
|
||||
ok = mc_probe_cycle(target.values, &plan_data, flags) == GCProbe_Found;
|
||||
if((flags.probe_is_away = settings.flags.tool_change_fast_pulloff))
|
||||
plan_data.feed_rate = settings.tool_change.feed_rate; // Retract slowly until contact lost.
|
||||
else {
|
||||
// Retract a bit and perform slow probe.
|
||||
plan_data.feed_rate = settings.tool_change.pulloff_rate;
|
||||
if((ok = mc_line(target.values, &plan_data))) {
|
||||
plan_data.feed_rate = settings.tool_change.feed_rate;
|
||||
target.values[plane.axis_linear] -= (TOOL_CHANGE_PROBE_RETRACT_DISTANCE + 2.0f);
|
||||
}
|
||||
}
|
||||
ok = ok && mc_probe_cycle(target.values, &plan_data, flags) == GCProbe_Found;
|
||||
}
|
||||
}
|
||||
|
||||
if(ok) {
|
||||
if(!(sys.tlo_reference_set.mask & bit(plane.axis_linear))) {
|
||||
@@ -287,14 +371,13 @@ 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 ||
|
||||
settings.tool_change.mode == ToolChange_FastSemiAutomatic)
|
||||
? execute_probe
|
||||
: execute_restore,
|
||||
NULL);
|
||||
execute_posted = task_add_immediate(settings.tool_change.mode == ToolChange_SemiAutomatic
|
||||
? execute_probe
|
||||
: execute_restore, NULL);
|
||||
else if(change_at_g30)
|
||||
execute_posted = task_add_immediate(execute_return_from_g30, NULL);
|
||||
else
|
||||
protocol_enqueue_foreground_task(execute_warning, NULL);
|
||||
task_add_immediate(execute_warning, NULL);
|
||||
}
|
||||
signals.cycle_start = Off;
|
||||
} else
|
||||
@@ -312,14 +395,13 @@ 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 ||
|
||||
settings.tool_change.mode == ToolChange_FastSemiAutomatic)
|
||||
? execute_probe
|
||||
: execute_restore,
|
||||
NULL);
|
||||
execute_posted = task_add_immediate(settings.tool_change.mode == ToolChange_SemiAutomatic
|
||||
? execute_probe
|
||||
: execute_restore, NULL);
|
||||
else if(change_at_g30)
|
||||
execute_posted = task_add_immediate(execute_return_from_g30, NULL);
|
||||
else
|
||||
protocol_enqueue_foreground_task(execute_warning, NULL);
|
||||
task_add_immediate(execute_warning, NULL);
|
||||
}
|
||||
} else
|
||||
drop = enqueue_realtime_command(c);
|
||||
@@ -356,7 +438,7 @@ 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 || settings.tool_change.mode == ToolChange_FastSemiAutomatic)
|
||||
if(settings.tool_change.mode == ToolChange_Manual_G59_3 || settings.tool_change.mode == ToolChange_SemiAutomatic)
|
||||
return Status_GcodeUnsupportedCommand;
|
||||
#endif
|
||||
|
||||
@@ -381,12 +463,15 @@ 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 &&
|
||||
settings.tool_change.mode != ToolChange_FastSemiAutomatic)
|
||||
grbl.on_probe_completed = on_probe_completed;
|
||||
plan_line_data_t plan_data;
|
||||
coord_data_t change_position;
|
||||
|
||||
block_cycle_start = (settings.tool_change.mode != ToolChange_SemiAutomatic &&
|
||||
settings.tool_change.mode != ToolChange_FastSemiAutomatic);
|
||||
if(settings.tool_change.mode != ToolChange_SemiAutomatic && grbl.on_probe_completed != onProbeCompleted) {
|
||||
on_probe_completed = grbl.on_probe_completed;
|
||||
grbl.on_probe_completed = onProbeCompleted;
|
||||
}
|
||||
|
||||
block_cycle_start = settings.tool_change.mode != ToolChange_SemiAutomatic;
|
||||
|
||||
// Stop spindle and coolant.
|
||||
spindle_all_off();
|
||||
@@ -396,8 +481,7 @@ 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_FastSemiAutomatic);
|
||||
settings.tool_change.mode == ToolChange_SemiAutomatic);
|
||||
|
||||
// Save current position.
|
||||
system_convert_array_steps_to_mpos(previous.values, sys.position);
|
||||
@@ -406,7 +490,7 @@ static status_code_t tool_change (parser_state_t *parser_state)
|
||||
|
||||
previous.values[plane.axis_linear] -= gc_get_offset(plane.axis_linear, false);
|
||||
|
||||
plan_line_data_t plan_data;
|
||||
memcpy(&change_position, &previous, sizeof(coord_data_t));
|
||||
|
||||
plan_data_init(&plan_data);
|
||||
plan_data.condition.rapid_motion = On;
|
||||
@@ -416,36 +500,39 @@ 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;
|
||||
if((change_at_g30 = (settings.flags.tool_change_at_g30) && (sys.homed.mask & (X_AXIS_BIT|Y_AXIS_BIT|Z_AXIS_BIT)) == (X_AXIS_BIT|Y_AXIS_BIT|Z_AXIS_BIT)))
|
||||
settings_read_coord_data(CoordinateSystem_G30, &change_position.values);
|
||||
else
|
||||
change_position.values[plane.axis_linear] = 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));
|
||||
target.values[plane.axis_linear] = tool_change_position;
|
||||
if(!mc_line(target.values, &plan_data))
|
||||
if(!go_linear_home(&plan_data))
|
||||
return Status_Reset;
|
||||
|
||||
if(change_at_g30) {
|
||||
|
||||
// Rapid to G30 position.
|
||||
if(!(target.values[plane.axis_0] == change_position.values[plane.axis_0] &&
|
||||
target.values[plane.axis_1] == change_position.values[plane.axis_1])) {
|
||||
|
||||
target.values[plane.axis_0] = change_position.values[plane.axis_0];
|
||||
target.values[plane.axis_1] = change_position.values[plane.axis_1];
|
||||
if(!mc_line(target.values, &plan_data))
|
||||
return Status_Reset;
|
||||
}
|
||||
|
||||
if(target.values[plane.axis_linear] != change_position.values[plane.axis_linear]) {
|
||||
|
||||
target.values[plane.axis_linear] = change_position.values[plane.axis_linear];
|
||||
if(!mc_line(target.values, &plan_data))
|
||||
return Status_Reset;
|
||||
}
|
||||
}
|
||||
|
||||
#if COMPATIBILITY_LEVEL <= 1
|
||||
if(settings.tool_change.mode == ToolChange_Manual_G59_3) {
|
||||
|
||||
// G59.3 contains offsets to tool change position.
|
||||
settings_read_coord_data(CoordinateSystem_G59_3, &target.values);
|
||||
|
||||
float tmp_pos = target.values[plane.axis_linear];
|
||||
|
||||
target.values[plane.axis_linear] = tool_change_position;
|
||||
|
||||
if(probe_toolsetter)
|
||||
grbl.on_probe_toolsetter(next_tool, &target, false, true);
|
||||
|
||||
if(!mc_line(target.values, &plan_data))
|
||||
else if(settings.tool_change.mode == ToolChange_Manual_G59_3) {
|
||||
if(!go_toolsetter(&plan_data))
|
||||
return Status_Reset;
|
||||
|
||||
target.values[plane.axis_linear] = tmp_pos;
|
||||
if(!mc_line(target.values, &plan_data))
|
||||
return Status_Reset;
|
||||
|
||||
if(probe_toolsetter)
|
||||
grbl.on_probe_toolsetter(next_tool, NULL, true, true);
|
||||
}
|
||||
#endif
|
||||
|
||||
@@ -483,9 +570,14 @@ void tc_init (void)
|
||||
hal.tool.change = tool_change;
|
||||
grbl.on_toolchange_ack = on_toolchange_ack;
|
||||
if(!on_homing_subscribed) {
|
||||
|
||||
on_homing_subscribed = true;
|
||||
|
||||
on_homing_completed = grbl.on_homing_completed;
|
||||
grbl.on_homing_completed = tc_on_homing_complete;
|
||||
grbl.on_homing_completed = onHomingComplete;
|
||||
|
||||
on_wco_saved = grbl.on_wco_saved;
|
||||
grbl.on_wco_saved = onWcoSaved;
|
||||
}
|
||||
if(driver_reset == NULL) {
|
||||
driver_reset = hal.driver_reset;
|
||||
@@ -502,6 +594,11 @@ status_code_t tc_probe_workpiece (void)
|
||||
if(!(settings.tool_change.mode == ToolChange_Manual || settings.tool_change.mode == ToolChange_Manual_G59_3) || enqueue_realtime_command == NULL)
|
||||
return Status_InvalidStatement;
|
||||
|
||||
if(change_at_g30) {
|
||||
grbl.report.feedback_message(Message_CycleStart2TouchOff);
|
||||
return Status_OK;
|
||||
}
|
||||
|
||||
// TODO: add check for reference offset set?
|
||||
|
||||
bool ok;
|
||||
@@ -527,23 +624,28 @@ status_code_t tc_probe_workpiece (void)
|
||||
{
|
||||
system_convert_array_steps_to_mpos(target.values, sys.probe_position);
|
||||
|
||||
// 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;
|
||||
if((ok = mc_line(target.values, &plan_data))) {
|
||||
|
||||
plan_data.feed_rate = settings.tool_change.feed_rate;
|
||||
target.values[plane.axis_linear] -= (TOOL_CHANGE_PROBE_RETRACT_DISTANCE + 2.0f);
|
||||
if((ok = mc_probe_cycle(target.values, &plan_data, flags) == GCProbe_Found)) {
|
||||
// Retract a bit again so that any touch plate can be removed
|
||||
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);
|
||||
if((flags.probe_is_away = settings.flags.tool_change_fast_pulloff))
|
||||
plan_data.feed_rate = settings.tool_change.feed_rate; // Retract slowly until contact lost.
|
||||
else {
|
||||
// Retract a bit before performing slow probe.
|
||||
plan_data.feed_rate = settings.tool_change.pulloff_rate;
|
||||
if((ok = mc_line(target.values, &plan_data))) {
|
||||
plan_data.feed_rate = settings.tool_change.feed_rate;
|
||||
target.values[plane.axis_linear] -= (TOOL_CHANGE_PROBE_RETRACT_DISTANCE + 2.0f);
|
||||
}
|
||||
}
|
||||
|
||||
if((ok = ok && mc_probe_cycle(target.values, &plan_data, flags) == GCProbe_Found)) {
|
||||
// Retract a bit again so that any touch plate can be removed
|
||||
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] > sys.home_position[plane.axis_linear])
|
||||
target.values[plane.axis_linear] = sys.home_position[plane.axis_linear];
|
||||
ok = mc_line(target.values, &plan_data);
|
||||
}
|
||||
}
|
||||
|
||||
if(ok && protocol_buffer_synchronize()) {
|
||||
|
||||
Reference in New Issue
Block a user