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Proposed PR for faster semi-automatic toolchanges.

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andrew_marles
2025-02-06 09:44:11 -08:00
parent 10673744e3
commit ade39fb608
3 changed files with 38 additions and 16 deletions
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14
settings.c
View File

@@ -1007,7 +1007,7 @@ static status_code_t set_tool_change_mode (setting_id_t id, uint_fast16_t int_va
{
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)
if((toolchange_mode_t)int_value == ToolChange_Manual_G59_3 || (toolchange_mode_t)int_value == ToolChange_SemiAutomatic) || (toolchange_mode_t)int_value == FastToolChange_SemiAutomatic)
return Status_InvalidStatement;
#endif
settings.tool_change.mode = (toolchange_mode_t)int_value;
@@ -2094,12 +2094,12 @@ 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", 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_ToolChangeMode, Group_Toolchange, "Tool change mode", NULL, Format_RadioButtons, "Normal,Manual touch off,Manual touch off @ G59.3,Automatic touch off @ G59.3,Fast Automatic touch off @ G59.3,Ignore M6", NULL, NULL, Setting_IsExtendedFn, set_tool_change_mode, get_int, NULL },
{ Setting_ToolChangeProbingDistance, Group_Toolchange, "Tool change probing distance", "mm", Format_Decimal, "#####0.0", NULL, NULL, Setting_IsExtendedFn, set_tool_change_probing_distance, get_float, NULL },
{ 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, NULL },
{ 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, NULL },
{ 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, NULL },
{ Setting_ToolChangeRestorePosition, Group_Toolchange, "Restore position after M6", NULL, Format_Bool, NULL, NULL, NULL, Setting_IsExtendedFn, set_tool_restore_pos, get_int, NULL },
{ 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 },

1
settings.h
View File

@@ -801,6 +801,7 @@ typedef enum {
ToolChange_Manual,
ToolChange_Manual_G59_3,
ToolChange_SemiAutomatic,
ToolChange_FastSemiAutomatic,
ToolChange_Ignore
} toolchange_mode_t;

39
tool_change.c
View File

@@ -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);