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Now allows some $-commands while critical events are active or in sleep mode.

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Added work envelope data to global sys struct, used by soft limits and jog limit handling.
This commit is contained in:
Terje Io
2023-04-29 15:53:46 +02:00
parent 36035cf72b
commit c652eee852
10 changed files with 206 additions and 120 deletions
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30
machine_limits.c
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@@ -109,7 +109,36 @@ ISR_CODE void ISR_FUNC(limit_interrupt_handler)(limit_signals_t state) // DEFAUL
}
}
// Establish work envelope for homed axes, used by soft limits and jog limits handling.
// When hard limits are enabled pulloff distance is subtracted to avoid triggering limit switches.
void limits_set_work_envelope (void)
{
uint_fast8_t idx = N_AXIS;
do {
if(sys.homed.mask & bit(--idx)) {
float pulloff = settings.limits.flags.hard_enabled && bit_istrue(sys.homing.mask, bit(idx)) ? settings.homing.pulloff : 0.0f;
if(settings.homing.flags.force_set_origin) {
if(bit_isfalse(settings.homing.dir_mask.value, bit(idx))) {
sys.work_envelope.min[idx] = settings.axis[idx].max_travel + pulloff;
sys.work_envelope.max[idx] = 0.0f;
} else {
sys.work_envelope.min[idx] = 0.0f;
sys.work_envelope.max[idx] = - (settings.axis[idx].max_travel + pulloff);
}
} else {
sys.work_envelope.min[idx] = settings.axis[idx].max_travel + pulloff;
sys.work_envelope.max[idx] = - pulloff;
}
} else
sys.work_envelope.min[idx] = sys.work_envelope.max[idx] = 0.0f;
} while(idx);
}
#ifndef KINEMATICS_API
// Set machine positions for homed limit switches. Don't update non-homed axes.
// NOTE: settings.max_travel[] is stored as a negative value.
void limits_set_machine_positions (axes_signals_t cycle, bool add_pulloff)
@@ -133,6 +162,7 @@ void limits_set_machine_positions (axes_signals_t cycle, bool add_pulloff)
}
} while(idx);
}
#endif
// Pulls off axes from asserted homing switches before homing starts.