Imbus/grbl-imbus
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Resolved parking accessory handling issue.

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- Yikes. Totally borked the last parking “fix”. Testing shows that all
accessories are now properly handled when retracting and restoring. It
was caused by not accounting for the planner re-factoring correctly in
the parking code.
This commit is contained in:
chamnit 2016-10-25 19:43:06 -06:00
parent f8ca08ad66
commit a6f6431515
4 changed files with 35 additions and 10 deletions
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21
grbl/protocol.c
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@ -506,12 +506,17 @@ void protocol_exec_rt_system()
static void protocol_exec_rt_suspend()
{
#ifdef PARKING_ENABLE
// Declare parking local variables
// Declare and initialize parking local variables
float restore_target[N_AXIS];
float parking_target[N_AXIS];
float retract_waypoint = PARKING_PULLOUT_INCREMENT;
plan_line_data_t plan_data;
plan_line_data_t *pl_data = &plan_data;
memset(pl_data,0,sizeof(plan_line_data_t));
pl_data->condition = (PL_COND_FLAG_SYSTEM_MOTION|PL_COND_FLAG_NO_FEED_OVERRIDE);
#ifdef USE_LINE_NUMBERS
pl_data->line_number = PARKING_MOTION_LINE_NUMBER;
#endif
#endif
plan_block_t *block = plan_get_current_block();
@ -554,13 +559,6 @@ static void protocol_exec_rt_suspend()
#else
// Initialize planner state data
memset(pl_data,0,sizeof(plan_line_data_t));
pl_data->condition = (PL_COND_FLAG_SYSTEM_MOTION|PL_COND_FLAG_NO_FEED_OVERRIDE);
#ifdef USE_LINE_NUMBERS
pl_data->line_number = PARKING_MOTION_LINE_NUMBER;
#endif
// Get current position and store restore location and spindle retract waypoint.
system_convert_array_steps_to_mpos(parking_target,sys_position);
if (bit_isfalse(sys.suspend,SUSPEND_RESTART_RETRACT)) {
@ -581,7 +579,12 @@ static void protocol_exec_rt_suspend()
if (parking_target[PARKING_AXIS] < retract_waypoint) {
parking_target[PARKING_AXIS] = retract_waypoint;
pl_data->feed_rate = PARKING_PULLOUT_RATE;
// NOTE: Retain accessory state for retract motion, then clear for remaining parking motions.
pl_data->condition |= (restore_condition & PL_COND_ACCESSORY_MASK);
pl_data->spindle_speed = restore_spindle_speed;
mc_parking_motion(parking_target, pl_data);
pl_data->condition = (PL_COND_FLAG_SYSTEM_MOTION|PL_COND_FLAG_NO_FEED_OVERRIDE);
pl_data->spindle_speed = 0.0;
}
spindle_set_state(SPINDLE_DISABLE,0.0); // De-energize
@ -677,7 +680,7 @@ static void protocol_exec_rt_suspend()
// NOTE: If retract is restarted, spindle and coolant states will be cleared in
// the beginning of the retract routine.
pl_data->feed_rate = PARKING_PULLOUT_RATE;
pl_data->condition = restore_condition;
pl_data->condition |= (restore_condition & PL_COND_ACCESSORY_MASK);
pl_data->spindle_speed = restore_spindle_speed;
mc_parking_motion(restore_target, pl_data);
}