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Add high-frequency spindle output option. Minor parking motion re-factoring.

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- Some laser controllers were reported to need a very high PWM
frequency. Added a line to enable this in cpu_map.h, if needed.

- Cleaned up some of the parking code. Mostly just editing the comments.

- Moved the accessory state resetting after the initial parking
retract. Should ensure the accessory state is properly handled upon an
aborted parking restore. Not certain if this was a problem before
though. Just to be sure.
This commit is contained in:
Sonny Jeon 2016-10-26 08:42:45 -06:00
parent 3854d200bb
commit cb916a996a
4 changed files with 22 additions and 10 deletions
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12
grbl/protocol.c
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@ -579,14 +579,14 @@ 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->condition |= (restore_condition & PL_COND_ACCESSORY_MASK); // Retain accessory state
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;
}
// NOTE: Clear accessory state after retract and after an aborted restore motion.
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
coolant_set_state(COOLANT_DISABLE); // De-energize
@ -677,10 +677,8 @@ static void protocol_exec_rt_suspend()
// Regardless if the retract parking motion was a valid/safe motion or not, the
// restore parking motion should logically be valid, either by returning to the
// original position through valid machine space or by not moving at all.
// 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_COND_ACCESSORY_MASK);
pl_data->condition |= (restore_condition & PL_COND_ACCESSORY_MASK); // Restore accessory state
pl_data->spindle_speed = restore_spindle_speed;
mc_parking_motion(restore_target, pl_data);
}