Imbus/grbl-imbus
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Minor re-factoring. Fix an issue with parking and spindle restore.

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- Altered the report counters to be count down, rather than count up.
Simplified some of the logic.

- Fixed an issue with parking restore. The spindle state would disable
then reenable.

- Clarified some of the config.h descriptions.

- Moved the compile-time checks from config.h to grbl.h. They don’t
belong in the config.h file.

- Refactored the initialization of the system variables in main.c.
System position and probe position were undefined when power cycled,
but were zero anyway. Added clear vector code to make it explicit.
This commit is contained in:
Sonny Jeon 2016-10-24 22:18:13 -06:00
parent 498dd62572
commit f8ca08ad66
10 changed files with 122 additions and 86 deletions
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24
grbl/protocol.c
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@ -424,7 +424,7 @@ void protocol_exec_rt_system()
if ((new_f_override != sys.f_override) || (new_r_override != sys.r_override)) {
sys.f_override = new_f_override;
sys.r_override = new_r_override;
sys.report_ovr_counter = REPORT_OVR_REFRESH_BUSY_COUNT; // Set to report change immediately
sys.report_ovr_counter = 0; // Set to report change immediately
plan_update_velocity_profile_parameters();
plan_cycle_reinitialize();
}
@ -447,7 +447,7 @@ void protocol_exec_rt_system()
if (last_s_override != sys.spindle_speed_ovr) {
bit_true(sys.step_control, STEP_CONTROL_UPDATE_SPINDLE_PWM);
sys.spindle_speed_ovr = last_s_override;
sys.report_ovr_counter = REPORT_OVR_REFRESH_BUSY_COUNT; // Set to report change immediately
sys.report_ovr_counter = 0; // Set to report change immediately
}
if (rt_exec & EXEC_SPINDLE_OVR_STOP) {
@ -512,11 +512,6 @@ static void protocol_exec_rt_suspend()
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();
@ -555,9 +550,16 @@ static void protocol_exec_rt_suspend()
#ifndef PARKING_ENABLE
spindle_set_state(SPINDLE_DISABLE,0.0); // De-energize
coolant_set_state(COOLANT_DISABLE);; // De-energize
coolant_set_state(COOLANT_DISABLE); // De-energize
#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);
@ -597,7 +599,7 @@ static void protocol_exec_rt_suspend()
// Parking motion not possible. Just disable the spindle and coolant.
// NOTE: Laser mode does not start a parking motion to ensure the laser stops immediately.
spindle_set_state(SPINDLE_DISABLE,0.0); // De-energize
coolant_set_state(COOLANT_DISABLE);; // De-energize
coolant_set_state(COOLANT_DISABLE); // De-energize
}
@ -672,7 +674,11 @@ 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_data->spindle_speed = restore_spindle_speed;
mc_parking_motion(restore_target, pl_data);
}
}