Minimal probing cycle working. Supports both G38.2 for error and G38.3 when no errors are desired.

This commit is contained in:
Robert Grzesek
2014-02-25 12:19:52 -08:00
parent 1fd45791a5
commit 0a46dfe0b9
10 changed files with 211 additions and 3 deletions

View File

@ -79,6 +79,8 @@ void report_status_message(uint8_t status_code)
printPgmString(PSTR("Homing not enabled")); break;
case STATUS_OVERFLOW:
printPgmString(PSTR("Line overflow")); break;
case STATUS_PROBE_ERROR:
printPgmString(PSTR("Probe error")); break;
}
printPgmString(PSTR("\r\n"));
}
@ -364,3 +366,52 @@ void report_realtime_status()
printPgmString(PSTR(">\r\n"));
}
// Prints real-time data. This function grabs a real-time snapshot of the stepper subprogram
// and the actual location of the CNC machine. Users may change the following function to their
// specific needs. It is kept separate from the "normal" report_realtime_status() to allow customization.
void report_realtime_status_probe()
{
// **Under construction** Bare-bones status report. Provides real-time machine position relative to
// the system power on location (0,0,0) and work coordinate position (G54 and G92 applied).
uint8_t i;
int32_t current_position[N_AXIS]; // Copy current state of the system position variable
memcpy(current_position,sys.position,sizeof(sys.position));
float print_position[N_AXIS];
printPgmString(PSTR("<Probe"));
// Report machine position
printPgmString(PSTR(",MPos:"));
for (i=0; i< N_AXIS; i++) {
print_position[i] = current_position[i]/settings.steps_per_mm[i];
if (bit_istrue(settings.flags,BITFLAG_REPORT_INCHES)) { print_position[i] *= INCH_PER_MM; }
printFloat(print_position[i]);
printPgmString(PSTR(","));
}
// Report work position
printPgmString(PSTR("WPos:"));
for (i=0; i< N_AXIS; i++) {
if (bit_istrue(settings.flags,BITFLAG_REPORT_INCHES)) {
print_position[i] -= (gc.coord_system[i]+gc.coord_offset[i])*INCH_PER_MM;
} else {
print_position[i] -= gc.coord_system[i]+gc.coord_offset[i];
}
printFloat(print_position[i]);
if (i < (N_AXIS-1)) { printPgmString(PSTR(",")); }
}
#ifdef USE_LINE_NUMBERS
// Report current line number
printPgmString(PSTR(",Ln:"));
int32_t ln=0;
plan_block_t * pb = plan_get_current_block();
if(pb != NULL) {
ln = pb->line_number;
}
printInteger(ln);
#endif
printPgmString(PSTR(">\r\n"));
}