ManuelW/grbl-LPC-CoreXY
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install G38.{3,4,5}

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This commit is contained in:
Elijah Insua 2014-09-14 15:36:25 -07:00
parent f78eebcebf
commit 0f7806938d
4 changed files with 23 additions and 8 deletions
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22
gcode.c
View File

@ -210,11 +210,23 @@ uint8_t gc_execute_line(char *line)
case 3: gc_block.modal.motion = MOTION_MODE_CCW_ARC; break; // G3
case 38:
switch(mantissa) {
case 20: gc_block.modal.motion = MOTION_MODE_PROBE; break; // G38.2
// NOTE: If G38.3+ are enabled, change mantissa variable type to uint16_t.
// case 30: gc_block.modal.motion = MOTION_MODE_PROBE_NO_ERROR; break; // G38.3 Not supported.
// case 40: // Not supported.
// case 50: // Not supported.
case 20:
sys.probe_away = false;
gc_block.modal.motion = MOTION_MODE_PROBE;
break; // G38.2
case 30:
sys.probe_away = false;
gc_block.modal.motion = MOTION_MODE_PROBE_NO_ERROR;
break; // G38.3
case 40:
sys.probe_away = true;
gc_block.modal.motion = MOTION_MODE_PROBE;
break; // G38.4
case 50:
sys.probe_away = true;
gc_block.modal.motion = MOTION_MODE_PROBE_NO_ERROR;
break; // G38.5
default: FAIL(STATUS_GCODE_UNSUPPORTED_COMMAND); // [Unsupported G38.x command]
}
mantissa = 0; // Set to zero to indicate valid non-integer G command.

2
motion_control.c
View File

@ -289,7 +289,7 @@ void mc_homing_cycle()
uint8_t auto_start_state = sys.auto_start; // Store run state
// After syncing, check if probe is already triggered. If so, halt and issue alarm.
if (probe_get_state()) {
if ((sys.probe_away << PROBE_BIT) ^ probe_get_state()) {
bit_true_atomic(sys.execute, EXEC_CRIT_EVENT);
protocol_execute_runtime();
}

6
probe.c
View File

@ -37,6 +37,8 @@ void probe_init()
PROBE_PORT |= PROBE_MASK; // Enable internal pull-up resistors. Normal high operation.
probe_invert_mask = PROBE_MASK;
}
sys.probe_away = false;
}
@ -49,8 +51,8 @@ uint8_t probe_get_state() { return((PROBE_PIN & PROBE_MASK) ^ probe_invert_mask)
// NOTE: This function must be extremely efficient as to not bog down the stepper ISR.
void probe_state_monitor()
{
if (sys.probe_state == PROBE_ACTIVE) {
if (probe_get_state()) {
if (sys.probe_state == PROBE_ACTIVE) {
if ((sys.probe_away << PROBE_BIT) ^ probe_get_state()) {
sys.probe_state = PROBE_OFF;
memcpy(sys.probe_position, sys.position, sizeof(float)*N_AXIS);
bit_true(sys.execute, EXEC_FEED_HOLD);

1
system.h
View File

@ -79,6 +79,7 @@ typedef struct {
uint8_t auto_start; // Planner auto-start flag. Toggled off during feed hold. Defaulted by settings.
volatile uint8_t probe_state; // Probing state value. Used to coordinate the probing cycle with stepper ISR.
int32_t probe_position[N_AXIS]; // Last probe position in machine coordinates and steps.
uint8_t probe_away; // probe away from work by reversing the switch direction (G38.4, G38.5)
} system_t;
extern system_t sys;