ManuelW/grbl-LPC-CoreXY
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Merge pull request #491 from tmpvar/G38.2+

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G38.2+
This commit is contained in:
Sonny Jeon 2014-09-25 19:29:42 -06:00
commit 15071385f7
8 changed files with 89 additions and 43 deletions
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29
gcode.c
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@ -123,8 +123,8 @@ uint8_t gc_execute_line(char *line)
char letter;
float value;
uint8_t int_value = 0;
uint8_t mantissa = 0; // NOTE: For mantissa values > 255, variable type must be changed to uint16_t.
uint16_t mantissa = 0; // NOTE: For mantissa values > 255, variable type must be changed to uint16_t.
uint8_t probe_mode = 0;
while (line[char_counter] != 0) { // Loop until no more g-code words in line.
@ -210,11 +210,22 @@ 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: // G38.2
gc_block.modal.motion = MOTION_MODE_PROBE;
break;
case 30: // G38.3
gc_block.modal.motion = MOTION_MODE_PROBE;
probe_mode = PROBE_NO_ERROR;
break;
case 40: // G38.4
gc_block.modal.motion = MOTION_MODE_PROBE;
probe_mode = PROBE_AWAY;
break;
case 50: // G38.5
gc_block.modal.motion = MOTION_MODE_PROBE;
probe_mode = PROBE_AWAY | PROBE_NO_ERROR;
break;
default: FAIL(STATUS_GCODE_UNSUPPORTED_COMMAND); // [Unsupported G38.x command]
}
mantissa = 0; // Set to zero to indicate valid non-integer G command.
@ -973,9 +984,9 @@ uint8_t gc_execute_line(char *line)
// NOTE: gc_block.values.xyz is returned from mc_probe_cycle with the updated position value. So
// upon a successful probing cycle, the machine position and the returned value should be the same.
#ifdef USE_LINE_NUMBERS
mc_probe_cycle(gc_block.values.xyz, gc_state.feed_rate, gc_state.modal.feed_rate, gc_block.values.n);
mc_probe_cycle(gc_block.values.xyz, gc_state.feed_rate, gc_state.modal.feed_rate, probe_mode, gc_block.values.n);
#else
mc_probe_cycle(gc_block.values.xyz, gc_state.feed_rate, gc_state.modal.feed_rate);
mc_probe_cycle(gc_block.values.xyz, gc_state.feed_rate, gc_state.modal.feed_rate, probe_mode);
#endif
}

2
gcode.h
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@ -71,7 +71,7 @@
#define MOTION_MODE_LINEAR 1 // G1
#define MOTION_MODE_CW_ARC 2 // G2
#define MOTION_MODE_CCW_ARC 3 // G3
#define MOTION_MODE_PROBE 4 // G38.2
#define MOTION_MODE_PROBE 4 // G38.2, G38.3, G38.4, G38.5
#define MOTION_MODE_NONE 5 // G80
// Modal Group G2: Plane select

57
motion_control.c
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@ -287,9 +287,9 @@ void mc_homing_cycle()
// Perform tool length probe cycle. Requires probe switch.
// NOTE: Upon probe failure, the program will be stopped and placed into ALARM state.
#ifdef USE_LINE_NUMBERS
void mc_probe_cycle(float *target, float feed_rate, uint8_t invert_feed_rate, int32_t line_number)
void mc_probe_cycle(float *target, float feed_rate, uint8_t invert_feed_rate, uint8_t mode, int32_t line_number)
#else
void mc_probe_cycle(float *target, float feed_rate, uint8_t invert_feed_rate)
void mc_probe_cycle(float *target, float feed_rate, uint8_t invert_feed_rate, uint8_t mode)
#endif
{
// TODO: Need to update this cycle so it obeys a non-auto cycle start.
@ -298,9 +298,10 @@ void mc_homing_cycle()
// Finish all queued commands and empty planner buffer before starting probe cycle.
protocol_buffer_synchronize();
uint8_t auto_start_state = sys.auto_start; // Store run state
uint8_t perform_pull_off = 1;
// After syncing, check if probe is already triggered. If so, halt and issue alarm.
if (probe_get_state()) {
if (probe_get_state(mode) && probe_errors_enabled(mode)) {
bit_true_atomic(sys.execute, EXEC_CRIT_EVENT);
protocol_execute_runtime();
}
@ -314,7 +315,7 @@ void mc_homing_cycle()
#endif
// Activate the probing monitor in the stepper module.
sys.probe_state = PROBE_ACTIVE;
sys.probe_state = PROBE_ACTIVE | mode;
// Perform probing cycle. Wait here until probe is triggered or motion completes.
bit_true_atomic(sys.execute, EXEC_CYCLE_START);
@ -324,7 +325,15 @@ void mc_homing_cycle()
} while ((sys.state != STATE_IDLE) && (sys.state != STATE_QUEUED));
// Probing motion complete. If the probe has not been triggered, error out.
if (sys.probe_state == PROBE_ACTIVE) { bit_true_atomic(sys.execute, EXEC_CRIT_EVENT); }
if (sys.probe_state & PROBE_ACTIVE) {
if (probe_errors_enabled(mode)) {
bit_true_atomic(sys.execute, EXEC_CRIT_EVENT);
} else {
perform_pull_off = 0;
probe_finalize(0);
}
}
protocol_execute_runtime(); // Check and execute run-time commands
if (sys.abort) { return; } // Check for system abort
@ -332,24 +341,26 @@ void mc_homing_cycle()
st_reset(); // Reest step segment buffer.
plan_reset(); // Reset planner buffer. Zero planner positions. Ensure probing motion is cleared.
plan_sync_position(); // Sync planner position to current machine position.
// Pull-off triggered probe to the trigger location since we had to decelerate a little beyond
// it to stop the machine in a controlled manner.
uint8_t idx;
for(idx=0; idx<N_AXIS; idx++){
// NOTE: The target[] variable updated here will be sent back and synced with the g-code parser.
target[idx] = (float)sys.probe_position[idx]/settings.steps_per_mm[idx];
}
#ifdef USE_LINE_NUMBERS
mc_line(target, feed_rate, invert_feed_rate, line_number);
#else
mc_line(target, feed_rate, invert_feed_rate);
#endif
// Execute pull-off motion and wait until it completes.
bit_true_atomic(sys.execute, EXEC_CYCLE_START);
protocol_buffer_synchronize();
if (sys.abort) { return; } // Return if system reset has been issued.
if (perform_pull_off) {
// Pull-off triggered probe to the trigger location since we had to decelerate a little beyond
// it to stop the machine in a controlled manner.
uint8_t idx;
for(idx=0; idx<N_AXIS; idx++){
// NOTE: The target[] variable updated here will be sent back and synced with the g-code parser.
target[idx] = (float)sys.probe_position[idx]/settings.steps_per_mm[idx];
}
#ifdef USE_LINE_NUMBERS
mc_line(target, feed_rate, invert_feed_rate, line_number);
#else
mc_line(target, feed_rate, invert_feed_rate);
#endif
// Execute pull-off motion and wait until it completes.
bit_true_atomic(sys.execute, EXEC_CYCLE_START);
protocol_buffer_synchronize();
if (sys.abort) { return; } // Return if system reset has been issued.
}
sys.auto_start = auto_start_state; // Restore run state before returning

4
motion_control.h
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@ -58,9 +58,9 @@ void mc_homing_cycle();
// Perform tool length probe cycle. Requires probe switch.
#ifdef USE_LINE_NUMBERS
void mc_probe_cycle(float *target, float feed_rate, uint8_t invert_feed_rate, int32_t line_number);
void mc_probe_cycle(float *target, float feed_rate, uint8_t invert_feed_rate, uint8_t motion, int32_t line_number);
#else
void mc_probe_cycle(float *target, float feed_rate, uint8_t invert_feed_rate);
void mc_probe_cycle(float *target, float feed_rate, uint8_t invert_feed_rate, uint8_t motion);
#endif
// Performs system reset. If in motion state, kills all motion and sets system alarm.

23
probe.c
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@ -41,19 +41,30 @@ void probe_init()
// Returns the probe pin state. Triggered = true. Called by gcode parser and probe state monitor.
uint8_t probe_get_state() { return((PROBE_PIN & PROBE_MASK) ^ probe_invert_mask); }
uint8_t probe_get_state(uint8_t mode) {
mode = ((mode >> PROBE_AWAY_BIT) & 1) << PROBE_BIT;
return mode ^ ((PROBE_PIN & PROBE_MASK) ^ probe_invert_mask);
}
uint8_t probe_errors_enabled(uint8_t mode) {
return !(mode & PROBE_NO_ERROR);
}
void probe_finalize(uint8_t probe_succeeded) {
sys.probe_state = PROBE_OFF;
sys.probe_succeeded = probe_succeeded;
memcpy(sys.probe_position, sys.position, sizeof(float)*N_AXIS);
bit_true(sys.execute, EXEC_FEED_HOLD);
}
// Monitors probe pin state and records the system position when detected. Called by the
// stepper ISR per ISR tick.
// 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()) {
sys.probe_state = PROBE_OFF;
memcpy(sys.probe_position, sys.position, sizeof(float)*N_AXIS);
bit_true(sys.execute, EXEC_FEED_HOLD);
if (sys.probe_state != PROBE_OFF) {
if (probe_get_state(sys.probe_state)) {
probe_finalize(1);
}
}
}

12
probe.h
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@ -25,12 +25,22 @@
#define PROBE_OFF 0 // No probing. (Must be zero.)
#define PROBE_ACTIVE 1 // Actively watching the input pin.
// Probe direction and error modes
#define PROBE_AWAY 2 // G38.4, G38.5
#define PROBE_NO_ERROR 4 // G38.3, G38.5
#define PROBE_AWAY_BIT 1
#define PROBE_NO_ERROR_BIT 2
// Probe pin initialization routine.
void probe_init();
// Returns probe pin state.
uint8_t probe_get_state();
uint8_t probe_get_state(uint8_t mode);
uint8_t probe_errors_enabled(uint8_t mode);
void probe_finalize(uint8_t probe_succeeded);
// Monitors probe pin state and records the system position when detected. Called by the
// stepper ISR per ISR tick.

4
report.c
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@ -235,7 +235,9 @@ void report_probe_parameters()
print_position[i] = sys.probe_position[i]/settings.steps_per_mm[i];
printFloat_CoordValue(print_position[i]);
if (i < (N_AXIS-1)) { printPgmString(PSTR(",")); }
}
}
printPgmString(PSTR(":"));
print_uint8_base10(sys.probe_succeeded);
printPgmString(PSTR("]\r\n"));
}

1
system.h
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@ -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_succeeded;
} system_t;
extern system_t sys;