ManuelW/grbl-LPC-CoreXY
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Merge commit 'cd71a90ce8a770e0030ed6c9bac805b89724e275' into dev

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Conflicts:
	limits.c
	motion_control.c
	report.c
This commit is contained in:
Robert Grzesek
2014-02-18 18:23:39 -08:00
parent 3df61e0ec5 cd71a90ce8
commit 2307563d8a
8 changed files with 97 additions and 68 deletions
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90
limits.c
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@ -83,13 +83,13 @@ void limits_disable()
// moves in the planner and serial buffers are all cleared and newly sent blocks will be
// locked out until a homing cycle or a kill lock command. Allows the user to disable the hard
// limit setting if their limits are constantly triggering after a reset and move their axes.
if (sys.state != STATE_ALARM) {
if (sys.state != STATE_ALARM) {
if (bit_isfalse(sys.execute,EXEC_ALARM)) {
mc_reset(); // Initiate system kill.
sys.execute |= EXEC_CRIT_EVENT; // Indicate hard limit critical event
mc_reset(); // Initiate system kill.
sys.execute |= EXEC_CRIT_EVENT; // Indicate hard limit critical event
}
}
}
}
#else // OPTIONAL: Software debounce limit pin routine.
// Upon limit pin change, enable watchdog timer to create a short delay.
ISR(LIMIT_INT_vect) { if (!(WDTCSR & (1<<WDIE))) { WDTCSR |= (1<<WDIE); } }
@ -102,12 +102,12 @@ void limits_disable()
// Check limit pin state.
if (bit_istrue(settings.flags,BITFLAG_INVERT_LIMIT_PINS)) { bits ^= LIMIT_MASK; }
if (bits & LIMIT_MASK) {
mc_reset(); // Initiate system kill.
sys.execute |= EXEC_CRIT_EVENT; // Indicate hard limit critical event
}
mc_reset(); // Initiate system kill.
sys.execute |= EXEC_CRIT_EVENT; // Indicate hard limit critical event
}
}
}
}
#endif
@ -120,14 +120,14 @@ void limits_disable()
void limits_go_home(uint8_t cycle_mask)
{
if (sys.abort) { return; } // Block if system reset has been issued.
// Initialize homing in search mode to quickly engage the specified cycle_mask limit switches.
bool approach = true;
float homing_rate = settings.homing_seek_rate;
uint8_t invert_pin, idx;
uint8_t n_cycle = (2*N_HOMING_LOCATE_CYCLE+1);
float target[N_AXIS];
// Determine travel distance to the furthest homing switch based on user max travel settings.
// NOTE: settings.max_travel[] is stored as a negative value.
float max_travel = settings.max_travel[X_AXIS];
@ -142,58 +142,58 @@ void limits_go_home(uint8_t cycle_mask)
if (bit_isfalse(settings.flags,BITFLAG_INVERT_LIMIT_PINS)) { invert_pin = approach; }
else { invert_pin = !approach; }
// Set target location and rate for active axes.
uint8_t n_active_axis = 0;
// Set target location and rate for active axes.
uint8_t n_active_axis = 0;
for (idx=0; idx<N_AXIS; idx++) {
if (bit_istrue(cycle_mask,bit(idx))) {
n_active_axis++;
n_active_axis++;
if (!approach) { target[idx] = -max_travel; }
else { target[idx] = max_travel; }
} else {
} else {
target[idx] = 0.0;
}
}
if (bit_istrue(settings.homing_dir_mask,(1<<X_DIRECTION_BIT))) { target[X_AXIS] = -target[X_AXIS]; }
if (bit_istrue(settings.homing_dir_mask,(1<<Y_DIRECTION_BIT))) { target[Y_AXIS] = -target[Y_AXIS]; }
if (bit_istrue(settings.homing_dir_mask,(1<<Z_DIRECTION_BIT))) { target[Z_AXIS] = -target[Z_AXIS]; }
}
}
if (bit_istrue(settings.homing_dir_mask,(1<<X_DIRECTION_BIT))) { target[X_AXIS] = -target[X_AXIS]; }
if (bit_istrue(settings.homing_dir_mask,(1<<Y_DIRECTION_BIT))) { target[Y_AXIS] = -target[Y_AXIS]; }
if (bit_istrue(settings.homing_dir_mask,(1<<Z_DIRECTION_BIT))) { target[Z_AXIS] = -target[Z_AXIS]; }
homing_rate *= sqrt(n_active_axis); // [sqrt(N_AXIS)] Adjust so individual axes all move at homing rate.
homing_rate *= sqrt(n_active_axis); // [sqrt(N_AXIS)] Adjust so individual axes all move at homing rate.
// Reset homing axis locks based on cycle mask.
uint8_t axislock = 0;
if (bit_istrue(cycle_mask,bit(X_AXIS))) { axislock |= (1<<X_STEP_BIT); }
if (bit_istrue(cycle_mask,bit(Y_AXIS))) { axislock |= (1<<Y_STEP_BIT); }
if (bit_istrue(cycle_mask,bit(Z_AXIS))) { axislock |= (1<<Z_STEP_BIT); }
sys.homing_axis_lock = axislock;
uint8_t axislock = 0;
if (bit_istrue(cycle_mask,bit(X_AXIS))) { axislock |= (1<<X_STEP_BIT); }
if (bit_istrue(cycle_mask,bit(Y_AXIS))) { axislock |= (1<<Y_STEP_BIT); }
if (bit_istrue(cycle_mask,bit(Z_AXIS))) { axislock |= (1<<Z_STEP_BIT); }
sys.homing_axis_lock = axislock;
// Perform homing cycle. Planner buffer should be empty, as required to initiate the homing cycle.
uint8_t limit_state;
plan_buffer_line(target, homing_rate, false); // Bypass mc_line(). Directly plan homing motion.
// Perform homing cycle. Planner buffer should be empty, as required to initiate the homing cycle.
uint8_t limit_state;
plan_buffer_line(target, homing_rate, false, HOMING_CYCLE_LINE_NUMBER); // Bypass mc_line(). Directly plan homing motion.
st_prep_buffer(); // Prep and fill segment buffer from newly planned block.
st_wake_up(); // Initiate motion
do {
// Check limit state. Lock out cycle axes when they change.
limit_state = LIMIT_PIN;
if (invert_pin) { limit_state ^= LIMIT_MASK; }
if (axislock & (1<<X_STEP_BIT)) {
if (limit_state & (1<<X_LIMIT_BIT)) { axislock &= ~(1<<X_STEP_BIT); }
}
if (axislock & (1<<Y_STEP_BIT)) {
if (limit_state & (1<<Y_LIMIT_BIT)) { axislock &= ~(1<<Y_STEP_BIT); }
}
if (axislock & (1<<Z_STEP_BIT)) {
if (limit_state & (1<<Z_LIMIT_BIT)) { axislock &= ~(1<<Z_STEP_BIT); }
}
sys.homing_axis_lock = axislock;
st_wake_up(); // Initiate motion
do {
// Check limit state. Lock out cycle axes when they change.
limit_state = LIMIT_PIN;
if (invert_pin) { limit_state ^= LIMIT_MASK; }
if (axislock & (1<<X_STEP_BIT)) {
if (limit_state & (1<<X_LIMIT_BIT)) { axislock &= ~(1<<X_STEP_BIT); }
}
if (axislock & (1<<Y_STEP_BIT)) {
if (limit_state & (1<<Y_LIMIT_BIT)) { axislock &= ~(1<<Y_STEP_BIT); }
}
if (axislock & (1<<Z_STEP_BIT)) {
if (limit_state & (1<<Z_LIMIT_BIT)) { axislock &= ~(1<<Z_STEP_BIT); }
}
sys.homing_axis_lock = axislock;
st_prep_buffer(); // Check and prep segment buffer. NOTE: Should take no longer than 200us.
// Check only for user reset. No time to run protocol_execute_runtime() in this loop.
if (sys.execute & EXEC_RESET) { protocol_execute_runtime(); return; }
} while (STEP_MASK & axislock);
} while (STEP_MASK & axislock);
st_reset(); // Force disable steppers and reset step segment buffer. Ensure homing motion is cleared.
plan_reset(); // Reset planner buffer. Zero planner positions. Ensure homing motion is cleared.
delay_ms(settings.homing_debounce_delay); // Delay to allow transient dynamics to dissipate.
delay_ms(settings.homing_debounce_delay); // Delay to allow transient dynamics to dissipate.
// Reverse direction and reset homing rate for locate cycle(s).
homing_rate = settings.homing_feed_rate;
@ -225,7 +225,7 @@ void limits_go_home(uint8_t cycle_mask)
}
}
plan_sync_position(); // Sync planner position to current machine position for pull-off move.
plan_buffer_line(target, settings.homing_seek_rate, false); // Bypass mc_line(). Directly plan motion.
plan_buffer_line(target, settings.homing_seek_rate, false, HOMING_CYCLE_LINE_NUMBER); // Bypass mc_line(). Directly plan motion.
// Initiate pull-off using main motion control routines.
// TODO : Clean up state routines so that this motion still shows homing state.