ManuelW/grbl-LPC-CoreXY
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cleanup global var and push probe mode into probe_get_state

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This commit is contained in:
Elijah Insua 2014-09-22 13:29:02 -07:00
parent b89d194466
commit 5406fa939a
7 changed files with 38 additions and 35 deletions
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34
gcode.c
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@ -124,7 +124,7 @@ uint8_t gc_execute_line(char *line)
float value;
uint8_t int_value = 0;
uint8_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.
@ -210,22 +210,21 @@ 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:
sys.probe_away = false;
case 20: // G38.2
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;
break;
case 30: // G38.3
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
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]
}
@ -982,13 +981,12 @@ uint8_t gc_execute_line(char *line)
#endif
break;
case MOTION_MODE_PROBE:
case MOTION_MODE_PROBE_NO_ERROR:
// 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
}

5
gcode.h
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@ -71,9 +71,8 @@
#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, G38.4
#define MOTION_MODE_PROBE_NO_ERROR 5 // G38.3, G38.5
#define MOTION_MODE_NONE 6 // G80
#define MOTION_MODE_PROBE 4 // G38.2, G38.3, G38.4, G38.5
#define MOTION_MODE_NONE 5 // G80
// Modal Group G2: Plane select
#define PLANE_SELECT_XY 0 // G17 (Default: Must be zero)

9
motion_control.c
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@ -276,9 +276,9 @@ 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.
@ -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 ((sys.probe_away << PROBE_BIT) ^ probe_get_state()) {
if (probe_get_state(mode)) {
bit_true_atomic(sys.execute, EXEC_CRIT_EVENT);
protocol_execute_runtime();
}
@ -303,7 +303,7 @@ 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);
@ -314,6 +314,7 @@ void mc_homing_cycle()
// 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) { bit_true_atomic(sys.execute, EXEC_CRIT_EVENT); }
protocol_execute_runtime(); // Check and execute run-time commands
if (sys.abort) { return; } // Check for system abort

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.

12
probe.c
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@ -37,22 +37,22 @@ void probe_init()
PROBE_PORT |= PROBE_MASK; // Enable internal pull-up resistors. Normal high operation.
probe_invert_mask = PROBE_MASK;
}
sys.probe_away = false;
}
// 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);
}
// 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 ((sys.probe_away << PROBE_BIT) ^ probe_get_state()) {
if (sys.probe_state != PROBE_OFF) {
if (probe_get_state(sys.probe_state)) {
sys.probe_state = PROBE_OFF;
memcpy(sys.probe_position, sys.position, sizeof(float)*N_AXIS);
bit_true(sys.execute, EXEC_FEED_HOLD);

8
probe.h
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@ -25,12 +25,18 @@
#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);
// Monitors probe pin state and records the system position when detected. Called by the
// stepper ISR per ISR tick.

1
system.h
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@ -79,7 +79,6 @@ 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;