ManuelW/grbl-LPC-CoreXY
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hop over probe pull-off sequence after probe miss

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and while "no errors" is enabled (G38.3, G38.5)
This commit is contained in:
Elijah Insua 2014-09-22 14:35:12 -07:00
parent 3392a8b2c8
commit 5f1eece67d
1 changed files with 28 additions and 20 deletions
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44
motion_control.c
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@ -287,6 +287,7 @@ void mc_homing_cycle()
// Finish all queued commands and empty planner buffer before starting probe cycle. // Finish all queued commands and empty planner buffer before starting probe cycle.
protocol_buffer_synchronize(); protocol_buffer_synchronize();
uint8_t auto_start_state = sys.auto_start; // Store run state 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. // After syncing, check if probe is already triggered. If so, halt and issue alarm.
if (probe_get_state(mode) && probe_errors_enabled(mode)) { if (probe_get_state(mode) && probe_errors_enabled(mode)) {
@ -313,8 +314,13 @@ void mc_homing_cycle()
} while ((sys.state != STATE_IDLE) && (sys.state != STATE_QUEUED)); } while ((sys.state != STATE_IDLE) && (sys.state != STATE_QUEUED));
// Probing motion complete. If the probe has not been triggered, error out. // Probing motion complete. If the probe has not been triggered, error out.
if (sys.probe_state & PROBE_ACTIVE && probe_errors_enabled(mode)) { if (sys.probe_state & PROBE_ACTIVE) {
bit_true_atomic(sys.execute, EXEC_CRIT_EVENT);
if (probe_errors_enabled(mode)) {
bit_true_atomic(sys.execute, EXEC_CRIT_EVENT);
} else {
perform_pull_off = 0;
}
} }
protocol_execute_runtime(); // Check and execute run-time commands protocol_execute_runtime(); // Check and execute run-time commands
if (sys.abort) { return; } // Check for system abort if (sys.abort) { return; } // Check for system abort
@ -324,23 +330,25 @@ void mc_homing_cycle()
plan_reset(); // Reset planner buffer. Zero planner positions. Ensure probing motion is cleared. plan_reset(); // Reset planner buffer. Zero planner positions. Ensure probing motion is cleared.
plan_sync_position(); // Sync planner position to current machine position. 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 if (perform_pull_off) {
// it to stop the machine in a controlled manner. // Pull-off triggered probe to the trigger location since we had to decelerate a little beyond
uint8_t idx; // it to stop the machine in a controlled manner.
for(idx=0; idx<N_AXIS; idx++){ uint8_t idx;
// NOTE: The target[] variable updated here will be sent back and synced with the g-code parser. for(idx=0; idx<N_AXIS; idx++){
target[idx] = (float)sys.probe_position[idx]/settings.steps_per_mm[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); #ifdef USE_LINE_NUMBERS
#else mc_line(target, feed_rate, invert_feed_rate, line_number);
mc_line(target, feed_rate, invert_feed_rate); #else
#endif mc_line(target, feed_rate, invert_feed_rate);
#endif
// Execute pull-off motion and wait until it completes. // Execute pull-off motion and wait until it completes.
bit_true_atomic(sys.execute, EXEC_CYCLE_START); bit_true_atomic(sys.execute, EXEC_CYCLE_START);
protocol_buffer_synchronize(); protocol_buffer_synchronize();
if (sys.abort) { return; } // Return if system reset has been issued. if (sys.abort) { return; } // Return if system reset has been issued.
}
sys.auto_start = auto_start_state; // Restore run state before returning sys.auto_start = auto_start_state; // Restore run state before returning