ManuelW/grbl-LPC-CoreXY
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Initial line number reporting

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This commit is contained in:
Robert Grzesek
2014-02-06 15:10:27 -08:00
parent cc9afdc195
commit 6fdb35a7da
7 changed files with 35 additions and 18 deletions
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12
motion_control.c
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@ -39,7 +39,7 @@
// segments, must pass through this routine before being passed to the planner. The seperation of
// mc_line and plan_buffer_line is done primarily to place non-planner-type functions from being
// in the planner and to let backlash compensation or canned cycle integration simple and direct.
void mc_line(float *target, float feed_rate, uint8_t invert_feed_rate)
void mc_line(float *target, float feed_rate, uint8_t invert_feed_rate, uint32_t line_number)
{
// If enabled, check for soft limit violations. Placed here all line motions are picked up
// from everywhere in Grbl.
@ -68,7 +68,7 @@ void mc_line(float *target, float feed_rate, uint8_t invert_feed_rate)
else { break; }
} while (1);
plan_buffer_line(target, feed_rate, invert_feed_rate);
plan_buffer_line(target, feed_rate, invert_feed_rate, line_number);
// If idle, indicate to the system there is now a planned block in the buffer ready to cycle
// start. Otherwise ignore and continue on.
@ -84,7 +84,7 @@ void mc_line(float *target, float feed_rate, uint8_t invert_feed_rate)
// of each segment is configured in settings.arc_tolerance, which is defined to be the maximum normal
// distance from segment to the circle when the end points both lie on the circle.
void mc_arc(float *position, float *target, float *offset, uint8_t axis_0, uint8_t axis_1,
uint8_t axis_linear, float feed_rate, uint8_t invert_feed_rate, float radius, uint8_t isclockwise)
uint8_t axis_linear, float feed_rate, uint8_t invert_feed_rate, float radius, uint8_t isclockwise, uint32_t line_number)
{
float center_axis0 = position[axis_0] + offset[axis_0];
float center_axis1 = position[axis_1] + offset[axis_1];
@ -180,14 +180,14 @@ void mc_arc(float *position, float *target, float *offset, uint8_t axis_0, uint8
arc_target[axis_0] = center_axis0 + r_axis0;
arc_target[axis_1] = center_axis1 + r_axis1;
arc_target[axis_linear] += linear_per_segment;
mc_line(arc_target, feed_rate, invert_feed_rate);
mc_line(arc_target, feed_rate, invert_feed_rate, line_number);
// Bail mid-circle on system abort. Runtime command check already performed by mc_line.
if (sys.abort) { return; }
}
}
// Ensure last segment arrives at target location.
mc_line(target, feed_rate, invert_feed_rate);
mc_line(target, feed_rate, invert_feed_rate, line_number);
}
@ -273,7 +273,7 @@ void mc_homing_cycle()
sys.state = STATE_IDLE; // Set system state to IDLE to complete motion and indicate homed.
mc_line(pulloff_target, settings.homing_seek_rate, false);
mc_line(pulloff_target, settings.homing_seek_rate, false, HOMING_CYCLE_LINE_NUMBER);
st_cycle_start(); // Move it. Nothing should be in the buffer except this motion.
plan_synchronize(); // Make sure the motion completes.
// NOTE: Stepper idle lock resumes normal functionality after cycle.