ManuelW/grbl-LPC-CoreXY
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Updated variable spindle and new probing. Minor bug fixes.

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- Minor bug fix for variable spindle PWM output. Values smaller than
the minimum RPM for the spindle would overflow the PWM value. Thanks
Rob!

- Created an optional minimum spindle PWM low-mark value as a
compile-time option. This is for special circumstances when the PWM has
to be at a certain level to be read by the spindle controller.

- Refactored the new probing commands (G38.3, G38.4, G38.5) code to
work better with the rest of Grbl’s systems.

- Refactored mc_probe() and mc_arc() to accept the mode of the command,
i.e. clockwise vs counter, toward vs away, etc. This is to make these
functions independent of gcode state variables.

- Removed the pull off motion in the probing cycle. This is not an
official operation and was added for user simplicity, but wrongly did
so. So bye bye.

- Created a configure probe invert mask function to handle the
different probe pin setting and probing cycle modes with a single mask.

 - Minor bug fix with reporting motion modes via $G. G38.2 wasn’t
showing up. It now does, along with the other new probing commands.

- Refactored some of the new pin configurations for the future of Grbl.

-
This commit is contained in:
Sonny Jeon
2014-10-01 20:22:16 -06:00
parent 15071385f7
commit 7e67395463
11 changed files with 159 additions and 126 deletions
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13
motion_control.h
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@ -26,6 +26,7 @@
#ifndef motion_control_h
#define motion_control_h
#include "gcode.h"
#define HOMING_CYCLE_LINE_NUMBER -1
@ -40,14 +41,14 @@ void mc_line(float *target, float feed_rate, uint8_t invert_feed_rate);
// Execute an arc in offset mode format. position == current xyz, target == target xyz,
// offset == offset from current xyz, axis_XXX defines circle plane in tool space, axis_linear is
// the direction of helical travel, radius == circle radius, isclockwise boolean. Used
// the direction of helical travel, radius == circle radius, is_clockwise_arc boolean. Used
// for vector transformation direction.
#ifdef USE_LINE_NUMBERS
void mc_arc(float *position, float *target, float *offset, float radius, float feed_rate,
uint8_t invert_feed_rate, uint8_t axis_0, uint8_t axis_1, uint8_t axis_linear, int32_t line_number);
uint8_t invert_feed_rate, uint8_t axis_0, uint8_t axis_1, uint8_t axis_linear, uint8_t is_clockwise_arc, int32_t line_number);
#else
void mc_arc(float *position, float *target, float *offset, float radius, float feed_rate,
uint8_t invert_feed_rate, uint8_t axis_0, uint8_t axis_1, uint8_t axis_linear);
uint8_t invert_feed_rate, uint8_t axis_0, uint8_t axis_1, uint8_t axis_linear, uint8_t is_clockwise_arc);
#endif
// Dwell for a specific number of seconds
@ -58,9 +59,11 @@ 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, uint8_t motion, int32_t line_number);
void mc_probe_cycle(float *target, float feed_rate, uint8_t invert_feed_rate, uint8_t is_probe_away,
uint8_t is_no_error, int32_t line_number);
#else
void mc_probe_cycle(float *target, float feed_rate, uint8_t invert_feed_rate, uint8_t motion);
void mc_probe_cycle(float *target, float feed_rate, uint8_t invert_feed_rate, uint8_t is_probe_away,
uint8_t is_no_error);
#endif
// Performs system reset. If in motion state, kills all motion and sets system alarm.