ManuelW/grbl-LPC-CoreXY
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Parking motion bug fix.

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- Parking motion would intermittently complete the queued tool path
upon resuming in certain scenarios. Now fixed.
This commit is contained in:
Sonny Jeon
2015-09-05 13:34:40 -06:00
parent 9575199183
commit 965e337405
5 changed files with 84 additions and 71 deletions
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20
grbl/stepper.c
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@ -135,7 +135,6 @@ typedef struct {
uint8_t last_st_block_index;
float last_steps_remaining;
float last_step_per_mm;
float last_req_mm_increment;
float last_dt_remainder;
#endif
@ -551,12 +550,13 @@ static uint8_t st_next_block_index(uint8_t block_index)
{
// Restore step execution data and flags of partially completed block, if necessary.
if (prep.recalculate_flag & PREP_FLAG_HOLD_PARTIAL_BLOCK) {
st_prep_block = &st_block_buffer[prep.last_st_block_index];
prep.st_block_index = prep.last_st_block_index;
prep.steps_remaining = prep.last_steps_remaining;
prep.dt_remainder = prep.last_dt_remainder;
prep.step_per_mm = prep.last_step_per_mm;
st_prep_block = &st_block_buffer[prep.st_block_index];
prep.recalculate_flag = (PREP_FLAG_HOLD_PARTIAL_BLOCK | PREP_FLAG_RECALCULATE);
prep.req_mm_increment = REQ_MM_INCREMENT_SCALAR/prep.step_per_mm; // Recompute this value.
} else {
prep.recalculate_flag = false;
}
@ -594,12 +594,15 @@ void st_prep_buffer()
if (sys.step_control & STEP_CONTROL_EXECUTE_PARK) { pl_block = plan_get_parking_block(); }
else { pl_block = plan_get_current_block(); }
if (pl_block == NULL) { return; } // No planner blocks. Exit.
// Check if we need to only recompute the velocity profile or load a new block.
if (prep.recalculate_flag & PREP_FLAG_RECALCULATE) {
if (prep.recalculate_flag & PREP_FLAG_PARKING) { prep.recalculate_flag &= ~(PREP_FLAG_RECALCULATE); }
else { prep.recalculate_flag = false; }
} else {
#else
// Query planner for a queued block
@ -608,11 +611,12 @@ void st_prep_buffer()
// Check if we need to only recompute the velocity profile or load a new block.
if (prep.recalculate_flag & PREP_FLAG_RECALCULATE) {
prep.recalculate_flag = false;
} else {
#endif
} else {
// Load the Bresenham stepping data for the block.
prep.st_block_index = st_next_block_index(prep.st_block_index);
@ -639,7 +643,7 @@ void st_prep_buffer()
prep.step_per_mm = prep.steps_remaining/pl_block->millimeters;
prep.req_mm_increment = REQ_MM_INCREMENT_SCALAR/prep.step_per_mm;
prep.dt_remainder = 0.0; // Reset for new segment block
if (sys.step_control & STEP_CONTROL_EXECUTE_HOLD) {
// New block loaded mid-hold. Override planner block entry speed to enforce deceleration.
prep.current_speed = prep.exit_speed;
@ -648,7 +652,7 @@ void st_prep_buffer()
prep.current_speed = sqrt(pl_block->entry_speed_sqr);
}
}
/* ---------------------------------------------------------------------------------
Compute the velocity profile of a new planner block based on its entry and exit
speeds, or recompute the profile of a partially-completed planner block if the