ManuelW/grbl-LPC-CoreXY
1
0
Fork 0
Code Issues Pull Requests Releases 1 Wiki Activity

Resolved parking accessory handling issue.

Browse Source 
- Yikes. Totally borked the last parking “fix”. Testing shows that all
accessories are now properly handled when retracting and restoring. It
was caused by not accounting for the planner re-factoring correctly in
the parking code.
This commit is contained in:
chamnit 2016-10-25 19:43:06 -06:00
parent f8ca08ad66
commit a6f6431515
4 changed files with 35 additions and 10 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

21
doc/log/commit_log_v1.1.txt
View File

@ -1,3 +1,24 @@
----------------
Date: 2016-10-24
Author: Sonny Jeon
Subject: Minor re-factoring. Fix an issue with parking and spindle restore.
- Altered the report counters to be count down, rather than count up.
Simplified some of the logic.
- Fixed an issue with parking restore. The spindle state would disable
then reenable.
- Clarified some of the config.h descriptions.
- Moved the compile-time checks from config.h to grbl.h. They don’t
belong in the config.h file.
- Refactored the initialization of the system variables in main.c.
System position and probe position were undefined when power cycled,
but were zero anyway. Added clear vector code to make it explicit.
----------------
Date: 2016-10-23
Author: Sonny Jeon

2
grbl/grbl.h
View File

@ -23,7 +23,7 @@
// Grbl versioning system
#define GRBL_VERSION "1.1d"
#define GRBL_VERSION_BUILD "20161024"
#define GRBL_VERSION_BUILD "20161025"
// Define standard libraries used by Grbl.
#include <avr/io.h>

1
grbl/planner.h
View File

@ -45,6 +45,7 @@
#define PL_COND_FLAG_SPINDLE_CCW bit(5)
#define PL_COND_FLAG_COOLANT_FLOOD bit(6)
#define PL_COND_FLAG_COOLANT_MIST bit(7)
#define PL_COND_ACCESSORY_MASK (PL_COND_FLAG_SPINDLE_CW|PL_COND_FLAG_SPINDLE_CCW|PL_COND_FLAG_COOLANT_FLOOD|PL_COND_FLAG_COOLANT_MIST)
// This struct stores a linear movement of a g-code block motion with its critical "nominal" values

21
grbl/protocol.c
View File

@ -506,12 +506,17 @@ void protocol_exec_rt_system()
static void protocol_exec_rt_suspend()
{
#ifdef PARKING_ENABLE
// Declare parking local variables
// Declare and initialize parking local variables
float restore_target[N_AXIS];
float parking_target[N_AXIS];
float retract_waypoint = PARKING_PULLOUT_INCREMENT;
plan_line_data_t plan_data;
plan_line_data_t *pl_data = &plan_data;
memset(pl_data,0,sizeof(plan_line_data_t));
pl_data->condition = (PL_COND_FLAG_SYSTEM_MOTION|PL_COND_FLAG_NO_FEED_OVERRIDE);
#ifdef USE_LINE_NUMBERS
pl_data->line_number = PARKING_MOTION_LINE_NUMBER;
#endif
#endif
plan_block_t *block = plan_get_current_block();
@ -554,13 +559,6 @@ static void protocol_exec_rt_suspend()
#else
// Initialize planner state data
memset(pl_data,0,sizeof(plan_line_data_t));
pl_data->condition = (PL_COND_FLAG_SYSTEM_MOTION|PL_COND_FLAG_NO_FEED_OVERRIDE);
#ifdef USE_LINE_NUMBERS
pl_data->line_number = PARKING_MOTION_LINE_NUMBER;
#endif
// Get current position and store restore location and spindle retract waypoint.
system_convert_array_steps_to_mpos(parking_target,sys_position);
if (bit_isfalse(sys.suspend,SUSPEND_RESTART_RETRACT)) {
@ -581,7 +579,12 @@ static void protocol_exec_rt_suspend()
if (parking_target[PARKING_AXIS] < retract_waypoint) {
parking_target[PARKING_AXIS] = retract_waypoint;
pl_data->feed_rate = PARKING_PULLOUT_RATE;
// NOTE: Retain accessory state for retract motion, then clear for remaining parking motions.
pl_data->condition |= (restore_condition & PL_COND_ACCESSORY_MASK);
pl_data->spindle_speed = restore_spindle_speed;
mc_parking_motion(parking_target, pl_data);
pl_data->condition = (PL_COND_FLAG_SYSTEM_MOTION|PL_COND_FLAG_NO_FEED_OVERRIDE);
pl_data->spindle_speed = 0.0;
}
spindle_set_state(SPINDLE_DISABLE,0.0); // De-energize
@ -677,7 +680,7 @@ static void protocol_exec_rt_suspend()
// NOTE: If retract is restarted, spindle and coolant states will be cleared in
// the beginning of the retract routine.
pl_data->feed_rate = PARKING_PULLOUT_RATE;
pl_data->condition = restore_condition;
pl_data->condition |= (restore_condition & PL_COND_ACCESSORY_MASK);
pl_data->spindle_speed = restore_spindle_speed;
mc_parking_motion(restore_target, pl_data);
}