ManuelW/grbl-LPC-CoreXY
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Program stop support (M0,M1*,M2,M30*), proper position retainment upon reset, misc minor updates.

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- Program stop support (M0,M1*,M2,M30*). *Optional stop to be done.
*Pallet shuttle not supported.

- Work position is set equal to machine position upon reset, as
according to NIST RS274-NGC guidelines. G92 is disabled.

- Renamed mc_set_current_position() to mc_set_coordinate_offset().

- Fixed bug in plan_synchronize(). Would exit right before last step is
finished and caused issues with program stops. Now fixed.

- Spindle now stops upon a run-time abort command.

- Updated readme and misc upkeeping.
This commit is contained in:
Sonny Jeon
2012-01-28 20:41:08 -07:00
parent 0f0d5a6138
commit b51e902530
17 changed files with 282 additions and 232 deletions
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29
planner.c
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@ -3,7 +3,7 @@
Part of Grbl
Copyright (c) 2009-2011 Simen Svale Skogsrud
Copyright (c) 2011 Sungeun K. Jeon
Copyright (c) 2011-2012 Sungeun K. Jeon
Copyright (c) 2011 Jens Geisler
Grbl is free software: you can redistribute it and/or modify
@ -312,14 +312,14 @@ void plan_init()
memset(&pl, 0, sizeof(pl)); // Clear planner struct
}
void plan_discard_current_block()
inline void plan_discard_current_block()
{
if (block_buffer_head != block_buffer_tail) {
block_buffer_tail = next_block_index( block_buffer_tail );
}
}
block_t *plan_get_current_block()
inline block_t *plan_get_current_block()
{
if (block_buffer_head == block_buffer_tail) { return(NULL); }
return(&block_buffer[block_buffer_tail]);
@ -335,7 +335,7 @@ uint8_t plan_check_full_buffer()
// Block until all buffered steps are executed.
void plan_synchronize()
{
while(plan_get_current_block()) {
while (plan_get_current_block() || sys.cycle_start) {
protocol_execute_runtime(); // Check and execute run-time commands
if (sys.abort) { return; } // Check for system abort
}
@ -471,8 +471,8 @@ void plan_buffer_line(double x, double y, double z, double feed_rate, uint8_t in
planner_recalculate();
}
// Reset the planner position vector and planner speed
void plan_set_current_position(double x, double y, double z)
// Apply G92 coordinate offsets and update planner position vector.
void plan_set_coordinate_offset(double x, double y, double z)
{
// To correlate status reporting work position correctly, the planner must force the steppers to
// empty the block buffer and synchronize with the planner, as the real-time machine position and
@ -489,14 +489,25 @@ void plan_set_current_position(double x, double y, double z)
memset(&pl, 0, sizeof(pl)); // Clear planner variables. Assume start from rest.
pl.position[X_AXIS] = lround(x*settings.steps_per_mm[X_AXIS]); // Update planner position
pl.position[Y_AXIS] = lround(y*settings.steps_per_mm[Y_AXIS]);
pl.position[Z_AXIS] = lround(z*settings.steps_per_mm[Z_AXIS]);
// Update planner position and coordinate offset vectors
int32_t new_position[3];
new_position[X_AXIS] = lround(x*settings.steps_per_mm[X_AXIS]);
new_position[Y_AXIS] = lround(y*settings.steps_per_mm[Y_AXIS]);
new_position[Z_AXIS] = lround(z*settings.steps_per_mm[Z_AXIS]);
plan_set_current_position(new_position[X_AXIS],new_position[Y_AXIS],new_position[Z_AXIS]);
sys.coord_offset[X_AXIS] -= pl.position[X_AXIS];
sys.coord_offset[Y_AXIS] -= pl.position[Y_AXIS];
sys.coord_offset[Z_AXIS] -= pl.position[Z_AXIS];
}
// Reset the planner position vector (in steps)
void plan_set_current_position(int32_t x, int32_t y, int32_t z)
{
pl.position[X_AXIS] = x;
pl.position[Y_AXIS] = y;
pl.position[Z_AXIS] = z;
}
// Re-initialize buffer plan with a partially completed block, assumed to exist at the buffer tail.
// Called after a steppers have come to a complete stop for a feed hold and the cycle is stopped.
void plan_cycle_reinitialize(int32_t step_events_remaining)