ManuelW/grbl-LPC-CoreXY
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integrating soft limits

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bungao
2013-02-26 13:55:12 +11:00
parent 67608a5014
commit b75e95c880
7 changed files with 34 additions and 7 deletions
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15
motion_control.c
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@ -35,6 +35,7 @@
#include "planner.h"
#include "limits.h"
#include "protocol.h"
#include "report.h"
// Execute linear motion in absolute millimeter coordinates. Feed rate given in millimeters/second
// unless invert_feed_rate is true. Then the feed_rate means that the motion should be completed in
@ -49,9 +50,21 @@
// backlash segment(s).
void mc_line(float x, float y, float z, float feed_rate, uint8_t invert_feed_rate)
{
// TODO: Perform soft limit check here. Just check if the target x,y,z values are outside the
// TO TEST: Perform soft limit check here. Just check if the target x,y,z values are outside the
// work envelope. Should be straightforward and efficient. By placing it here, rather than in
// the g-code parser, it directly picks up motions from everywhere in Grbl.
if (bit_istrue(settings.flags,BITFLAG_SOFT_LIMIT_ENABLE)) {
if( (x> settings.mm_soft_limit[X_AXIS])||(y>settings.mm_soft_limit[Y_AXIS])||(z>settings.mm_soft_limit[Z_AXIS])) {
if (sys.state != STATE_ALARM) {
if (bit_isfalse(sys.execute,EXEC_ALARM)) {
mc_reset(); // Initiate system kill.
report_alarm_message(ALARM_SOFT_LIMIT);
sys.state = STATE_ALARM;
sys.execute |= EXEC_CRIT_EVENT; // Indicate hard limit critical event
}
}
}
}
// If in check gcode mode, prevent motion by blocking planner.
if (sys.state == STATE_CHECK_MODE) { return; }