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Fixed homing rate bug

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This commit is contained in:
Mitch Bradley
2021-06-26 08:26:53 -10:00
parent 75b2255dce
commit 47f0b89f4d
3 changed files with 7 additions and 10 deletions
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4
Grbl_Esp32/src/Limits.cpp
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@@ -200,8 +200,8 @@ void limits_go_home(uint8_t cycle_mask, uint n_locate_cycles) {
sys.homing_axis_lock = axislock; sys.homing_axis_lock = axislock;
// Perform homing cycle. Planner buffer should be empty, as required to initiate the homing cycle. // Perform homing cycle. Planner buffer should be empty, as required to initiate the homing cycle.
pl_data->feed_rate = // Set current homing rate. pl_data->feed_rate = homing_rate;
plan_buffer_line(target, pl_data); // Bypass mc_line(). Directly plan homing motion. plan_buffer_line(target, pl_data); // Bypass mc_line(). Directly plan homing motion.
sys.step_control = {}; sys.step_control = {};
sys.step_control.executeSysMotion = true; // Set to execute homing motion and clear existing flags. sys.step_control.executeSysMotion = true; // Set to execute homing motion and clear existing flags.
st_prep_buffer(); // Prep and fill segment buffer from newly planned block. st_prep_buffer(); // Prep and fill segment buffer from newly planned block.

6
Grbl_Esp32/src/Planner.cpp
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@@ -298,7 +298,7 @@ void plan_update_velocity_profile_parameters() {
pl.previous_nominal_speed = prev_nominal_speed; // Update prev nominal speed for next incoming block. pl.previous_nominal_speed = prev_nominal_speed; // Update prev nominal speed for next incoming block.
} }
uint8_t plan_buffer_line(float* target, plan_line_data_t* pl_data) { bool plan_buffer_line(float* target, plan_line_data_t* pl_data) {
// Prepare and initialize new block. Copy relevant pl_data for block execution. // Prepare and initialize new block. Copy relevant pl_data for block execution.
plan_block_t* block = &block_buffer[block_buffer_head]; plan_block_t* block = &block_buffer[block_buffer_head];
memset(block, 0, sizeof(plan_block_t)); // Zero all block values. memset(block, 0, sizeof(plan_block_t)); // Zero all block values.
@@ -336,7 +336,7 @@ uint8_t plan_buffer_line(float* target, plan_line_data_t* pl_data) {
} }
// Bail if this is a zero-length block. Highly unlikely to occur. // Bail if this is a zero-length block. Highly unlikely to occur.
if (block->step_event_count == 0) { if (block->step_event_count == 0) {
return PLAN_EMPTY_BLOCK; return false;
} }
// Calculate the unit vector of the line move and the block maximum feed rate and acceleration scaled // Calculate the unit vector of the line move and the block maximum feed rate and acceleration scaled
@@ -421,7 +421,7 @@ uint8_t plan_buffer_line(float* target, plan_line_data_t* pl_data) {
// Finish up by recalculating the plan with the new block. // Finish up by recalculating the plan with the new block.
planner_recalculate(); planner_recalculate();
} }
return PLAN_OK; return true;
} }
// Reset the planner position vectors. Called by the system abort/initialization routine. // Reset the planner position vectors. Called by the system abort/initialization routine.

7
Grbl_Esp32/src/Planner.h
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@@ -37,10 +37,6 @@
// new incoming motions as they are executed. // new incoming motions as they are executed.
const int BLOCK_BUFFER_SIZE = 16; const int BLOCK_BUFFER_SIZE = 16;
// Returned status message from planner.
const int PLAN_OK = true;
const int PLAN_EMPTY_BLOCK = false;
// Define planner data condition flags. Used to denote running conditions of a block. // Define planner data condition flags. Used to denote running conditions of a block.
struct PlMotion { struct PlMotion {
uint8_t rapidMotion : 1; uint8_t rapidMotion : 1;
@@ -100,7 +96,8 @@ void plan_reset_buffer(); // Reset buffer only.
// Add a new linear movement to the buffer. target[MAX_N_AXIS] is the signed, absolute target position // Add a new linear movement to the buffer. target[MAX_N_AXIS] is the signed, absolute target position
// in millimeters. Feed rate specifies the speed of the motion. If feed rate is inverted, the feed // in millimeters. Feed rate specifies the speed of the motion. If feed rate is inverted, the feed
// rate is taken to mean "frequency" and would complete the operation in 1/feed_rate minutes. // rate is taken to mean "frequency" and would complete the operation in 1/feed_rate minutes.
uint8_t plan_buffer_line(float* target, plan_line_data_t* pl_data); // Returns true on success.
bool plan_buffer_line(float* target, plan_line_data_t* pl_data);
// Called when the current block is no longer needed. Discards the block and makes the memory // Called when the current block is no longer needed. Discards the block and makes the memory
// availible for new blocks. // availible for new blocks.