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Merge pull request #366 from bdring/Devt

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Parking Feature and Spindle Fix
This commit is contained in:
bdring
2020-03-28 13:45:53 +01:00
committed by GitHub
parent 6a98129e57 812e7b4853
commit 95738dc305
6 changed files with 62 additions and 5 deletions
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31
Grbl_Esp32/gcode.cpp
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@@ -343,10 +343,14 @@ uint8_t gc_execute_line(char* line, uint8_t client) {
case 9:
gc_block.modal.coolant = COOLANT_DISABLE;
break;
default:
FAIL(STATUS_GCODE_UNSUPPORTED_COMMAND); // [Unsupported M command]
}
break;
#ifdef ENABLE_PARKING_OVERRIDE_CONTROL
case 56:
word_bit = MODAL_GROUP_M9;
gc_block.modal.override = OVERRIDE_PARKING_MOTION;
break;
#endif
case 62:
case 63:
//grbl_sendf(CLIENT_SERIAL,"M%d...\r\n", int_value);
@@ -580,6 +584,14 @@ uint8_t gc_execute_line(char* line, uint8_t client) {
// [7. Spindle control ]: N/A
// [8. Coolant control ]: N/A
// [9. Enable/disable feed rate or spindle overrides ]: NOT SUPPORTED.
#ifdef ENABLE_PARKING_OVERRIDE_CONTROL
if (bit_istrue(command_words, bit(MODAL_GROUP_M9))) { // Already set as enabled in parser.
if (bit_istrue(value_words, bit(WORD_P))) {
if (gc_block.values.p == 0.0) gc_block.modal.override = OVERRIDE_DISABLED;
bit_false(value_words, bit(WORD_P));
}
}
#endif
// [10. Dwell ]: P value missing. P is negative (done.) NOTE: See below.
if (gc_block.non_modal_command == NON_MODAL_DWELL) {
if (bit_isfalse(value_words, bit(WORD_P))) {
@@ -1128,7 +1140,13 @@ uint8_t gc_execute_line(char* line, uint8_t client) {
else
FAIL(STATUS_P_PARAM_MAX_EXCEEDED);
}
// [9. Enable/disable feed rate or spindle overrides ]: NOT SUPPORTED. Always enabled.
// [9. Override control ]: NOT SUPPORTED. Always enabled. Except for a Grbl-only parking control.
#ifdef ENABLE_PARKING_OVERRIDE_CONTROL
if (gc_state.modal.override != gc_block.modal.override) {
gc_state.modal.override = gc_block.modal.override;
mc_override_ctrl_update(gc_state.modal.override);
}
#endif
// [10. Dwell ]:
if (gc_block.non_modal_command == NON_MODAL_DWELL)
mc_dwell(gc_block.values.p);
@@ -1258,6 +1276,13 @@ uint8_t gc_execute_line(char* line, uint8_t client) {
gc_state.modal.coord_select = 0; // G54
gc_state.modal.spindle = SPINDLE_DISABLE;
gc_state.modal.coolant = COOLANT_DISABLE;
#ifdef ENABLE_PARKING_OVERRIDE_CONTROL
#ifdef DEACTIVATE_PARKING_UPON_INIT
gc_state.modal.override = OVERRIDE_DISABLED;
#else
gc_state.modal.override = OVERRIDE_PARKING_MOTION;
#endif
#endif
// gc_state.modal.override = OVERRIDE_DISABLE; // Not supported.
#ifdef RESTORE_OVERRIDES_AFTER_PROGRAM_END
sys.f_override = DEFAULT_FEED_OVERRIDE;

13
Grbl_Esp32/gcode.h
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@@ -47,7 +47,8 @@
#define MODAL_GROUP_M6 14 // [M6] Tool change
#define MODAL_GROUP_M7 12 // [M3,M4,M5] Spindle turning
#define MODAL_GROUP_M8 13 // [M7,M8,M9] Coolant control
#define MODAL_GROUP_M10 14 // [M62, M63] User Defined http://linuxcnc.org/docs/html/gcode/overview.html#_modal_groups
#define MODAL_GROUP_M9 14 // [M56] Override control
#define MODAL_GROUP_M10 15 // [M62, M63] User Defined http://linuxcnc.org/docs/html/gcode/overview.html#_modal_groups
// #define OTHER_INPUT_F 14
// #define OTHER_INPUT_S 15
@@ -126,6 +127,15 @@
#define COOLANT_FLOOD_ENABLE PL_COND_FLAG_COOLANT_FLOOD // M8 (NOTE: Uses planner condition bit flag)
#define COOLANT_MIST_ENABLE PL_COND_FLAG_COOLANT_MIST // M7 (NOTE: Uses planner condition bit flag)
// Modal Group M9: Override control
#ifdef DEACTIVATE_PARKING_UPON_INIT
#define OVERRIDE_DISABLED 0 // (Default: Must be zero)
#define OVERRIDE_PARKING_MOTION 1 // M56
#else
#define OVERRIDE_PARKING_MOTION 0 // M56 (Default: Must be zero)
#define OVERRIDE_DISABLED 1 // Parking disabled.
#endif
// modal Group M10: User I/O control
#define NON_MODAL_IO_ENABLE 1
#define NON_MODAL_IO_DISABLE 2
@@ -203,6 +213,7 @@ typedef struct {
uint8_t spindle; // {M3,M4,M5}
uint8_t tool_change; // {M6}
uint8_t io_control; // {M62, M63}
uint8_t override; // {M56}
} gc_modal_t;
typedef struct {

9
Grbl_Esp32/motion_control.cpp
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@@ -404,6 +404,15 @@ void mc_parking_motion(float* parking_target, plan_line_data_t* pl_data) {
}
}
#ifdef ENABLE_PARKING_OVERRIDE_CONTROL
void mc_override_ctrl_update(uint8_t override_state) {
// Finish all queued commands before altering override control state
protocol_buffer_synchronize();
if (sys.abort) return;
sys.override_ctrl = override_state;
}
#endif
// Method to ready the system to reset by setting the realtime reset command and killing any
// active processes in the system. This also checks if a system reset is issued while Grbl

3
Grbl_Esp32/motion_control.h
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@@ -65,6 +65,9 @@ void mc_homing_cycle(uint8_t cycle_mask);
// Perform tool length probe cycle. Requires probe switch.
uint8_t mc_probe_cycle(float* target, plan_line_data_t* pl_data, uint8_t parser_flags);
// Handles updating the override control state.
void mc_override_ctrl_update(uint8_t override_state);
// Plans and executes the single special motion case for parking. Independent of main planner buffer.
void mc_parking_motion(float* parking_target, plan_line_data_t* pl_data);

9
Grbl_Esp32/report.cpp
View File

@@ -458,6 +458,12 @@ void report_gcode_modes(uint8_t client) {
if (gc_state.modal.coolant & PL_COND_FLAG_COOLANT_FLOOD) strcat(modes_rpt, " M8");
} else
strcat(modes_rpt, " M9");
#ifdef ENABLE_PARKING_OVERRIDE_CONTROL
if (sys.override_ctrl == OVERRIDE_PARKING_MOTION)
strcat(modes_rpt, " M56");
#endif
sprintf(temp, " T%d", gc_state.tool);
strcat(modes_rpt, temp);
if (bit_istrue(settings.flags, BITFLAG_REPORT_INCHES))
@@ -524,6 +530,9 @@ void report_build_info(char* line, uint8_t client) {
#ifdef ENABLE_SD_CARD
strcat(build_info, "S");
#endif
#ifdef ENABLE_PARKING_OVERRIDE_CONTROL
serial_write('R');
#endif
#if defined (ENABLE_WIFI)
strcat(build_info, "W");
#endif

2
Grbl_Esp32/spindle_control.cpp
View File

@@ -56,7 +56,7 @@ void spindle_init() {
pinMode(SPINDLE_DIR_PIN, OUTPUT);
#endif
// use the LED control feature to setup PWM https://docs.espressif.com/projects/esp-idf/en/latest/api-reference/peripherals/ledc.html
spindle_pwm_chan_num - sys_get_next_PWM_chan_num();
spindle_pwm_chan_num = sys_get_next_PWM_chan_num();
ledcSetup(spindle_pwm_chan_num, (double)settings.spindle_pwm_freq, SPINDLE_PWM_BIT_PRECISION); // setup the channel
ledcAttachPin(SPINDLE_PWM_PIN, spindle_pwm_chan_num); // attach the PWM to the pin
// Start with spindle off off