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Code Issues Releases Wiki Activity

Fixed compile error with parking enabled (#524)

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This commit is contained in:
Mitch Bradley
2020-08-08 11:22:59 -10:00
committed by GitHub
parent 06fae66507
commit a3793de20b
1 changed files with 27 additions and 34 deletions
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61
Grbl_Esp32/src/protocol.cpp
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@@ -86,6 +86,14 @@ err_t execute_line(char* line, uint8_t client, auth_t auth_level) {
return gc_execute_line(line, client); return gc_execute_line(line, client);
} }
bool can_park() {
return
#ifdef ENABLE_PARKING_OVERRIDE_CONTROL
sys.override_ctrl == OVERRIDE_PARKING_MOTION &&
#endif
homing_enable->get() && !laser_mode->get();
}
/* /*
GRBL PRIMARY LOOP: GRBL PRIMARY LOOP:
*/ */
@@ -574,12 +582,7 @@ static void protocol_exec_rt_suspend() {
// Execute slow pull-out parking retract motion. Parking requires homing enabled, the // Execute slow pull-out parking retract motion. Parking requires homing enabled, the
// current location not exceeding the parking target location, and laser mode disabled. // current location not exceeding the parking target location, and laser mode disabled.
// NOTE: State is will remain DOOR, until the de-energizing and retract is complete. // NOTE: State is will remain DOOR, until the de-energizing and retract is complete.
# ifdef ENABLE_PARKING_OVERRIDE_CONTROL if (can_park() && parking_target[PARKING_AXIS] < PARKING_TARGET) {
if (homing_enable->get() && (parking_target[PARKING_AXIS] < PARKING_TARGET) && !laser_mode->get() &&
(sys.override_ctrl == OVERRIDE_PARKING_MOTION)) {
# else
if (homing_enable->get() && (parking_target[PARKING_AXIS] < PARKING_TARGET) && !laser_mode->get()) {
# endif
// Retract spindle by pullout distance. Ensure retraction motion moves away from // Retract spindle by pullout distance. Ensure retraction motion moves away from
// the workpiece and waypoint motion doesn't exceed the parking target location. // the workpiece and waypoint motion doesn't exceed the parking target location.
if (parking_target[PARKING_AXIS] < retract_waypoint) { if (parking_target[PARKING_AXIS] < retract_waypoint) {
@@ -631,19 +634,14 @@ static void protocol_exec_rt_suspend() {
#ifdef PARKING_ENABLE #ifdef PARKING_ENABLE
// Execute fast restore motion to the pull-out position. Parking requires homing enabled. // Execute fast restore motion to the pull-out position. Parking requires homing enabled.
// NOTE: State is will remain DOOR, until the de-energizing and retract is complete. // NOTE: State is will remain DOOR, until the de-energizing and retract is complete.
# ifdef ENABLE_PARKING_OVERRIDE_CONTROL if (can_park()) {
if (homing_enable->get() && !laser_mode->get()) && // Check to ensure the motion doesn't move below pull-out position.
(sys.override_ctrl == OVERRIDE_PARKING_MOTION)) { if (parking_target[PARKING_AXIS] <= PARKING_TARGET) {
# else parking_target[PARKING_AXIS] = retract_waypoint;
if (homing_enable->get() && !laser_mode->get()) { pl_data->feed_rate = PARKING_RATE;
# endif mc_parking_motion(parking_target, pl_data);
// Check to ensure the motion doesn't move below pull-out position.
if (parking_target[PARKING_AXIS] <= PARKING_TARGET) {
parking_target[PARKING_AXIS] = retract_waypoint;
pl_data->feed_rate = PARKING_RATE;
mc_parking_motion(parking_target, pl_data);
}
} }
}
#endif #endif
// Delayed Tasks: Restart spindle and coolant, delay to power-up, then resume cycle. // Delayed Tasks: Restart spindle and coolant, delay to power-up, then resume cycle.
if (gc_state.modal.spindle != SPINDLE_DISABLE) { if (gc_state.modal.spindle != SPINDLE_DISABLE) {
@@ -669,23 +667,18 @@ static void protocol_exec_rt_suspend() {
} }
#ifdef PARKING_ENABLE #ifdef PARKING_ENABLE
// Execute slow plunge motion from pull-out position to resume position. // Execute slow plunge motion from pull-out position to resume position.
# ifdef ENABLE_PARKING_OVERRIDE_CONTROL if (can_park()) {
if (homing_enable->get() && !laser_mode->get()) && // Block if safety door re-opened during prior restore actions.
(sys.override_ctrl == OVERRIDE_PARKING_MOTION)) { if (bit_isfalse(sys.suspend, SUSPEND_RESTART_RETRACT)) {
# else // Regardless if the retract parking motion was a valid/safe motion or not, the
if (homing_enable->get() && !laser_mode->get()) { // restore parking motion should logically be valid, either by returning to the
# endif // original position through valid machine space or by not moving at all.
// Block if safety door re-opened during prior restore actions. pl_data->feed_rate = PARKING_PULLOUT_RATE;
if (bit_isfalse(sys.suspend, SUSPEND_RESTART_RETRACT)) { pl_data->condition |= (restore_condition & PL_COND_ACCESSORY_MASK); // Restore accessory state
// Regardless if the retract parking motion was a valid/safe motion or not, the pl_data->spindle_speed = restore_spindle_speed;
// restore parking motion should logically be valid, either by returning to the mc_parking_motion(restore_target, pl_data);
// original position through valid machine space or by not moving at all.
pl_data->feed_rate = PARKING_PULLOUT_RATE;
pl_data->condition |= (restore_condition & PL_COND_ACCESSORY_MASK); // Restore accessory state
pl_data->spindle_speed = restore_spindle_speed;
mc_parking_motion(restore_target, pl_data);
}
} }
}
#endif #endif
if (bit_isfalse(sys.suspend, SUSPEND_RESTART_RETRACT)) { if (bit_isfalse(sys.suspend, SUSPEND_RESTART_RETRACT)) {
sys.suspend |= SUSPEND_RESTORE_COMPLETE; sys.suspend |= SUSPEND_RESTORE_COMPLETE;