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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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29
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);
}
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:
*/
@@ -574,12 +582,7 @@ static void protocol_exec_rt_suspend() {
// Execute slow pull-out parking retract motion. Parking requires homing enabled, the
// 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.
# ifdef ENABLE_PARKING_OVERRIDE_CONTROL
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
if (can_park() && parking_target[PARKING_AXIS] < PARKING_TARGET) {
// Retract spindle by pullout distance. Ensure retraction motion moves away from
// the workpiece and waypoint motion doesn't exceed the parking target location.
if (parking_target[PARKING_AXIS] < retract_waypoint) {
@@ -631,12 +634,7 @@ static void protocol_exec_rt_suspend() {
#ifdef PARKING_ENABLE
// 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.
# ifdef ENABLE_PARKING_OVERRIDE_CONTROL
if (homing_enable->get() && !laser_mode->get()) &&
(sys.override_ctrl == OVERRIDE_PARKING_MOTION)) {
# else
if (homing_enable->get() && !laser_mode->get()) {
# endif
if (can_park()) {
// 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;
@@ -669,12 +667,7 @@ static void protocol_exec_rt_suspend() {
}
#ifdef PARKING_ENABLE
// Execute slow plunge motion from pull-out position to resume position.
# ifdef ENABLE_PARKING_OVERRIDE_CONTROL
if (homing_enable->get() && !laser_mode->get()) &&
(sys.override_ctrl == OVERRIDE_PARKING_MOTION)) {
# else
if (homing_enable->get() && !laser_mode->get()) {
# endif
if (can_park()) {
// Block if safety door re-opened during prior restore actions.
if (bit_isfalse(sys.suspend, SUSPEND_RESTART_RETRACT)) {
// Regardless if the retract parking motion was a valid/safe motion or not, the