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sys_pl_data_inflight -> mc_pl_data_inflight

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It seemed pretty strange to have a variable that is only
used in MotionControl.cpp with a name like sys_ .  Now it
is private to MotionControl.cpp
This commit is contained in:
Mitch Bradley
2021-06-23 13:56:26 -10:00
parent f46015247e
commit c44b309571
6 changed files with 27 additions and 13 deletions
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6
Grbl_Esp32/src/Grbl.cpp
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@@ -31,6 +31,7 @@
#include "Protocol.h"
#include "System.h"
#include "Uart.h"
#include "MotionControl.h"
#include "WebUI/WifiConfig.h"
#include "WebUI/InputBuffer.h"
@@ -157,10 +158,7 @@ static void reset_variables() {
plan_sync_position();
gc_sync_position();
report_init_message(CLIENT_ALL);
// used to keep track of a jog command sent to mc_line() so we can cancel it.
// this is needed if a jogCancel comes along after we have already parsed a jog and it is in-flight.
sys_pl_data_inflight = NULL;
mc_init();
}
void run_once() {

24
Grbl_Esp32/src/MotionControl.cpp
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@@ -42,6 +42,14 @@
GangMask ganged_mode = gangDual; // Run both motors at once
// mc_pl_data_inflight keeps track of a jog command sent to mc_line() so we can cancel it.
// this is needed if a jogCancel comes along after we have already parsed a jog and it is in-flight.
static volatile void* mc_pl_data_inflight; // holds a plan_line_data_t while cartesian_to_motors has taken ownership of a line motion
void mc_init() {
mc_pl_data_inflight = NULL;
}
// 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
// (1 minute)/feed_rate time.
@@ -53,7 +61,7 @@ GangMask ganged_mode = gangDual; // Run both motors at once
bool mc_line(float* target, plan_line_data_t* pl_data) {
bool submitted_result = false;
// store the plan data so it can be cancelled by the protocol system if needed
sys_pl_data_inflight = pl_data;
mc_pl_data_inflight = pl_data;
// If enabled, check for soft limit violations. Placed here all line motions are picked up
// from everywhere in Grbl.
@@ -66,7 +74,7 @@ bool mc_line(float* target, plan_line_data_t* pl_data) {
}
// If in check gcode mode, prevent motion by blocking planner. Soft limits still work.
if (sys.state == State::CheckMode) {
sys_pl_data_inflight = NULL;
mc_pl_data_inflight = NULL;
return submitted_result; // Bail, if system abort.
}
// NOTE: Backlash compensation may be installed here. It will need direction info to track when
@@ -87,7 +95,7 @@ bool mc_line(float* target, plan_line_data_t* pl_data) {
do {
protocol_execute_realtime(); // Check for any run-time commands
if (sys.abort) {
sys_pl_data_inflight = NULL;
mc_pl_data_inflight = NULL;
return submitted_result; // Bail, if system abort.
}
if (plan_check_full_buffer()) {
@@ -97,14 +105,20 @@ bool mc_line(float* target, plan_line_data_t* pl_data) {
}
} while (1);
// Plan and queue motion into planner buffer
if (sys_pl_data_inflight == pl_data) {
if (mc_pl_data_inflight == pl_data) {
plan_buffer_line(target, pl_data);
submitted_result = true;
}
sys_pl_data_inflight = NULL;
mc_pl_data_inflight = NULL;
return submitted_result;
}
void mc_cancel_jog() {
if (mc_pl_data_inflight != NULL && ((plan_line_data_t*)mc_pl_data_inflight)->is_jog) {
mc_pl_data_inflight = NULL;
}
}
bool __attribute__((weak)) cartesian_to_motors(float* target, plan_line_data_t* pl_data, float* position) {
return mc_line(target, pl_data);
}

4
Grbl_Esp32/src/MotionControl.h
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@@ -74,6 +74,10 @@ void mc_parking_motion(float* parking_target, plan_line_data_t* pl_data);
// Performs system reset. If in motion state, kills all motion and sets system alarm.
void mc_reset();
void mc_cancel_jog();
void mc_init();
typedef uint8_t GangMask;
const GangMask gangA = bit(0);
const GangMask gangB = bit(1);

4
Grbl_Esp32/src/Protocol.cpp
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@@ -1028,8 +1028,8 @@ static void protocol_exec_rt_suspend() {
// if a jogCancel comes in and we have a jog "in-flight" (parsed and handed over to mc_line()),
// then we need to cancel it before it reaches the planner. otherwise we may try to move way out of
// normal bounds, especially with senders that issue a series of jog commands before sending a cancel.
if (sys.suspend.bit.jogCancel && sys_pl_data_inflight != NULL && ((plan_line_data_t*)sys_pl_data_inflight)->is_jog) {
sys_pl_data_inflight = NULL;
if (sys.suspend.bit.jogCancel) {
mc_cancel_jog();
}
// Block until initial hold is complete and the machine has stopped motion.
if (sys.suspend.bit.holdComplete) {

1
Grbl_Esp32/src/System.cpp
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@@ -52,7 +52,6 @@ volatile bool rtButtonMacro0;
volatile bool rtButtonMacro1;
volatile bool rtButtonMacro2;
volatile bool rtButtonMacro3;
volatile void* sys_pl_data_inflight; // holds a plan_line_data_t while cartesian_to_motors has taken ownership of a line motion
#ifdef DEBUG_REPORT_REALTIME
volatile bool sys_rt_exec_debug;
#endif

1
Grbl_Esp32/src/System.h
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@@ -134,7 +134,6 @@ extern volatile bool rtButtonMacro0;
extern volatile bool rtButtonMacro1;
extern volatile bool rtButtonMacro2;
extern volatile bool rtButtonMacro3;
extern volatile void* sys_pl_data_inflight; // holds a plan_line_data_t while cartesian_to_motors has taken ownership of a line motion
#ifdef DEBUG_REPORT_REALTIME
extern volatile bool sys_rt_exec_debug;
#endif