static uint8_t _execute_gcode_block()
{
uint8_t status = TG_OK;
cm_set_model_linenum(gn.linenum);
EXEC_FUNC(cm_set_inverse_feed_rate_mode, inverse_feed_rate_mode);
EXEC_FUNC(cm_set_feed_rate, feed_rate);
EXEC_FUNC(cm_set_spindle_speed, spindle_speed);
EXEC_FUNC(cm_select_tool, tool);
EXEC_FUNC(cm_change_tool, tool);
EXEC_FUNC(cm_spindle_control, spindle_mode); // spindle on or off
EXEC_FUNC(cm_mist_coolant_control, mist_coolant);
EXEC_FUNC(cm_flood_coolant_control, flood_coolant); // also disables mist coolant if OFF
EXEC_FUNC(cm_feed_override_enable, feed_override_enable);
if (gn.next_action == NEXT_ACTION_DWELL) { // G4 - dwell
ritorno(cm_dwell(gn.dwell_time)); // return if error, otherwise complete the block
}
EXEC_FUNC(cm_select_plane, select_plane);
EXEC_FUNC(cm_set_units_mode, units_mode);
//--> cutter radius compensation goes here
//--> cutter length compensation goes here
EXEC_FUNC(cm_set_coord_system, coord_system);
EXEC_FUNC(cm_set_path_control, path_control);
EXEC_FUNC(cm_set_distance_mode, distance_mode);
//--> set retract mode goes here
switch (gn.next_action) {
case NEXT_ACTION_GO_HOME: { status = cm_return_to_home(); break;}
case NEXT_ACTION_SEARCH_HOME: { status = cm_homing_cycle(); break;}
case NEXT_ACTION_SET_COORD_DATA: { status = cm_set_coord_offsets(coord_select, gn.target, gf.target); break;}
case NEXT_ACTION_SET_ORIGIN_OFFSETS: { status = cm_set_origin_offsets(gn.target, gf.target); break;}
case NEXT_ACTION_RESET_ORIGIN_OFFSETS: { status = cm_reset_origin_offsets(); break;}
case NEXT_ACTION_SUSPEND_ORIGIN_OFFSETS: { status = cm_suspend_origin_offsets(); break;}
case NEXT_ACTION_RESUME_ORIGIN_OFFSETS: { status = cm_resume_origin_offsets(); break;}
case NEXT_ACTION_DEFAULT: {
cm_set_absolute_override(gn.absolute_override); // apply override setting to gm struct
switch (gn.motion_mode) {
case MOTION_MODE_CANCEL_MOTION_MODE: { gm.motion_mode = gn.motion_mode; break;}
case MOTION_MODE_STRAIGHT_TRAVERSE: { status = cm_straight_traverse(gn.target, gf.target); break;}
case MOTION_MODE_STRAIGHT_FEED: { status = cm_straight_feed(gn.target, gf.target); break;}
case MOTION_MODE_CW_ARC: case MOTION_MODE_CCW_ARC:
// gf.radius sets radius mode if radius was collected in gn
{ status = cm_arc_feed(gn.target, gf.target, gn.arc_offset[0], gn.arc_offset[1],
gn.arc_offset[2], gn.arc_radius, gn.motion_mode); break;}
}
cm_set_absolute_override(false); // now un-set it (for reporting purposes)
}
}
if (gf.program_flow == true) {
// do the M stops: M0, M1, M2, M30, M60
}
return (status);
}
static stat_t _homing_axis_move(int8_t axis, float target, float velocity)
{
float vect[] = {0,0,0,0,0,0};
float flags[] = {false, false, false, false, false, false};
vect[axis] = target;
flags[axis] = true;
cm_set_feed_rate(velocity);
mp_flush_planner(); // don't use cm_request_queue_flush() here
cm_request_cycle_start();
ritorno(cm_straight_feed(vect, flags));
return (STAT_EAGAIN);
}
static stat_t _probing_start()
{
// initial probe state, don't probe if we're already contacted!
int8_t probe = gpio_read_input(pb.probe_input);
// false is SW_OPEN in old code, and INPUT_INACTIVE in new
if ( probe == INPUT_INACTIVE ) {
cm_straight_feed(pb.target, pb.flags);
return (_set_pb_func(_probing_backoff));
}
cm.probe_state = PROBE_SUCCEEDED;
return (_set_pb_func(_probing_finish));
}
static stat_t _probing_start()
{
// initial probe state, don't probe if we're already contacted!
int8_t probe = gpio_read_input(pb.probe_input);
// INPUT_INACTIVE means switch is OPEN
if ( probe == INPUT_INACTIVE ) {
cm_straight_feed(pb.target, pb.flags);
return (_set_pb_func(_probing_backoff));
} else {
cm.probe_state = PROBE_SUCCEEDED;
return (_set_pb_func(_probing_finish));
}
}
/*
* _probing_backoff()
*/
static stat_t _probing_backoff()
{
// If we've contacted, back off & then record position
int8_t probe = gpio_read_input(pb.probe_input);
/* true is SW_CLOSED in old code, and INPUT_ACTIVE in new */
if (probe == INPUT_ACTIVE) {
cm.probe_state = PROBE_SUCCEEDED;
// FIXME: this should be its own parameter
// cm_set_feed_rate(cm.a[AXIS_Z].latch_velocity);
cm_straight_feed(pb.start_position, pb.flags);
return (_set_pb_func(_probing_finish));
} else {
cm.probe_state = PROBE_FAILED;
return (_set_pb_func(_probing_finish));
}
}
static stat_t _probing_backoff()
{
// Test if we've contacted
int8_t probe = gpio_read_input(pb.probe_input);
// INPUT_INACTIVE means switch is OPEN (at least for now)
if ( probe == INPUT_INACTIVE ) {
cm.probe_state = PROBE_FAILED;
} else {
cm.probe_state = PROBE_SUCCEEDED;
// capture contact position in step space and convert from steps to mm.
// snapshot was taken by switch interrupt at the time of closure
float contact_position[AXES];
kn_forward_kinematics(en_get_encoder_snapshot_vector(), contact_position);
cm_queue_flush(); // flush queue & end feedhold
cm_straight_feed(contact_position, pb.flags); // NB: feed rate is the same as the probe move
}
return (_set_pb_func(_probing_finish));
}
static stat_t _execute_gcode_block()
{
stat_t status = STAT_OK;
cm_set_model_linenum(gn.linenum);
EXEC_FUNC(cm_set_inverse_feed_rate_mode, inverse_feed_rate_mode);
EXEC_FUNC(cm_set_feed_rate, feed_rate);
EXEC_FUNC(cm_feed_rate_override_factor, feed_rate_override_factor);
EXEC_FUNC(cm_traverse_override_factor, traverse_override_factor);
EXEC_FUNC(cm_set_spindle_speed, spindle_speed);
EXEC_FUNC(cm_spindle_override_factor, spindle_override_factor);
EXEC_FUNC(cm_select_tool, tool);
EXEC_FUNC(cm_change_tool, tool);
EXEC_FUNC(cm_spindle_control, spindle_mode); // spindle on or off
EXEC_FUNC(cm_mist_coolant_control, mist_coolant);
EXEC_FUNC(cm_flood_coolant_control, flood_coolant); // also disables mist coolant if OFF
EXEC_FUNC(cm_feed_rate_override_enable, feed_rate_override_enable);
EXEC_FUNC(cm_traverse_override_enable, traverse_override_enable);
EXEC_FUNC(cm_spindle_override_enable, spindle_override_enable);
EXEC_FUNC(cm_override_enables, override_enables);
if (gn.next_action == NEXT_ACTION_DWELL) { // G4 - dwell
ritorno(cm_dwell(gn.parameter)); // return if error, otherwise complete the block
}
EXEC_FUNC(cm_select_plane, select_plane);
EXEC_FUNC(cm_set_units_mode, units_mode);
//--> cutter radius compensation goes here
//--> cutter length compensation goes here
EXEC_FUNC(cm_set_coord_system, coord_system);
EXEC_FUNC(cm_set_path_control, path_control);
EXEC_FUNC(cm_set_distance_mode, distance_mode);
//--> set retract mode goes here
switch (gn.next_action) {
case NEXT_ACTION_SEARCH_HOME: { status = cm_homing_cycle_start(); break;} // G28.2
// case NEXT_ACTION_STRAIGHT_PROBE: { status = cm_probe_cycle_start(); break;}
case NEXT_ACTION_SET_ABSOLUTE_ORIGIN: { status = cm_set_absolute_origin(gn.target, gf.target); break;} // G28.3
case NEXT_ACTION_SET_G28_POSITION: { status = cm_set_g28_position(); break;} // G28.1
case NEXT_ACTION_GOTO_G28_POSITION: { status = cm_goto_g28_position(gn.target, gf.target); break;} // G28
case NEXT_ACTION_SET_G30_POSITION: { status = cm_set_g30_position(); break;} // G30.1
case NEXT_ACTION_GOTO_G30_POSITION: { status = cm_goto_g30_position(gn.target, gf.target); break;} // G30
case NEXT_ACTION_SET_COORD_DATA: { status = cm_set_coord_offsets(gn.parameter, gn.target, gf.target); break;}
case NEXT_ACTION_SET_ORIGIN_OFFSETS: { status = cm_set_origin_offsets(gn.target, gf.target); break;}
case NEXT_ACTION_RESET_ORIGIN_OFFSETS: { status = cm_reset_origin_offsets(); break;}
case NEXT_ACTION_SUSPEND_ORIGIN_OFFSETS: { status = cm_suspend_origin_offsets(); break;}
case NEXT_ACTION_RESUME_ORIGIN_OFFSETS: { status = cm_resume_origin_offsets(); break;}
case NEXT_ACTION_DEFAULT: {
cm_set_absolute_override(gn.absolute_override); // apply override setting to gm struct
switch (gn.motion_mode) {
case MOTION_MODE_CANCEL_MOTION_MODE: { gm.motion_mode = gn.motion_mode; break;}
case MOTION_MODE_STRAIGHT_TRAVERSE: { status = cm_straight_traverse(gn.target, gf.target); break;}
case MOTION_MODE_STRAIGHT_FEED: { status = cm_straight_feed(gn.target, gf.target); break;}
case MOTION_MODE_CW_ARC: case MOTION_MODE_CCW_ARC:
// gf.radius sets radius mode if radius was collected in gn
{ status = cm_arc_feed(gn.target, gf.target, gn.arc_offset[0], gn.arc_offset[1],
gn.arc_offset[2], gn.arc_radius, gn.motion_mode); break;}
}
}
}
cm_set_absolute_override(false); // un-set abs overrride (for reporting purposes)
// do the M stops: M0, M1, M2, M30, M60
if (gf.program_flow == true) {
if (gn.program_flow == PROGRAM_STOP) { cm_program_stop(); }
else { cm_program_end(); }
}
return (status);
}
