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dwell now waits for queue flush, M101/M103 no longer accelerate and alter feedrate, homing no longer accelerates

This commit is contained in:
Michael Moon 2010-02-10 23:40:22 +11:00
parent 7326e17560
commit 54a793b3a1
1 changed files with 29 additions and 4 deletions
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33
mendel/gcode.c
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@ -332,6 +332,9 @@ void process_gcode_command(GCODE_COMMAND *gcmd) {
#ifdef XONXOFF #ifdef XONXOFF
xoff(); xoff();
#endif #endif
// wait for all moves to complete
for (;queue_empty() == 0;);
// delay
delay_ms(gcmd->P); delay_ms(gcmd->P);
#ifdef XONXOFF #ifdef XONXOFF
xon(); xon();
@ -358,7 +361,8 @@ void process_gcode_command(GCODE_COMMAND *gcmd) {
/* /*
Home XY first Home XY first
*/ */
// hit endstops // hit endstops, no acceleration- we don't care about skipped steps
startpoint.F = FEEDRATE_FAST_XY;
SpecialMoveXY(-250L * STEPS_PER_MM_X, -250L * STEPS_PER_MM_Y, FEEDRATE_FAST_XY); SpecialMoveXY(-250L * STEPS_PER_MM_X, -250L * STEPS_PER_MM_Y, FEEDRATE_FAST_XY);
startpoint.X = startpoint.Y = 0; startpoint.X = startpoint.Y = 0;
@ -377,7 +381,8 @@ void process_gcode_command(GCODE_COMMAND *gcmd) {
/* /*
Home Z Home Z
*/ */
// hit endstop // hit endstop, no acceleration- we don't care about skipped steps
startpoint.F = FEEDRATE_FAST_Z;
SpecialMoveZ(-250L * STEPS_PER_MM_Z, FEEDRATE_FAST_Z); SpecialMoveZ(-250L * STEPS_PER_MM_Z, FEEDRATE_FAST_Z);
startpoint.Z = 0; startpoint.Z = 0;
@ -399,6 +404,14 @@ void process_gcode_command(GCODE_COMMAND *gcmd) {
// extruder only runs one way and we have no "endstop", just set this point as home // extruder only runs one way and we have no "endstop", just set this point as home
startpoint.E = current_position.E = 0; startpoint.E = current_position.E = 0;
/*
Home F
*/
// F has been left at FEEDRATE_SLOW_Z by the last move, this is a usable "home"
// uncomment the following or substitute if you prefer a different default feedrate
// startpoint.F = FEEDRATE_SLOW_XY
break; break;
// G90 - absolute positioning // G90 - absolute positioning
@ -439,14 +452,26 @@ void process_gcode_command(GCODE_COMMAND *gcmd) {
// reset watchdog // reset watchdog
wd_reset(); wd_reset();
} }
SpecialMoveE(E_STARTSTOP_STEPS, FEEDRATE_FAST_E); do {
// backup feedrate, move E very quickly then restore feedrate
uint32_t f = startpoint.F;
startpoint.F = FEEDRATE_FAST_E;
SpecialMoveE(E_STARTSTOP_STEPS, FEEDRATE_FAST_E);
startpoint.F = f;
} while (0);
break; break;
// M102- extruder reverse // M102- extruder reverse
// M103- extruder off // M103- extruder off
case 103: case 103:
SpecialMoveE(-E_STARTSTOP_STEPS, FEEDRATE_FAST_E); do {
// backup feedrate, move E very quickly then restore feedrate
uint32_t f = startpoint.F;
startpoint.F = FEEDRATE_FAST_E;
SpecialMoveE(-E_STARTSTOP_STEPS, FEEDRATE_FAST_E);
startpoint.F = f;
} while (0);
break; break;
// M104- set temperature // M104- set temperature