Parking motion bug fix.

- Parking motion would intermittently complete the queued tool path
upon resuming in certain scenarios. Now fixed.

Author: chamnit

doc/log/commit_log_v0.9i.txt

@@ -1,3 +1,12 @@
+----------------
+Date: 2015-08-29
+Author: Sonny Jeon
+Subject: Optional line number reporting bug fix.
+
+- Fixed a bug where it would not compile when USE_LINE_NUMBERS was
+enabled.
+
+
 ----------------
 Date: 2015-08-27
 Author: Sonny Jeon

grbl/gcode.c

@@ -1034,37 +1034,37 @@ uint8_t gc_execute_line(char *line)
   // refill and can only be resumed by the cycle start run-time command.
   gc_state.modal.program_flow = gc_block.modal.program_flow;
   if (gc_state.modal.program_flow) { 
-	protocol_buffer_synchronize(); // Sync and finish all remaining buffered motions before moving on.
-	if (gc_state.modal.program_flow == PROGRAM_FLOW_PAUSED) {
-	  if (sys.state != STATE_CHECK_MODE) {
-		bit_true_atomic(sys.rt_exec_state, EXEC_FEED_HOLD); // Use feed hold for program pause.
-		protocol_execute_realtime(); // Execute suspend.
-	  }
-	} else { // == PROGRAM_FLOW_COMPLETED
-	  // Upon program complete, only a subset of g-codes reset to certain defaults, according to 
-	  // LinuxCNC's program end descriptions and testing. Only modal groups [G-code 1,2,3,5,7,12]
-	  // and [M-code 7,8,9] reset to [G1,G17,G90,G94,G40,G54,M5,M9,M48]. The remaining modal groups
-	  // [G-code 4,6,8,10,13,14,15] and [M-code 4,5,6] and the modal words [F,S,T,H] do not reset.
-	  gc_state.modal.motion = MOTION_MODE_LINEAR;
-	  gc_state.modal.plane_select = PLANE_SELECT_XY;
-	  gc_state.modal.distance = DISTANCE_MODE_ABSOLUTE;
-	  gc_state.modal.feed_rate = FEED_RATE_MODE_UNITS_PER_MIN;
-	  // gc_state.modal.cutter_comp = CUTTER_COMP_DISABLE; // Not supported.
-	  gc_state.modal.coord_select = 0; // G54
-	  gc_state.modal.spindle = SPINDLE_DISABLE;
-	  gc_state.modal.coolant = COOLANT_DISABLE;
-	  // gc_state.modal.override = OVERRIDE_DISABLE; // Not supported.
-	  
-	  // Execute coordinate change and spindle/coolant stop.
-	  if (sys.state != STATE_CHECK_MODE) {
-		if (!(settings_read_coord_data(gc_state.modal.coord_select,coordinate_data))) { FAIL(STATUS_SETTING_READ_FAIL); } 
-		memcpy(gc_state.coord_system,coordinate_data,sizeof(coordinate_data));
-		spindle_stop();
-		coolant_stop();		
-	  }
-	  
-	  report_feedback_message(MESSAGE_PROGRAM_END);
-	}
+    protocol_buffer_synchronize(); // Sync and finish all remaining buffered motions before moving on.
+    if (gc_state.modal.program_flow == PROGRAM_FLOW_PAUSED) {
+      if (sys.state != STATE_CHECK_MODE) {
+        bit_true_atomic(sys.rt_exec_state, EXEC_FEED_HOLD); // Use feed hold for program pause.
+        protocol_execute_realtime(); // Execute suspend.
+      }
+    } else { // == PROGRAM_FLOW_COMPLETED
+      // Upon program complete, only a subset of g-codes reset to certain defaults, according to 
+      // LinuxCNC's program end descriptions and testing. Only modal groups [G-code 1,2,3,5,7,12]
+      // and [M-code 7,8,9] reset to [G1,G17,G90,G94,G40,G54,M5,M9,M48]. The remaining modal groups
+      // [G-code 4,6,8,10,13,14,15] and [M-code 4,5,6] and the modal words [F,S,T,H] do not reset.
+      gc_state.modal.motion = MOTION_MODE_LINEAR;
+      gc_state.modal.plane_select = PLANE_SELECT_XY;
+      gc_state.modal.distance = DISTANCE_MODE_ABSOLUTE;
+      gc_state.modal.feed_rate = FEED_RATE_MODE_UNITS_PER_MIN;
+      // gc_state.modal.cutter_comp = CUTTER_COMP_DISABLE; // Not supported.
+      gc_state.modal.coord_select = 0; // G54
+      gc_state.modal.spindle = SPINDLE_DISABLE;
+      gc_state.modal.coolant = COOLANT_DISABLE;
+      // gc_state.modal.override = OVERRIDE_DISABLE; // Not supported.
+    
+      // Execute coordinate change and spindle/coolant stop.
+      if (sys.state != STATE_CHECK_MODE) {
+        if (!(settings_read_coord_data(gc_state.modal.coord_select,coordinate_data))) { FAIL(STATUS_SETTING_READ_FAIL); } 
+        memcpy(gc_state.coord_system,coordinate_data,sizeof(coordinate_data));
+        spindle_stop();
+        coolant_stop();		
+      }
+    
+      report_feedback_message(MESSAGE_PROGRAM_END);
+    }
     gc_state.modal.program_flow = PROGRAM_FLOW_RUNNING; // Reset program flow.
   }
 

grbl/grbl.h

@@ -23,7 +23,7 @@
 
 // Grbl versioning system
 #define GRBL_VERSION "1.0b"
-#define GRBL_VERSION_BUILD "20150829"
+#define GRBL_VERSION_BUILD "20150902"
 
 // Define standard libraries used by Grbl.
 #include <avr/io.h>

grbl/limits.c

@@ -72,10 +72,10 @@ uint8_t limits_get_state()
   uint8_t pin = (LIMIT_PIN & LIMIT_MASK);
   if (bit_isfalse(settings.flags,BITFLAG_INVERT_LIMIT_PINS)) { pin ^= LIMIT_MASK; }
   if (pin) {  
-	uint8_t idx;
-	for (idx=0; idx<N_AXIS; idx++) {
-	  if (pin & get_limit_pin_mask(idx)) { limit_state |= (1 << idx); }
-	}
+    uint8_t idx;
+    for (idx=0; idx<N_AXIS; idx++) {
+      if (pin & get_limit_pin_mask(idx)) { limit_state |= (1 << idx); }
+    }
   }
   return(limit_state);
 }
@@ -210,37 +210,37 @@ void limits_go_home(uint8_t cycle_mask)
 
     st_prep_buffer(); // Prep and fill segment buffer from newly planned block.
     st_wake_up(); // Initiate motion
-	do {
-	  if (approach) {
-		// Check limit state. Lock out cycle axes when they change.
-		limit_state = limits_get_state();
-		for (idx=0; idx<N_AXIS; idx++) {
-		  if (axislock & step_pin[idx]) {
-			if (limit_state & (1 << idx)) { axislock &= ~(step_pin[idx]); }
-		  }
-		}
-		sys.homing_axis_lock = axislock;
-	  }
-
-	  st_prep_buffer(); // Check and prep segment buffer. NOTE: Should take no longer than 200us.
-
-	  // Exit routines: No time to run protocol_execute_realtime() in this loop.
-	  if (sys.rt_exec_state & (EXEC_SAFETY_DOOR | EXEC_RESET | EXEC_CYCLE_STOP)) {
-	    // Homing failure: Limit switches are still engaged after pull-off motion
-		if ( (sys.rt_exec_state & (EXEC_SAFETY_DOOR | EXEC_RESET)) ||  // Safety door or reset issued
-		     (!approach && (limits_get_state() & cycle_mask)) ||  // Limit switch still engaged after pull-off motion
-		     ( approach && (sys.rt_exec_state & EXEC_CYCLE_STOP)) ) { // Limit switch not found during approach.
-     	  mc_reset(); // Stop motors, if they are running.
-		  protocol_execute_realtime();
-		  return;
-		} else {
-		  // Pull-off motion complete. Disable CYCLE_STOP from executing.
+    do {
+      if (approach) {
+        // Check limit state. Lock out cycle axes when they change.
+        limit_state = limits_get_state();
+        for (idx=0; idx<N_AXIS; idx++) {
+          if (axislock & step_pin[idx]) {
+            if (limit_state & (1 << idx)) { axislock &= ~(step_pin[idx]); }
+          }
+        }
+        sys.homing_axis_lock = axislock;
+      }
+
+      st_prep_buffer(); // Check and prep segment buffer. NOTE: Should take no longer than 200us.
+
+      // Exit routines: No time to run protocol_execute_realtime() in this loop.
+      if (sys.rt_exec_state & (EXEC_SAFETY_DOOR | EXEC_RESET | EXEC_CYCLE_STOP)) {
+        // Homing failure: Limit switches are still engaged after pull-off motion
+        if ( (sys.rt_exec_state & (EXEC_SAFETY_DOOR | EXEC_RESET)) ||  // Safety door or reset issued
+           (!approach && (limits_get_state() & cycle_mask)) ||  // Limit switch still engaged after pull-off motion
+           ( approach && (sys.rt_exec_state & EXEC_CYCLE_STOP)) ) { // Limit switch not found during approach.
+          mc_reset(); // Stop motors, if they are running.
+          protocol_execute_realtime();
+          return;
+        } else {
+          // Pull-off motion complete. Disable CYCLE_STOP from executing.
           bit_false_atomic(sys.rt_exec_state,EXEC_CYCLE_STOP);
-		  break;
-		} 
-	  }
+          break;
+        } 
+      }
 
-	} while (STEP_MASK & axislock);
+    } while (STEP_MASK & axislock);
 
     st_reset(); // Immediately force kill steppers and reset step segment buffer.
     plan_reset(); // Reset planner buffer to zero planner current position and to clear previous motions.

grbl/stepper.c

@@ -135,7 +135,6 @@ typedef struct {
     uint8_t last_st_block_index;
     float last_steps_remaining;
     float last_step_per_mm;
-    float last_req_mm_increment;
     float last_dt_remainder;
   #endif
 
@@ -551,12 +550,13 @@ static uint8_t st_next_block_index(uint8_t block_index)
   {   
     // Restore step execution data and flags of partially completed block, if necessary. 
     if (prep.recalculate_flag & PREP_FLAG_HOLD_PARTIAL_BLOCK) {
+      st_prep_block = &st_block_buffer[prep.last_st_block_index];
       prep.st_block_index = prep.last_st_block_index;
       prep.steps_remaining = prep.last_steps_remaining;
       prep.dt_remainder = prep.last_dt_remainder;
       prep.step_per_mm = prep.last_step_per_mm;
-      st_prep_block = &st_block_buffer[prep.st_block_index];
       prep.recalculate_flag = (PREP_FLAG_HOLD_PARTIAL_BLOCK | PREP_FLAG_RECALCULATE);
+      prep.req_mm_increment = REQ_MM_INCREMENT_SCALAR/prep.step_per_mm; // Recompute this value.
     } else {
       prep.recalculate_flag = false;
     }
@@ -594,12 +594,15 @@ void st_prep_buffer()
         if (sys.step_control & STEP_CONTROL_EXECUTE_PARK) { pl_block = plan_get_parking_block(); }
         else { pl_block = plan_get_current_block(); }
         if (pl_block == NULL) { return; } // No planner blocks. Exit.
-  
+
         // Check if we need to only recompute the velocity profile or load a new block.
         if (prep.recalculate_flag & PREP_FLAG_RECALCULATE) {
+
           if (prep.recalculate_flag & PREP_FLAG_PARKING) { prep.recalculate_flag &= ~(PREP_FLAG_RECALCULATE); }
           else { prep.recalculate_flag = false; }
-      
+
+        } else {
+
       #else
 
         // Query planner for a queued block
@@ -608,11 +611,12 @@ void st_prep_buffer()
 
         // Check if we need to only recompute the velocity profile or load a new block.
         if (prep.recalculate_flag & PREP_FLAG_RECALCULATE) {
+
           prep.recalculate_flag = false;
+        
+        } else {
 
       #endif
-
-      } else {
 
         // Load the Bresenham stepping data for the block.
         prep.st_block_index = st_next_block_index(prep.st_block_index);
@@ -639,7 +643,7 @@ void st_prep_buffer()
         prep.step_per_mm = prep.steps_remaining/pl_block->millimeters;
         prep.req_mm_increment = REQ_MM_INCREMENT_SCALAR/prep.step_per_mm;
         prep.dt_remainder = 0.0; // Reset for new segment block
-
+      
         if (sys.step_control & STEP_CONTROL_EXECUTE_HOLD) {
           // New block loaded mid-hold. Override planner block entry speed to enforce deceleration.
           prep.current_speed = prep.exit_speed; 
@@ -648,7 +652,7 @@ void st_prep_buffer()
           prep.current_speed = sqrt(pl_block->entry_speed_sqr); 
         }
       }
-
+      
 			/* --------------------------------------------------------------------------------- 
 			 Compute the velocity profile of a new planner block based on its entry and exit
 			 speeds, or recompute the profile of a partially-completed planner block if the