Merge pull request #631 from Paciente8159/fix-rt-spindle-toggle

fixed spindle toogle realtime command
Paciente8159 · Feb 19, 2024 · 2ebef83 · 2ebef83
2 parents 901f32b + 2ef6d34
commit 2ebef83
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Showing 4 changed files with 31 additions and 28 deletions.
diff --git a/uCNC/src/cnc.c b/uCNC/src/cnc.c
@@ -558,8 +558,10 @@ void cnc_clear_exec_state(uint8_t statemask)
 	// if releasing from a HOLD state with and active delay in exec
 	if (CHECKFLAG(statemask, EXEC_HOLD) && cnc_get_exec_state(EXEC_HOLD))
 	{
-		CLEARFLAG(cnc_state.exec_state, EXEC_HOLD);
+		// remove the flag to prevent ITP to restart
+		// CLEARFLAG(cnc_state.exec_state, EXEC_HOLD);
 #if TOOL_COUNT > 0
+		planner_spindle_ovr_reset();
 		// updated the coolant pins
 		tool_set_coolant(planner_get_coolant());
 #if (DELAY_ON_RESUME_COOLANT > 0)
@@ -577,6 +579,7 @@ void cnc_clear_exec_state(uint8_t statemask)
 #if (DELAY_ON_RESUME_SPINDLE > 0)
 		if (!g_settings.laser_mode)
 		{
+			protocol_send_feedback(MSG_FEEDBACK_10);
 			if (!planner_buffer_is_empty())
 			{
 				cnc_delay_ms(DELAY_ON_RESUME_SPINDLE * 1000);
@@ -819,10 +822,8 @@ void cnc_exec_rt_commands(void)
 			if (cnc_get_exec_state(EXEC_HOLD | EXEC_DOOR | EXEC_RUN) == EXEC_HOLD) // only available if a TRUE hold is active
 			{
 				// toogle state
-				if (tool_get_speed())
-				{
-					update_tools = false;
-					tool_set_speed(0);
+				if(planner_spindle_ovr_toggle()){
+					protocol_send_feedback(MSG_FEEDBACK_10);
 				}
 			}
 			break;
@@ -854,17 +855,13 @@ void cnc_exec_rt_commands(void)
 #endif
 		}
 #endif
+
 		if (update_tools)
 		{
 			itp_update();
 			if (planner_buffer_is_empty())
 			{
-				motion_data_t block = {0};
-#if TOOL_COUNT > 0
-				block.motion_flags.bit.coolant = planner_get_previous_coolant();
-				block.spindle = planner_get_previous_spindle_speed();
-#endif
-				mc_update_tools(&block);
+				mc_update_tools(NULL);
 			}
 		}
 	}

diff --git a/uCNC/src/core/motion_control.c b/uCNC/src/core/motion_control.c
@@ -714,7 +714,10 @@ uint8_t mc_update_tools(motion_data_t *block_data)
 			return STATUS_CRITICAL_FAIL;
 		}
 		// synchronizes the tools
-		planner_sync_tools(block_data);
+		if (block_data)
+		{
+			planner_sync_tools(block_data);
+		}
 		itp_sync_spindle();
 	}
 #endif
@@ -734,7 +737,7 @@ uint8_t mc_home_axis(uint8_t axis_mask, uint8_t axis_limit)
 	motion_data_t block_data = {0};
 	uint8_t limits_flags;
 	uint8_t restore_step_mode __attribute__((__cleanup__(mc_restore_step_mode))) = itp_set_step_mode(ITP_STEP_MODE_REALTIME);
-	
+
 #ifdef ENABLE_MOTION_CONTROL_MODULES
 	homing_status_t homing_status __attribute__((__cleanup__(mc_home_axis_finalize))) = {axis_mask, axis_limit, STATUS_OK};
 #endif

diff --git a/uCNC/src/core/planner.c b/uCNC/src/core/planner.c
@@ -289,6 +289,7 @@ void planner_init(void)
 	planner_rapid_feed_ovr(100);
 #if TOOL_COUNT > 0
 	planner_spindle_ovr(100);
+	planner_spindle_ovr_reset();
 	planner_coolant_ovr_reset();
 #endif
 }
@@ -408,9 +409,10 @@ float planner_get_block_top_speed(float exit_speed_sqr)
 }
 
 #if TOOL_COUNT > 0
+static uint8_t spindle_override;
 int16_t planner_get_spindle_speed(float scale)
 {
-	if (g_planner_state.state_flags.bit.spindle_running)
+	if (g_planner_state.state_flags.bit.spindle_running ^ spindle_override)
 	{
 		float scaled_spindle = (float)g_planner_state.spindle_speed;
 		bool neg = (g_planner_state.state_flags.bit.spindle_running == 2);
@@ -432,16 +434,6 @@ int16_t planner_get_spindle_speed(float scale)
 
 	return 0;
 }
-
-float planner_get_previous_spindle_speed(void)
-{
-	return (float)g_planner_state.spindle_speed;
-}
-
-uint8_t planner_get_previous_coolant(void)
-{
-	return g_planner_state.state_flags.bit.coolant;
-}
 #endif
 
 static void planner_recalculate(void)
@@ -518,7 +510,7 @@ void planner_sync_tools(motion_data_t *block_data)
 void planner_feed_ovr(uint8_t value)
 {
 	value = CLAMP(FEED_OVR_MIN, value, FEED_OVR_MAX);
-	
+
 	if (value != g_planner_state.feed_override)
 	{
 		g_planner_state.feed_override = value;
@@ -551,6 +543,17 @@ void planner_spindle_ovr(uint8_t value)
 	}
 }
 
+uint8_t planner_spindle_ovr_toggle(void)
+{
+	spindle_override ^= g_planner_state.state_flags.bit.spindle_running;
+	return (spindle_override ^ g_planner_state.state_flags.bit.spindle_running);
+}
+
+void planner_spindle_ovr_reset(void)
+{
+	spindle_override = 0;
+}
+
 static uint8_t coolant_override;
 
 uint8_t planner_get_coolant(void)
@@ -566,7 +569,7 @@ uint8_t planner_coolant_ovr_toggle(uint8_t value)
 
 void planner_coolant_ovr_reset(void)
 {
-	g_planner_state.state_flags.bit.coolant = 0;
+	// g_planner_state.state_flags.bit.coolant = 0;
 	coolant_override = 0;
 }
 #endif

diff --git a/uCNC/src/core/planner.h b/uCNC/src/core/planner.h
@@ -87,9 +87,7 @@ extern "C"
 	float planner_get_block_top_speed(float exit_speed_sqr);
 #if TOOL_COUNT > 0
 	int16_t planner_get_spindle_speed(float scale);
-	float planner_get_previous_spindle_speed(void);
 	uint8_t planner_get_coolant(void);
-	uint8_t planner_get_previous_coolant(void);
 #endif
 	void planner_discard_block(void);
 	void planner_add_line(motion_data_t *block_data);
@@ -102,6 +100,8 @@ extern "C"
 	void planner_rapid_feed_ovr(uint8_t value);
 #if TOOL_COUNT > 0
 	void planner_spindle_ovr(uint8_t value);
+	uint8_t planner_spindle_ovr_toggle(void);
+	void planner_spindle_ovr_reset(void);
 	uint8_t planner_coolant_ovr_toggle(uint8_t value);
 	void planner_coolant_ovr_reset(void);
 #endif