Merge branch 'master' of github.com:rene-dev/linuxcnc

rene-dev · rene-dev · commit 4ca4da702848 · 2018-10-04T17:06:48.000+02:00
Signed-off-by: Rene Hopf &lt;renehopf@mac.com&gt;

# Conflicts:
#	src/emc/rs274ngc/interp_check.cc
#	src/emc/rs274ngc/interp_convert.cc
#	src/emc/tp/tp.c
diff --git a/docs/src/gcode/g-code.txt b/docs/src/gcode/g-code.txt
@@ -1004,9 +1004,10 @@ It is an error if:
 (((G33.1 Rigid Tapping)))
 
 ----------------
-G33.1 X- Y- Z- K-
+G33.1 X- Y- Z- K- I-
 ----------------
 * 'K' - distance per revolution
+* 'I' - optional spindle speed multiplier for faster return move
 
 [WARNING]
 For Z only tapping preposition the XY location prior to calling G33.1 and only
diff --git a/src/emc/motion/command.c b/src/emc/motion/command.c
@@ -1610,7 +1610,7 @@ void emcmotCommandHandler(void *arg, long period)
 
 	    /* append it to the emcmotDebug->coord_tp */
 	    tpSetId(&emcmotDebug->coord_tp, emcmotCommand->id);
-	    int res_addtap = tpAddRigidTap(&emcmotDebug->coord_tp, emcmotCommand->pos, emcmotCommand->vel, emcmotCommand->ini_maxvel, emcmotCommand->acc, emcmotStatus->enables_new);
+	    int res_addtap = tpAddRigidTap(&emcmotDebug->coord_tp, emcmotCommand->pos, emcmotCommand->vel, emcmotCommand->ini_maxvel, emcmotCommand->acc, emcmotStatus->enables_new, emcmotCommand->scale);
         if (res_addtap < 0) {
             emcmotStatus->atspeed_next_feed = 0; /* rigid tap always waits for spindle to be at-speed */
             reportError(_("can't add rigid tap move at line %d, error code %d"),
diff --git a/src/emc/nml_intf/canon.hh b/src/emc/nml_intf/canon.hh
@@ -478,7 +478,7 @@ all axes have covered the same proportion of their required motion.
 The meanings of the parameters is the same as for STRAIGHT_TRAVERSE.*/
 
 extern void RIGID_TAP(int lineno,
-                      double x, double y, double z);
+                      double x, double y, double z, double mult);
 
 /* Move linear and synced with the previously set pitch.
 Only linear moves are allowed, axes A,B,C are not allowed to move.*/
diff --git a/src/emc/nml_intf/emc.hh b/src/emc/nml_intf/emc.hh
@@ -428,7 +428,7 @@ extern int emcTrajClearProbeTrippedFlag();
 extern int emcTrajProbe(EmcPose pos, int type, double vel, 
                         double ini_maxvel, double acc, unsigned char probe_type);
 extern int emcAuxInputWait(int index, int input_type, int wait_type, int timeout);
-extern int emcTrajRigidTap(EmcPose pos, double vel, double ini_maxvel, double acc);
+extern int emcTrajRigidTap(EmcPose pos, double vel, double ini_maxvel, double acc, double mult);
 
 extern int emcTrajUpdate(EMC_TRAJ_STAT * stat);
 
diff --git a/src/emc/nml_intf/emc_nml.hh b/src/emc/nml_intf/emc_nml.hh
@@ -1002,7 +1002,7 @@ class EMC_TRAJ_RIGID_TAP:public EMC_TRAJ_CMD_MSG {
     void update(CMS * cms);
 
     EmcPose pos;
-    double vel, ini_maxvel, acc;
+    double vel, ini_maxvel, acc, scale;
 };
 
 // EMC_TRAJ status base class
diff --git a/src/emc/rs274ngc/gcodemodule.cc b/src/emc/rs274ngc/gcodemodule.cc
@@ -485,7 +485,7 @@ void STRAIGHT_PROBE(int line_number,
 
 }
 void RIGID_TAP(int line_number,
-               double x, double y, double z) {
+               double x, double y, double z, double mult) {
     if(metric) { x /= 25.4; y /= 25.4; z /= 25.4; }
     maybe_new_line(line_number);
     if(interp_error) return;
diff --git a/src/emc/rs274ngc/interp_check.cc b/src/emc/rs274ngc/interp_check.cc
@@ -275,8 +275,8 @@ int Interp::check_other_codes(block_pointer block)       //!< pointer to a block
 
   if (block->i_flag) {    /* could still be useless if yz_plane arc */
     CHKS(((motion != G_2) && (motion != G_3) && (motion != G_5) && (motion != G_5_1) &&
-          (motion != G_76) && (motion != G_87) && (block->g_modes[GM_MODAL_0] != G_10)),
-        _("I word with no G2, G3, G5, G5.1, G10, G76, or G87 to use it"));
+          (motion != G_76) && (motion != G_87) && (motion != G_33_1) && (block->g_modes[GM_MODAL_0] != G_10)),
+        _("I word with no G2, G3, G5, G5.1, G10, G33.1, G76, or G87 to use it"));
   }
 
   if (block->j_flag) {    /* could still be useless if xz_plane arc */
diff --git a/src/emc/rs274ngc/interp_convert.cc b/src/emc/rs274ngc/interp_convert.cc
@@ -4543,7 +4543,14 @@ int Interp::convert_straight(int move,   //!< either G_0 or G_1
            (settings->spindle_turning[settings->active_spindle] != CANON_COUNTERCLOCKWISE)),
           _("Spindle not turning in G33.1"));
     START_SPEED_FEED_SYNCH(settings->active_spindle, block->k_number, 0);
-    RIGID_TAP(block->line_number, end_x, end_y, end_z);
+    double scale = 1;
+    if(block->i_flag){
+        scale = block->i_number;
+        if(scale < 1){
+            scale = 1;
+        }
+    }
+    RIGID_TAP(block->line_number, end_x, end_y, end_z, scale);
     STOP_SPEED_FEED_SYNCH();
     // after the RIGID_TAP cycle we'll be in the same spot
   } else if (move == G_76) {
diff --git a/src/emc/sai/saicanon.cc b/src/emc/sai/saicanon.cc
@@ -554,7 +554,7 @@ void STRAIGHT_PROBE(int line_number,
 }
 
 
-void RIGID_TAP(int line_number, double x, double y, double z)
+void RIGID_TAP(int line_number, double x, double y, double z, double mult)
 {
 
 
diff --git a/src/emc/task/emccanon.cc b/src/emc/task/emccanon.cc
@@ -1018,7 +1018,7 @@ void STRAIGHT_FEED(int line_number,
 }
 
 
-void RIGID_TAP(int line_number, double x, double y, double z)
+void RIGID_TAP(int line_number, double x, double y, double z, double scale)
 {
     double ini_maxvel,acc;
     EMC_TRAJ_RIGID_TAP rigidTapMsg;
@@ -1044,7 +1044,7 @@ void RIGID_TAP(int line_number, double x, double y, double z)
     rigidTapMsg.vel = toExtVel(ini_maxvel);
     rigidTapMsg.ini_maxvel = toExtVel(ini_maxvel);
     rigidTapMsg.acc = toExtAcc(acc);
-
+    rigidTapMsg.scale = scale;
     flush_segments();
 
     if(ini_maxvel && acc)  {
diff --git a/src/emc/task/emctaskmain.cc b/src/emc/task/emctaskmain.cc
@@ -1908,7 +1908,8 @@ static int emcTaskIssueCommand(NMLmsg * cmd)
 	retval = emcTrajRigidTap(((EMC_TRAJ_RIGID_TAP *) cmd)->pos,
 	        ((EMC_TRAJ_RIGID_TAP *) cmd)->vel,
         	((EMC_TRAJ_RIGID_TAP *) cmd)->ini_maxvel,  
-		((EMC_TRAJ_RIGID_TAP *) cmd)->acc);
+		((EMC_TRAJ_RIGID_TAP *) cmd)->acc,
+		((EMC_TRAJ_RIGID_TAP *) cmd)->scale);
 	break;
 
     case EMC_TRAJ_SET_TELEOP_ENABLE_TYPE:
diff --git a/src/emc/task/taskintf.cc b/src/emc/task/taskintf.cc
@@ -1454,7 +1454,7 @@ int emcTrajProbe(EmcPose pos, int type, double vel, double ini_maxvel, double ac
     return usrmotWriteEmcmotCommand(&emcmotCommand);
 }
 
-int emcTrajRigidTap(EmcPose pos, double vel, double ini_maxvel, double acc)
+int emcTrajRigidTap(EmcPose pos, double vel, double ini_maxvel, double acc, double scale)
 {
 #ifdef ISNAN_TRAP
     if (std::isnan(pos.tran.x) || std::isnan(pos.tran.y) || std::isnan(pos.tran.z)) {
@@ -1469,6 +1469,7 @@ int emcTrajRigidTap(EmcPose pos, double vel, double ini_maxvel, double acc)
     emcmotCommand.vel = vel;
     emcmotCommand.ini_maxvel = ini_maxvel;
     emcmotCommand.acc = acc;
+    emcmotCommand.scale = scale;
 
     return usrmotWriteEmcmotCommand(&emcmotCommand);
 }
diff --git a/src/emc/tp/tc.c b/src/emc/tp/tc.c
@@ -700,7 +700,8 @@ int tcUpdateTargetFromCircle(TC_STRUCT * const tc)
 
 int pmRigidTapInit(PmRigidTap * const tap,
         EmcPose const * const start,
-        EmcPose const * const end)
+        EmcPose const * const end,
+        double reversal_scale)
 {
     PmCartesian start_xyz, end_xyz;
     PmCartesian abc, uvw;
@@ -718,6 +719,7 @@ int pmRigidTapInit(PmRigidTap * const tap,
 
     // Setup initial tap state
     tap->reversal_target = tap->xyz.tmag;
+    tap->reversal_scale = reversal_scale;
     tap->state = TAPPING;
     return TP_ERR_OK;
 
diff --git a/src/emc/tp/tc.h b/src/emc/tp/tc.h
@@ -71,7 +71,8 @@ int pmCircle9Init(PmCircle9 * const circ9,
 
 int pmRigidTapInit(PmRigidTap * const tap,
         EmcPose const * const start,
-        EmcPose const * const end);
+        EmcPose const * const end,
+        double reversal_scale);
 
 double pmRigidTapTarget(PmRigidTap * const tap, double uu_per_rev);
 
diff --git a/src/emc/tp/tc_types.h b/src/emc/tp/tc_types.h
@@ -104,6 +104,7 @@ typedef struct {
     PmCartesian abc;
     PmCartesian uvw;
     double reversal_target;
+    double reversal_scale;
     double spindlerevs_at_reversal;
     RIGIDTAP_STATE state;
 } PmRigidTap;
diff --git a/src/emc/tp/tp.c b/src/emc/tp/tp.c
@@ -1408,7 +1408,7 @@ STATIC int tpSetupSyncedIO(TP_STRUCT * const tp, TC_STRUCT * const tc) {
  * Adds a rigid tap cycle to the motion queue.
  */
 int tpAddRigidTap(TP_STRUCT * const tp, EmcPose end, double vel, double ini_maxvel,
-        double acc, unsigned char enables) {
+        double acc, unsigned char enables, double scale) {
     if (tpErrorCheck(tp)) {
         return TP_ERR_FAIL;
     }
@@ -1448,7 +1448,7 @@ int tpAddRigidTap(TP_STRUCT * const tp, EmcPose end, double vel, double ini_maxv
     // Setup rigid tap geometry
     pmRigidTapInit(&tc.coords.rigidtap,
             &tp->goalPos,
-            &end);
+            &end, scale);
     tc.target = pmRigidTapTarget(&tc.coords.rigidtap, tp->uu_per_rev);
 
     // Force exact stop mode after rigid tapping regardless of TP setting
@@ -2314,7 +2314,7 @@ STATIC void tpUpdateRigidTapState(TP_STRUCT const * const tp,
             tc_debug_print("TAPPING\n");
             if (tc->progress >= tc->coords.rigidtap.reversal_target) {
                 // command reversal
-            	emcmotStatus->spindle_status[tp->spindle.spindle_num].speed *= -1.0;
+            	emcmotStatus->spindle_status[tp->spindle.spindle_num].speed *= -1.0 * tc->coords.rigidtap.reversal_scale;
                 tc->coords.rigidtap.state = REVERSING;
             }
             break;
@@ -2343,7 +2343,7 @@ STATIC void tpUpdateRigidTapState(TP_STRUCT const * const tp,
         case RETRACTION:
             tc_debug_print("RETRACTION\n");
             if (tc->progress >= tc->coords.rigidtap.reversal_target) {
-            	emcmotStatus->spindle_status[tp->spindle.spindle_num].speed *= -1;
+            	emcmotStatus->spindle_status[tp->spindle.spindle_num].speed *= -1 / tc->coords.rigidtap.reversal_scale;
                 tc->coords.rigidtap.state = FINAL_REVERSAL;
             }
             break;
diff --git a/src/emc/tp/tp.h b/src/emc/tp/tp.h
@@ -34,7 +34,7 @@ int tpSetPos(TP_STRUCT * const tp, EmcPose const * const pos);
 int tpAddCurrentPos(TP_STRUCT * const tp, EmcPose const * const disp);
 int tpSetCurrentPos(TP_STRUCT * const tp, EmcPose const * const pos);
 int tpAddRigidTap(TP_STRUCT * const tp, EmcPose end, double vel, double
-        ini_maxvel, double acc, unsigned char enables);
+        ini_maxvel, double acc, unsigned char enables, double scale);
 int tpAddLine(TP_STRUCT * const tp, EmcPose end, int canon_motion_type, double vel, double
                      ini_maxvel, double acc, unsigned char enables, char atspeed, int indexrotary);
 int tpAddCircle(TP_STRUCT * const tp, EmcPose end, PmCartesian center,
diff --git a/tests/interp/compile/use-rs274.cc b/tests/interp/compile/use-rs274.cc
@@ -114,7 +114,7 @@ void NURBS_FEED(int lineno, std::vector<CONTROL_POINT> nurbs_control_points, uns
     knot_vector.clear();
 }
 void RIGID_TAP(int lineno,
-                      double x, double y, double z) {}
+                      double x, double y, double z, double scale) {}
 void STRAIGHT_PROBE(int lineno,
                            double x, double y, double z,
                            double a, double b, double c,

Original file line number	Diff line number	Diff line change
`@@ -485,7 +485,7 @@ void STRAIGHT_PROBE(int line_number,`
`485`	`485`
`486`	`486`	`}`
`487`	`487`	`void RIGID_TAP(int line_number,`
`488`		`- double x, double y, double z) {`
	`488`	`+ double x, double y, double z, double mult) {`
`489`	`489`	`if(metric) { x /= 25.4; y /= 25.4; z /= 25.4; }`
`490`	`490`	`maybe_new_line(line_number);`
`491`	`491`	`if(interp_error) return;`
Original file line number	Diff line number	Diff line change
`@@ -275,8 +275,8 @@ int Interp::check_other_codes(block_pointer block) //!< pointer to a block`
`275`	`275`
`276`	`276`	`if (block->i_flag) { /* could still be useless if yz_plane arc */`
`277`	`277`	`CHKS(((motion != G_2) && (motion != G_3) && (motion != G_5) && (motion != G_5_1) &&`
`278`		`- (motion != G_76) && (motion != G_87) && (block->g_modes[GM_MODAL_0] != G_10)),`
`279`		`- _("I word with no G2, G3, G5, G5.1, G10, G76, or G87 to use it"));`
	`278`	`+ (motion != G_76) && (motion != G_87) && (motion != G_33_1) && (block->g_modes[GM_MODAL_0] != G_10)),`
	`279`	`+ _("I word with no G2, G3, G5, G5.1, G10, G33.1, G76, or G87 to use it"));`
`280`	`280`	`}`
`281`	`281`
`282`	`282`	`if (block->j_flag) { /* could still be useless if xz_plane arc */`
Original file line number	Diff line number	Diff line change
`@@ -554,7 +554,7 @@ void STRAIGHT_PROBE(int line_number,`
`554`	`554`	`}`
`555`	`555`
`556`	`556`
`557`		`-void RIGID_TAP(int line_number, double x, double y, double z)`
	`557`	`+void RIGID_TAP(int line_number, double x, double y, double z, double mult)`
`558`	`558`	`{`
`559`	`559`
`560`	`560`
Original file line number	Diff line number	Diff line change
`@@ -1018,7 +1018,7 @@ void STRAIGHT_FEED(int line_number,`
`1018`	`1018`	`}`
`1019`	`1019`
`1020`	`1020`
`1021`		`-void RIGID_TAP(int line_number, double x, double y, double z)`
	`1021`	`+void RIGID_TAP(int line_number, double x, double y, double z, double scale)`
`1022`	`1022`	`{`
`1023`	`1023`	`double ini_maxvel,acc;`
`1024`	`1024`	`EMC_TRAJ_RIGID_TAP rigidTapMsg;`
`@@ -1044,7 +1044,7 @@ void RIGID_TAP(int line_number, double x, double y, double z)`
`1044`	`1044`	`rigidTapMsg.vel = toExtVel(ini_maxvel);`
`1045`	`1045`	`rigidTapMsg.ini_maxvel = toExtVel(ini_maxvel);`
`1046`	`1046`	`rigidTapMsg.acc = toExtAcc(acc);`
`1047`		`-`
	`1047`	`+ rigidTapMsg.scale = scale;`
`1048`	`1048`	`flush_segments();`
`1049`	`1049`
`1050`	`1050`	`if(ini_maxvel && acc) {`