Merge pull request #646 from Paciente8159/stop-delay-on-alarm

fixed dwell to resume on alarm or error
Paciente8159 · Feb 25, 2024 · bba19db · bba19db
2 parents c9a4e32 + e051c32
commit bba19db
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Showing 3 changed files with 14 additions and 3 deletions.
diff --git a/uCNC/src/cnc.c b/uCNC/src/cnc.c
@@ -570,7 +570,7 @@ void cnc_clear_exec_state(uint8_t statemask)
 			{
 				if (!planner_buffer_is_empty())
 				{
-					cnc_delay_ms(DELAY_ON_RESUME_COOLANT * 1000);
+					cnc_dwell_ms(DELAY_ON_RESUME_COOLANT * 1000);
 				}
 			}
 #endif
@@ -583,7 +583,7 @@ void cnc_clear_exec_state(uint8_t statemask)
 				protocol_send_feedback(MSG_FEEDBACK_10);
 				if (!planner_buffer_is_empty())
 				{
-					cnc_delay_ms(DELAY_ON_RESUME_SPINDLE * 1000);
+					cnc_dwell_ms(DELAY_ON_RESUME_SPINDLE * 1000);
 				}
 			}
 #endif
@@ -594,6 +594,7 @@ void cnc_clear_exec_state(uint8_t statemask)
 	CLEARFLAG(cnc_state.exec_state, statemask);
 }
 
+// executes delay
 void cnc_delay_ms(uint32_t milliseconds)
 {
 	milliseconds += mcu_millis();
@@ -603,6 +604,15 @@ void cnc_delay_ms(uint32_t milliseconds)
 	} while (mcu_millis() < milliseconds);
 }
 
+//executes delay (resumes earlier on error)
+void cnc_dwell_ms(uint32_t milliseconds)
+{
+	milliseconds += mcu_millis();
+	do
+	{
+	} while ((mcu_millis() < milliseconds) && cnc_dotasks());
+}
+
 void cnc_reset(void)
 {
 	// resets all realtime command flags

diff --git a/uCNC/src/cnc.h b/uCNC/src/cnc.h
@@ -165,6 +165,7 @@ extern "C"
 	void cnc_stop(void);
 	uint8_t cnc_unlock(bool force);
 	void cnc_delay_ms(uint32_t miliseconds);
+	void cnc_dwell_ms(uint32_t miliseconds);
 	void cnc_store_motion(void);
 	void cnc_restore_motion(void);
 	uint8_t cnc_parse_cmd(void);

diff --git a/uCNC/src/core/motion_control.c b/uCNC/src/core/motion_control.c
@@ -685,7 +685,7 @@ uint8_t mc_dwell(motion_data_t *block_data)
 	if (!mc_checkmode) // check mode (gcode simulation) doesn't send code to planner
 	{
 		mc_update_tools(block_data);
-		cnc_delay_ms(block_data->dwell);
+		cnc_dwell_ms(block_data->dwell);
 	}
 
 	return STATUS_OK;