New alarm method. Re(re)organized status messages.
- Installed a new 'alarm' method to centralize motion kills across alarm or reset events. Right now, this is controlled by system abort and hard limits. But, in the future, a g-code parser error may call this too as a safety feature. - Re(re)organized status messages to just print all errors, regardless from where it was called. This centralizes them into one place. - Misc messages method installed for any user feedback that is not a confirmation or error. Mainly so that there is a place to perform warnings and such. - New stuff installed and still made the flash size smaller by saving flash space from clearing out repeated '\r\n' pgmstrings. - Fixed a bug where hard limits message would print everytime a system abort was sent.
This commit is contained in:
Sonny Jeon
parent
909feb7f79
commit
065ceceb34
10
limits.c
10
limits.c
@ -56,16 +56,14 @@ ISR(LIMIT_INT_vect)
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if (bit_isfalse(sys.execute,EXEC_ALARM)) {
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// Kill all processes upon hard limit event.
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if ((LIMIT_PIN & LIMIT_MASK) ^ LIMIT_MASK) {
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st_go_idle(); // Immediately stop stepper motion
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spindle_stop(); // Stop spindle
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sys.auto_start = false; // Disable auto cycle start.
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sys.execute |= EXEC_ALARM;
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// TODO: When Grbl system status is installed, update here to indicate loss of position.
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mc_alarm(); // Initiate system kill.
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protocol_status_message(STATUS_HARD_LIMIT); // Print ok in interrupt since system killed.
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}
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// else {
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// TODO: When leaving a switch, this interrupt can be activated upon detecting a pin
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// change to high. If so, need to start a countdown timer to check the pin again after
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// a debounce period to not falsely re-engage the alarm.
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// a debounce period to not falsely re-engage the alarm. Not essential, but *could* be
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// a minor annoyance.
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}
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}
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@ -25,6 +25,8 @@
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#include "config.h"
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#include "gcode.h"
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#include "motion_control.h"
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#include "spindle_control.h"
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#include "coolant_control.h"
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#include <util/delay.h>
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#include <math.h>
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#include <stdlib.h>
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@ -223,3 +225,24 @@ void mc_go_home()
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PCICR |= (1 << LIMIT_INT); // Re-enable hard limits.
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}
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}
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// Method to immediately kill all motion and set system alarm. Used by system abort, hard limits,
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// and upon g-code parser error (when installed).
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void mc_alarm()
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{
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// Only this function can set the system alarm. This is done to prevent multiple kill calls
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// by different processes.
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if (bit_isfalse(sys.execute, EXEC_ALARM)) {
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sys.execute |= EXEC_ALARM; // Set alarm to allow subsystem disable for certain settings.
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sys.auto_start = false; // Disable auto cycle start.
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// TODO: When Grbl system status is installed, set position lost state if the cycle is active.
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// if (sys.cycle_start) { POSITION LOST }
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// Immediately force stepper, spindle, and coolant to stop.
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st_go_idle();
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spindle_stop();
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coolant_stop();
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}
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}
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@ -43,4 +43,7 @@ void mc_dwell(float seconds);
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// Send the tool home (not implemented)
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void mc_go_home();
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// Kills all motion and sets system alarm
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void mc_alarm();
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#endif
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90
protocol.c
90
protocol.c
@ -36,68 +36,54 @@ static char line[LINE_BUFFER_SIZE]; // Line to be executed. Zero-terminated.
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static uint8_t char_counter; // Last character counter in line variable.
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static uint8_t iscomment; // Comment/block delete flag for processor to ignore comment characters.
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// Prints all status messages, an 'ok' or 'error', after Grbl has processed a line of incoming
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// serial data, whether this was a g-code block or grbl setting command.
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void protocol_status_message(int8_t status_code)
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// Method to handle status messages, from an 'ok' to report any 'error' that has occurred.
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// Errors can originate from the g-code parser, settings module, or a critical error, such
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// as a triggered hard limit.
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void protocol_status_message(uint8_t status_code)
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{
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// TODO: Compile time option to only return numeric codes for GUIs.
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if (status_code == 0) { // STATUS_OK
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printPgmString(PSTR("ok\r\n"));
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} else {
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printPgmString(PSTR("error: "));
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// All critical error codes are greater than zero. These are defined to be any error
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// that may cause damage by crashing or improper g-code inputs and that are susceptible
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// to Grbl's alarm mode which will stop all processes, if the user enables this option.
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if (status_code > 0) {
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// TODO: Install option to enter alarm mode upon any critical error.
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switch(status_code) {
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case STATUS_BAD_NUMBER_FORMAT:
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printPgmString(PSTR("Bad number format")); break;
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case STATUS_EXPECTED_COMMAND_LETTER:
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printPgmString(PSTR("Expected command letter")); break;
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case STATUS_UNSUPPORTED_STATEMENT:
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printPgmString(PSTR("Unsupported statement")); break;
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case STATUS_FLOATING_POINT_ERROR:
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printPgmString(PSTR("Floating point error")); break;
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case STATUS_MODAL_GROUP_VIOLATION:
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printPgmString(PSTR("Modal group violation")); break;
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case STATUS_INVALID_STATEMENT:
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printPgmString(PSTR("Invalid gcode statement")); break;
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case STATUS_SETTING_DISABLED:
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printPgmString(PSTR("Grbl setting disabled")); break;
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case STATUS_HARD_LIMIT:
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printPgmString(PSTR("Limit triggered <Check and Reset>")); break;
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}
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// All other non-critical error codes are less than zero. These are defined to be any
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// error that is not susceptible to the alarm mode. Typically settings responses.
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} else {
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switch(status_code) {
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case STATUS_SETTING_INVALID:
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printPgmString(PSTR("Invalid setting statement")); break;
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case STATUS_SETTING_STEPS_NEG:
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printPgmString(PSTR("Steps/mm must be > 0.0")); break;
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case STATUS_SETTING_STEP_PULSE_MIN:
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printPgmString(PSTR("Step pulse must be >= 3 microseconds")); break;
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}
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switch(status_code) {
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case STATUS_BAD_NUMBER_FORMAT:
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printPgmString(PSTR("Bad number format")); break;
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case STATUS_EXPECTED_COMMAND_LETTER:
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printPgmString(PSTR("Expected command letter")); break;
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case STATUS_UNSUPPORTED_STATEMENT:
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printPgmString(PSTR("Unsupported statement")); break;
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case STATUS_FLOATING_POINT_ERROR:
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printPgmString(PSTR("Floating point error")); break;
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case STATUS_MODAL_GROUP_VIOLATION:
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printPgmString(PSTR("Modal group violation")); break;
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case STATUS_INVALID_STATEMENT:
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printPgmString(PSTR("Invalid statement")); break;
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case STATUS_HARD_LIMIT:
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printPgmString(PSTR("<ALARM> Limit triggered")); break;
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case STATUS_SETTING_DISABLED:
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printPgmString(PSTR("Grbl setting disabled")); break;
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case STATUS_SETTING_STEPS_NEG:
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printPgmString(PSTR("Steps/mm must be > 0.0")); break;
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case STATUS_SETTING_STEP_PULSE_MIN:
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printPgmString(PSTR("Step pulse must be >= 3 microseconds")); break;
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case STATUS_SETTING_READ_FAIL:
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printPgmString(PSTR("Failed to read EEPROM settings. Using defaults")); break;
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}
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printPgmString(PSTR("\r\n"));
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}
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}
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// Prints Grbl warning messages. This serves as a centralized method to provide additional
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// user feedback for things that do not pass through the protocol_execute_line() function.
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// This includes things like initialization checks or setup warnings when features are
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// enabled. This function maybe called from anywhere in Grbl at the point of concern.
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void protocol_warning_message(int8_t warning_code)
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// Prints miscellaneous messages. This serves as a centralized method to provide additional
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// user feedback for things that do not pass through the protocol_execute_line() function
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// and are not errors or confirmations, such as setup warnings.
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void protocol_misc_message(uint8_t message_code)
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{
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// TODO: Install silence warning messages option in settings
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printPgmString(PSTR("warning: "));
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switch(warning_code) {
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case WARNING_HOMING_ENABLE:
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printPgmString(PSTR("Install all axes limit switches before use")); break;
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case WARNING_SETTING_READ_FAIL:
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printPgmString(PSTR("Failed to read EEPROM settings. Using defaults")); break;
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// TODO: Install silence misc messages option in settings
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switch(message_code) {
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case MESSAGE_HOMING_ENABLE:
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printPgmString(PSTR("warning: Install all axes limit switches before use")); break;
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}
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printPgmString(PSTR("\r\n"));
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}
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@ -181,7 +167,6 @@ void protocol_execute_runtime()
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// System alarm. Something has gone wrong. Disable everything until system reset.
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if (rt_exec & EXEC_ALARM) {
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protocol_status_message(STATUS_HARD_LIMIT);
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while (bit_isfalse(sys.execute,EXEC_RESET)) { sleep_mode(); }
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bit_false(sys.execute,EXEC_ALARM);
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}
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@ -223,7 +208,7 @@ void protocol_execute_runtime()
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// Executes one line of input according to protocol
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int8_t protocol_execute_line(char *line)
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uint8_t protocol_execute_line(char *line)
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{
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if(line[0] == '$') {
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@ -255,6 +240,9 @@ int8_t protocol_execute_line(char *line)
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} else {
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return(gc_execute_line(line)); // Everything else is gcode
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// TODO: Install option to set system alarm upon any error code received back from the
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// the g-code parser. This is a common safety feature on CNCs to help prevent crashes
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// if the g-code doesn't perform as intended.
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}
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}
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34
protocol.h
34
protocol.h
@ -21,28 +21,31 @@
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#ifndef protocol_h
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#define protocol_h
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// Line buffer size from the serial input stream to be executed.
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// NOTE: Not a problem except for extreme cases, but the line buffer size can be too small
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// and g-code blocks can get truncated. Officially, the g-code standards support up to 256
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// characters. In future versions, this will be increased, when we know how much extra
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// memory space we can invest into here or we re-write the g-code parser not to have his
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// buffer.
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#define LINE_BUFFER_SIZE 50
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// Define Grbl status codes.
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#define STATUS_OK 0
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// Critical error codes. Greater than zero.
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#define STATUS_BAD_NUMBER_FORMAT 1
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#define STATUS_EXPECTED_COMMAND_LETTER 2
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#define STATUS_UNSUPPORTED_STATEMENT 3
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#define STATUS_FLOATING_POINT_ERROR 4
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#define STATUS_MODAL_GROUP_VIOLATION 5
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#define STATUS_INVALID_STATEMENT 6
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#define STATUS_SETTING_DISABLED 7
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#define STATUS_HARD_LIMIT 8
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// Non-critical error codes. Less than zero.
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#define STATUS_SETTING_INVALID -1
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#define STATUS_SETTING_STEPS_NEG -2
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#define STATUS_SETTING_STEP_PULSE_MIN -3
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#define STATUS_HARD_LIMIT 7
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#define STATUS_SETTING_DISABLED 8
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#define STATUS_SETTING_STEPS_NEG 9
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#define STATUS_SETTING_STEP_PULSE_MIN 10
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#define STATUS_SETTING_READ_FAIL 11
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// Define Grbl misc message codes
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#define MESSAGE_HOMING_ENABLE 1
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// Define Grbl warning message codes
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#define WARNING_HOMING_ENABLE 1
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#define WARNING_SETTING_READ_FAIL 2
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// Initialize the serial protocol
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void protocol_init();
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@ -52,12 +55,15 @@ void protocol_init();
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void protocol_process();
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// Executes one line of input according to protocol
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int8_t protocol_execute_line(char *line);
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uint8_t protocol_execute_line(char *line);
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// Checks and executes a runtime command at various stop points in main program
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void protocol_execute_runtime();
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// Prints any warning messages.
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void protocol_warning_message(int8_t warning_code);
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// Prints Grbl's status messages.
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void protocol_status_message(uint8_t status_code);
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// Prints any misc messages.
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void protocol_misc_message(uint8_t message_code);
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#endif
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13
serial.c
13
serial.c
@ -26,8 +26,7 @@
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#include <avr/sleep.h>
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#include "serial.h"
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#include "config.h"
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#include "stepper.h"
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#include "spindle_control.h"
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#include "motion_control.h"
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#include "nuts_bolts.h"
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#include "protocol.h"
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@ -166,16 +165,8 @@ ISR(USART_RX_vect)
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case CMD_CYCLE_START: sys.execute |= EXEC_CYCLE_START; break; // Set as true
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case CMD_FEED_HOLD: sys.execute |= EXEC_FEED_HOLD; break; // Set as true
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case CMD_RESET:
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sys.execute |= EXEC_ALARM; // Set alarm to allow subsystem disable for certain settings.
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// TODO: When Grbl system status is installed, set position lost state if the cycle is active.
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// if (sys.cycle_start) { POSITION LOST }
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// Immediately force stepper and spindle subsystem idle at an interrupt level.
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if (!(sys.execute & EXEC_RESET)) { // Force stop only first time.
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st_go_idle();
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spindle_stop();
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}
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if (!(sys.execute & EXEC_RESET)) { mc_alarm(); } // Stop only first time.
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sys.execute |= EXEC_RESET; // Set as true
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break;
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default: // Write character to buffer
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18
settings.c
18
settings.c
@ -148,7 +148,7 @@ void settings_dump() {
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// Parameter lines are on the form '$4=374.3' or '$' to dump current settings
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// NOTE: Assumes '$' already exists in line[0], which is checked by protocol.c.
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int8_t settings_execute_line(char *line) {
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uint8_t settings_execute_line(char *line) {
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uint8_t char_counter = 1;
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// unsigned char letter;
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float parameter, value;
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@ -173,16 +173,16 @@ int8_t settings_execute_line(char *line) {
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//
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// } else {
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if(!read_float(line, &char_counter, ¶meter)) {
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return(STATUS_SETTING_INVALID);
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return(STATUS_BAD_NUMBER_FORMAT);
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}
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if(line[char_counter++] != '=') {
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return(STATUS_SETTING_INVALID);
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return(STATUS_UNSUPPORTED_STATEMENT);
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}
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if(!read_float(line, &char_counter, &value)) {
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return(STATUS_SETTING_INVALID);
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return(STATUS_BAD_NUMBER_FORMAT);
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}
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if(line[char_counter] != 0) {
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return(STATUS_SETTING_INVALID);
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return(STATUS_UNSUPPORTED_STATEMENT);
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}
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return(settings_store_setting(parameter, value));
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// }
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@ -247,7 +247,7 @@ int read_settings() {
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}
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// A helper method to set settings from command line
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int8_t settings_store_setting(int parameter, float value) {
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uint8_t settings_store_setting(int parameter, float value) {
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switch(parameter) {
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case 0: case 1: case 2:
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if (value <= 0.0) { return(STATUS_SETTING_STEPS_NEG); }
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@ -279,7 +279,7 @@ int8_t settings_store_setting(int parameter, float value) {
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case 13:
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if (value) {
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settings.flags |= BITFLAG_HOMING_ENABLE;
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protocol_warning_message(WARNING_HOMING_ENABLE);
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protocol_misc_message(MESSAGE_HOMING_ENABLE);
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} else { settings.flags &= ~BITFLAG_HOMING_ENABLE; }
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break;
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case 14: settings.homing_dir_mask = trunc(value); break;
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@ -293,7 +293,7 @@ int8_t settings_store_setting(int parameter, float value) {
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break;
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case 20: settings.decimal_places = round(value); break;
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default:
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return(STATUS_SETTING_INVALID);
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return(STATUS_INVALID_STATEMENT);
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}
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write_settings();
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return(STATUS_OK);
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@ -302,7 +302,7 @@ int8_t settings_store_setting(int parameter, float value) {
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// Initialize the config subsystem
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void settings_init() {
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if(!read_settings()) {
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protocol_warning_message(WARNING_SETTING_READ_FAIL);
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protocol_status_message(STATUS_SETTING_READ_FAIL);
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settings_reset(true);
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write_settings();
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settings_dump();
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@ -66,10 +66,10 @@ void settings_init();
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void settings_dump();
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// Handle settings command
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int8_t settings_execute_line(char *line);
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uint8_t settings_execute_line(char *line);
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// A helper method to set new settings from command line
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int8_t settings_store_setting(int parameter, float value);
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uint8_t settings_store_setting(int parameter, float value);
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// int8_t settings_execute_startup();
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@ -113,7 +113,7 @@ void st_go_idle()
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// Force stepper dwell to lock axes for a defined amount of time to ensure the axes come to a complete
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// stop and not drift from residual inertial forces at the end of the last movement.
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delay_ms(settings.stepper_idle_lock_time);
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// Disable steppers only upon system alarm activated or by user setting to keep enabled.
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// Disable steppers only upon system alarm activated or by user setting to not be kept enabled.
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if ((settings.stepper_idle_lock_time != 0xff) || bit_istrue(sys.execute,EXEC_ALARM)) {
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STEPPERS_DISABLE_PORT |= (1<<STEPPERS_DISABLE_BIT);
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}
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