ManuelW/grbl-LPC-CoreXY
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Overhauled state machine. New safety door feature.

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- Overhauled the state machine and cleaned up its overall operation.
This involved creating a new ‘suspend’ state for what all external
commands, except real-time commands, are ignored. All hold type states
enter this suspend state.

- Removed ‘auto cycle start’ setting from Grbl. This was not used by
users in its intended way and is somewhat redundant, as GUI manage the
cycle start by streaming. It also muddled up how Grbl should interpret
how and when to execute a g-code block. Removing it made everything
much much simpler.

- Fixed a program pause bug when used with other buffer_sync commands.

- New safety door feature for OEMs. Immediately forces a feed hold and
then de-energizes the machine. Resuming is blocked until the door is
closed. When it is, it re-energizes the system and then resumes on the
normal toolpath.

- Safety door input pin is optional and uses the feed hold pin on A1.
Enabled by config.h define.

- Spindle and coolant re-energizing upon a safety door resume has a
programmable delay time to allow for complete spin up to rpm and
turning on the coolant before resuming motion.

- Safety door-style feed holds can be used instead of regular feed hold
(doesn’t de-energize the machine) with a ‘@‘ character. If the safety
door input pin is not enabled, the system can be resumed at any time.
This commit is contained in:
Sonny Jeon
2015-02-11 21:19:00 -07:00
parent 20c7750dab
commit 4bdc20ffb9
16 changed files with 237 additions and 92 deletions
Download Patch File Download Diff File Expand all files Collapse all files

8
grbl/report.c
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@ -123,6 +123,8 @@ void report_feedback_message(uint8_t message_code)
printPgmString(PSTR("Enabled")); break;
case MESSAGE_DISABLED:
printPgmString(PSTR("Disabled")); break;
case MESSAGE_SAFETY_DOOR_AJAR:
printPgmString(PSTR("Check Door")); break;
}
printPgmString(PSTR("]\r\n"));
}
@ -171,8 +173,7 @@ void report_grbl_settings() {
printPgmString(PSTR(")\r\n$11=")); printFloat_SettingValue(settings.junction_deviation);
printPgmString(PSTR(" (junction deviation, mm)\r\n$12=")); printFloat_SettingValue(settings.arc_tolerance);
printPgmString(PSTR(" (arc tolerance, mm)\r\n$13=")); print_uint8_base10(bit_istrue(settings.flags,BITFLAG_REPORT_INCHES));
printPgmString(PSTR(" (report inches, bool)\r\n$14=")); print_uint8_base10(bit_istrue(settings.flags,BITFLAG_AUTO_START));
printPgmString(PSTR(" (auto start, bool)\r\n$20=")); print_uint8_base10(bit_istrue(settings.flags,BITFLAG_SOFT_LIMIT_ENABLE));
printPgmString(PSTR(" (report inches, bool)\r\n$20=")); print_uint8_base10(bit_istrue(settings.flags,BITFLAG_SOFT_LIMIT_ENABLE));
printPgmString(PSTR(" (soft limits, bool)\r\n$21=")); print_uint8_base10(bit_istrue(settings.flags,BITFLAG_HARD_LIMIT_ENABLE));
printPgmString(PSTR(" (hard limits, bool)\r\n$22=")); print_uint8_base10(bit_istrue(settings.flags,BITFLAG_HOMING_ENABLE));
printPgmString(PSTR(" (homing cycle, bool)\r\n$23=")); print_uint8_base10(settings.homing_dir_mask);
@ -379,12 +380,13 @@ void report_realtime_status()
// Report current machine state
switch (sys.state) {
case STATE_IDLE: printPgmString(PSTR("<Idle")); break;
case STATE_QUEUED: printPgmString(PSTR("<Queue")); break;
case STATE_MOTION_CANCEL: // Report run state.
case STATE_CYCLE: printPgmString(PSTR("<Run")); break;
case STATE_HOLD: printPgmString(PSTR("<Hold")); break;
case STATE_HOMING: printPgmString(PSTR("<Home")); break;
case STATE_ALARM: printPgmString(PSTR("<Alarm")); break;
case STATE_CHECK_MODE: printPgmString(PSTR("<Check")); break;
case STATE_SAFETY_DOOR: printPgmString(PSTR("<Door")); break;
}
// If reporting a position, convert the current step count (current_position) to millimeters.