Re-factored system states and alarm management. Serial baud support greater than 57600.

- Refactored system states to be more clear and concise. Alarm locks
processes when position is unknown to indicate to user something has
gone wrong.

- Changed mc_alarm to mc_reset, which now manages the system reset
function. Centralizes it.

- Renamed '$X' kill homing lock to kill alarm lock.

- Created an alarm error reporting method to clear up what is an alarm:
message vs a status error: message. For GUIs mainly. Alarm codes are
negative. Status codes are positive.

- Serial baud support upto 115200. Previous baudrate calc was unstable
for 57600 and above.

- Alarm state locks out all g-code blocks, including startup scripts,
but allows user to access settings and internal commands. For example,
to disable hard limits, if they are problematic.

- Hard limits do not respond in an alarm state.

- Fixed a problem with the hard limit interrupt during the homing
cycle. The interrupt register is still active during the homing cycle
and still signal the interrupt to trigger when re-enabled. Instead,
just disabled the register.

- Homing rate adjusted. All axes move at homing seek rate, regardless
of how many axes move at the same time. This is unlike how the stepper
module does it as a point to point rate.

- New config.h settings to disable the homing rate adjustment and the
force homing upon powerup.

- Reduced the number of startup lines back down to 2 from 3. This
discourages users from placing motion block in there, which can be very
dangerous.

- Startup blocks now run only after an alarm-free reset or after a
homing cycle. Does not run when $X kill is called. For satefy reasons
This commit is contained in:
Sonny Jeon
2012-11-14 17:36:29 -07:00
parent e6ad15b548
commit 559feb97e2
14 changed files with 466 additions and 420 deletions

106
report.c
View File

@ -62,8 +62,6 @@ void report_status_message(uint8_t status_code)
printPgmString(PSTR("Modal group violation")); break;
case STATUS_INVALID_STATEMENT:
printPgmString(PSTR("Invalid statement")); break;
case STATUS_HARD_LIMIT:
printPgmString(PSTR("Hard limit. MPos lost?")); break;
case STATUS_SETTING_DISABLED:
printPgmString(PSTR("Setting disabled")); break;
case STATUS_SETTING_VALUE_NEG:
@ -73,37 +71,47 @@ void report_status_message(uint8_t status_code)
case STATUS_SETTING_READ_FAIL:
printPgmString(PSTR("EEPROM read fail. Using defaults")); break;
case STATUS_IDLE_ERROR:
printPgmString(PSTR("Busy or locked")); break;
case STATUS_ABORT_CYCLE:
printPgmString(PSTR("Abort during cycle. MPos lost?")); break;
case STATUS_HOMING_LOCK:
printPgmString(PSTR("Locked until homed")); break;
printPgmString(PSTR("Busy or queued")); break;
case STATUS_ALARM_LOCK:
printPgmString(PSTR("Alarm lock")); break;
}
printPgmString(PSTR("\r\n"));
}
}
// Prints alarm messages.
void report_alarm_message(int8_t alarm_code)
{
printPgmString(PSTR("ALARM: "));
switch (alarm_code) {
case ALARM_HARD_LIMIT:
printPgmString(PSTR("Hard limit")); break;
case ALARM_ABORT_CYCLE:
printPgmString(PSTR("Abort during cycle")); break;
}
printPgmString(PSTR(". MPos?\r\n"));
}
// Prints feedback messages. This serves as a centralized method to provide additional
// user feedback for things that are not of the status message response protocol. These
// are messages such as setup warnings and how to exit alarms.
// user feedback for things that are not of the status/alarm message protocol. These are
// messages such as setup warnings, switch toggling, and how to exit alarms.
// NOTE: For interfaces, messages are always placed within brackets. And if silent mode
// is installed, the message number codes are less than zero.
// TODO: Install silence feedback messages option in settings
void report_feedback_message(int8_t message_code)
void report_feedback_message(uint8_t message_code)
{
printPgmString(PSTR("["));
switch(message_code) {
case MESSAGE_CRITICAL_EVENT:
printPgmString(PSTR("ALARM: Check and reset")); break;
case MESSAGE_HOMING_ALARM:
printPgmString(PSTR("'$H' to home and unlock")); break;
printPgmString(PSTR("Reset to continue")); break;
case MESSAGE_ALARM_LOCK:
printPgmString(PSTR("'$H'|'$X' to unlock")); break;
case MESSAGE_ALARM_UNLOCK:
printPgmString(PSTR("Caution: Unlocked")); break;
case MESSAGE_ENABLED:
printPgmString(PSTR("Enabled")); break;
case MESSAGE_DISABLED:
printPgmString(PSTR("Disabled")); break;
case MESSAGE_HOMING_UNLOCK:
printPgmString(PSTR("Unlocked. MPos lost?")); break;
}
printPgmString(PSTR("]\r\n"));
}
@ -127,7 +135,7 @@ void report_grbl_help() {
"$S1 (toggle blk del)\r\n"
"$S2 (toggle single blk)\r\n"
"$S3 (toggle opt stop)\r\n"
"$X (kill homing lock)\r\n"
"$X (kill alarm lock)\r\n"
"$H (run homing cycle)\r\n"
"~ (cycle start)\r\n"
"! (feed hold)\r\n"
@ -287,37 +295,39 @@ void report_startup_line(uint8_t n, char *line)
// especially during g-code programs with fast, short line segments and high frequency reports (5-20Hz).
void report_realtime_status()
{
// **Under construction** Bare-bones status report. Provides real-time machine position relative to
// the system power on location (0,0,0) and work coordinate position (G54 and G92 applied). Eventually
// to be added are distance to go on block, processed block id, and feed rate. Also a settings bitmask
// for a user to select the desired real-time data.
uint8_t i;
int32_t current_position[3]; // Copy current state of the system position variable
memcpy(current_position,sys.position,sizeof(sys.position));
float print_position[3];
// Report machine position
printPgmString(PSTR("MPos:["));
for (i=0; i<= 2; i++) {
print_position[i] = current_position[i]/settings.steps_per_mm[i];
if (bit_istrue(settings.flags,BITFLAG_REPORT_INCHES)) { print_position[i] *= INCH_PER_MM; }
printFloat(print_position[i]);
if (i < 2) { printPgmString(PSTR(",")); }
else { printPgmString(PSTR("]")); }
}
// **Under construction** Bare-bones status report. Provides real-time machine position relative to
// the system power on location (0,0,0) and work coordinate position (G54 and G92 applied). Eventually
// to be added are distance to go on block, processed block id, and feed rate. Also a settings bitmask
// for a user to select the desired real-time data.
uint8_t i;
int32_t current_position[3]; // Copy current state of the system position variable
memcpy(current_position,sys.position,sizeof(sys.position));
float print_position[3];
// Report work position
printPgmString(PSTR(",WPos:["));
for (i=0; i<= 2; i++) {
if (bit_istrue(settings.flags,BITFLAG_REPORT_INCHES)) {
print_position[i] -= (gc.coord_system[i]+gc.coord_offset[i])*INCH_PER_MM;
} else {
print_position[i] -= gc.coord_system[i]+gc.coord_offset[i];
}
printFloat(print_position[i]);
if (i < 2) { printPgmString(PSTR(",")); }
else { printPgmString(PSTR("]")); }
}
printPgmString(PSTR("\r\n"));
// TODO: Add Grbl state feedback, i.e. IDLE, RUN, HOLD, HOME, etc.
// Report machine position
printPgmString(PSTR("MPos:["));
for (i=0; i<= 2; i++) {
print_position[i] = current_position[i]/settings.steps_per_mm[i];
if (bit_istrue(settings.flags,BITFLAG_REPORT_INCHES)) { print_position[i] *= INCH_PER_MM; }
printFloat(print_position[i]);
if (i < 2) { printPgmString(PSTR(",")); }
else { printPgmString(PSTR("]")); }
}
// Report work position
printPgmString(PSTR(",WPos:["));
for (i=0; i<= 2; i++) {
if (bit_istrue(settings.flags,BITFLAG_REPORT_INCHES)) {
print_position[i] -= (gc.coord_system[i]+gc.coord_offset[i])*INCH_PER_MM;
} else {
print_position[i] -= gc.coord_system[i]+gc.coord_offset[i];
}
printFloat(print_position[i]);
if (i < 2) { printPgmString(PSTR(",")); }
else { printPgmString(PSTR("]")); }
}
printPgmString(PSTR("\r\n"));
}