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
106
report.c
106
report.c
@ -62,8 +62,6 @@ void report_status_message(uint8_t status_code)
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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("Hard limit. MPos lost?")); break;
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case STATUS_SETTING_DISABLED:
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printPgmString(PSTR("Setting disabled")); break;
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case STATUS_SETTING_VALUE_NEG:
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@ -73,37 +71,47 @@ void report_status_message(uint8_t status_code)
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case STATUS_SETTING_READ_FAIL:
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printPgmString(PSTR("EEPROM read fail. Using defaults")); break;
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case STATUS_IDLE_ERROR:
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printPgmString(PSTR("Busy or locked")); break;
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case STATUS_ABORT_CYCLE:
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printPgmString(PSTR("Abort during cycle. MPos lost?")); break;
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case STATUS_HOMING_LOCK:
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printPgmString(PSTR("Locked until homed")); break;
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printPgmString(PSTR("Busy or queued")); break;
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case STATUS_ALARM_LOCK:
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printPgmString(PSTR("Alarm lock")); 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 alarm messages.
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void report_alarm_message(int8_t alarm_code)
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{
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printPgmString(PSTR("ALARM: "));
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switch (alarm_code) {
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case ALARM_HARD_LIMIT:
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printPgmString(PSTR("Hard limit")); break;
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case ALARM_ABORT_CYCLE:
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printPgmString(PSTR("Abort during cycle")); break;
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}
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printPgmString(PSTR(". MPos?\r\n"));
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}
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// Prints feedback messages. This serves as a centralized method to provide additional
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// user feedback for things that are not of the status message response protocol. These
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// are messages such as setup warnings and how to exit alarms.
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// user feedback for things that are not of the status/alarm message protocol. These are
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// messages such as setup warnings, switch toggling, and how to exit alarms.
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// NOTE: For interfaces, messages are always placed within brackets. And if silent mode
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// is installed, the message number codes are less than zero.
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// TODO: Install silence feedback messages option in settings
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void report_feedback_message(int8_t message_code)
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void report_feedback_message(uint8_t message_code)
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{
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printPgmString(PSTR("["));
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switch(message_code) {
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case MESSAGE_CRITICAL_EVENT:
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printPgmString(PSTR("ALARM: Check and reset")); break;
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case MESSAGE_HOMING_ALARM:
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printPgmString(PSTR("'$H' to home and unlock")); break;
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printPgmString(PSTR("Reset to continue")); break;
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case MESSAGE_ALARM_LOCK:
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printPgmString(PSTR("'$H'|'$X' to unlock")); break;
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case MESSAGE_ALARM_UNLOCK:
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printPgmString(PSTR("Caution: Unlocked")); break;
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case MESSAGE_ENABLED:
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printPgmString(PSTR("Enabled")); break;
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case MESSAGE_DISABLED:
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printPgmString(PSTR("Disabled")); break;
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case MESSAGE_HOMING_UNLOCK:
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printPgmString(PSTR("Unlocked. MPos lost?")); break;
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}
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printPgmString(PSTR("]\r\n"));
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}
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@ -127,7 +135,7 @@ void report_grbl_help() {
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"$S1 (toggle blk del)\r\n"
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"$S2 (toggle single blk)\r\n"
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"$S3 (toggle opt stop)\r\n"
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"$X (kill homing lock)\r\n"
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"$X (kill alarm lock)\r\n"
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"$H (run homing cycle)\r\n"
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"~ (cycle start)\r\n"
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"! (feed hold)\r\n"
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@ -287,37 +295,39 @@ void report_startup_line(uint8_t n, char *line)
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// especially during g-code programs with fast, short line segments and high frequency reports (5-20Hz).
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void report_realtime_status()
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{
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// **Under construction** Bare-bones status report. Provides real-time machine position relative to
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// the system power on location (0,0,0) and work coordinate position (G54 and G92 applied). Eventually
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// to be added are distance to go on block, processed block id, and feed rate. Also a settings bitmask
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// for a user to select the desired real-time data.
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uint8_t i;
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int32_t current_position[3]; // Copy current state of the system position variable
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memcpy(current_position,sys.position,sizeof(sys.position));
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float print_position[3];
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// Report machine position
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printPgmString(PSTR("MPos:["));
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for (i=0; i<= 2; i++) {
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print_position[i] = current_position[i]/settings.steps_per_mm[i];
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if (bit_istrue(settings.flags,BITFLAG_REPORT_INCHES)) { print_position[i] *= INCH_PER_MM; }
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printFloat(print_position[i]);
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if (i < 2) { printPgmString(PSTR(",")); }
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else { printPgmString(PSTR("]")); }
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}
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// **Under construction** Bare-bones status report. Provides real-time machine position relative to
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// the system power on location (0,0,0) and work coordinate position (G54 and G92 applied). Eventually
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// to be added are distance to go on block, processed block id, and feed rate. Also a settings bitmask
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// for a user to select the desired real-time data.
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uint8_t i;
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int32_t current_position[3]; // Copy current state of the system position variable
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memcpy(current_position,sys.position,sizeof(sys.position));
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float print_position[3];
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// Report work position
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printPgmString(PSTR(",WPos:["));
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for (i=0; i<= 2; i++) {
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if (bit_istrue(settings.flags,BITFLAG_REPORT_INCHES)) {
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print_position[i] -= (gc.coord_system[i]+gc.coord_offset[i])*INCH_PER_MM;
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} else {
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print_position[i] -= gc.coord_system[i]+gc.coord_offset[i];
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}
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printFloat(print_position[i]);
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if (i < 2) { printPgmString(PSTR(",")); }
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else { printPgmString(PSTR("]")); }
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}
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printPgmString(PSTR("\r\n"));
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// TODO: Add Grbl state feedback, i.e. IDLE, RUN, HOLD, HOME, etc.
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// Report machine position
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printPgmString(PSTR("MPos:["));
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for (i=0; i<= 2; i++) {
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print_position[i] = current_position[i]/settings.steps_per_mm[i];
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if (bit_istrue(settings.flags,BITFLAG_REPORT_INCHES)) { print_position[i] *= INCH_PER_MM; }
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printFloat(print_position[i]);
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if (i < 2) { printPgmString(PSTR(",")); }
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else { printPgmString(PSTR("]")); }
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}
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// Report work position
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printPgmString(PSTR(",WPos:["));
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for (i=0; i<= 2; i++) {
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if (bit_istrue(settings.flags,BITFLAG_REPORT_INCHES)) {
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print_position[i] -= (gc.coord_system[i]+gc.coord_offset[i])*INCH_PER_MM;
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} else {
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print_position[i] -= gc.coord_system[i]+gc.coord_offset[i];
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}
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printFloat(print_position[i]);
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if (i < 2) { printPgmString(PSTR(",")); }
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else { printPgmString(PSTR("]")); }
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}
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printPgmString(PSTR("\r\n"));
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}
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