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

config.h

@@ -69,9 +69,9 @@
 #define COOLANT_FLOOD_PORT  PORTC
 #define COOLANT_FLOOD_BIT   3  // Uno Analog Pin 3
 
-// #define ENABLE_M7  // Mist coolant disabled by default. Uncomment to enable.
 // NOTE: Uno analog pins 4 and 5 are reserved for an i2c interface, and may be installed at
 // a later date if flash and memory space allows.
+// #define ENABLE_M7  // Mist coolant disabled by default. Uncomment to enable.
 #ifdef ENABLE_M7
   #define COOLANT_MIST_DDR   DDRC
   #define COOLANT_MIST_PORT  PORTC
@@ -158,6 +158,18 @@
 // time step. Also, keep in mind that the Arduino delay timer is not very accurate for long delays.
 #define DWELL_TIME_STEP 50 // Integer (1-255) (milliseconds)
 
+// If homing is enabled, homing init lock sets Grbl into an alarm state upon power up. This forces
+// the user to perform the homing cycle (or override the locks) before doing anything else. This is
+// mainly a safety feature to remind the user to home, since position is unknown to Grbl.
+#define HOMING_INIT_LOCK // Comment to disable
+
+// The homing cycle seek and feed rates will adjust so all axes independently move at the homing
+// seek and feed rates regardless of how many axes are in motion simultaneously. If disabled, rates
+// are point-to-point rates, as done in normal operation. For example in an XY diagonal motion, the
+// diagonal motion moves at the intended rate, but the individual axes move at 70% speed. This option
+// just moves them all at 100% speed.
+#define HOMING_RATE_ADJUST // Comment to disable
+
 // Number of homing cycles performed after when the machine initially jogs to limit switches.
 // This help in preventing overshoot and should improve repeatability. This value should be one or 
 // greater.
@@ -167,7 +179,7 @@
 // and addresses are defined in settings.h. With the current settings, up to 5 startup blocks may
 // be stored and executed in order. These startup blocks would typically be used to set the g-code
 // parser state depending on user preferences.
-#define N_STARTUP_LINE 3 // Integer (1-5)
+#define N_STARTUP_LINE 2 // Integer (1-5)
 
 // ---------------------------------------------------------------------------------------
 // FOR ADVANCED USERS ONLY: 

gcode.c

@@ -84,6 +84,11 @@ static float to_millimeters(float value)
 // internal functions in terms of (mm, mm/min) and absolute machine coordinates, respectively.
 uint8_t gc_execute_line(char *line) 
 {
+
+  // If in alarm state, don't process. Immediately return with error.
+  // NOTE: Might not be right place for this, but also prevents $N storing during alarm.
+  if (sys.state == STATE_ALARM) { return(STATUS_ALARM_LOCK); }
+ 
   uint8_t char_counter = 0;  
   char letter;
   float value;
@@ -545,7 +550,7 @@ uint8_t gc_execute_line(char *line)
     
     // If complete, reset to reload defaults (G92.2,G54,G17,G90,G94,M48,G40,M5,M9). Otherwise,
     // re-enable program flow after pause complete, where cycle start will resume the program.
-    if (gc.program_flow == PROGRAM_FLOW_COMPLETED) { sys.execute |= EXEC_RESET; }
+    if (gc.program_flow == PROGRAM_FLOW_COMPLETED) { mc_reset(); }
     else { gc.program_flow = PROGRAM_FLOW_RUNNING; }
   }    
   

limits.c

@@ -43,27 +43,38 @@ void limits_init()
   if (bit_istrue(settings.flags,BITFLAG_HARD_LIMIT_ENABLE)) {
     LIMIT_PCMSK |= LIMIT_MASK; // Enable specific pins of the Pin Change Interrupt
     PCICR |= (1 << LIMIT_INT); // Enable Pin Change Interrupt
+  } else {
+    LIMIT_PCMSK &= ~LIMIT_MASK; // Disable
+    PCICR &= ~(1 << LIMIT_INT); 
   }
 }
 
-// This is the Limit Pin Change Interrupt, which handles the hard limit feature.
+// This is the Limit Pin Change Interrupt, which handles the hard limit feature. A bouncing 
+// limit switch can cause a lot of problems, like false readings and multiple interrupt calls.
+// If a switch is triggered at all, something bad has happened and treat it as such, regardless
+// if a limit switch is being disengaged. It's impossible to reliably tell the state of a 
+// bouncing pin without a debouncing method.
 // NOTE: Do not attach an e-stop to the limit pins, because this interrupt is disabled during
 // homing cycles and will not respond correctly. Upon user request or need, there may be a
 // special pinout for an e-stop, but it is generally recommended to just directly connect
 // your e-stop switch to the Arduino reset pin, since it is the most correct way to do this.
-// TODO: This interrupt may be used to manage the homing cycle directly with the main stepper
-// interrupt without adding too much to it. All it would need is some way to stop one axis 
-// when its limit is triggered and continue the others. This may reduce some of the code, but
-// would make Grbl a little harder to read and understand down road. Holding off on this until
-// we move on to new hardware or flash space becomes an issue. If it ain't broke, don't fix it.
 ISR(LIMIT_INT_vect) 
 {
-  // Only enter if the system alarm is not active.
+  // TODO: This interrupt may be used to manage the homing cycle directly with the main stepper
+  // interrupt without adding too much to it. All it would need is some way to stop one axis 
+  // when its limit is triggered and continue the others. This may reduce some of the code, but
+  // would make Grbl a little harder to read and understand down road. Holding off on this until
+  // we move on to new hardware or flash space becomes an issue. If it ain't broke, don't fix it.
+
+  // Ignore limit switches if already in an alarm state or in-process of executing an alarm.
+  // When in the alarm state, Grbl should have been reset or will force a reset, so any pending 
+  // moves in the planner and serial buffers are all cleared and newly sent blocks will be 
+  // locked out until a homing cycle or a kill lock command. Allows the user to disable the hard
+  // limit setting if their limits are constantly triggering after a reset and move their axes.
+  if (sys.state != STATE_ALARM) { 
     if (bit_isfalse(sys.execute,EXEC_ALARM)) {
-    // Kill all processes upon hard limit event.
+      mc_reset(); // Initiate system kill.
-    if ((LIMIT_PIN & LIMIT_MASK) ^ LIMIT_MASK) {
+      sys.execute |= EXEC_CRIT_EVENT; // Indicate hard limit critical event
-      mc_alarm(); // Initiate system kill.
-      sys.state = STATE_LIMIT; // Set system state to indicate event.
     }
   }
 }
@@ -104,6 +115,11 @@ static void homing_cycle(bool x_axis, bool y_axis, bool z_axis, int8_t pos_dir,
   // Compute the adjusted step rate change with each acceleration tick. (in step/min/acceleration_tick)
   uint32_t delta_rate = ceil( ds*settings.acceleration/(60*ACCELERATION_TICKS_PER_SECOND));
   
+  #ifdef HOMING_RATE_ADJUST
+    // Adjust homing rate so a multiple axes moves all at the homing rate independently.
+    homing_rate *= sqrt(x_axis+y_axis+z_axis);
+  #endif
+  
   // Nominal and initial time increment per step. Nominal should always be greater then 3
   // usec, since they are based on the same parameters as the main stepper routine. Initial
   // is based on the MINIMUM_STEPS_PER_MINUTE config. Since homing feed can be very slow,
@@ -191,12 +207,13 @@ static void homing_cycle(bool x_axis, bool y_axis, bool z_axis, int8_t pos_dir,
 
 void limits_go_home() 
 {  
-  // Enable only the steppers, not the cycle. Cycle should be complete.
+  // Enable only the steppers, not the cycle. Cycle should be inactive/complete.
   st_wake_up();
   
   // Jog all axes toward home to engage their limit switches at faster homing seek rate.
-  homing_cycle(false, false, true, true, false, settings.homing_seek_rate);  // First jog the z axis
+  // First jog z-axis to clear workspace, then jog the x and y axis.
-  homing_cycle(true, true, false, true, false, settings.homing_seek_rate);  // Then jog the x and y axis
+  homing_cycle(false, false, true, true, false, settings.homing_seek_rate);  // z-axis
+  homing_cycle(true, true, false, true, false, settings.homing_seek_rate);  // xy-axes
   delay_ms(settings.homing_debounce_delay); // Delay to debounce signal
     
   // Now in proximity of all limits. Carefully leave and approach switches in multiple cycles

main.c

@@ -45,14 +45,14 @@ system_t sys;
 int main(void)
 {
   // Initialize system
-  serial_init(BAUD_RATE); // Setup serial baud rate and interrupts
+  serial_init(); // Setup serial baud rate and interrupts
   settings_init(); // Load grbl settings from EEPROM
   st_init(); // Setup stepper pins and interrupt timers
   sei(); // Enable interrupts
   
   memset(&sys, 0, sizeof(sys));  // Clear all system variables
   sys.abort = true;   // Set abort to complete initialization
-  sys.state = STATE_ALARM;  // Set alarm state to indicate unknown initial position
+  sys.state = STATE_INIT;  // Set alarm state to indicate unknown initial position
   
   for(;;) {
   
@@ -60,7 +60,6 @@ int main(void)
     // Once here, it is safe to re-initialize the system. At startup, the system will automatically
     // reset to finish the initialization process.
     if (sys.abort) {
-      
       // Reset system.
       serial_reset_read_buffer(); // Clear serial read buffer
       plan_init(); // Clear block buffer and planner variables
@@ -72,29 +71,34 @@ int main(void)
       st_reset(); // Clear stepper subsystem variables.
 
       // Sync cleared gcode and planner positions to current system position, which is only
-      // cleared upon startup, not a reset/abort. If Grbl does not know or can ensure its 
+      // cleared upon startup, not a reset/abort. 
-      // position, a feedback message will be sent back to the user to let them know. Also,
-      // if position is lost and homing is enabled, the axes motions will be locked, and 
-      // user must either perform the homing cycle '$H' or purge the system locks '$P' to 
-      // resume.
       sys_sync_current_position();
 
       // Reset system variables.
       sys.abort = false;
       sys.execute = 0;
-      if (sys.state == STATE_ALARM && bit_istrue(settings.flags,BITFLAG_HOMING_ENABLE)) { 
-        // Position has either been lost from a critical event or a power cycle reboot. If
-        // homing is enabled, force user to home to get machine position. Otherwise, let the
-        // user manage position on their own.
-        report_feedback_message(MESSAGE_HOMING_ALARM); 
-      } else {
-        sys.state = STATE_IDLE;
-      }
       if (bit_istrue(settings.flags,BITFLAG_AUTO_START)) { sys.auto_start = true; }
       
-      // Execute user startup script
+      // Check for power-up and set system alarm if homing is enabled to force homing cycle
+      // by setting Grbl's alarm state. Alarm locks out all g-code commands, including the
+      // startup scripts, but allows access to settings and internal commands. Only a homing
+      // cycle '$H' or kill alarm locks '$X' will disable the alarm.
+      // NOTE: The startup script will run after successful completion of the homing cycle, but
+      // not after disabling the alarm locks. Prevents motion startup blocks from crashing into
+      // things uncontrollably. Very bad.
+      #ifdef HOMING_INIT_LOCK
+        if (sys.state == STATE_INIT && bit_istrue(settings.flags,BITFLAG_HOMING_ENABLE)) { sys.state = STATE_ALARM; }
+      #endif
+      
+      // Check for and report alarm state after a reset, error, or an initial power up.
+      if (sys.state == STATE_ALARM) {
+        report_feedback_message(MESSAGE_ALARM_LOCK); 
+      } else {
+        // All systems go. Set system to ready and execute startup script.
+        sys.state = STATE_IDLE;
         protocol_execute_startup(); 
       }
+    }
     
     protocol_execute_runtime();
     protocol_process(); // ... process the serial protocol

motion_control.c

@@ -67,10 +67,8 @@ void mc_line(float x, float y, float z, float feed_rate, uint8_t invert_feed_rat
   if (bit_isfalse(gc.switches,BITFLAG_CHECK_GCODE)) {
     plan_buffer_line(x, y, z, feed_rate, invert_feed_rate);
     
-    // Indicate to the system there is now a planned block in the buffer ready to cycle start.
+    // If idle, indicate to the system there is now a planned block in the buffer ready to cycle 
-    // NOTE: If homing cycles are enabled, a position lost state will lock out all motions,
+    // start. Otherwise ignore and continue on.
-    // until a homing cycle has been completed. This is a safety feature to help prevent 
-    // the machine from crashing.
     if (!sys.state) { sys.state = STATE_QUEUED; }
     
     // Auto-cycle start immediately after planner finishes. Enabled/disabled by grbl settings. During 
@@ -214,13 +212,10 @@ void mc_dwell(float seconds)
 void mc_go_home()
 {
   sys.state = STATE_HOMING; // Set system state variable
-  PCICR &= ~(1 << LIMIT_INT);   // Disable hard limits pin change interrupt
+  LIMIT_PCMSK &= ~LIMIT_MASK; // Disable hard limits pin change register for cycle duration
   
   limits_go_home(); // Perform homing routine.
-  if (sys.abort) {
+  if (sys.abort) { return; } // Did not complete. Alarm state set by mc_alarm.
-    sys.state = STATE_ALARM; // Homing routine did not complete.
-    return; 
-  }
 
   // The machine should now be homed and machine zero has been located. Upon completion, 
   // reset system position and sync internal position vectors.
@@ -237,32 +232,42 @@ void mc_go_home()
   if (bit_istrue(settings.homing_dir_mask,bit(Y_DIRECTION_BIT))) { y_dir = 1; }
   if (bit_istrue(settings.homing_dir_mask,bit(Z_DIRECTION_BIT))) { z_dir = 1; }
   mc_line(x_dir*settings.homing_pulloff, y_dir*settings.homing_pulloff, 
-          z_dir*settings.homing_pulloff, settings.homing_feed_rate, false);
+          z_dir*settings.homing_pulloff, settings.homing_seek_rate, false);
   st_cycle_start(); // Move it. Nothing should be in the buffer except this motion. 
   plan_synchronize(); // Make sure the motion completes.
   
   // The gcode parser position was circumvented by the pull-off maneuver, so sync position vectors.
   sys_sync_current_position();
 
-  // If hard limits feature enabled, re-enable hard limits interrupt after homing cycle.
+  // If hard limits feature enabled, re-enable hard limits pin change register after homing cycle.
-  if (bit_istrue(settings.flags,BITFLAG_HARD_LIMIT_ENABLE)) { PCICR |= (1 << LIMIT_INT); }
+  if (bit_istrue(settings.flags,BITFLAG_HARD_LIMIT_ENABLE)) { LIMIT_PCMSK |= LIMIT_MASK; }
   // Finished! 
 }
 
 
-// Method to immediately kill all motion and set system alarm. Used by system abort, hard limits,
+// Method to ready the system to reset by setting the runtime reset command and killing any
-// and upon g-code parser error (when installed).
+// active processes in the system. This also checks if a system reset is issued while Grbl
-void mc_alarm()
+// is in a motion state. If so, kills the steppers and sets the system alarm to flag position
+// lost, since there was an abrupt uncontrolled deceleration. Called at an interrupt level by
+// runtime abort command and hard limits. So, keep to a minimum.
+void mc_reset()
 {
-  // Only this function can set the system alarm. This is done to prevent multiple kill calls 
+  // Only this function can set the system reset. Helps prevent multiple kill calls.
-  // by different processes.
+  if (bit_isfalse(sys.execute, EXEC_RESET)) {
-  if (bit_isfalse(sys.execute, EXEC_ALARM)) {
+    sys.execute |= EXEC_RESET;
-    // Set system alarm flag to have the main program check for anything wrong with shutting
+
-    // down the system.
+    // Kill spindle and coolant.   
-    sys.execute |= EXEC_ALARM;
-    // Immediately force stepper, spindle, and coolant to stop.
-    st_go_idle();  
     spindle_stop();
     coolant_stop();
+
+    // Kill steppers only if in any motion state, i.e. cycle, feed hold, homing, or jogging
+    // NOTE: If steppers are kept enabled via the step idle delay setting, this also keeps
+    // the steppers enabled by avoiding the go_idle call altogether, unless the motion state is
+    // violated, by which, all bets are off.
+    switch (sys.state) {
+      case STATE_CYCLE: case STATE_HOLD: case STATE_HOMING: // case STATE_JOG:
+        sys.execute |= EXEC_ALARM; // Execute alarm state.
+        st_go_idle(); // Execute alarm force kills steppers. Position likely lost.
+    }
   }
 }

motion_control.h

@@ -43,7 +43,7 @@ void mc_dwell(float seconds);
 // Perform homing cycle to locate machine zero. Requires limit switches.
 void mc_go_home();
 
-// Kills all motion and sets system alarm
+// Performs system reset. If in motion state, kills all motion and sets system alarm.
-void mc_alarm();
+void mc_reset();
 
 #endif

nuts_bolts.c

@@ -140,7 +140,7 @@ void delay_us(uint32_t us)
   }
 }
 
-
+// Syncs all internal position vectors to the current system position.
 void sys_sync_current_position()
 {
   plan_set_current_position(sys.position[X_AXIS],sys.position[Y_AXIS],sys.position[Z_AXIS]);

nuts_bolts.h

@@ -63,31 +63,29 @@
 #define EXEC_FEED_HOLD      bit(3) // bitmask 00001000
 #define EXEC_RESET          bit(4) // bitmask 00010000
 #define EXEC_ALARM          bit(5) // bitmask 00100000
-// #define                  bit(6) // bitmask 01000000
+#define EXEC_CRIT_EVENT     bit(6) // bitmask 01000000
 // #define                  bit(7) // bitmask 10000000
 
 // Define system state bit map. The state variable primarily tracks the individual functions
 // of Grbl to manage each without overlapping. It is also used as a messaging flag for
 // critical events.
 #define STATE_IDLE   0 // Must be zero.
-#define STATE_QUEUED 1 // Indicates buffered blocks, awaiting cycle start.
+#define STATE_INIT   1 // Initial power up state.
-#define STATE_CYCLE  2 // Cycle is running
+#define STATE_QUEUED 2 // Indicates buffered blocks, awaiting cycle start.
-#define STATE_HOLD   3 // Executing feed hold
+#define STATE_CYCLE  3 // Cycle is running
-#define STATE_HOMING 4 // Performing homing cycle
+#define STATE_HOLD   4 // Executing feed hold
-#define STATE_JOG    5 // Jogging mode is unique like homing.
+#define STATE_HOMING 5 // Performing homing cycle
-#define STATE_ALARM  6 // In alarm state. Locks out all g-code processes and messages position lost
+#define STATE_ALARM  6 // In alarm state. Locks out all g-code processes. Allows settings access.
-#define STATE_LIMIT  7 // Used to message hard limit triggered.
+// #define STATE_JOG    7 // Jogging mode is unique like homing.
 
 // Define global system variables
 typedef struct {
   uint8_t abort;                 // System abort flag. Forces exit back to main loop for reset.
   uint8_t state;                 // Tracks the current state of Grbl.
   volatile uint8_t execute;      // Global system runtime executor bitflag variable. See EXEC bitmasks.
-  int32_t position[3];           // Real-time machine (aka home) position vector in steps. 
+  int32_t position[N_AXIS];      // Real-time machine (aka home) position vector in steps. 
                                  // NOTE: This may need to be a volatile variable, if problems arise.   
   uint8_t auto_start;            // Planner auto-start flag. Toggled off during feed hold. Defaulted by settings.
-//   uint8_t feed_hold;             // Feed hold flag. Held true during feed hold. Released when ready to resume.
-//   volatile uint8_t cycle_start;  // Cycle start flag. Set by stepper subsystem or main program. 
 } system_t;
 extern system_t sys;
 

protocol.c

@@ -74,8 +74,7 @@ ISR(PINOUT_INT_vect)
   // Enter only if any pinout pin is actively low.
   if ((PINOUT_PIN & PINOUT_MASK) ^ PINOUT_MASK) { 
     if (bit_isfalse(PINOUT_PIN,bit(PIN_RESET))) {
-      mc_alarm();
+      mc_reset();
-      sys.execute |= EXEC_RESET; // Set as true
     } else if (bit_isfalse(PINOUT_PIN,bit(PIN_FEED_HOLD))) {
       sys.execute |= EXEC_FEED_HOLD; 
     } else if (bit_isfalse(PINOUT_PIN,bit(PIN_CYCLE_START))) {
@@ -93,36 +92,41 @@ ISR(PINOUT_INT_vect)
 // define more computationally-expensive volatile variables. This also provides a controlled way to 
 // execute certain tasks without having two or more instances of the same task, such as the planner
 // recalculating the buffer upon a feedhold or override.
-// NOTE: The sys.execute variable flags are set by the serial read subprogram, except where noted,
+// NOTE: The sys.execute variable flags are set by any process, step or serial interrupts, pinouts,
-// but may be set by any process, such as a switch pin change interrupt when pinouts are installed.
+// limit switches, or the main program.
 void protocol_execute_runtime()
 {
   if (sys.execute) { // Enter only if any bit flag is true
     uint8_t rt_exec = sys.execute; // Avoid calling volatile multiple times
     
-    // System alarm. Everything has shutdown by either something that has gone wrong or issuing
+    // System alarm. Everything has shutdown by something that has gone severely wrong. Report
-    // the Grbl soft-reset/abort. Check the system states to report any critical error found.
+    // the source of the error to the user. If critical, Grbl disables by entering an infinite
-    // If critical, disable Grbl by entering an infinite loop until system reset/abort.
+    // loop until system reset/abort.
-    // NOTE: The system alarm state is also used to set
+    if (rt_exec & (EXEC_ALARM | EXEC_CRIT_EVENT)) {      
-    if (rt_exec & EXEC_ALARM) {
+      sys.state = STATE_ALARM; // Set system alarm state
-      // Limit switch critical event. Lock out Grbl until reset.
+
-      if (sys.state == STATE_LIMIT) { 
+      // Critical event. Only hard limit qualifies. Update this as new critical events surface.
-        report_status_message(STATUS_HARD_LIMIT); 
+      if (rt_exec & EXEC_CRIT_EVENT) {
-        sys.state = STATE_ALARM;
+        report_alarm_message(ALARM_HARD_LIMIT); 
         report_feedback_message(MESSAGE_CRITICAL_EVENT);
-        while (bit_isfalse(sys.execute,EXEC_RESET)) { sleep_mode(); }
+        bit_false(sys.execute,EXEC_RESET); // Disable any existing reset
+        do { 
+          // Nothing. Block EVERYTHING until user issues reset or power cycles. Hard limits
+          // typically occur while unattended or not paying attention. Gives the user time
+          // to do what is needed before resetting, like killing the incoming stream.
+        } while (bit_isfalse(sys.execute,EXEC_RESET));
+
+      // Standard alarm event. Only abort during motion qualifies.
+      } else {
+        // Runtime abort command issued during a cycle, feed hold, or homing cycle. Message the
+        // user that position may have been lost and set alarm state to enable the alarm lockout
+        // to indicate the possible severity of the problem.
+        report_alarm_message(ALARM_ABORT_CYCLE);
+      }
+      bit_false(sys.execute,(EXEC_ALARM | EXEC_CRIT_EVENT));
     } 
   
-      // Check if a runtime abort command was issued during a cycle. If so, message the user
+    // Execute system abort. 
-      // that position may have been lost and set alarm state to force re-homing, if enabled.
-      if (sys.state == STATE_CYCLE) {
-        report_status_message(STATUS_ABORT_CYCLE);
-        sys.state = STATE_ALARM; 
-      }
-      bit_false(sys.execute,EXEC_ALARM);
-    } 
-  
-    // System abort. Steppers have already been force stopped.
     if (rt_exec & EXEC_RESET) {
       sys.abort = true;  // Only place this is set true.
       return; // Nothing else to do but exit.
@@ -194,8 +198,10 @@ uint8_t protocol_execute_line(char *line)
       case 'H' : // Perform homing cycle
         if (bit_istrue(settings.flags,BITFLAG_HOMING_ENABLE)) { 
           // Only perform homing if Grbl is idle or lost.
-          if ( sys.state==STATE_IDLE || sys.state==STATE_ALARM ) { mc_go_home(); } 
+          if ( sys.state==STATE_IDLE || sys.state==STATE_ALARM ) { 
-          else { return(STATUS_IDLE_ERROR); }
+            mc_go_home(); 
+            if (!sys.abort) { protocol_execute_startup(); } // Execute startup scripts after successful homing.
+          } else { return(STATUS_IDLE_ERROR); }
         } else { return(STATUS_SETTING_DISABLED); }
         break;
 //    case 'J' : break;  // Jogging methods
@@ -224,20 +230,19 @@ uint8_t protocol_execute_line(char *line)
           // Perform reset when toggling off. Check g-code mode should only work if Grbl
           // is idle and ready, regardless of homing locks. This is mainly to keep things
           // simple and consistent.
-          if ( bit_istrue(gc.switches,helper_var) ) { sys.execute |= EXEC_RESET; }
+          if ( bit_istrue(gc.switches,helper_var) ) { mc_reset(); }
           else if (sys.state) { return(STATUS_IDLE_ERROR); }
         }
         gc.switches ^= helper_var;
         if (bit_istrue(gc.switches,helper_var)) { report_feedback_message(MESSAGE_ENABLED); }
         else { report_feedback_message(MESSAGE_DISABLED); }
         break;
-      case 'X' : // Disable homing lock
+      case 'X' : // Disable alarm lock
         if ( line[++char_counter] != 0 ) { return(STATUS_UNSUPPORTED_STATEMENT); }
         if (sys.state == STATE_ALARM) { 
-          report_feedback_message(MESSAGE_HOMING_UNLOCK);
+          report_feedback_message(MESSAGE_ALARM_UNLOCK);
           sys.state = STATE_IDLE;
-        } else {
+          // Don't run startup script. Prevents stored moves in startup from causing accidents.
-          return(STATUS_SETTING_DISABLED);
         }
         break;
       case 'N' : // Startup lines. 
@@ -279,17 +284,7 @@ uint8_t protocol_execute_line(char *line)
     return(STATUS_OK); // If '$' command makes it to here, then everything's ok.
 
   } else {
-    
-    // If homing is enabled and position is lost, lock out all g-code commands.
-    if (sys.state != STATE_ALARM) {
     return(gc_execute_line(line));    // Everything else is gcode
-      // TODO: Install option to set system alarm upon any error code received back from the
-      // the g-code parser. This is a common safety feature on CNCs to help prevent crashes
-      // if the g-code doesn't perform as intended.
-    } else {
-      return(STATUS_HOMING_LOCK);
-    }
-    
   }
 }
 

report.c

@@ -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;
+      printPgmString(PSTR("Busy or queued")); break;
-      case STATUS_ABORT_CYCLE:
+      case STATUS_ALARM_LOCK:
-      printPgmString(PSTR("Abort during cycle. MPos lost?")); break;
+      printPgmString(PSTR("Alarm lock")); break;
-      case STATUS_HOMING_LOCK:
-      printPgmString(PSTR("Locked until homed")); 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 
+// user feedback for things that are not of the status/alarm message protocol. These are
-// are messages such as setup warnings and how to exit alarms.
+// 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;
+    printPgmString(PSTR("Reset to continue")); break;
-    case MESSAGE_HOMING_ALARM:
+    case MESSAGE_ALARM_LOCK:
-    printPgmString(PSTR("'$H' to home and unlock")); break;
+    printPgmString(PSTR("'$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"
@@ -296,6 +304,8 @@ void report_realtime_status()
   memcpy(current_position,sys.position,sizeof(sys.position));
   float print_position[3];
  
+  // TODO: Add Grbl state feedback, i.e. IDLE, RUN, HOLD, HOME, etc.
+ 
   // Report machine position
   printPgmString(PSTR("MPos:[")); 
   for (i=0; i<= 2; i++) {

report.h

@@ -29,27 +29,32 @@
 #define STATUS_ARC_RADIUS_ERROR 4
 #define STATUS_MODAL_GROUP_VIOLATION 5
 #define STATUS_INVALID_STATEMENT 6
-#define STATUS_HARD_LIMIT 7
+#define STATUS_SETTING_DISABLED 7
-#define STATUS_SETTING_DISABLED 8
+#define STATUS_SETTING_VALUE_NEG 8
-#define STATUS_SETTING_VALUE_NEG 9
+#define STATUS_SETTING_STEP_PULSE_MIN 9
-#define STATUS_SETTING_STEP_PULSE_MIN 10
+#define STATUS_SETTING_READ_FAIL 10
-#define STATUS_SETTING_READ_FAIL 11
+#define STATUS_IDLE_ERROR 11
-#define STATUS_IDLE_ERROR 12
+#define STATUS_ALARM_LOCK 12
-#define STATUS_ABORT_CYCLE 13
-#define STATUS_HOMING_LOCK 14
 
-// Define Grbl feedback message codes. Less than zero to distinguish message from error.
+// Define Grbl alarm codes. Less than zero to distinguish alarm error from status error.
-#define MESSAGE_CRITICAL_EVENT -1
+#define ALARM_HARD_LIMIT -1
-#define MESSAGE_HOMING_ALARM -2
+#define ALARM_ABORT_CYCLE -2
-#define MESSAGE_ENABLED -3
+
-#define MESSAGE_DISABLED -4
+// Define Grbl feedback message codes.
-#define MESSAGE_HOMING_UNLOCK -5
+#define MESSAGE_CRITICAL_EVENT 1
+#define MESSAGE_ALARM_LOCK 2
+#define MESSAGE_ALARM_UNLOCK 3
+#define MESSAGE_ENABLED 4
+#define MESSAGE_DISABLED 5
 
 // Prints system status messages.
 void report_status_message(uint8_t status_code);
 
+// Prints system alarm messages.
+void report_alarm_message(int8_t alarm_code);
+
 // Prints miscellaneous feedback messages.
-void report_feedback_message(int8_t message_code);
+void report_feedback_message(uint8_t message_code);
 
 // Prints welcome message
 void report_init_message();

serial.c

@@ -49,18 +49,18 @@ volatile uint8_t tx_buffer_tail = 0;
   }
 #endif
 
-static void set_baud_rate(long baud) {
+void serial_init()
-  uint16_t UBRR0_value = ((F_CPU / 16 + baud / 2) / baud - 1);
+{
+  // Set baud rate
+  #if BAUD_RATE < 57600
+    uint16_t UBRR0_value = ((F_CPU / (8L * BAUD_RATE)) - 1)/2 ;
+    UCSR0A &= ~(1 << U2X0); // baud doubler off  - Only needed on Uno XXX
+  #else
+    uint16_t UBRR0_value = ((F_CPU / (4L * BAUD_RATE)) - 1)/2;
+    UCSR0A |= (1 << U2X0);  // baud doubler on for high baud rates, i.e. 115200
+  #endif
   UBRR0H = UBRR0_value >> 8;
   UBRR0L = UBRR0_value;
-}
-
-void serial_init(long baud)
-{
-  set_baud_rate(baud);
-  
-  /* baud doubler off  - Only needed on Uno XXX */
-  UCSR0A &= ~(1 << U2X0);
             
   // enable rx and tx
   UCSR0B |= 1<<RXEN0;
@@ -159,11 +159,7 @@ ISR(USART_RX_vect)
     case CMD_STATUS_REPORT: sys.execute |= EXEC_STATUS_REPORT; break; // Set as true
     case CMD_CYCLE_START:   sys.execute |= EXEC_CYCLE_START; break; // Set as true
     case CMD_FEED_HOLD:     sys.execute |= EXEC_FEED_HOLD; break; // Set as true
-    case CMD_RESET:
+    case CMD_RESET:         mc_reset(); break; // Call motion control reset routine.
-      // Immediately force stepper and spindle subsystem idle at an interrupt level.
-      mc_alarm();
-      sys.execute |= EXEC_RESET; // Set as true
-      break;
     default: // Write character to buffer    
       next_head = rx_buffer_head + 1;
       if (next_head == RX_BUFFER_SIZE) { next_head = 0; }

serial.h

@@ -47,7 +47,7 @@
   #define XON_CHAR 0x11
 #endif
 
-void serial_init(long baud);
+void serial_init();
 
 void serial_write(uint8_t data);
 

settings.c

@@ -26,6 +26,7 @@
 #include "nuts_bolts.h"
 #include "settings.h"
 #include "eeprom.h"
+#include "limits.h"
 
 settings_t settings;
 
@@ -172,24 +173,22 @@ uint8_t settings_store_global_setting(int parameter, float value) {
       if (value) { settings.flags |= BITFLAG_REPORT_INCHES; }
       else { settings.flags &= ~BITFLAG_REPORT_INCHES; }
       break;
-    case 14: // Reboot to ensure change
+    case 14: // Reset to ensure change. Immediate re-init may cause problems.
       if (value) { settings.flags |= BITFLAG_AUTO_START; }
       else { settings.flags &= ~BITFLAG_AUTO_START; }
       break;
-    case 15: // Reboot to ensure change
+    case 15: // Reset to ensure change. Immediate re-init may cause problems.
       if (value) { settings.flags |= BITFLAG_INVERT_ST_ENABLE; }
       else { settings.flags &= ~BITFLAG_INVERT_ST_ENABLE; }
       break;
-    case 16: // Reboot to ensure change
+    case 16:
       if (value) { settings.flags |= BITFLAG_HARD_LIMIT_ENABLE; }
       else { settings.flags &= ~BITFLAG_HARD_LIMIT_ENABLE; }
+      limits_init(); // Re-init to immediately change. NOTE: Nice to have but could be problematic later.
       break;
     case 17:
-      if (value) { 
+      if (value) { settings.flags |= BITFLAG_HOMING_ENABLE; }
-        settings.flags |= BITFLAG_HOMING_ENABLE;
+      else { settings.flags &= ~BITFLAG_HOMING_ENABLE; }
-        sys.state = STATE_ALARM;
-        report_feedback_message(MESSAGE_HOMING_ALARM);
-      } else { settings.flags &= ~BITFLAG_HOMING_ENABLE; }
       break;
     case 18: settings.homing_dir_mask = trunc(value); break;
     case 19: settings.homing_feed_rate = value; break;