Re-organized status messages to be more coherent and centralized.
- Reorganized all of the status message feedback from both the g-code parser and settings modules to be centralized into two message modules: status feedback from executing a line and warnings for misc feedback. - Pulled out the printPgmString() messages in settings.c and placed it into the new module. (settings_dump() not moved). - Some other minor edits. Renaming defines, comment updates, etc.
This commit is contained in:
Sonny Jeon
parent
39e11b696f
commit
909feb7f79
10
config.h
10
config.h
@ -150,9 +150,10 @@
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// of your successes or difficulties, as we will monitor this and possibly integrate this as a
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// standard feature for future releases. However, we suggest to first try our direction delay
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// hack/solution posted in the Wiki involving inverting the stepper pin mask.
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// NOTE: Uncomment to enable. The recommended delay should be > 3us and the total step pulse
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// time, which includes the Grbl settings pulse microseconds, should not exceed 127us.
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// #define STEP_PULSE_DELAY 5 // Step pulse delay in microseconds. Default disabled.
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// NOTE: Uncomment to enable. The recommended delay must be > 3us and the total step pulse
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// time, which includes the Grbl settings pulse microseconds, must not exceed 127us. Reported
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// successful values for certain setups have ranged from 10 to 20us.
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// #define STEP_PULSE_DELAY 10 // Step pulse delay in microseconds. Default disabled.
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// ---------------------------------------------------------------------------------------
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@ -167,7 +168,8 @@
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// entering g-code into grbl, i.e. locating part zero or simple manual machining. If the axes drift,
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// grbl has no way to know this has happened, since stepper motors are open-loop control. Depending
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// on the machine, this parameter may need to be larger or smaller than the default time.
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// NOTE: If the define commented, the stepper lock will be disabled upon compiling.
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// NOTE: If set to zero, no lock will occur. If set to max 255, the lock will never release, in other
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// words, the steppers never disable for users that require this.
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// -> NOW INSTALLED IN SETTINGS #define STEPPER_IDLE_LOCK_TIME 25 // (milliseconds) - Integer > 0
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26
gcode.c
26
gcode.c
@ -265,7 +265,7 @@ uint8_t gc_execute_line(char *line)
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switch(letter) {
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case 'G': case 'M': case 'N': break; // Ignore command statements and line numbers
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case 'F':
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if (value <= 0) { FAIL(STATUS_INVALID_COMMAND); } // Must be greater than zero
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if (value <= 0) { FAIL(STATUS_INVALID_STATEMENT); } // Must be greater than zero
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if (gc.inverse_feed_rate_mode) {
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inverse_feed_rate = to_millimeters(value); // seconds per motion for this motion only
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} else {
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@ -277,11 +277,11 @@ uint8_t gc_execute_line(char *line)
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case 'P': p = value; break;
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case 'R': r = to_millimeters(value); break;
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case 'S':
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if (value < 0) { FAIL(STATUS_INVALID_COMMAND); } // Cannot be negative
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if (value < 0) { FAIL(STATUS_INVALID_STATEMENT); } // Cannot be negative
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gc.spindle_speed = value;
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break;
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case 'T':
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if (value < 0) { FAIL(STATUS_INVALID_COMMAND); } // Cannot be negative
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if (value < 0) { FAIL(STATUS_INVALID_STATEMENT); } // Cannot be negative
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gc.tool = trunc(value);
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break;
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case 'X': target[X_AXIS] = to_millimeters(value); bit_true(axis_words,bit(X_AXIS)); break;
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@ -299,7 +299,7 @@ uint8_t gc_execute_line(char *line)
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NOTE: Independent non-motion/settings parameters are set out of this order for code efficiency
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and simplicity purposes, but this should not affect proper g-code execution. */
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// ([M6]: Tool change execution should be executed here.)
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// ([M6]: Tool change should be executed here.)
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// [M3,M4,M5]: Update spindle state
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spindle_run(gc.spindle_direction, gc.spindle_speed);
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@ -313,7 +313,7 @@ uint8_t gc_execute_line(char *line)
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switch (non_modal_action) {
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case NON_MODAL_DWELL:
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if (p < 0) { // Time cannot be negative.
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FAIL(STATUS_INVALID_COMMAND);
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FAIL(STATUS_INVALID_STATEMENT);
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} else {
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mc_dwell(p);
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}
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@ -323,7 +323,7 @@ uint8_t gc_execute_line(char *line)
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if (l != 2 || (int_value < 1 || int_value > N_COORDINATE_SYSTEM)) { // L2 only. P1=G54, P2=G55, ...
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FAIL(STATUS_UNSUPPORTED_STATEMENT);
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} else if (!axis_words) { // No axis words.
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FAIL(STATUS_INVALID_COMMAND);
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FAIL(STATUS_INVALID_STATEMENT);
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} else {
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int_value--; // Adjust p to be inline with row array index.
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// Update axes defined only in block. Always in machine coordinates. Can change non-active system.
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@ -358,7 +358,7 @@ uint8_t gc_execute_line(char *line)
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break;
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case NON_MODAL_SET_COORDINATE_OFFSET:
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if (!axis_words) { // No axis words
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FAIL(STATUS_INVALID_COMMAND);
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FAIL(STATUS_INVALID_STATEMENT);
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} else {
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// Update axes defined only in block. Offsets current system to defined value. Does not update when
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// active coordinate system is selected, but is still active unless G92.1 disables it.
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@ -384,12 +384,12 @@ uint8_t gc_execute_line(char *line)
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// G1,G2,G3 require F word in inverse time mode.
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if ( gc.inverse_feed_rate_mode ) {
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if (inverse_feed_rate < 0 && gc.motion_mode != MOTION_MODE_CANCEL) {
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FAIL(STATUS_INVALID_COMMAND);
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FAIL(STATUS_INVALID_STATEMENT);
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}
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}
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// Absolute override G53 only valid with G0 and G1 active.
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if ( absolute_override && !(gc.motion_mode == MOTION_MODE_SEEK || gc.motion_mode == MOTION_MODE_LINEAR)) {
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FAIL(STATUS_INVALID_COMMAND);
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FAIL(STATUS_INVALID_STATEMENT);
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}
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// Report any errors.
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if (gc.status_code) { return(gc.status_code); }
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@ -414,14 +414,14 @@ uint8_t gc_execute_line(char *line)
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switch (gc.motion_mode) {
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case MOTION_MODE_CANCEL:
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if (axis_words) { FAIL(STATUS_INVALID_COMMAND); } // No axis words allowed while active.
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if (axis_words) { FAIL(STATUS_INVALID_STATEMENT); } // No axis words allowed while active.
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break;
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case MOTION_MODE_SEEK:
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if (!axis_words) { FAIL(STATUS_INVALID_COMMAND);}
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if (!axis_words) { FAIL(STATUS_INVALID_STATEMENT);}
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else { mc_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], settings.default_seek_rate, false); }
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break;
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case MOTION_MODE_LINEAR:
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if (!axis_words) { FAIL(STATUS_INVALID_COMMAND);}
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if (!axis_words) { FAIL(STATUS_INVALID_STATEMENT);}
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else { mc_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS],
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(gc.inverse_feed_rate_mode) ? inverse_feed_rate : gc.feed_rate, gc.inverse_feed_rate_mode); }
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break;
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@ -430,7 +430,7 @@ uint8_t gc_execute_line(char *line)
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// format arc mode, also check for at least one of the IJK axes of the selected plane was sent.
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if ( !( bit_false(axis_words,bit(gc.plane_axis_2)) ) ||
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( !r && !offset[gc.plane_axis_0] && !offset[gc.plane_axis_1] ) ) {
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FAIL(STATUS_INVALID_COMMAND);
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FAIL(STATUS_INVALID_STATEMENT);
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} else {
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if (r != 0) { // Arc Radius Mode
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/*
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88
protocol.c
88
protocol.c
@ -36,37 +36,73 @@ 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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{
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if (status_code == 0) {
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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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switch(status_code) {
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case STATUS_BAD_NUMBER_FORMAT:
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printPgmString(PSTR("Bad number format\r\n")); break;
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case STATUS_EXPECTED_COMMAND_LETTER:
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printPgmString(PSTR("Expected command letter\r\n")); break;
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case STATUS_UNSUPPORTED_STATEMENT:
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printPgmString(PSTR("Unsupported statement\r\n")); break;
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case STATUS_FLOATING_POINT_ERROR:
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printPgmString(PSTR("Floating point error\r\n")); break;
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case STATUS_MODAL_GROUP_VIOLATION:
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printPgmString(PSTR("Modal group violation\r\n")); break;
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case STATUS_INVALID_COMMAND:
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printPgmString(PSTR("Invalid command\r\n")); break;
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case STATUS_SETTING_DISABLED:
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printPgmString(PSTR("Grbl setting disabled\r\n")); break;
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case STATUS_HARD_LIMIT:
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printPgmString(PSTR("Limit triggered <Check and Reset>\r\n")); break;
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default:
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printInteger(status_code);
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printPgmString(PSTR("\r\n"));
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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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}
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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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{
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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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}
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printPgmString(PSTR("\r\n"));
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}
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void protocol_status_report()
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{
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// TODO: Status report data is written to the user here. This function should be able to grab a
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@ -99,10 +135,11 @@ void protocol_status_report()
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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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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] -= (sys.coord_system[sys.coord_select][i]+sys.coord_offset[i])*INCH_PER_MM;
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@ -111,9 +148,10 @@ void protocol_status_report()
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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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printPgmString(PSTR("\r\n"));
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}
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@ -133,7 +171,7 @@ void protocol_init()
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// point where the execution time from the last check point may be more than a fraction of a second.
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// This is a way to execute runtime commands asynchronously (aka multitasking) with grbl's g-code
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// parsing and planning functions. This function also serves as an interface for the interrupts to
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// set the system runtime flags, where only the main program to handles them, removing the need to
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// set the system runtime flags, where only the main program handles them, removing the need to
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// define more computationally-expensive volatile variables.
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// NOTE: The sys.execute variable flags are set by the serial read subprogram, except where noted.
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void protocol_execute_runtime()
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@ -185,7 +223,7 @@ void protocol_execute_runtime()
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// Executes one line of input according to protocol
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uint8_t protocol_execute_line(char *line)
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int8_t protocol_execute_line(char *line)
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{
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if(line[0] == '$') {
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21
protocol.h
21
protocol.h
@ -21,17 +21,28 @@
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#ifndef protocol_h
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#define protocol_h
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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_COMMAND 6
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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 LINE_BUFFER_SIZE 50
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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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@ -41,12 +52,12 @@ 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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uint8_t protocol_execute_line(char *line);
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int8_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 g-code parser status message.
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void protocol_status_message(int8_t status_code);
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// Prints any warning messages.
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void protocol_warning_message(int8_t warning_code);
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#endif
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1
serial.c
1
serial.c
@ -169,6 +169,7 @@ ISR(USART_RX_vect)
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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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46
settings.c
46
settings.c
@ -147,13 +147,11 @@ void settings_dump() {
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}
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// Parameter lines are on the form '$4=374.3' or '$' to dump current settings
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uint8_t settings_execute_line(char *line) {
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uint8_t char_counter = 1;
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// NOTE: Assumes '$' already exists in line[0], which is checked by protocol.c.
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int8_t settings_execute_line(char *line) {
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uint8_t char_counter = 1;
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// unsigned char letter;
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float parameter, value;
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if(line[0] != '$') {
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return(STATUS_UNSUPPORTED_STATEMENT);
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}
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if(line[char_counter] == 0) {
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settings_dump(); return(STATUS_OK);
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}
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@ -175,19 +173,18 @@ uint8_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_BAD_NUMBER_FORMAT);
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};
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return(STATUS_SETTING_INVALID);
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}
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if(line[char_counter++] != '=') {
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return(STATUS_UNSUPPORTED_STATEMENT);
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return(STATUS_SETTING_INVALID);
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}
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if(!read_float(line, &char_counter, &value)) {
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return(STATUS_BAD_NUMBER_FORMAT);
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return(STATUS_SETTING_INVALID);
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}
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if(line[char_counter] != 0) {
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return(STATUS_UNSUPPORTED_STATEMENT);
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return(STATUS_SETTING_INVALID);
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}
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settings_store_setting(parameter, value);
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return(STATUS_OK);
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return(settings_store_setting(parameter, value));
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// }
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}
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@ -250,20 +247,14 @@ int read_settings() {
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}
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// A helper method to set settings from command line
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void settings_store_setting(int parameter, float value) {
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int8_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) {
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printPgmString(PSTR("Steps/mm must be > 0.0\r\n"));
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return;
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}
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settings.steps_per_mm[parameter] = value; break;
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if (value <= 0.0) { return(STATUS_SETTING_STEPS_NEG); }
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settings.steps_per_mm[parameter] = value; break;
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case 3:
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if (value < 3) {
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printPgmString(PSTR("Step pulse must be >= 3 microseconds\r\n"));
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return;
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}
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settings.pulse_microseconds = round(value); break;
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if (value < 3) { return(STATUS_SETTING_STEP_PULSE_MIN); }
|
||||
settings.pulse_microseconds = round(value); break;
|
||||
case 4: settings.default_feed_rate = value; break;
|
||||
case 5: settings.default_seek_rate = value; break;
|
||||
case 6: settings.mm_per_arc_segment = value; break;
|
||||
@ -288,7 +279,7 @@ void settings_store_setting(int parameter, float value) {
|
||||
case 13:
|
||||
if (value) {
|
||||
settings.flags |= BITFLAG_HOMING_ENABLE;
|
||||
printPgmString(PSTR("Install all axes limit switches before use\r\n"));
|
||||
protocol_warning_message(WARNING_HOMING_ENABLE);
|
||||
} else { settings.flags &= ~BITFLAG_HOMING_ENABLE; }
|
||||
break;
|
||||
case 14: settings.homing_dir_mask = trunc(value); break;
|
||||
@ -302,17 +293,16 @@ void settings_store_setting(int parameter, float value) {
|
||||
break;
|
||||
case 20: settings.decimal_places = round(value); break;
|
||||
default:
|
||||
printPgmString(PSTR("Unknown parameter\r\n"));
|
||||
return;
|
||||
return(STATUS_SETTING_INVALID);
|
||||
}
|
||||
write_settings();
|
||||
printPgmString(PSTR("Stored new setting\r\n"));
|
||||
return(STATUS_OK);
|
||||
}
|
||||
|
||||
// Initialize the config subsystem
|
||||
void settings_init() {
|
||||
if(!read_settings()) {
|
||||
printPgmString(PSTR("Warning: Failed to read EEPROM settings. Using defaults.\r\n"));
|
||||
protocol_warning_message(WARNING_SETTING_READ_FAIL);
|
||||
settings_reset(true);
|
||||
write_settings();
|
||||
settings_dump();
|
||||
|
||||
12
settings.h
12
settings.h
@ -31,7 +31,7 @@
|
||||
// when firmware is upgraded. Always stored in byte 0 of eeprom
|
||||
#define SETTINGS_VERSION 55
|
||||
|
||||
// Define bit flag masks in settings.flag.
|
||||
// Define bit flag masks for the boolean settings in settings.flag.
|
||||
#define BITFLAG_REPORT_INCHES bit(0)
|
||||
#define BITFLAG_AUTO_START bit(1)
|
||||
#define BITFLAG_HARD_LIMIT_ENABLE bit(2)
|
||||
@ -48,14 +48,14 @@ typedef struct {
|
||||
float mm_per_arc_segment;
|
||||
float acceleration;
|
||||
float junction_deviation;
|
||||
uint8_t flags; // Contains default toggles
|
||||
uint8_t flags; // Contains default boolean settings
|
||||
uint8_t homing_dir_mask;
|
||||
float homing_feed_rate;
|
||||
float homing_seek_rate;
|
||||
uint16_t homing_debounce_delay;
|
||||
float homing_pulloff;
|
||||
uint8_t stepper_idle_lock_time;
|
||||
uint8_t decimal_places;
|
||||
uint8_t stepper_idle_lock_time; // If max value 255, steppers do not disable.
|
||||
uint8_t decimal_places;
|
||||
} settings_t;
|
||||
extern settings_t settings;
|
||||
|
||||
@ -66,10 +66,10 @@ void settings_init();
|
||||
void settings_dump();
|
||||
|
||||
// Handle settings command
|
||||
uint8_t settings_execute_line(char *line);
|
||||
int8_t settings_execute_line(char *line);
|
||||
|
||||
// A helper method to set new settings from command line
|
||||
void settings_store_setting(int parameter, float value);
|
||||
int8_t settings_store_setting(int parameter, float value);
|
||||
|
||||
// int8_t settings_execute_startup();
|
||||
|
||||
|
||||
Loading…
Reference in New Issue
Block a user