Updated interface protocol. Fixed M2 bug.
- Updated interface protocol to play nicer with interface programs. All Grbl responses beginning with '$' signifies a setting. Bracketed '[]' responses are feedback messages containing either state, parameter, or general messages. Chevron '<>' response are from the real-time status messages, i.e. position. - M2 Program end command was causing a system alarm. Fixed. Thanks @blinkenlight !
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Sonny Jeon
parent
b3f5536530
commit
9e0ce55dbc
24
defaults.h
24
defaults.h
@ -29,14 +29,14 @@
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#ifdef DEFAULTS_GENERIC
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// Grbl generic default settings. Should work across different machines.
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#define DEFAULT_X_STEPS_PER_MM 250
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#define DEFAULT_Y_STEPS_PER_MM 250
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#define DEFAULT_Z_STEPS_PER_MM 250
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#define DEFAULT_X_STEPS_PER_MM 250.0
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#define DEFAULT_Y_STEPS_PER_MM 250.0
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#define DEFAULT_Z_STEPS_PER_MM 250.0
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#define DEFAULT_STEP_PULSE_MICROSECONDS 10
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#define DEFAULT_MM_PER_ARC_SEGMENT 0.1
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#define DEFAULT_RAPID_FEEDRATE 500.0 // mm/min
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#define DEFAULT_FEEDRATE 250.0
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#define DEFAULT_ACCELERATION 10*60*60 // 10 mm/min^2
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#define DEFAULT_ACCELERATION (10.0*60*60) // 10 mm/min^2
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#define DEFAULT_JUNCTION_DEVIATION 0.05 // mm
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#define DEFAULT_STEPPING_INVERT_MASK ((1<<Y_DIRECTION_BIT)|(1<<Z_DIRECTION_BIT))
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#define DEFAULT_REPORT_INCHES 0 // false
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@ -46,9 +46,9 @@
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#define DEFAULT_HOMING_ENABLE 0 // false
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#define DEFAULT_HOMING_DIR_MASK 0 // move positive dir
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#define DEFAULT_HOMING_RAPID_FEEDRATE 250.0 // mm/min
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#define DEFAULT_HOMING_FEEDRATE 25 // mm/min
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#define DEFAULT_HOMING_FEEDRATE 25.0 // mm/min
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#define DEFAULT_HOMING_DEBOUNCE_DELAY 100 // msec (0-65k)
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#define DEFAULT_HOMING_PULLOFF 1 // mm
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#define DEFAULT_HOMING_PULLOFF 1.0 // mm
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#define DEFAULT_STEPPER_IDLE_LOCK_TIME 25 // msec (0-255)
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#define DEFAULT_DECIMAL_PLACES 3
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#define DEFAULT_N_ARC_CORRECTION 25
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@ -76,10 +76,10 @@
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#define DEFAULT_HARD_LIMIT_ENABLE 0 // false
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#define DEFAULT_HOMING_ENABLE 0 // false
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#define DEFAULT_HOMING_DIR_MASK 0 // move positive dir
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#define DEFAULT_HOMING_RAPID_FEEDRATE 254.0 // mm/min
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#define DEFAULT_HOMING_FEEDRATE 25 // mm/min
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#define DEFAULT_HOMING_RAPID_FEEDRATE 250.0 // mm/min
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#define DEFAULT_HOMING_FEEDRATE 25.0 // mm/min
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#define DEFAULT_HOMING_DEBOUNCE_DELAY 100 // msec (0-65k)
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#define DEFAULT_HOMING_PULLOFF 1 // mm
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#define DEFAULT_HOMING_PULLOFF 1.0 // mm
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#define DEFAULT_STEPPER_IDLE_LOCK_TIME 25 // msec (0-255)
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#define DEFAULT_DECIMAL_PLACES 3
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#define DEFAULT_N_ARC_CORRECTION 25
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@ -101,7 +101,7 @@
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#define DEFAULT_MM_PER_ARC_SEGMENT 0.1
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#define DEFAULT_RAPID_FEEDRATE 1000.0 // mm/min
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#define DEFAULT_FEEDRATE 250.0
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#define DEFAULT_ACCELERATION 15.0*60*60 // 15 mm/min^2
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#define DEFAULT_ACCELERATION (15.0*60*60) // 15 mm/min^2
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#define DEFAULT_JUNCTION_DEVIATION 0.05 // mm
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#define DEFAULT_STEPPING_INVERT_MASK ((1<<Y_DIRECTION_BIT)|(1<<Z_DIRECTION_BIT))
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#define DEFAULT_REPORT_INCHES 0 // false
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@ -111,9 +111,9 @@
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#define DEFAULT_HOMING_ENABLE 0 // false
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#define DEFAULT_HOMING_DIR_MASK 0 // move positive dir
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#define DEFAULT_HOMING_RAPID_FEEDRATE 250.0 // mm/min
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#define DEFAULT_HOMING_FEEDRATE 25 // mm/min
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#define DEFAULT_HOMING_FEEDRATE 25.0 // mm/min
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#define DEFAULT_HOMING_DEBOUNCE_DELAY 100 // msec (0-65k)
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#define DEFAULT_HOMING_PULLOFF 1 // mm
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#define DEFAULT_HOMING_PULLOFF 1.0 // mm
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#define DEFAULT_STEPPER_IDLE_LOCK_TIME 255 // msec (0-255)
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#define DEFAULT_DECIMAL_PLACES 3
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#define DEFAULT_N_ARC_CORRECTION 25
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@ -327,10 +327,11 @@ uint8_t plan_check_full_buffer()
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return(false);
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}
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// Block until all buffered steps are executed.
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// Block until all buffered steps are executed or in a cycle state. Works with feed hold
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// during a synchronize call, if it should happen. Also, waits for clean cycle end.
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void plan_synchronize()
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{
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while (plan_get_current_block()) {
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while (plan_get_current_block() || sys.state == STATE_CYCLE) {
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protocol_execute_runtime(); // Check and execute run-time commands
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if (sys.abort) { return; } // Check for system abort
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}
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52
report.c
52
report.c
@ -182,18 +182,18 @@ void report_gcode_parameters()
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report_status_message(STATUS_SETTING_READ_FAIL);
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return;
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}
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printPgmString(PSTR("[G"));
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switch (coord_select) {
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case 0: printPgmString(PSTR("G54")); break;
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case 1: printPgmString(PSTR("G55")); break;
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case 2: printPgmString(PSTR("G56")); break;
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case 3: printPgmString(PSTR("G57")); break;
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case 4: printPgmString(PSTR("G58")); break;
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case 5: printPgmString(PSTR("G59")); break;
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case 6: printPgmString(PSTR("G28")); break;
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case 7: printPgmString(PSTR("G30")); break;
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// case 8: printPgmString(PSTR("G92")); break; // G92.2, G92.3 not supported. Hence not stored.
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case 0: printPgmString(PSTR("54:")); break;
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case 1: printPgmString(PSTR("55:")); break;
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case 2: printPgmString(PSTR("56:")); break;
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case 3: printPgmString(PSTR("57:")); break;
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case 4: printPgmString(PSTR("58:")); break;
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case 5: printPgmString(PSTR("59:")); break;
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case 6: printPgmString(PSTR("28:")); break;
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case 7: printPgmString(PSTR("30:")); break;
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// case 8: printPgmString(PSTR("92:")); break; // G92.2, G92.3 not supported. Hence not stored.
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}
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printPgmString(PSTR(":["));
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for (i=0; i<N_AXIS; i++) {
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if (bit_istrue(settings.flags,BITFLAG_REPORT_INCHES)) { printFloat(coord_data[i]*INCH_PER_MM); }
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else { printFloat(coord_data[i]); }
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@ -201,7 +201,7 @@ void report_gcode_parameters()
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else { printPgmString(PSTR("]\r\n")); }
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}
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}
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printPgmString(PSTR("G92:[")); // Print G92,G92.1 which are not persistent in memory
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printPgmString(PSTR("[G92:")); // Print G92,G92.1 which are not persistent in memory
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for (i=0; i<N_AXIS; i++) {
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if (bit_istrue(settings.flags,BITFLAG_REPORT_INCHES)) { printFloat(gc.coord_offset[i]*INCH_PER_MM); }
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else { printFloat(gc.coord_offset[i]); }
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@ -215,11 +215,11 @@ void report_gcode_parameters()
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void report_gcode_modes()
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{
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switch (gc.motion_mode) {
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case MOTION_MODE_SEEK : printPgmString(PSTR("G0")); break;
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case MOTION_MODE_LINEAR : printPgmString(PSTR("G1")); break;
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case MOTION_MODE_CW_ARC : printPgmString(PSTR("G2")); break;
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case MOTION_MODE_CCW_ARC : printPgmString(PSTR("G3")); break;
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case MOTION_MODE_CANCEL : printPgmString(PSTR("G80")); break;
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case MOTION_MODE_SEEK : printPgmString(PSTR("[G0")); break;
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case MOTION_MODE_LINEAR : printPgmString(PSTR("[G1")); break;
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case MOTION_MODE_CW_ARC : printPgmString(PSTR("[G2")); break;
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case MOTION_MODE_CCW_ARC : printPgmString(PSTR("[G3")); break;
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case MOTION_MODE_CANCEL : printPgmString(PSTR("[G80")); break;
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}
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printPgmString(PSTR(" G"));
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@ -266,13 +266,13 @@ void report_gcode_modes()
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if (gc.inches_mode) { printFloat(gc.feed_rate*INCH_PER_MM); }
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else { printFloat(gc.feed_rate); }
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printPgmString(PSTR("\r\n"));
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printPgmString(PSTR("]\r\n"));
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}
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// Prints specified startup line
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void report_startup_line(uint8_t n, char *line)
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{
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printPgmString(PSTR("N")); printInteger(n);
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printPgmString(PSTR("$N")); printInteger(n);
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printPgmString(PSTR("=")); printString(line);
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printPgmString(PSTR("\r\n"));
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}
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@ -295,14 +295,14 @@ void report_realtime_status()
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// Report current machine state
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switch (sys.state) {
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case STATE_IDLE: printPgmString(PSTR("[Idle")); break;
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case STATE_IDLE: printPgmString(PSTR("<Idle")); break;
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// case STATE_INIT: printPgmString(PSTR("[Init")); break; // Never observed
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case STATE_QUEUED: printPgmString(PSTR("[Queue")); break;
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case STATE_CYCLE: printPgmString(PSTR("[Run")); break;
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case STATE_HOLD: printPgmString(PSTR("[Hold")); break;
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case STATE_HOMING: printPgmString(PSTR("[Home")); break;
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case STATE_ALARM: printPgmString(PSTR("[Alarm")); break;
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case STATE_CHECK_MODE: printPgmString(PSTR("[Check")); break;
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case STATE_QUEUED: printPgmString(PSTR("<Queue")); break;
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case STATE_CYCLE: printPgmString(PSTR("<Run")); break;
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case STATE_HOLD: printPgmString(PSTR("<Hold")); break;
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case STATE_HOMING: printPgmString(PSTR("<Home")); break;
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case STATE_ALARM: printPgmString(PSTR("<Alarm")); break;
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case STATE_CHECK_MODE: printPgmString(PSTR("<Check")); break;
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}
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// Report machine position
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@ -326,5 +326,5 @@ void report_realtime_status()
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if (i < 2) { 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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@ -420,8 +420,6 @@ static void set_step_events_per_minute(uint32_t steps_per_minute)
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// Planner external interface to start stepper interrupt and execute the blocks in queue. Called
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// by the main program functions: planner auto-start and run-time command execution.
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// TODO: Update sys.cycle_start and feed_hold variables to a sys.state variable. This state
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// variable will manage all of Grbl's processes and keep them separate.
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void st_cycle_start()
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{
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if (sys.state == STATE_QUEUED) {
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