From 9e0ce55dbc3eb8267509e1084071e04fb5f15443 Mon Sep 17 00:00:00 2001
From: Sonny Jeon <chamnit@gmail.com>
Date: Mon, 19 Nov 2012 17:39:40 -0700
Subject: [PATCH] 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 !
---
 defaults.h | 24 ++++++++++++------------
 planner.c  |  5 +++--
 report.c   | 52 ++++++++++++++++++++++++++--------------------------
 stepper.c  |  2 --
 4 files changed, 41 insertions(+), 42 deletions(-)

diff --git a/defaults.h b/defaults.h
index 3e9e0b4..279e4b9 100644
--- a/defaults.h
+++ b/defaults.h
@@ -29,14 +29,14 @@
 
 #ifdef DEFAULTS_GENERIC
   // Grbl generic default settings. Should work across different machines.
-  #define DEFAULT_X_STEPS_PER_MM 250
-  #define DEFAULT_Y_STEPS_PER_MM 250
-  #define DEFAULT_Z_STEPS_PER_MM 250
+  #define DEFAULT_X_STEPS_PER_MM 250.0
+  #define DEFAULT_Y_STEPS_PER_MM 250.0
+  #define DEFAULT_Z_STEPS_PER_MM 250.0
   #define DEFAULT_STEP_PULSE_MICROSECONDS 10
   #define DEFAULT_MM_PER_ARC_SEGMENT 0.1
   #define DEFAULT_RAPID_FEEDRATE 500.0 // mm/min
   #define DEFAULT_FEEDRATE 250.0
-  #define DEFAULT_ACCELERATION 10*60*60 // 10 mm/min^2
+  #define DEFAULT_ACCELERATION (10.0*60*60) // 10 mm/min^2
   #define DEFAULT_JUNCTION_DEVIATION 0.05 // mm
   #define DEFAULT_STEPPING_INVERT_MASK ((1<<Y_DIRECTION_BIT)|(1<<Z_DIRECTION_BIT))
   #define DEFAULT_REPORT_INCHES 0 // false
@@ -46,9 +46,9 @@
   #define DEFAULT_HOMING_ENABLE 0  // false
   #define DEFAULT_HOMING_DIR_MASK 0 // move positive dir
   #define DEFAULT_HOMING_RAPID_FEEDRATE 250.0 // mm/min
-  #define DEFAULT_HOMING_FEEDRATE 25 // mm/min
+  #define DEFAULT_HOMING_FEEDRATE 25.0 // mm/min
   #define DEFAULT_HOMING_DEBOUNCE_DELAY 100 // msec (0-65k)
-  #define DEFAULT_HOMING_PULLOFF 1 // mm
+  #define DEFAULT_HOMING_PULLOFF 1.0 // mm
   #define DEFAULT_STEPPER_IDLE_LOCK_TIME 25 // msec (0-255)
   #define DEFAULT_DECIMAL_PLACES 3
   #define DEFAULT_N_ARC_CORRECTION 25
@@ -76,10 +76,10 @@
   #define DEFAULT_HARD_LIMIT_ENABLE 0  // false
   #define DEFAULT_HOMING_ENABLE 0  // false
   #define DEFAULT_HOMING_DIR_MASK 0 // move positive dir
-  #define DEFAULT_HOMING_RAPID_FEEDRATE 254.0 // mm/min
-  #define DEFAULT_HOMING_FEEDRATE 25 // mm/min
+  #define DEFAULT_HOMING_RAPID_FEEDRATE 250.0 // mm/min
+  #define DEFAULT_HOMING_FEEDRATE 25.0 // mm/min
   #define DEFAULT_HOMING_DEBOUNCE_DELAY 100 // msec (0-65k)
-  #define DEFAULT_HOMING_PULLOFF 1 // mm
+  #define DEFAULT_HOMING_PULLOFF 1.0 // mm
   #define DEFAULT_STEPPER_IDLE_LOCK_TIME 25 // msec (0-255)
   #define DEFAULT_DECIMAL_PLACES 3
   #define DEFAULT_N_ARC_CORRECTION 25
@@ -101,7 +101,7 @@
   #define DEFAULT_MM_PER_ARC_SEGMENT 0.1
   #define DEFAULT_RAPID_FEEDRATE 1000.0 // mm/min
   #define DEFAULT_FEEDRATE 250.0
-  #define DEFAULT_ACCELERATION 15.0*60*60 // 15 mm/min^2
+  #define DEFAULT_ACCELERATION (15.0*60*60) // 15 mm/min^2
   #define DEFAULT_JUNCTION_DEVIATION 0.05 // mm
   #define DEFAULT_STEPPING_INVERT_MASK ((1<<Y_DIRECTION_BIT)|(1<<Z_DIRECTION_BIT))
   #define DEFAULT_REPORT_INCHES 0 // false
@@ -111,9 +111,9 @@
   #define DEFAULT_HOMING_ENABLE 0  // false
   #define DEFAULT_HOMING_DIR_MASK 0 // move positive dir
   #define DEFAULT_HOMING_RAPID_FEEDRATE 250.0 // mm/min
-  #define DEFAULT_HOMING_FEEDRATE 25 // mm/min
+  #define DEFAULT_HOMING_FEEDRATE 25.0 // mm/min
   #define DEFAULT_HOMING_DEBOUNCE_DELAY 100 // msec (0-65k)
-  #define DEFAULT_HOMING_PULLOFF 1 // mm
+  #define DEFAULT_HOMING_PULLOFF 1.0 // mm
   #define DEFAULT_STEPPER_IDLE_LOCK_TIME 255 // msec (0-255)
   #define DEFAULT_DECIMAL_PLACES 3
   #define DEFAULT_N_ARC_CORRECTION 25
diff --git a/planner.c b/planner.c
index 92f2ac1..846e403 100755
--- a/planner.c
+++ b/planner.c
@@ -327,10 +327,11 @@ uint8_t plan_check_full_buffer()
   return(false);
 }
 
-// Block until all buffered steps are executed.
+// Block until all buffered steps are executed or in a cycle state. Works with feed hold
+// during a synchronize call, if it should happen. Also, waits for clean cycle end.
 void plan_synchronize()
 {
-  while (plan_get_current_block()) { 
+  while (plan_get_current_block() || sys.state == STATE_CYCLE) { 
     protocol_execute_runtime();   // Check and execute run-time commands
     if (sys.abort) { return; } // Check for system abort
   }    
diff --git a/report.c b/report.c
index e1bf30d..8b12243 100644
--- a/report.c
+++ b/report.c
@@ -182,18 +182,18 @@ void report_gcode_parameters()
       report_status_message(STATUS_SETTING_READ_FAIL); 
       return;
     } 
+    printPgmString(PSTR("[G"));
     switch (coord_select) {
-      case 0: printPgmString(PSTR("G54")); break;
-      case 1: printPgmString(PSTR("G55")); break;
-      case 2: printPgmString(PSTR("G56")); break;
-      case 3: printPgmString(PSTR("G57")); break;
-      case 4: printPgmString(PSTR("G58")); break;
-      case 5: printPgmString(PSTR("G59")); break;
-      case 6: printPgmString(PSTR("G28")); break;
-      case 7: printPgmString(PSTR("G30")); break;
-      // case 8: printPgmString(PSTR("G92")); break; // G92.2, G92.3 not supported. Hence not stored.  
+      case 0: printPgmString(PSTR("54:")); break;
+      case 1: printPgmString(PSTR("55:")); break;
+      case 2: printPgmString(PSTR("56:")); break;
+      case 3: printPgmString(PSTR("57:")); break;
+      case 4: printPgmString(PSTR("58:")); break;
+      case 5: printPgmString(PSTR("59:")); break;
+      case 6: printPgmString(PSTR("28:")); break;
+      case 7: printPgmString(PSTR("30:")); break;
+      // case 8: printPgmString(PSTR("92:")); break; // G92.2, G92.3 not supported. Hence not stored.  
     }           
-    printPgmString(PSTR(":[")); 
     for (i=0; i<N_AXIS; i++) {
       if (bit_istrue(settings.flags,BITFLAG_REPORT_INCHES)) { printFloat(coord_data[i]*INCH_PER_MM); }
       else { printFloat(coord_data[i]); }
@@ -201,7 +201,7 @@ void report_gcode_parameters()
       else { printPgmString(PSTR("]\r\n")); }
     } 
   }
-  printPgmString(PSTR("G92:[")); // Print G92,G92.1 which are not persistent in memory
+  printPgmString(PSTR("[G92:")); // Print G92,G92.1 which are not persistent in memory
   for (i=0; i<N_AXIS; i++) {
     if (bit_istrue(settings.flags,BITFLAG_REPORT_INCHES)) { printFloat(gc.coord_offset[i]*INCH_PER_MM); }
     else { printFloat(gc.coord_offset[i]); }
@@ -215,11 +215,11 @@ void report_gcode_parameters()
 void report_gcode_modes()
 {
   switch (gc.motion_mode) {
-    case MOTION_MODE_SEEK : printPgmString(PSTR("G0")); break;
-    case MOTION_MODE_LINEAR : printPgmString(PSTR("G1")); break;
-    case MOTION_MODE_CW_ARC : printPgmString(PSTR("G2")); break;
-    case MOTION_MODE_CCW_ARC : printPgmString(PSTR("G3")); break;
-    case MOTION_MODE_CANCEL : printPgmString(PSTR("G80")); break;
+    case MOTION_MODE_SEEK : printPgmString(PSTR("[G0")); break;
+    case MOTION_MODE_LINEAR : printPgmString(PSTR("[G1")); break;
+    case MOTION_MODE_CW_ARC : printPgmString(PSTR("[G2")); break;
+    case MOTION_MODE_CCW_ARC : printPgmString(PSTR("[G3")); break;
+    case MOTION_MODE_CANCEL : printPgmString(PSTR("[G80")); break;
   }
 
   printPgmString(PSTR(" G"));
@@ -266,13 +266,13 @@ void report_gcode_modes()
   if (gc.inches_mode) { printFloat(gc.feed_rate*INCH_PER_MM); }
   else { printFloat(gc.feed_rate); }
 
-  printPgmString(PSTR("\r\n"));
+  printPgmString(PSTR("]\r\n"));
 }
 
 // Prints specified startup line
 void report_startup_line(uint8_t n, char *line)
 {
-  printPgmString(PSTR("N")); printInteger(n);
+  printPgmString(PSTR("$N")); printInteger(n);
   printPgmString(PSTR("=")); printString(line);
   printPgmString(PSTR("\r\n"));
 }
@@ -295,14 +295,14 @@ void report_realtime_status()
  
   // Report current machine state
   switch (sys.state) {
-    case STATE_IDLE: printPgmString(PSTR("[Idle")); break;
+    case STATE_IDLE: printPgmString(PSTR("<Idle")); break;
 //    case STATE_INIT: printPgmString(PSTR("[Init")); break; // Never observed
-    case STATE_QUEUED: printPgmString(PSTR("[Queue")); break;
-    case STATE_CYCLE: printPgmString(PSTR("[Run")); break;
-    case STATE_HOLD: printPgmString(PSTR("[Hold")); break;
-    case STATE_HOMING: printPgmString(PSTR("[Home")); break;
-    case STATE_ALARM: printPgmString(PSTR("[Alarm")); break;
-    case STATE_CHECK_MODE: printPgmString(PSTR("[Check")); break;
+    case STATE_QUEUED: printPgmString(PSTR("<Queue")); break;
+    case STATE_CYCLE: printPgmString(PSTR("<Run")); break;
+    case STATE_HOLD: printPgmString(PSTR("<Hold")); break;
+    case STATE_HOMING: printPgmString(PSTR("<Home")); break;
+    case STATE_ALARM: printPgmString(PSTR("<Alarm")); break;
+    case STATE_CHECK_MODE: printPgmString(PSTR("<Check")); break;
   }
  
   // Report machine position
@@ -326,5 +326,5 @@ void report_realtime_status()
     if (i < 2) { printPgmString(PSTR(",")); }
   }
     
-  printPgmString(PSTR("]\r\n"));
+  printPgmString(PSTR(">\r\n"));
 }
diff --git a/stepper.c b/stepper.c
index 129ccd8..28e6f50 100755
--- a/stepper.c
+++ b/stepper.c
@@ -420,8 +420,6 @@ static void set_step_events_per_minute(uint32_t steps_per_minute)
 
 // Planner external interface to start stepper interrupt and execute the blocks in queue. Called
 // by the main program functions: planner auto-start and run-time command execution.
-// TODO: Update sys.cycle_start and feed_hold variables to a sys.state variable. This state
-// variable will manage all of Grbl's processes and keep them separate.
 void st_cycle_start() 
 {
   if (sys.state == STATE_QUEUED) {