File re-organization. New Makefile.
- Re-organized source code files into a ‘grbl’ directory to lessen one step in compiling Grbl through the Arduino IDE. - Added an ‘examples’ directory with an upload .INO sketch to further simplify compiling and uploading Grbl via the Arduino IDE. - Updated the Makefile with regard to the source code no longer being in the root directory. All files generated by compiling is placed in a separate ‘build’ directory to keep things tidy. The makefile should operate in the same way as it did before.
This commit is contained in:
Sonny Jeon
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grbl/system.c
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grbl/system.c
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/*
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system.c - Handles system level commands and real-time processes
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Part of Grbl v0.9
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Copyright (c) 2014-2015 Sungeun K. Jeon
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Grbl is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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Grbl is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with Grbl. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include "grbl.h"
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void system_init()
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{
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CONTROL_DDR &= ~(CONTROL_MASK); // Configure as input pins
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#ifdef DISABLE_CONTROL_PIN_PULL_UP
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CONTROL_PORT &= ~(CONTROL_MASK); // Normal low operation. Requires external pull-down.
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#else
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CONTROL_PORT |= CONTROL_MASK; // Enable internal pull-up resistors. Normal high operation.
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#endif
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CONTROL_PCMSK |= CONTROL_MASK; // Enable specific pins of the Pin Change Interrupt
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PCICR |= (1 << CONTROL_INT); // Enable Pin Change Interrupt
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}
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// Pin change interrupt for pin-out commands, i.e. cycle start, feed hold, and reset. Sets
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// only the realtime command execute variable to have the main program execute these when
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// its ready. This works exactly like the character-based realtime commands when picked off
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// directly from the incoming serial data stream.
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ISR(CONTROL_INT_vect)
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{
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uint8_t pin = (CONTROL_PIN & CONTROL_MASK);
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#ifndef INVERT_CONTROL_PIN
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pin ^= CONTROL_MASK;
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#endif
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// Enter only if any CONTROL pin is detected as active.
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if (pin) {
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if (bit_istrue(pin,bit(RESET_BIT))) {
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mc_reset();
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} else if (bit_istrue(pin,bit(FEED_HOLD_BIT))) {
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bit_true(sys.rt_exec_state, EXEC_FEED_HOLD);
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} else if (bit_istrue(pin,bit(CYCLE_START_BIT))) {
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bit_true(sys.rt_exec_state, EXEC_CYCLE_START);
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}
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}
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}
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// Executes user startup script, if stored.
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void system_execute_startup(char *line)
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{
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uint8_t n;
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for (n=0; n < N_STARTUP_LINE; n++) {
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if (!(settings_read_startup_line(n, line))) {
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report_status_message(STATUS_SETTING_READ_FAIL);
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} else {
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if (line[0] != 0) {
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printString(line); // Echo startup line to indicate execution.
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report_status_message(gc_execute_line(line));
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}
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}
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}
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}
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// Directs and executes one line of formatted input from protocol_process. While mostly
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// incoming streaming g-code blocks, this also executes Grbl internal commands, such as
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// settings, initiating the homing cycle, and toggling switch states. This differs from
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// the realtime command module by being susceptible to when Grbl is ready to execute the
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// next line during a cycle, so for switches like block delete, the switch only effects
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// the lines that are processed afterward, not necessarily real-time during a cycle,
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// since there are motions already stored in the buffer. However, this 'lag' should not
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// be an issue, since these commands are not typically used during a cycle.
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uint8_t system_execute_line(char *line)
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{
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uint8_t char_counter = 1;
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uint8_t helper_var = 0; // Helper variable
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float parameter, value;
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switch( line[char_counter] ) {
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case 0 : report_grbl_help(); break;
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case '$' : // Prints Grbl settings
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if ( line[++char_counter] != 0 ) { return(STATUS_INVALID_STATEMENT); }
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if ( sys.state & (STATE_CYCLE | STATE_HOLD) ) { return(STATUS_IDLE_ERROR); } // Block during cycle. Takes too long to print.
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else { report_grbl_settings(); }
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break;
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case 'G' : // Prints gcode parser state
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if ( line[++char_counter] != 0 ) { return(STATUS_INVALID_STATEMENT); }
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else { report_gcode_modes(); }
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break;
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case 'C' : // Set check g-code mode [IDLE/CHECK]
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if ( line[++char_counter] != 0 ) { return(STATUS_INVALID_STATEMENT); }
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// Perform reset when toggling off. Check g-code mode should only work if Grbl
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// is idle and ready, regardless of alarm locks. This is mainly to keep things
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// simple and consistent.
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if ( sys.state == STATE_CHECK_MODE ) {
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mc_reset();
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report_feedback_message(MESSAGE_DISABLED);
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} else {
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if (sys.state) { return(STATUS_IDLE_ERROR); } // Requires no alarm mode.
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sys.state = STATE_CHECK_MODE;
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report_feedback_message(MESSAGE_ENABLED);
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}
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break;
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case 'X' : // Disable alarm lock [ALARM]
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if ( line[++char_counter] != 0 ) { return(STATUS_INVALID_STATEMENT); }
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if (sys.state == STATE_ALARM) {
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report_feedback_message(MESSAGE_ALARM_UNLOCK);
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sys.state = STATE_IDLE;
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// Don't run startup script. Prevents stored moves in startup from causing accidents.
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} // Otherwise, no effect.
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break;
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// case 'J' : break; // Jogging methods
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// TODO: Here jogging can be placed for execution as a seperate subprogram. It does not need to be
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// susceptible to other realtime commands except for e-stop. The jogging function is intended to
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// be a basic toggle on/off with controlled acceleration and deceleration to prevent skipped
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// steps. The user would supply the desired feedrate, axis to move, and direction. Toggle on would
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// start motion and toggle off would initiate a deceleration to stop. One could 'feather' the
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// motion by repeatedly toggling to slow the motion to the desired location. Location data would
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// need to be updated real-time and supplied to the user through status queries.
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// More controlled exact motions can be taken care of by inputting G0 or G1 commands, which are
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// handled by the planner. It would be possible for the jog subprogram to insert blocks into the
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// block buffer without having the planner plan them. It would need to manage de/ac-celerations
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// on its own carefully. This approach could be effective and possibly size/memory efficient.
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default :
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// Block any system command that requires the state as IDLE/ALARM. (i.e. EEPROM, homing)
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if ( !(sys.state == STATE_IDLE || sys.state == STATE_ALARM) ) { return(STATUS_IDLE_ERROR); }
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switch( line[char_counter] ) {
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case '#' : // Print Grbl NGC parameters
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if ( line[++char_counter] != 0 ) { return(STATUS_INVALID_STATEMENT); }
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else { report_ngc_parameters(); }
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break;
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case 'H' : // Perform homing cycle [IDLE/ALARM]
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if (bit_istrue(settings.flags,BITFLAG_HOMING_ENABLE)) {
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sys.state = STATE_HOMING; // Set system state variable
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// Only perform homing if Grbl is idle or lost.
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mc_homing_cycle();
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if (!sys.abort) { // Execute startup scripts after successful homing.
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sys.state = STATE_IDLE; // Set to IDLE when complete.
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st_go_idle(); // Set steppers to the settings idle state before returning.
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system_execute_startup(line);
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}
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} else { return(STATUS_SETTING_DISABLED); }
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break;
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case 'I' : // Print or store build info. [IDLE/ALARM]
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if ( line[++char_counter] == 0 ) {
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settings_read_build_info(line);
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report_build_info(line);
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} else { // Store startup line [IDLE/ALARM]
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if(line[char_counter++] != '=') { return(STATUS_INVALID_STATEMENT); }
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helper_var = char_counter; // Set helper variable as counter to start of user info line.
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do {
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line[char_counter-helper_var] = line[char_counter];
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} while (line[char_counter++] != 0);
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settings_store_build_info(line);
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}
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break;
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case 'N' : // Startup lines. [IDLE/ALARM]
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if ( line[++char_counter] == 0 ) { // Print startup lines
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for (helper_var=0; helper_var < N_STARTUP_LINE; helper_var++) {
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if (!(settings_read_startup_line(helper_var, line))) {
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report_status_message(STATUS_SETTING_READ_FAIL);
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} else {
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report_startup_line(helper_var,line);
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}
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}
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break;
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} else { // Store startup line [IDLE Only] Prevents motion during ALARM.
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if (sys.state != STATE_IDLE) { return(STATUS_IDLE_ERROR); } // Store only when idle.
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helper_var = true; // Set helper_var to flag storing method.
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// No break. Continues into default: to read remaining command characters.
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}
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default : // Storing setting methods [IDLE/ALARM]
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if(!read_float(line, &char_counter, ¶meter)) { return(STATUS_BAD_NUMBER_FORMAT); }
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if(line[char_counter++] != '=') { return(STATUS_INVALID_STATEMENT); }
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if (helper_var) { // Store startup line
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// Prepare sending gcode block to gcode parser by shifting all characters
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helper_var = char_counter; // Set helper variable as counter to start of gcode block
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do {
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line[char_counter-helper_var] = line[char_counter];
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} while (line[char_counter++] != 0);
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// Execute gcode block to ensure block is valid.
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helper_var = gc_execute_line(line); // Set helper_var to returned status code.
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if (helper_var) { return(helper_var); }
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else {
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helper_var = trunc(parameter); // Set helper_var to int value of parameter
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settings_store_startup_line(helper_var,line);
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}
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} else { // Store global setting.
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if(!read_float(line, &char_counter, &value)) { return(STATUS_BAD_NUMBER_FORMAT); }
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if((line[char_counter] != 0) || (parameter > 255)) { return(STATUS_INVALID_STATEMENT); }
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return(settings_store_global_setting((uint8_t)parameter, value));
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}
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}
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}
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return(STATUS_OK); // If '$' command makes it to here, then everything's ok.
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}
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// Returns machine position of axis 'idx'. Must be sent a 'step' array.
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// NOTE: If motor steps and machine position are not in the same coordinate frame, this function
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// serves as a central place to compute the transformation.
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float system_convert_axis_steps_to_mpos(int32_t *steps, uint8_t idx)
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{
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float pos;
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#ifdef COREXY
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if (idx==A_MOTOR) {
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pos = 0.5*((steps[A_MOTOR] + steps[B_MOTOR])/settings.steps_per_mm[idx]);
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} else { // (idx==B_MOTOR)
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pos = 0.5*((steps[A_MOTOR] - steps[B_MOTOR])/settings.steps_per_mm[idx]);
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}
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#else
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pos = steps[idx]/settings.steps_per_mm[idx];
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#endif
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return(pos);
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}
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void system_convert_array_steps_to_mpos(float *position, int32_t *steps)
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{
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uint8_t idx;
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for (idx=0; idx<N_AXIS; idx++) {
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position[idx] = system_convert_axis_steps_to_mpos(steps, idx);
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}
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return;
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}
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