New configuration options.
- New configuration option at compile-time: - Force alarm upon power-up or hard reset. When homing is enabled, this is already the default behavior. This simply forces this all of the time. - GUI reporting mode. Removes most human-readable strings that GUIs don’t need. This saves nearly 2KB in flash space that can be used for other features. - Hard limit force state check: In the hard limit pin change ISR, Grbl by default sets the hard limit alarm upon any pin change to guarantee the alarm is set. If this option is set, it’ll check the state within the ISR, but can’t guarantee the pin will be read correctly if the switch is bouncing. This option makes hard limit behavior a little less annoying if you have a good buffered switch circuit that removes bouncing and electronic noise. - Software debounce bug fix. It was reading the pin incorrectly for the setting. - Re-factored some of the ‘$’ settings code.
This commit is contained in:
Sonny Jeon
@ -109,54 +109,57 @@ uint8_t system_execute_line(char *line)
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float parameter, value;
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switch( line[char_counter] ) {
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case 0 : report_grbl_help(); break;
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case '$' : // 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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// TODO: Move this to realtime commands for GUIs to request this data during suspend-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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case '$': case 'G': case 'C': case 'X':
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if ( line[(char_counter+1)] != 0 ) { return(STATUS_INVALID_STATEMENT); }
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switch( line[char_counter] ) {
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case '$' : // Prints Grbl settings
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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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// TODO: Move this to realtime commands for GUIs to request this data during suspend-state.
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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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// 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 (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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if (system_check_safety_door_ajar()) { // Check safety door switch before returning.
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bit_true(sys.rt_exec_state, EXEC_SAFETY_DOOR);
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protocol_execute_realtime(); // Enter safety door mode.
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}
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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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// }
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// break;
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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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if (system_check_safety_door_ajar()) { // Check safety door switch before returning.
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bit_true(sys.rt_exec_state, EXEC_SAFETY_DOOR);
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protocol_execute_realtime(); // Enter safety door mode.
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}
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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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break;
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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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