664854b9df
- Critical fix for M0 program pause. Due to its recent change, it would cause Grbl to suspend but wouldn’t notify the user of why Grbl was not doing anything. The state would show IDLE and a cycle start would resume it. Grbl now enters a HOLD state to better indicate the state change. - Critical fix for M2 and M30 program end. As with M0, the state previously would show IDLE while suspended. Grbl now does not suspend upon program end and leaves job control to the GUI. Grbl simply reports a `[Pgm End]` as a feedback message and resets certain g-code modes. - M2/30 g-code reseting fix. Previously Grbl would soft-reset after an M2/30, but this was not complaint to the (linuxcnc) g-code standard. It simply resets [G1,G17,G90,G94,G40,G54,M5,M9,M48] and keeps all other modes the same. - M0/M2/M30 check-mode fix. It now does not suspend the machine during check-mode. - Minor bug fix related to commands similar to G90.1, but not G90.1, not reporting an unsupported command. - Homing cycle refactoring. To help reduce the chance of users misunderstanding their limit switch wiring, Grbl only moves a short distance for the locate cycles only. In addition, the homing cycle pulls-off the limit switch by the pull-off distance to re-engage and locate home. This should improve its accuracy. - HOMING_FORCE_ORIGIN now sets the origin to the pull-off location, rather than where the limit switch was triggered. - Updated default junction deviation to 0.01mm. Recent tests showed that this improves Grbl’s cornering behavior a bit. - Added the ShapeOko3 defaults. - Added new feedback message `[Pgm End]` for M2/30 notification. - Limit pin reporting is now a $10 status report option. Requested by OEMs to help simplify support troubleshooting.
109 lines
5.4 KiB
C
109 lines
5.4 KiB
C
/*
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system.h - Header for system level commands and real-time processes
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Part of Grbl
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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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#ifndef system_h
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#define system_h
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#include "grbl.h"
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// Define system executor bit map. Used internally by realtime protocol as realtime command flags,
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// which notifies the main program to execute the specified realtime command asynchronously.
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// NOTE: The system executor uses an unsigned 8-bit volatile variable (8 flag limit.) The default
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// flags are always false, so the realtime protocol only needs to check for a non-zero value to
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// know when there is a realtime command to execute.
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#define EXEC_STATUS_REPORT bit(0) // bitmask 00000001
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#define EXEC_CYCLE_START bit(1) // bitmask 00000010
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#define EXEC_CYCLE_STOP bit(2) // bitmask 00000100
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#define EXEC_FEED_HOLD bit(3) // bitmask 00001000
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#define EXEC_RESET bit(4) // bitmask 00010000
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#define EXEC_SAFETY_DOOR bit(5) // bitmask 00100000
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#define EXEC_MOTION_CANCEL bit(6) // bitmask 01000000
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// Alarm executor bit map.
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// NOTE: EXEC_CRITICAL_EVENT is an optional flag that must be set with an alarm flag. When enabled,
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// this halts Grbl into an infinite loop until the user aknowledges the problem and issues a soft-
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// reset command. For example, a hard limit event needs this type of halt and aknowledgement.
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#define EXEC_CRITICAL_EVENT bit(0) // bitmask 00000001 (SPECIAL FLAG. See NOTE:)
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#define EXEC_ALARM_HARD_LIMIT bit(1) // bitmask 00000010
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#define EXEC_ALARM_SOFT_LIMIT bit(2) // bitmask 00000100
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#define EXEC_ALARM_ABORT_CYCLE bit(3) // bitmask 00001000
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#define EXEC_ALARM_PROBE_FAIL bit(4) // bitmask 00010000
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#define EXEC_ALARM_HOMING_FAIL bit(5) // bitmask 00100000
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// Define system state bit map. The state variable primarily tracks the individual functions
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// of Grbl to manage each without overlapping. It is also used as a messaging flag for
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// critical events.
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#define STATE_IDLE 0 // Must be zero. No flags.
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#define STATE_ALARM bit(0) // In alarm state. Locks out all g-code processes. Allows settings access.
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#define STATE_CHECK_MODE bit(1) // G-code check mode. Locks out planner and motion only.
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#define STATE_HOMING bit(2) // Performing homing cycle
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#define STATE_CYCLE bit(3) // Cycle is running or motions are being executed.
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#define STATE_HOLD bit(4) // Active feed hold
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#define STATE_SAFETY_DOOR bit(5) // Safety door is ajar. Feed holds and de-energizes system.
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#define STATE_MOTION_CANCEL bit(6) // Motion cancel by feed hold and return to idle.
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// Define system suspend states.
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#define SUSPEND_DISABLE 0 // Must be zero.
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#define SUSPEND_ENABLE_HOLD bit(0) // Enabled. Indicates the cycle is active and currently undergoing a hold.
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#define SUSPEND_ENABLE_READY bit(1) // Ready to resume with a cycle start command.
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#define SUSPEND_ENERGIZE bit(2) // Re-energizes output before resume.
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#define SUSPEND_MOTION_CANCEL bit(3) // Cancels resume motion. Used by probing routine.
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// Define global system variables
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typedef struct {
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uint8_t abort; // System abort flag. Forces exit back to main loop for reset.
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uint8_t state; // Tracks the current state of Grbl.
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uint8_t suspend; // System suspend bitflag variable that manages holds, cancels, and safety door.
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volatile uint8_t rt_exec_state; // Global realtime executor bitflag variable for state management. See EXEC bitmasks.
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volatile uint8_t rt_exec_alarm; // Global realtime executor bitflag variable for setting various alarms.
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int32_t position[N_AXIS]; // Real-time machine (aka home) position vector in steps.
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// NOTE: This may need to be a volatile variable, if problems arise.
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uint8_t homing_axis_lock; // Locks axes when limits engage. Used as an axis motion mask in the stepper ISR.
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volatile uint8_t probe_state; // Probing state value. Used to coordinate the probing cycle with stepper ISR.
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int32_t probe_position[N_AXIS]; // Last probe position in machine coordinates and steps.
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uint8_t probe_succeeded; // Tracks if last probing cycle was successful.
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} system_t;
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extern system_t sys;
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// Initialize the serial protocol
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void system_init();
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// Returns if safety door is open or closed, based on pin state.
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uint8_t system_check_safety_door_ajar();
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// Executes an internal system command, defined as a string starting with a '$'
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uint8_t system_execute_line(char *line);
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// Execute the startup script lines stored in EEPROM upon initialization
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void system_execute_startup(char *line);
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// Returns machine position of axis 'idx'. Must be sent a 'step' array.
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float system_convert_axis_steps_to_mpos(int32_t *steps, uint8_t idx);
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// Updates a machine 'position' array based on the 'step' array sent.
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void system_convert_array_steps_to_mpos(float *position, int32_t *steps);
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#endif
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