87c5703200
- Denoted bit_true_atomic only for sys.execute bit settings. All other bit_true type calls are for local variables only and don’t need atomic access. Still looking into other ways of setting these flags without requiring atomic access, but this is a patch for now.
300 lines
13 KiB
C
300 lines
13 KiB
C
/*
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protocol.c - controls Grbl execution protocol and procedures
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Part of Grbl
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Copyright (c) 2011-2014 Sungeun K. Jeon
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Copyright (c) 2009-2011 Simen Svale Skogsrud
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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 "system.h"
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#include "serial.h"
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#include "settings.h"
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#include "protocol.h"
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#include "gcode.h"
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#include "planner.h"
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#include "stepper.h"
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#include "motion_control.h"
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#include "report.h"
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static char line[LINE_BUFFER_SIZE]; // Line to be executed. Zero-terminated.
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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 directs and executes Grbl internal commands,
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// such as settings, initiating the homing cycle, and toggling switch states.
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static void protocol_execute_line(char *line)
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{
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protocol_execute_runtime(); // Runtime command check point.
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if (sys.abort) { return; } // Bail to calling function upon system abort
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if (line[0] == 0) {
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// Empty or comment line. Send status message for syncing purposes.
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report_status_message(STATUS_OK);
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} else if (line[0] == '$') {
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// Grbl '$' system command
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report_status_message(system_execute_line(line));
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} else if (sys.state == STATE_ALARM) {
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// Everything else is gcode. Block if in alarm mode.
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report_status_message(STATUS_ALARM_LOCK);
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} else {
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// Parse and execute g-code block!
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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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GRBL PRIMARY LOOP:
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*/
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void protocol_main_loop()
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{
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// ------------------------------------------------------------
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// Complete initialization procedures upon a power-up or reset.
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// ------------------------------------------------------------
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// Print welcome message
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report_init_message();
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// Check for and report alarm state after a reset, error, or an initial power up.
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if (sys.state == STATE_ALARM) {
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report_feedback_message(MESSAGE_ALARM_LOCK);
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} else {
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// All systems go!
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sys.state = STATE_IDLE; // Set system to ready. Clear all state flags.
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system_execute_startup(line); // Execute startup script.
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}
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// ---------------------------------------------------------------------------------
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// Primary loop! Upon a system abort, this exits back to main() to reset the system.
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// ---------------------------------------------------------------------------------
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uint8_t iscomment = false;
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uint8_t char_counter = 0;
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uint8_t c;
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for (;;) {
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// Process one line of incoming serial data, as the data becomes available. Performs an
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// initial filtering by removing spaces and comments and capitalizing all letters.
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// NOTE: While comment, spaces, and block delete(if supported) handling should technically
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// be done in the g-code parser, doing it here helps compress the incoming data into Grbl's
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// line buffer, which is limited in size. The g-code standard actually states a line can't
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// exceed 256 characters, but the Arduino Uno does not have the memory space for this.
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// With a better processor, it would be very easy to pull this initial parsing out as a
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// seperate task to be shared by the g-code parser and Grbl's system commands.
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while((c = serial_read()) != SERIAL_NO_DATA) {
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if ((c == '\n') || (c == '\r')) { // End of line reached
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line[char_counter] = 0; // Set string termination character.
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protocol_execute_line(line); // Line is complete. Execute it!
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iscomment = false;
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char_counter = 0;
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} else {
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if (iscomment) {
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// Throw away all comment characters
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if (c == ')') {
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// End of comment. Resume line.
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iscomment = false;
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}
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} else {
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if (c <= ' ') {
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// Throw away whitepace and control characters
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} else if (c == '/') {
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// Block delete NOT SUPPORTED. Ignore character.
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// NOTE: If supported, would simply need to check the system if block delete is enabled.
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} else if (c == '(') {
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// Enable comments flag and ignore all characters until ')' or EOL.
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// NOTE: This doesn't follow the NIST definition exactly, but is good enough for now.
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// In the future, we could simply remove the items within the comments, but retain the
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// comment control characters, so that the g-code parser can error-check it.
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iscomment = true;
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// } else if (c == ';') {
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// Comment character to EOL NOT SUPPORTED. LinuxCNC definition. Not NIST.
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// TODO: Install '%' feature
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// } else if (c == '%') {
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// Program start-end percent sign NOT SUPPORTED.
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// NOTE: This maybe installed to tell Grbl when a program is running vs manual input,
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// where, during a program, the system auto-cycle start will continue to execute
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// everything until the next '%' sign. This will help fix resuming issues with certain
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// functions that empty the planner buffer to execute its task on-time.
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} else if (char_counter >= LINE_BUFFER_SIZE-1) {
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// Detect line buffer overflow. Report error and reset line buffer.
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report_status_message(STATUS_OVERFLOW);
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iscomment = false;
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char_counter = 0;
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} else if (c >= 'a' && c <= 'z') { // Upcase lowercase
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line[char_counter++] = c-'a'+'A';
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} else {
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line[char_counter++] = c;
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}
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}
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}
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}
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// If there are no more characters in the serial read buffer to be processed and executed,
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// this indicates that g-code streaming has either filled the planner buffer or has
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// completed. In either case, auto-cycle start, if enabled, any queued moves.
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protocol_auto_cycle_start();
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protocol_execute_runtime(); // Runtime command check point.
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if (sys.abort) { return; } // Bail to main() program loop to reset system.
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}
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return; /* Never reached */
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}
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// Executes run-time commands, when required. This is called from various check points in the main
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// program, primarily where there may be a while loop waiting for a buffer to clear space or any
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// point where the execution time from the last check point may be more than a fraction of a second.
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// This is a way to execute runtime commands asynchronously (aka multitasking) with grbl's g-code
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// parsing and planning functions. This function also serves as an interface for the interrupts to
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// set the system runtime flags, where only the main program handles them, removing the need to
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// define more computationally-expensive volatile variables. This also provides a controlled way to
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// execute certain tasks without having two or more instances of the same task, such as the planner
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// recalculating the buffer upon a feedhold or override.
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// NOTE: The sys.execute variable flags are set by any process, step or serial interrupts, pinouts,
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// limit switches, or the main program.
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void protocol_execute_runtime()
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{
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uint8_t rt_exec = sys.execute; // Copy to avoid calling volatile multiple times
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if (rt_exec) { // Enter only if any bit flag is true
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// System alarm. Everything has shutdown by something that has gone severely wrong. Report
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// the source of the error to the user. If critical, Grbl disables by entering an infinite
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// loop until system reset/abort.
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if (rt_exec & (EXEC_ALARM | EXEC_CRIT_EVENT)) {
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sys.state = STATE_ALARM; // Set system alarm state
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// Critical events. Hard/soft limit events identified by both critical event and alarm exec
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// flags. Probe fail is identified by the critical event exec flag only.
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if (rt_exec & EXEC_CRIT_EVENT) {
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if (rt_exec & EXEC_ALARM) { report_alarm_message(ALARM_LIMIT_ERROR); }
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else { report_alarm_message(ALARM_PROBE_FAIL); }
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report_feedback_message(MESSAGE_CRITICAL_EVENT);
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bit_false_atomic(sys.execute,EXEC_RESET); // Disable any existing reset
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do {
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// Nothing. Block EVERYTHING until user issues reset or power cycles. Hard limits
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// typically occur while unattended or not paying attention. Gives the user time
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// to do what is needed before resetting, like killing the incoming stream. The
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// same could be said about soft limits. While the position is not lost, the incoming
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// stream could be still engaged and cause a serious crash if it continues afterwards.
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} while (bit_isfalse(sys.execute,EXEC_RESET));
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// Standard alarm event. Only abort during motion qualifies.
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} else {
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// Runtime abort command issued during a cycle, feed hold, or homing cycle. Message the
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// user that position may have been lost and set alarm state to enable the alarm lockout
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// to indicate the possible severity of the problem.
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report_alarm_message(ALARM_ABORT_CYCLE);
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}
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bit_false_atomic(sys.execute,(EXEC_ALARM | EXEC_CRIT_EVENT));
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}
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// Execute system abort.
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if (rt_exec & EXEC_RESET) {
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sys.abort = true; // Only place this is set true.
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return; // Nothing else to do but exit.
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}
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// Execute and serial print status
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if (rt_exec & EXEC_STATUS_REPORT) {
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report_realtime_status();
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bit_false_atomic(sys.execute,EXEC_STATUS_REPORT);
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}
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// Execute a feed hold with deceleration, only during cycle.
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if (rt_exec & EXEC_FEED_HOLD) {
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// !!! During a cycle, the segment buffer has just been reloaded and full. So the math involved
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// with the feed hold should be fine for most, if not all, operational scenarios.
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if (sys.state == STATE_CYCLE) {
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sys.state = STATE_HOLD;
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st_update_plan_block_parameters();
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st_prep_buffer();
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sys.auto_start = false; // Disable planner auto start upon feed hold.
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}
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bit_false_atomic(sys.execute,EXEC_FEED_HOLD);
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}
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// Execute a cycle start by starting the stepper interrupt begin executing the blocks in queue.
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if (rt_exec & EXEC_CYCLE_START) {
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if (sys.state == STATE_QUEUED) {
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sys.state = STATE_CYCLE;
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st_prep_buffer(); // Initialize step segment buffer before beginning cycle.
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st_wake_up();
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if (bit_istrue(settings.flags,BITFLAG_AUTO_START)) {
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sys.auto_start = true; // Re-enable auto start after feed hold.
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} else {
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sys.auto_start = false; // Reset auto start per settings.
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}
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}
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bit_false_atomic(sys.execute,EXEC_CYCLE_START);
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}
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// Reinitializes the cycle plan and stepper system after a feed hold for a resume. Called by
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// runtime command execution in the main program, ensuring that the planner re-plans safely.
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// NOTE: Bresenham algorithm variables are still maintained through both the planner and stepper
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// cycle reinitializations. The stepper path should continue exactly as if nothing has happened.
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// NOTE: EXEC_CYCLE_STOP is set by the stepper subsystem when a cycle or feed hold completes.
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if (rt_exec & EXEC_CYCLE_STOP) {
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if ( plan_get_current_block() ) { sys.state = STATE_QUEUED; }
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else { sys.state = STATE_IDLE; }
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bit_false_atomic(sys.execute,EXEC_CYCLE_STOP);
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}
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}
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// Overrides flag byte (sys.override) and execution should be installed here, since they
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// are runtime and require a direct and controlled interface to the main stepper program.
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// Reload step segment buffer
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if (sys.state & (STATE_CYCLE | STATE_HOLD | STATE_HOMING)) { st_prep_buffer(); }
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}
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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 protocol_buffer_synchronize()
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{
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// Check and set auto start to resume cycle after synchronize and caller completes.
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if (sys.state == STATE_CYCLE) { sys.auto_start = true; }
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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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}
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// Auto-cycle start has two purposes: 1. Resumes a plan_synchronize() call from a function that
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// requires the planner buffer to empty (spindle enable, dwell, etc.) 2. As a user setting that
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// automatically begins the cycle when a user enters a valid motion command manually. This is
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// intended as a beginners feature to help new users to understand g-code. It can be disabled
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// as a beginner tool, but (1.) still operates. If disabled, the operation of cycle start is
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// manually issuing a cycle start command whenever the user is ready and there is a valid motion
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// command in the planner queue.
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// NOTE: This function is called from the main loop and mc_line() only and executes when one of
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// two conditions exist respectively: There are no more blocks sent (i.e. streaming is finished,
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// single commands), or the planner buffer is full and ready to go.
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void protocol_auto_cycle_start() { if (sys.auto_start) { bit_true_atomic(sys.execute, EXEC_CYCLE_START); } }
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