76730176da
- Added an include in the right spot, if a user tries to compile and upload Grbl through the Arduino IDE with the old way. - Fixed a minor bug with homing max travel calculations. It was causing simultaneous axes homing to move slow than it did before.
390 lines
19 KiB
C
390 lines
19 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) 2011-2015 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 "grbl.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_realtime(); // 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! But first check for safety door.
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if (system_check_safety_door_ajar()) {
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bit_true(sys.rt_exec_state, EXEC_SAFETY_DOOR);
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protocol_execute_realtime(); // Enter safety door mode. Should return as IDLE state.
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} else {
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sys.state = STATE_IDLE; // Set system to ready. Clear all state flags.
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}
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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_realtime(); // 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 realtime 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 realtime 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.rt_exec_state 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_realtime()
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{
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uint8_t rt_exec; // Temp variable to avoid calling volatile multiple times.
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do { // If system is suspended, suspend loop restarts here.
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// Check and execute alarms.
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rt_exec = sys.rt_exec_alarm; // Copy volatile sys.rt_exec_alarm.
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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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sys.state = STATE_ALARM; // Set system alarm state
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if (rt_exec & EXEC_ALARM_HARD_LIMIT) {
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report_alarm_message(ALARM_HARD_LIMIT_ERROR);
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} else if (rt_exec & EXEC_ALARM_SOFT_LIMIT) {
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report_alarm_message(ALARM_SOFT_LIMIT_ERROR);
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} else if (rt_exec & EXEC_ALARM_ABORT_CYCLE) {
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report_alarm_message(ALARM_ABORT_CYCLE);
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} else if (rt_exec & EXEC_ALARM_PROBE_FAIL) {
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report_alarm_message(ALARM_PROBE_FAIL);
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} else if (rt_exec & EXEC_ALARM_HOMING_FAIL) {
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report_alarm_message(ALARM_HOMING_FAIL);
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}
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// Halt everything upon a critical event flag. Currently hard and soft limits flag this.
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if (rt_exec & EXEC_CRITICAL_EVENT) {
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report_feedback_message(MESSAGE_CRITICAL_EVENT);
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bit_false_atomic(sys.rt_exec_state,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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// if (sys.rt_exec_state & EXEC_STATUS_REPORT) {
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// report_realtime_status();
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// bit_false_atomic(sys.rt_exec_state,EXEC_STATUS_REPORT);
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// }
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} while (bit_isfalse(sys.rt_exec_state,EXEC_RESET));
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}
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bit_false_atomic(sys.rt_exec_alarm,0xFF); // Clear all alarm flags
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}
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// Check amd execute realtime commands
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rt_exec = sys.rt_exec_state; // Copy volatile sys.rt_exec_state.
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if (rt_exec) { // Enter only if any bit flag is true
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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.rt_exec_state,EXEC_STATUS_REPORT);
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}
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// Execute hold states.
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// NOTE: The math involved to calculate the hold should be low enough for most, if not all,
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// operational scenarios. Once hold is initiated, the system enters a suspend state to block
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// all main program processes until either reset or resumed.
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if (rt_exec & (EXEC_MOTION_CANCEL | EXEC_FEED_HOLD | EXEC_SAFETY_DOOR)) {
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// TODO: CHECK MODE? How to handle this? Likely nothing, since it only works when IDLE and then resets Grbl.
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// State check for allowable states for hold methods.
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if ((sys.state == STATE_IDLE) || (sys.state & (STATE_CYCLE | STATE_HOMING | STATE_MOTION_CANCEL | STATE_HOLD | STATE_SAFETY_DOOR))) {
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// If in CYCLE state, all hold states immediately initiate a motion HOLD.
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if (sys.state == STATE_CYCLE) {
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st_update_plan_block_parameters(); // Notify stepper module to recompute for hold deceleration.
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sys.suspend = SUSPEND_ENABLE_HOLD; // Initiate holding cycle with flag.
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}
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// If IDLE, Grbl is not in motion. Simply indicate suspend ready state.
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if (sys.state == STATE_IDLE) { sys.suspend = SUSPEND_ENABLE_READY; }
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// Execute and flag a motion cancel with deceleration and return to idle. Used primarily by probing cycle
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// to halt and cancel the remainder of the motion.
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if (rt_exec & EXEC_MOTION_CANCEL) {
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// MOTION_CANCEL only occurs during a CYCLE, but a HOLD and SAFETY_DOOR may been initiated beforehand
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// to hold the CYCLE. If so, only flag that motion cancel is complete.
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if (sys.state == STATE_CYCLE) { sys.state = STATE_MOTION_CANCEL; }
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sys.suspend |= SUSPEND_MOTION_CANCEL; // Indicate motion cancel when resuming. Special motion complete.
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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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// Block SAFETY_DOOR state from prematurely changing back to HOLD.
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if (bit_isfalse(sys.state,STATE_SAFETY_DOOR)) { sys.state = STATE_HOLD; }
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}
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// Execute a safety door stop with a feed hold, only during a cycle, and disable spindle/coolant.
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// NOTE: Safety door differs from feed holds by stopping everything no matter state, disables powered
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// devices (spindle/coolant), and blocks resuming until switch is re-engaged. The power-down is
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// executed here, if IDLE, or when the CYCLE completes via the EXEC_CYCLE_STOP flag.
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if (rt_exec & EXEC_SAFETY_DOOR) {
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report_feedback_message(MESSAGE_SAFETY_DOOR_AJAR);
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// If already in active, ready-to-resume HOLD, set CYCLE_STOP flag to force de-energize.
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// NOTE: Only temporarily sets the 'rt_exec' variable, not the volatile 'rt_exec_state' variable.
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if (sys.suspend & SUSPEND_ENABLE_READY) { bit_true(rt_exec,EXEC_CYCLE_STOP); }
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sys.suspend |= SUSPEND_ENERGIZE;
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sys.state = STATE_SAFETY_DOOR;
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}
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}
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bit_false_atomic(sys.rt_exec_state,(EXEC_MOTION_CANCEL | EXEC_FEED_HOLD | EXEC_SAFETY_DOOR));
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}
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// Execute a cycle start by starting the stepper interrupt to begin executing the blocks in queue.
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if (rt_exec & EXEC_CYCLE_START) {
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// Block if called at same time as the hold commands: feed hold, motion cancel, and safety door.
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// Ensures auto-cycle-start doesn't resume a hold without an explicit user-input.
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if (!(rt_exec & (EXEC_FEED_HOLD | EXEC_MOTION_CANCEL | EXEC_SAFETY_DOOR))) {
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// Cycle start only when IDLE or when a hold is complete and ready to resume.
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// NOTE: SAFETY_DOOR is implicitly blocked. It reverts to HOLD when the door is closed.
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if ((sys.state == STATE_IDLE) || ((sys.state & (STATE_HOLD | STATE_MOTION_CANCEL)) && (sys.suspend & SUSPEND_ENABLE_READY))) {
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// Re-energize powered components, if disabled by SAFETY_DOOR.
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if (sys.suspend & SUSPEND_ENERGIZE) {
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// Delayed Tasks: Restart spindle and coolant, delay to power-up, then resume cycle.
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if (gc_state.modal.spindle != SPINDLE_DISABLE) {
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spindle_set_state(gc_state.modal.spindle, gc_state.spindle_speed);
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delay_ms(SAFETY_DOOR_SPINDLE_DELAY); // TODO: Blocking function call. Need a non-blocking one eventually.
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}
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if (gc_state.modal.coolant != COOLANT_DISABLE) {
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coolant_set_state(gc_state.modal.coolant);
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delay_ms(SAFETY_DOOR_COOLANT_DELAY); // TODO: Blocking function call. Need a non-blocking one eventually.
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}
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// TODO: Install return to pre-park position.
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}
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// Start cycle only if queued motions exist in planner buffer and the motion is not canceled.
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if (plan_get_current_block() && bit_isfalse(sys.suspend,SUSPEND_MOTION_CANCEL)) {
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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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} else { // Otherwise, do nothing. Set and resume IDLE state.
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sys.state = STATE_IDLE;
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}
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sys.suspend = SUSPEND_DISABLE; // Break suspend state.
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}
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}
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bit_false_atomic(sys.rt_exec_state,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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// realtime 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 (sys.state & (STATE_HOLD | STATE_SAFETY_DOOR)) {
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// Hold complete. Set to indicate ready to resume. Remain in HOLD or DOOR states until user
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// has issued a resume command or reset.
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if (sys.suspend & SUSPEND_ENERGIZE) { // De-energize system if safety door has been opened.
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spindle_stop();
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coolant_stop();
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// TODO: Install parking motion here.
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}
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bit_true(sys.suspend,SUSPEND_ENABLE_READY);
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} else { // Motion is complete. Includes CYCLE, HOMING, and MOTION_CANCEL states.
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sys.suspend = SUSPEND_DISABLE;
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sys.state = STATE_IDLE;
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}
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bit_false_atomic(sys.rt_exec_state,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 realtime 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_MOTION_CANCEL | STATE_SAFETY_DOOR | STATE_HOMING)) { st_prep_buffer(); }
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// If safety door was opened, actively check when safety door is closed and ready to resume.
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// NOTE: This unlocks the SAFETY_DOOR state to a HOLD state, such that CYCLE_START can activate a resume.
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if (sys.state == STATE_SAFETY_DOOR) {
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if (bit_istrue(sys.suspend,SUSPEND_ENABLE_READY)) {
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if (!(system_check_safety_door_ajar())) {
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sys.state = STATE_HOLD; // Update to HOLD state to indicate door is closed and ready to resume.
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}
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}
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}
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} while(sys.suspend); // Check for system suspend state before exiting.
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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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// If system is queued, ensure cycle resumes if the auto start flag is present.
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protocol_auto_cycle_start();
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do {
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protocol_execute_realtime(); // Check and execute run-time commands
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if (sys.abort) { return; } // Check for system abort
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} while (plan_get_current_block() || (sys.state == STATE_CYCLE));
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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, buffer sync, and mc_line() only and executes
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// when one of these conditions exist respectively: There are no more blocks sent (i.e. streaming
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// is finished, single commands), a command that needs to wait for the motions in the buffer to
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// execute calls a buffer sync, or the planner buffer is full and ready to go.
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void protocol_auto_cycle_start() { bit_true_atomic(sys.rt_exec_state, EXEC_CYCLE_START); }
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