3b468f602b
- Critical bug fix for diagonal motions that continue on the same direction or return in the exact opposite direction. This issue could cause Grbl to crash intermittently due to a numerical round-off error. Grbl versions prior to v0.9g shouldn’t have this issue. - Reorganized all of the includes used by Grbl. Centralized it into a single “grbl.h” include. This will help simplify the compiling and uploading process through the Arduino IDE. - Added an example .INO file for users to simply open and run when compiling and uploading through the IDE. More to come later.
96 lines
4.6 KiB
C
96 lines
4.6 KiB
C
/*
|
|
system.h - Header for system level commands and real-time processes
|
|
Part of Grbl v0.9
|
|
|
|
Copyright (c) 2014-2015 Sungeun K. Jeon
|
|
|
|
Grbl is free software: you can redistribute it and/or modify
|
|
it under the terms of the GNU General Public License as published by
|
|
the Free Software Foundation, either version 3 of the License, or
|
|
(at your option) any later version.
|
|
|
|
Grbl is distributed in the hope that it will be useful,
|
|
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
GNU General Public License for more details.
|
|
|
|
You should have received a copy of the GNU General Public License
|
|
along with Grbl. If not, see <http://www.gnu.org/licenses/>.
|
|
*/
|
|
|
|
#ifndef system_h
|
|
#define system_h
|
|
|
|
#include "grbl.h"
|
|
|
|
// Define system executor bit map. Used internally by realtime protocol as realtime command flags,
|
|
// which notifies the main program to execute the specified realtime command asynchronously.
|
|
// NOTE: The system executor uses an unsigned 8-bit volatile variable (8 flag limit.) The default
|
|
// flags are always false, so the realtime protocol only needs to check for a non-zero value to
|
|
// know when there is a realtime command to execute.
|
|
#define EXEC_STATUS_REPORT bit(0) // bitmask 00000001
|
|
#define EXEC_CYCLE_START bit(1) // bitmask 00000010
|
|
#define EXEC_CYCLE_STOP bit(2) // bitmask 00000100
|
|
#define EXEC_FEED_HOLD bit(3) // bitmask 00001000
|
|
#define EXEC_RESET bit(4) // bitmask 00010000
|
|
|
|
// Alarm executor bit map.
|
|
// NOTE: EXEC_CRITICAL_EVENT is an optional flag that must be set with an alarm flag. When enabled,
|
|
// this halts Grbl into an infinite loop until the user aknowledges the problem and issues a soft-
|
|
// reset command. For example, a hard limit event needs this type of halt and aknowledgement.
|
|
#define EXEC_CRITICAL_EVENT bit(0) // bitmask 00000001 (SPECIAL FLAG. See NOTE:)
|
|
#define EXEC_ALARM_HARD_LIMIT bit(0) // bitmask 00000010
|
|
#define EXEC_ALARM_SOFT_LIMIT bit(1) // bitmask 00000100
|
|
#define EXEC_ALARM_ABORT_CYCLE bit(2) // bitmask 00001000
|
|
#define EXEC_ALARM_PROBE_FAIL bit(3) // bitmask 00010000
|
|
|
|
// Define system state bit map. The state variable primarily tracks the individual functions
|
|
// of Grbl to manage each without overlapping. It is also used as a messaging flag for
|
|
// critical events.
|
|
#define STATE_IDLE 0 // Must be zero. No flags.
|
|
#define STATE_ALARM bit(0) // In alarm state. Locks out all g-code processes. Allows settings access.
|
|
#define STATE_CHECK_MODE bit(1) // G-code check mode. Locks out planner and motion only.
|
|
#define STATE_HOMING bit(2) // Performing homing cycle
|
|
#define STATE_QUEUED bit(3) // Indicates buffered blocks, awaiting cycle start.
|
|
#define STATE_CYCLE bit(4) // Cycle is running
|
|
#define STATE_HOLD bit(5) // Executing feed hold
|
|
// #define STATE_JOG bit(6) // Jogging mode is unique like homing.
|
|
|
|
|
|
// Define global system variables
|
|
typedef struct {
|
|
uint8_t abort; // System abort flag. Forces exit back to main loop for reset.
|
|
uint8_t state; // Tracks the current state of Grbl.
|
|
|
|
volatile uint8_t rt_exec_state; // Global realtime executor bitflag variable for state management. See EXEC bitmasks.
|
|
volatile uint8_t rt_exec_alarm; // Global realtime executor bitflag variable for setting various alarms.
|
|
|
|
int32_t position[N_AXIS]; // Real-time machine (aka home) position vector in steps.
|
|
// NOTE: This may need to be a volatile variable, if problems arise.
|
|
uint8_t auto_start; // Planner auto-start flag. Toggled off during feed hold. Defaulted by settings.
|
|
|
|
uint8_t homing_axis_lock; // Locks axes when limits engage. Used as an axis motion mask in the stepper ISR.
|
|
volatile uint8_t probe_state; // Probing state value. Used to coordinate the probing cycle with stepper ISR.
|
|
int32_t probe_position[N_AXIS]; // Last probe position in machine coordinates and steps.
|
|
uint8_t probe_succeeded; // Tracks if last probing cycle was successful.
|
|
} system_t;
|
|
extern system_t sys;
|
|
|
|
|
|
// Initialize the serial protocol
|
|
void system_init();
|
|
|
|
// Executes an internal system command, defined as a string starting with a '$'
|
|
uint8_t system_execute_line(char *line);
|
|
|
|
// Execute the startup script lines stored in EEPROM upon initialization
|
|
void system_execute_startup(char *line);
|
|
|
|
// Returns machine position of axis 'idx'. Must be sent a 'step' array.
|
|
float system_convert_axis_steps_to_mpos(int32_t *steps, uint8_t idx);
|
|
|
|
// Updates a machine 'position' array based on the 'step' array sent.
|
|
void system_convert_array_steps_to_mpos(float *position, int32_t *steps);
|
|
|
|
#endif
|