4c711a4af7
(All v0.8 features installed. Still likely buggy, but now thourough testing will need to start to squash them all. As soon as we're done, this will be pushed to master and v0.9 development will be started. Please report ANY issues to us so we can get this rolled out ASAP.) - User startup script! A user can now save one (up to 5 as compile-time option) block of g-code in EEPROM memory. This will be run everytime Grbl resets. Mainly to be used as a way to set your preferences, like G21, G54, etc. - New dry run and check g-code switches. Dry run moves ALL motions at rapids rate ignoring spindle, coolant, and dwell commands. For rapid physical proofing of your code. The check g-code switch ignores all motion and provides the user a way to check if there are any errors in their program that Grbl may not like. - Program restart! (sort of). Program restart is typically an advanced feature that allows users to restart a program mid-stream. The check g-code switch can perform this feature by enabling the switch at the start of the program, and disabling it at the desired point with some minimal changes. - New system state variable. This state variable tracks all of the different state processes that Grbl performs, i.e. cycle start, feed hold, homing, etc. This is mainly for making managing of these task easier and more clear. - Position lost state variable. Only when homing is enabled, Grbl will refuse to move until homing is completed and position is known. This is mainly for safety. Otherwise, it will let users fend for themselves. - Moved the default settings defines into config.h. The plan is to eventually create a set of config.h's for particular as-built machines to help users from doing it themselves. - Moved around misc defines into .h files. And lots of other little things.
327 lines
14 KiB
C
327 lines
14 KiB
C
/*
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report.c - reporting and messaging methods
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Part of Grbl
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Copyright (c) 2012 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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/*
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This file functions as the primary feedback interface for Grbl. Any outgoing data, such
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as the protocol status messages, feedback messages, and status reports, are stored here.
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For the most part, these functions primarily are called from protocol.c methods. If a
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different style feedback is desired (i.e. JSON), then a user can change these following
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methods to accomodate their needs.
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*/
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#include <avr/pgmspace.h>
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#include "report.h"
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#include "print.h"
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#include "settings.h"
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#include "nuts_bolts.h"
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#include "gcode.h"
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#include "coolant_control.h"
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// Handles the primary confirmation protocol response for streaming interfaces and human-feedback.
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// For every incoming line, this method responds with an 'ok' for a successful command or an
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// 'error:' to indicate some error event with the line or some critical system error during
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// operation. Errors events can originate from the g-code parser, settings module, or asynchronously
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// from a critical error, such as a triggered hard limit. Interface should always monitor for these
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// responses.
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// NOTE: In silent mode, all error codes are greater than zero.
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// TODO: Install silent mode to return only numeric values, primarily for GUIs.
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void report_status_message(uint8_t status_code)
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{
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if (status_code == 0) { // STATUS_OK
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printPgmString(PSTR("ok\r\n"));
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} else {
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printPgmString(PSTR("error: "));
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switch(status_code) {
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case STATUS_BAD_NUMBER_FORMAT:
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printPgmString(PSTR("Bad number format")); break;
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case STATUS_EXPECTED_COMMAND_LETTER:
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printPgmString(PSTR("Expected command letter")); break;
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case STATUS_UNSUPPORTED_STATEMENT:
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printPgmString(PSTR("Unsupported statement")); break;
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case STATUS_FLOATING_POINT_ERROR:
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printPgmString(PSTR("Floating point error")); break;
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case STATUS_MODAL_GROUP_VIOLATION:
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printPgmString(PSTR("Modal group violation")); break;
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case STATUS_INVALID_STATEMENT:
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printPgmString(PSTR("Invalid statement")); break;
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case STATUS_HARD_LIMIT:
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printPgmString(PSTR("Limit triggered")); break;
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case STATUS_SETTING_DISABLED:
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printPgmString(PSTR("Grbl setting disabled")); break;
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case STATUS_SETTING_VALUE_NEG:
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printPgmString(PSTR("Set value must be > 0.0")); break;
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case STATUS_SETTING_STEP_PULSE_MIN:
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printPgmString(PSTR("Step pulse must be >= 3 microseconds")); break;
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case STATUS_SETTING_READ_FAIL:
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printPgmString(PSTR("Failed to read EEPROM settings. Using defaults")); break;
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case STATUS_HOMING_ERROR:
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printPgmString(PSTR("Grbl must be idle to home")); break;
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case STATUS_ABORT_CYCLE:
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printPgmString(PSTR("Abort during cycle")); break;
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}
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printPgmString(PSTR("\r\n"));
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}
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}
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// Prints feedback messages. This serves as a centralized method to provide additional
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// user feedback for things that are not of the status message response protocol. These
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// are messages such as setup warnings and how to exit alarms.
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// NOTE: For interfaces, messages are always placed within brackets. And if silent mode
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// is installed, the message number codes are less than zero.
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// TODO: Install silence feedback messages option in settings
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void report_feedback_message(int8_t message_code)
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{
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printPgmString(PSTR("["));
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switch(message_code) {
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case MESSAGE_SYSTEM_ALARM:
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printPgmString(PSTR("ALARM: Check and reset Grbl")); break;
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case MESSAGE_POSITION_LOST:
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printPgmString(PSTR("Position unknown. '$H' to home")); break;
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case MESSAGE_HOMING_ENABLE:
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printPgmString(PSTR("WARNING: All limit switches must be installed before homing")); break;
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case MESSAGE_SWITCH_ON:
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printPgmString(PSTR("Switch enabled")); break;
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case MESSAGE_SWITCH_OFF:
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printPgmString(PSTR("Switch disabled")); break;
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case MESSAGE_SWITCHES_CLEARED:
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printPgmString(PSTR("Switches cleared")); break;
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}
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printPgmString(PSTR("]\r\n"));
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}
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// Welcome message
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void report_init_message()
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{
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printPgmString(PSTR("\r\nGrbl " GRBL_VERSION " ['$' for help]\r\n"));
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}
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// Grbl help message
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void report_grbl_help() {
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printPgmString(PSTR("$ (help)\r\n"
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"$$ (print Grbl settings)\r\n"
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"$# (print gcode parameters)\r\n"
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"$G (print gcode parser state)\r\n"
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"$N (print startup blocks)\r\n"
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"$x=value (store Grbl setting)\r\n"
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"$Nx=line (store startup block)\r\n"
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"$H (perform homing cycle)\r\n"
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"$S (clear all switches)\r\n"
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"$S0 (toggle check gcode)\r\n"
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"$S1 (toggle dry run)\r\n"
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"$S2 (toggle block delete)\r\n"
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"$S3 (toggle single block)\r\n"
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"$S4 (toggle optional stop)\r\n"
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"~ (cycle start)\r\n"
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"! (feed hold)\r\n"
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"? (current position)\r\n"
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"^x (reset Grbl)\r\n"));
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}
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// Grbl global settings print out.
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// NOTE: The numbering scheme here must correlate to storing in settings.c
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void report_grbl_settings() {
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printPgmString(PSTR("$0=")); printFloat(settings.steps_per_mm[X_AXIS]);
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printPgmString(PSTR(" (x axis, steps/mm)\r\n$1=")); printFloat(settings.steps_per_mm[Y_AXIS]);
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printPgmString(PSTR(" (y axis, steps/mm)\r\n$2=")); printFloat(settings.steps_per_mm[Z_AXIS]);
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printPgmString(PSTR(" (z axis, steps/mm)\r\n$3=")); printInteger(settings.pulse_microseconds);
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printPgmString(PSTR(" (step pulse, usec)\r\n$4=")); printFloat(settings.default_feed_rate);
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printPgmString(PSTR(" (default feed rate, mm/min)\r\n$5=")); printFloat(settings.default_seek_rate);
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printPgmString(PSTR(" (default seek rate, mm/min)\r\n$6=")); printFloat(settings.mm_per_arc_segment);
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printPgmString(PSTR(" (arc resolution, mm/segment)\r\n$7=")); printInteger(settings.invert_mask);
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printPgmString(PSTR(" (step port invert mask, int:binary=")); print_uint8_base2(settings.invert_mask);
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printPgmString(PSTR(")\r\n$8=")); printFloat(settings.acceleration/(60*60)); // Convert from mm/min^2 for human readability
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printPgmString(PSTR(" (acceleration, mm/sec^2)\r\n$9=")); printFloat(settings.junction_deviation);
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printPgmString(PSTR(" (cornering junction deviation, mm)\r\n$10=")); printInteger(bit_istrue(settings.flags,BITFLAG_REPORT_INCHES));
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printPgmString(PSTR(" (report inches, bool)\r\n$11=")); printInteger(bit_istrue(settings.flags,BITFLAG_AUTO_START));
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printPgmString(PSTR(" (auto start enable, bool)\r\n$12=")); printInteger(bit_istrue(settings.flags,BITFLAG_INVERT_ST_ENABLE));
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printPgmString(PSTR(" (invert stepper enable, bool)\r\n$13=")); printInteger(bit_istrue(settings.flags,BITFLAG_HARD_LIMIT_ENABLE));
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printPgmString(PSTR(" (hard limit enable, bool)\r\n$14=")); printInteger(bit_istrue(settings.flags,BITFLAG_HOMING_ENABLE));
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printPgmString(PSTR(" (homing enable, bool)\r\n$15=")); printInteger(settings.homing_dir_mask);
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printPgmString(PSTR(" (homing dir invert mask, int:binary=")); print_uint8_base2(settings.homing_dir_mask);
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printPgmString(PSTR(")\r\n$16=")); printFloat(settings.homing_feed_rate);
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printPgmString(PSTR(" (homing feed rate, mm/min)\r\n$17=")); printFloat(settings.homing_seek_rate);
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printPgmString(PSTR(" (homing seek rate, mm/min)\r\n$18=")); printInteger(settings.homing_debounce_delay);
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printPgmString(PSTR(" (homing debounce delay, msec)\r\n$19=")); printFloat(settings.homing_pulloff);
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printPgmString(PSTR(" (homing pull-off travel, mm)\r\n$20=")); printInteger(settings.stepper_idle_lock_time);
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printPgmString(PSTR(" (stepper idle lock time, msec)\r\n$21=")); printInteger(settings.decimal_places);
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printPgmString(PSTR(" (decimal places, int)\r\n$22=")); printInteger(settings.n_arc_correction);
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printPgmString(PSTR(" (n arc correction, int)\r\n"));
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}
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// Prints gcode coordinate offset parameters
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void report_gcode_parameters()
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{
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float coord_data[N_AXIS];
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uint8_t coord_select, i;
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for (coord_select = 0; coord_select <= SETTING_INDEX_NCOORD; coord_select++) {
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if (!(settings_read_coord_data(coord_select,coord_data))) {
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report_status_message(STATUS_SETTING_READ_FAIL);
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return;
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}
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switch (coord_select) {
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case 0: printPgmString(PSTR("G54")); break;
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case 1: printPgmString(PSTR("G55")); break;
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case 2: printPgmString(PSTR("G56")); break;
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case 3: printPgmString(PSTR("G57")); break;
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case 4: printPgmString(PSTR("G58")); break;
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case 5: printPgmString(PSTR("G59")); break;
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case 6: printPgmString(PSTR("G28")); break;
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case 7: printPgmString(PSTR("G30")); break;
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// case 8: printPgmString(PSTR("G92")); break; // G92.2, G92.3 not supported. Hence not stored.
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}
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printPgmString(PSTR(":["));
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for (i=0; i<N_AXIS; i++) {
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if (bit_istrue(settings.flags,BITFLAG_REPORT_INCHES)) { printFloat(coord_data[i]*INCH_PER_MM); }
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else { printFloat(coord_data[i]); }
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if (i < (N_AXIS-1)) { printPgmString(PSTR(",")); }
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else { printPgmString(PSTR("]\r\n")); }
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}
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}
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printPgmString(PSTR("G92:[")); // Print G92,G92.1 which are not persistent in memory
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for (i=0; i<N_AXIS; i++) {
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if (bit_istrue(settings.flags,BITFLAG_REPORT_INCHES)) { printFloat(gc.coord_offset[i]*INCH_PER_MM); }
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else { printFloat(gc.coord_offset[i]); }
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if (i < (N_AXIS-1)) { printPgmString(PSTR(",")); }
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else { printPgmString(PSTR("]\r\n")); }
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}
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}
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// Print current gcode parser mode state and active switches
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void report_gcode_modes()
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{
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switch (gc.motion_mode) {
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case MOTION_MODE_SEEK : printPgmString(PSTR("G0")); break;
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case MOTION_MODE_LINEAR : printPgmString(PSTR("G1")); break;
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case MOTION_MODE_CW_ARC : printPgmString(PSTR("G2")); break;
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case MOTION_MODE_CCW_ARC : printPgmString(PSTR("G3")); break;
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case MOTION_MODE_CANCEL : printPgmString(PSTR("G80")); break;
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}
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printPgmString(PSTR(" G"));
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printInteger(gc.coord_select+54);
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if (gc.plane_axis_0 == X_AXIS) {
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if (gc.plane_axis_1 == Y_AXIS) { printPgmString(PSTR(" G17")); }
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else { printPgmString(PSTR(" G18")); }
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} else { printPgmString(PSTR(" G19")); }
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if (gc.inches_mode) { printPgmString(PSTR(" G20")); }
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else { printPgmString(PSTR(" G21")); }
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if (gc.absolute_mode) { printPgmString(PSTR(" G90")); }
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else { printPgmString(PSTR(" G91")); }
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if (gc.inverse_feed_rate_mode) { printPgmString(PSTR(" G93")); }
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else { printPgmString(PSTR(" G94")); }
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switch (gc.program_flow) {
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case PROGRAM_FLOW_RUNNING : printPgmString(PSTR(" M0")); break;
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case PROGRAM_FLOW_PAUSED : printPgmString(PSTR(" M1")); break;
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case PROGRAM_FLOW_COMPLETED : printPgmString(PSTR(" M2")); break;
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}
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switch (gc.spindle_direction) {
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case 1 : printPgmString(PSTR(" M3")); break;
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case -1 : printPgmString(PSTR(" M4")); break;
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case 0 : printPgmString(PSTR(" M5")); break;
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}
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switch (gc.coolant_mode) {
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case COOLANT_DISABLE : printPgmString(PSTR(" M9")); break;
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case COOLANT_FLOOD_ENABLE : printPgmString(PSTR(" M8")); break;
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#ifdef ENABLE_M7
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case COOLANT_MIST_ENABLE : printPgmString(PSTR(" M7")); break;
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#endif
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}
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printPgmString(PSTR(" T"));
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printInteger(gc.tool);
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printPgmString(PSTR(" F"));
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if (gc.inches_mode) { printFloat(gc.feed_rate*INCH_PER_MM); }
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else { printFloat(gc.feed_rate); }
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// Print active switches
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if (gc.switches) {
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if (bit_istrue(gc.switches,BITFLAG_CHECK_GCODE)) { printPgmString(PSTR(" $S0")); }
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if (bit_istrue(gc.switches,BITFLAG_DRY_RUN)) { printPgmString(PSTR(" $S1")); }
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if (bit_istrue(gc.switches,BITFLAG_BLOCK_DELETE)) { printPgmString(PSTR(" $S2")); }
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if (bit_istrue(gc.switches,BITFLAG_SINGLE_BLOCK)) { printPgmString(PSTR(" $S3")); }
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if (bit_istrue(gc.switches,BITFLAG_OPT_STOP)) { printPgmString(PSTR(" $S4")); }
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}
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printPgmString(PSTR("\r\n"));
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}
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// Prints specified startup line
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void report_startup_line(uint8_t n, char *line)
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{
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printPgmString(PSTR("N")); printInteger(n);
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printPgmString(PSTR("=")); printString(line);
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printPgmString(PSTR("\r\n"));
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}
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// Prints real-time data. This function grabs a real-time snapshot of the stepper subprogram
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// and the actual location of the CNC machine. Users may change the following function to their
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// specific needs, but the desired real-time data report must be as short as possible. This is
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// requires as it minimizes the computational overhead and allows grbl to keep running smoothly,
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// especially during g-code programs with fast, short line segments and high frequency reports (5-20Hz).
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void report_realtime_status()
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{
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// **Under construction** Bare-bones status report. Provides real-time machine position relative to
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// the system power on location (0,0,0) and work coordinate position (G54 and G92 applied). Eventually
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// to be added are distance to go on block, processed block id, and feed rate. Also a settings bitmask
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// for a user to select the desired real-time data.
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uint8_t i;
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int32_t current_position[3]; // Copy current state of the system position variable
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memcpy(current_position,sys.position,sizeof(sys.position));
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float print_position[3];
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// Report machine position
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printPgmString(PSTR("MPos:["));
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for (i=0; i<= 2; i++) {
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print_position[i] = current_position[i]/settings.steps_per_mm[i];
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if (bit_istrue(settings.flags,BITFLAG_REPORT_INCHES)) { print_position[i] *= INCH_PER_MM; }
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printFloat(print_position[i]);
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if (i < 2) { printPgmString(PSTR(",")); }
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else { printPgmString(PSTR("]")); }
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}
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// Report work position
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printPgmString(PSTR(",WPos:["));
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for (i=0; i<= 2; i++) {
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if (bit_istrue(settings.flags,BITFLAG_REPORT_INCHES)) {
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print_position[i] -= (gc.coord_system[i]+gc.coord_offset[i])*INCH_PER_MM;
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} else {
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print_position[i] -= gc.coord_system[i]+gc.coord_offset[i];
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}
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printFloat(print_position[i]);
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if (i < 2) { printPgmString(PSTR(",")); }
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else { printPgmString(PSTR("]")); }
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}
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printPgmString(PSTR("\r\n"));
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}
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