654 lines
24 KiB
C
654 lines
24 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) 2012-2016 Sungeun K. Jeon for Gnea Research LLC
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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 "grbl.h"
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// Internal report utilities to reduce flash with repetitive tasks turned into functions.
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void report_util_setting_prefix(uint8_t n) { serial_write('$'); print_uint8_base10(n); serial_write('='); }
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static void report_util_line_feed() { printPgmString(PSTR("\r\n")); }
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static void report_util_feedback_line_feed() { serial_write(']'); report_util_line_feed(); }
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static void report_util_gcode_modes_G() { printPgmString(PSTR(" G")); }
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static void report_util_gcode_modes_M() { printPgmString(PSTR(" M")); }
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// static void report_util_comment_line_feed() { serial_write(')'); report_util_line_feed(); }
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static void report_util_axis_values(float *axis_value) {
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uint8_t idx;
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for (idx=0; idx<N_AXIS; idx++) {
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printFloat_CoordValue(axis_value[idx]);
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if (idx < (N_AXIS-1)) { serial_write(','); }
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}
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}
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/*
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static void report_util_setting_string(uint8_t n) {
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serial_write(' ');
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serial_write('(');
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switch(n) {
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case 0: printPgmString(PSTR("stp pulse")); break;
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case 1: printPgmString(PSTR("idl delay")); break;
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case 2: printPgmString(PSTR("stp inv")); break;
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case 3: printPgmString(PSTR("dir inv")); break;
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case 4: printPgmString(PSTR("stp en inv")); break;
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case 5: printPgmString(PSTR("lim inv")); break;
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case 6: printPgmString(PSTR("prb inv")); break;
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case 10: printPgmString(PSTR("rpt")); break;
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case 11: printPgmString(PSTR("jnc dev")); break;
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case 12: printPgmString(PSTR("arc tol")); break;
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case 13: printPgmString(PSTR("rpt inch")); break;
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case 20: printPgmString(PSTR("sft lim")); break;
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case 21: printPgmString(PSTR("hrd lim")); break;
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case 22: printPgmString(PSTR("hm cyc")); break;
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case 23: printPgmString(PSTR("hm dir inv")); break;
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case 24: printPgmString(PSTR("hm feed")); break;
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case 25: printPgmString(PSTR("hm seek")); break;
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case 26: printPgmString(PSTR("hm delay")); break;
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case 27: printPgmString(PSTR("hm pulloff")); break;
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case 30: printPgmString(PSTR("rpm max")); break;
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case 31: printPgmString(PSTR("rpm min")); break;
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case 32: printPgmString(PSTR("laser")); break;
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default:
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n -= AXIS_SETTINGS_START_VAL;
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uint8_t idx = 0;
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while (n >= AXIS_SETTINGS_INCREMENT) {
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n -= AXIS_SETTINGS_INCREMENT;
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idx++;
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}
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serial_write(n+'x');
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switch (idx) {
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case 0: printPgmString(PSTR(":stp/mm")); break;
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case 1: printPgmString(PSTR(":mm/min")); break;
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case 2: printPgmString(PSTR(":mm/s^2")); break;
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case 3: printPgmString(PSTR(":mm max")); break;
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}
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break;
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}
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report_util_comment_line_feed();
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}
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*/
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static void report_util_uint8_setting(uint8_t n, int val) {
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report_util_setting_prefix(n);
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print_uint8_base10(val);
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report_util_line_feed(); // report_util_setting_string(n);
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}
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static void report_util_float_setting(uint8_t n, float val, uint8_t n_decimal) {
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report_util_setting_prefix(n);
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printFloat(val,n_decimal);
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report_util_line_feed(); // report_util_setting_string(n);
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}
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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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void report_status_message(uint8_t status_code)
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{
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switch(status_code) {
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case STATUS_OK: // STATUS_OK
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printPgmString(PSTR("ok\r\n")); break;
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default:
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printPgmString(PSTR("error:"));
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print_uint8_base10(status_code);
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report_util_line_feed();
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}
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}
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// Prints alarm messages.
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void report_alarm_message(uint8_t alarm_code)
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{
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printPgmString(PSTR("ALARM:"));
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print_uint8_base10(alarm_code);
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report_util_line_feed();
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delay_ms(500); // Force delay to ensure message clears serial write buffer.
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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/alarm message protocol. These are
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// messages such as setup warnings, switch toggling, 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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void report_feedback_message(uint8_t message_code)
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{
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printPgmString(PSTR("[MSG:"));
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switch(message_code) {
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case MESSAGE_CRITICAL_EVENT:
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printPgmString(PSTR("Reset to continue")); break;
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case MESSAGE_ALARM_LOCK:
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printPgmString(PSTR("'$H'|'$X' to unlock")); break;
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case MESSAGE_ALARM_UNLOCK:
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printPgmString(PSTR("Caution: Unlocked")); break;
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case MESSAGE_ENABLED:
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printPgmString(PSTR("Enabled")); break;
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case MESSAGE_DISABLED:
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printPgmString(PSTR("Disabled")); break;
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case MESSAGE_SAFETY_DOOR_AJAR:
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printPgmString(PSTR("Check Door")); break;
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case MESSAGE_CHECK_LIMITS:
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printPgmString(PSTR("Check Limits")); break;
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case MESSAGE_PROGRAM_END:
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printPgmString(PSTR("Pgm End")); break;
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case MESSAGE_RESTORE_DEFAULTS:
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printPgmString(PSTR("Restoring defaults")); break;
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case MESSAGE_SPINDLE_RESTORE:
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printPgmString(PSTR("Restoring spindle")); break;
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case MESSAGE_SLEEP_MODE:
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printPgmString(PSTR("Sleeping")); break;
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}
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report_util_feedback_line_feed();
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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("[HLP:$$ $# $G $I $N $x=val $Nx=line $J=line $SLP $C $X $H ~ ! ? ctrl-x]\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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// Print Grbl settings.
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report_util_uint8_setting(0,settings.pulse_microseconds);
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report_util_uint8_setting(1,settings.stepper_idle_lock_time);
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report_util_uint8_setting(2,settings.step_invert_mask);
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report_util_uint8_setting(3,settings.dir_invert_mask);
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report_util_uint8_setting(4,bit_istrue(settings.flags,BITFLAG_INVERT_ST_ENABLE));
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report_util_uint8_setting(5,bit_istrue(settings.flags,BITFLAG_INVERT_LIMIT_PINS));
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report_util_uint8_setting(6,bit_istrue(settings.flags,BITFLAG_INVERT_PROBE_PIN));
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report_util_uint8_setting(10,settings.status_report_mask);
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report_util_float_setting(11,settings.junction_deviation,N_DECIMAL_SETTINGVALUE);
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report_util_float_setting(12,settings.arc_tolerance,N_DECIMAL_SETTINGVALUE);
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report_util_uint8_setting(13,bit_istrue(settings.flags,BITFLAG_REPORT_INCHES));
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report_util_uint8_setting(20,bit_istrue(settings.flags,BITFLAG_SOFT_LIMIT_ENABLE));
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report_util_uint8_setting(21,bit_istrue(settings.flags,BITFLAG_HARD_LIMIT_ENABLE));
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report_util_uint8_setting(22,bit_istrue(settings.flags,BITFLAG_HOMING_ENABLE));
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report_util_uint8_setting(23,settings.homing_dir_mask);
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report_util_float_setting(24,settings.homing_feed_rate,N_DECIMAL_SETTINGVALUE);
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report_util_float_setting(25,settings.homing_seek_rate,N_DECIMAL_SETTINGVALUE);
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report_util_uint8_setting(26,settings.homing_debounce_delay);
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report_util_float_setting(27,settings.homing_pulloff,N_DECIMAL_SETTINGVALUE);
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report_util_float_setting(30,settings.rpm_max,N_DECIMAL_RPMVALUE);
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report_util_float_setting(31,settings.rpm_min,N_DECIMAL_RPMVALUE);
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#ifdef VARIABLE_SPINDLE
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report_util_uint8_setting(32,bit_istrue(settings.flags,BITFLAG_LASER_MODE));
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#else
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report_util_uint8_setting(32,0);
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#endif
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report_util_float_setting(33,settings.spindle_pwm_freq,N_DECIMAL_SETTINGVALUE);
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report_util_float_setting(34,settings.spindle_pwm_off_value,N_DECIMAL_SETTINGVALUE);
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report_util_float_setting(35,settings.spindle_pwm_min_value,N_DECIMAL_SETTINGVALUE);
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report_util_float_setting(36,settings.spindle_pwm_max_value,N_DECIMAL_SETTINGVALUE);
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// Print axis settings
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uint8_t idx, set_idx;
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uint8_t val = AXIS_SETTINGS_START_VAL;
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for (set_idx=0; set_idx<AXIS_N_SETTINGS; set_idx++) {
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for (idx=0; idx<N_AXIS; idx++) {
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switch (set_idx) {
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case 0: report_util_float_setting(val+idx,settings.steps_per_mm[idx],N_DECIMAL_SETTINGVALUE); break;
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case 1: report_util_float_setting(val+idx,settings.max_rate[idx],N_DECIMAL_SETTINGVALUE); break;
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case 2: report_util_float_setting(val+idx,settings.acceleration[idx]/(60*60),N_DECIMAL_SETTINGVALUE); break;
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case 3: report_util_float_setting(val+idx,-settings.max_travel[idx],N_DECIMAL_SETTINGVALUE); break;
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case 4: report_util_float_setting(val+idx,settings.current[idx],N_DECIMAL_SETTINGVALUE); break;
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}
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}
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val += AXIS_SETTINGS_INCREMENT;
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}
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}
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// Prints current probe parameters. Upon a probe command, these parameters are updated upon a
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// successful probe or upon a failed probe with the G38.3 without errors command (if supported).
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// These values are retained until Grbl is power-cycled, whereby they will be re-zeroed.
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void report_probe_parameters()
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{
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// Report in terms of machine position.
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printPgmString(PSTR("[PRB:"));
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float print_position[N_AXIS];
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system_convert_array_steps_to_mpos(print_position,sys_probe_position);
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report_util_axis_values(print_position);
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serial_write(':');
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print_uint8_base10(sys.probe_succeeded);
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report_util_feedback_line_feed();
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}
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// Prints Grbl NGC parameters (coordinate offsets, probing)
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void report_ngc_parameters()
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{
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float coord_data[N_AXIS];
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uint8_t coord_select;
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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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printPgmString(PSTR("[G"));
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switch (coord_select) {
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case 6: printPgmString(PSTR("28")); break;
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case 7: printPgmString(PSTR("30")); break;
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default: print_uint8_base10(coord_select+54); break; // G54-G59
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}
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serial_write(':');
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report_util_axis_values(coord_data);
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report_util_feedback_line_feed();
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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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report_util_axis_values(gc_state.coord_offset);
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report_util_feedback_line_feed();
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printPgmString(PSTR("[TLO:")); // Print tool length offset value
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printFloat_CoordValue(gc_state.tool_length_offset);
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report_util_feedback_line_feed();
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report_probe_parameters(); // Print probe parameters. Not persistent in memory.
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}
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// Print current gcode parser mode state
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void report_gcode_modes()
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{
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printPgmString(PSTR("[GC:G"));
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if (gc_state.modal.motion >= MOTION_MODE_PROBE_TOWARD) {
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printPgmString(PSTR("38."));
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print_uint8_base10(gc_state.modal.motion - (MOTION_MODE_PROBE_TOWARD-2));
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} else {
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print_uint8_base10(gc_state.modal.motion);
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}
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report_util_gcode_modes_G();
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print_uint8_base10(gc_state.modal.coord_select+54);
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report_util_gcode_modes_G();
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print_uint8_base10(gc_state.modal.plane_select+17);
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report_util_gcode_modes_G();
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print_uint8_base10(21-gc_state.modal.units);
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report_util_gcode_modes_G();
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print_uint8_base10(gc_state.modal.distance+90);
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report_util_gcode_modes_G();
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print_uint8_base10(94-gc_state.modal.feed_rate);
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if (gc_state.modal.program_flow) {
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report_util_gcode_modes_M();
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switch (gc_state.modal.program_flow) {
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case PROGRAM_FLOW_PAUSED : serial_write('0'); break;
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// case PROGRAM_FLOW_OPTIONAL_STOP : serial_write('1'); break; // M1 is ignored and not supported.
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case PROGRAM_FLOW_COMPLETED_M2 :
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case PROGRAM_FLOW_COMPLETED_M30 :
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print_uint8_base10(gc_state.modal.program_flow);
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break;
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}
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}
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report_util_gcode_modes_M();
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switch (gc_state.modal.spindle) {
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case SPINDLE_ENABLE_CW : serial_write('3'); break;
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case SPINDLE_ENABLE_CCW : serial_write('4'); break;
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case SPINDLE_DISABLE : serial_write('5'); break;
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}
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report_util_gcode_modes_M();
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#ifdef ENABLE_M7
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if (gc_state.modal.coolant) { // Note: Multiple coolant states may be active at the same time.
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if (gc_state.modal.coolant & PL_COND_FLAG_COOLANT_MIST) { serial_write('7'); }
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if (gc_state.modal.coolant & PL_COND_FLAG_COOLANT_FLOOD) { serial_write('8'); }
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} else { serial_write('9'); }
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#else
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if (gc_state.modal.coolant) { serial_write('8'); }
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else { serial_write('9'); }
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#endif
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#ifdef ENABLE_PARKING_OVERRIDE_CONTROL
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if (sys.override_ctrl == OVERRIDE_PARKING_MOTION) {
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report_util_gcode_modes_M();
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print_uint8_base10(56);
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}
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#endif
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printPgmString(PSTR(" T"));
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print_uint8_base10(gc_state.tool);
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printPgmString(PSTR(" F"));
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printFloat_RateValue(gc_state.feed_rate);
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#ifdef VARIABLE_SPINDLE
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printPgmString(PSTR(" S"));
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printFloat(gc_state.spindle_speed,N_DECIMAL_RPMVALUE);
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#endif
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report_util_feedback_line_feed();
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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"));
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print_uint8_base10(n);
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serial_write('=');
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printString(line);
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report_util_line_feed();
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}
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void report_execute_startup_message(char *line, uint8_t status_code)
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{
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serial_write('>');
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printString(line);
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serial_write(':');
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report_status_message(status_code);
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}
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// Prints build info line
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void report_build_info(char *line)
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{
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printPgmString(PSTR("[VER:" GRBL_VERSION "." GRBL_VERSION_BUILD ":"));
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printString(line);
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report_util_feedback_line_feed();
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printPgmString(PSTR("[OPT:")); // Generate compile-time build option list
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#ifdef VARIABLE_SPINDLE
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serial_write('V');
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#endif
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#ifdef USE_LINE_NUMBERS
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serial_write('N');
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#endif
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#ifdef ENABLE_M7
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serial_write('M');
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#endif
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#ifdef COREXY
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serial_write('C');
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#endif
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#ifdef PARKING_ENABLE
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serial_write('P');
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#endif
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#ifdef HOMING_FORCE_SET_ORIGIN
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serial_write('Z');
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#endif
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#ifdef HOMING_SINGLE_AXIS_COMMANDS
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serial_write('H');
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#endif
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#ifdef LIMITS_TWO_SWITCHES_ON_AXES
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serial_write('L');
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#endif
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#ifdef ALLOW_FEED_OVERRIDE_DURING_PROBE_CYCLES
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serial_write('A');
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#endif
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#ifdef USE_SPINDLE_DIR_AS_ENABLE_PIN
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serial_write('D');
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#endif
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#ifdef SPINDLE_ENABLE_OFF_WITH_ZERO_SPEED
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serial_write('0');
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#endif
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#ifdef ENABLE_SOFTWARE_DEBOUNCE
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serial_write('S');
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#endif
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#ifdef ENABLE_PARKING_OVERRIDE_CONTROL
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serial_write('R');
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#endif
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#ifndef ENABLE_RESTORE_EEPROM_WIPE_ALL // NOTE: Shown when disabled.
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serial_write('*');
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#endif
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#ifndef ENABLE_RESTORE_EEPROM_DEFAULT_SETTINGS // NOTE: Shown when disabled.
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serial_write('$');
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#endif
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#ifndef ENABLE_RESTORE_EEPROM_CLEAR_PARAMETERS // NOTE: Shown when disabled.
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serial_write('#');
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#endif
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#ifndef ENABLE_BUILD_INFO_WRITE_COMMAND // NOTE: Shown when disabled.
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serial_write('I');
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#endif
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#ifndef FORCE_BUFFER_SYNC_DURING_EEPROM_WRITE // NOTE: Shown when disabled.
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serial_write('E');
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#endif
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#ifndef FORCE_BUFFER_SYNC_DURING_WCO_CHANGE // NOTE: Shown when disabled.
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serial_write('W');
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#endif
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#ifndef HOMING_INIT_LOCK
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serial_write('L');
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#endif
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// NOTE: Compiled values, like override increments/max/min values, may be added at some point later.
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serial_write(',');
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print_uint8_base10(BLOCK_BUFFER_SIZE-1);
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serial_write(',');
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print_uint32_base10(RX_BUFFER_SIZE);
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report_util_feedback_line_feed();
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}
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// Prints the character string line Grbl has received from the user, which has been pre-parsed,
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// and has been sent into protocol_execute_line() routine to be executed by Grbl.
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void report_echo_line_received(char *line)
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{
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printPgmString(PSTR("[echo: ")); printString(line);
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report_util_feedback_line_feed();
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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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uint8_t idx;
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int32_t current_position[N_AXIS]; // 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[N_AXIS];
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system_convert_array_steps_to_mpos(print_position,current_position);
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// Report current machine state and sub-states
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serial_write('<');
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switch (sys.state) {
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case STATE_IDLE: printPgmString(PSTR("Idle")); break;
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case STATE_CYCLE: printPgmString(PSTR("Run")); break;
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case STATE_HOLD:
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if (!(sys.suspend & SUSPEND_JOG_CANCEL)) {
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printPgmString(PSTR("Hold:"));
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if (sys.suspend & SUSPEND_HOLD_COMPLETE) { serial_write('0'); } // Ready to resume
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else { serial_write('1'); } // Actively holding
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break;
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} // Continues to print jog state during jog cancel.
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case STATE_JOG: printPgmString(PSTR("Jog")); break;
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case STATE_HOMING: printPgmString(PSTR("Home")); break;
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case STATE_ALARM: printPgmString(PSTR("Alarm")); break;
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case STATE_CHECK_MODE: printPgmString(PSTR("Check")); break;
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case STATE_SAFETY_DOOR:
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printPgmString(PSTR("Door:"));
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if (sys.suspend & SUSPEND_INITIATE_RESTORE) {
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serial_write('3'); // Restoring
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} else {
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if (sys.suspend & SUSPEND_RETRACT_COMPLETE) {
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if (sys.suspend & SUSPEND_SAFETY_DOOR_AJAR) {
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serial_write('1'); // Door ajar
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} else {
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serial_write('0');
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} // Door closed and ready to resume
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} else {
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serial_write('2'); // Retracting
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}
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}
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break;
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case STATE_SLEEP: printPgmString(PSTR("Sleep")); break;
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}
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float wco[N_AXIS];
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if (bit_isfalse(settings.status_report_mask,BITFLAG_RT_STATUS_POSITION_TYPE) ||
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(sys.report_wco_counter == 0) ) {
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for (idx=0; idx< N_AXIS; idx++) {
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// Apply work coordinate offsets and tool length offset to current position.
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wco[idx] = gc_state.coord_system[idx]+gc_state.coord_offset[idx];
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if (idx == TOOL_LENGTH_OFFSET_AXIS) { wco[idx] += gc_state.tool_length_offset; }
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if (bit_isfalse(settings.status_report_mask,BITFLAG_RT_STATUS_POSITION_TYPE)) {
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print_position[idx] -= wco[idx];
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}
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}
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}
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// Report machine position
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if (bit_istrue(settings.status_report_mask,BITFLAG_RT_STATUS_POSITION_TYPE)) {
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printPgmString(PSTR("|MPos:"));
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} else {
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printPgmString(PSTR("|WPos:"));
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}
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report_util_axis_values(print_position);
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// Returns planner and serial read buffer states.
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#ifdef REPORT_FIELD_BUFFER_STATE
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if (bit_istrue(settings.status_report_mask,BITFLAG_RT_STATUS_BUFFER_STATE)) {
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printPgmString(PSTR("|Bf:"));
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print_uint8_base10(plan_get_block_buffer_available());
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serial_write(',');
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print_uint32_base10(serial_get_rx_buffer_available());
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}
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#endif
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#ifdef USE_LINE_NUMBERS
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#ifdef REPORT_FIELD_LINE_NUMBERS
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// Report current line number
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plan_block_t * cur_block = plan_get_current_block();
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if (cur_block != NULL) {
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uint32_t ln = cur_block->line_number;
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if (ln > 0) {
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printPgmString(PSTR("|Ln:"));
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printInteger(ln);
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}
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}
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#endif
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#endif
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// Report realtime feed speed
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#ifdef REPORT_FIELD_CURRENT_FEED_SPEED
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#ifdef VARIABLE_SPINDLE
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printPgmString(PSTR("|FS:"));
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printFloat_RateValue(st_get_realtime_rate());
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serial_write(',');
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printFloat(sys.spindle_speed,N_DECIMAL_RPMVALUE);
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#else
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printPgmString(PSTR("|F:"));
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printFloat_RateValue(st_get_realtime_rate());
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#endif
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#endif
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#ifdef REPORT_FIELD_PIN_STATE
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uint8_t lim_pin_state = limits_get_state();
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uint8_t ctrl_pin_state = system_control_get_state();
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uint8_t prb_pin_state = probe_get_state();
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if (lim_pin_state | ctrl_pin_state | prb_pin_state) {
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printPgmString(PSTR("|Pn:"));
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if (prb_pin_state) { serial_write('P'); }
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if (lim_pin_state) {
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if (bit_istrue(lim_pin_state,bit(X_AXIS))) { serial_write('X'); }
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if (bit_istrue(lim_pin_state,bit(Y_AXIS))) { serial_write('Y'); }
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if (bit_istrue(lim_pin_state,bit(Z_AXIS))) { serial_write('Z'); }
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if (bit_istrue(lim_pin_state,bit(A_AXIS))) { serial_write('A'); }
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//if (bit_istrue(lim_pin_state,bit(B_AXIS))) { serial_write('B'); }
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//if (bit_istrue(lim_pin_state,bit(C_AXIS))) { serial_write('C'); }
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}
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if (ctrl_pin_state) {
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#ifdef ENABLE_SAFETY_DOOR_INPUT_PIN
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if (bit_istrue(ctrl_pin_state,CONTROL_PIN_INDEX_SAFETY_DOOR)) { serial_write('D'); }
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#endif
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if (bit_istrue(ctrl_pin_state,CONTROL_PIN_INDEX_RESET)) { serial_write('R'); }
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if (bit_istrue(ctrl_pin_state,CONTROL_PIN_INDEX_FEED_HOLD)) { serial_write('H'); }
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if (bit_istrue(ctrl_pin_state,CONTROL_PIN_INDEX_CYCLE_START)) { serial_write('S'); }
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}
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}
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#endif
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#ifdef REPORT_FIELD_WORK_COORD_OFFSET
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if (sys.report_wco_counter > 0) { sys.report_wco_counter--; }
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else {
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if (sys.state & (STATE_HOMING | STATE_CYCLE | STATE_HOLD | STATE_JOG | STATE_SAFETY_DOOR)) {
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sys.report_wco_counter = (REPORT_WCO_REFRESH_BUSY_COUNT-1); // Reset counter for slow refresh
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} else { sys.report_wco_counter = (REPORT_WCO_REFRESH_IDLE_COUNT-1); }
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if (sys.report_ovr_counter == 0) { sys.report_ovr_counter = 1; } // Set override on next report.
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printPgmString(PSTR("|WCO:"));
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report_util_axis_values(wco);
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}
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#endif
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#ifdef REPORT_FIELD_OVERRIDES
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if (sys.report_ovr_counter > 0) { sys.report_ovr_counter--; }
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else {
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if (sys.state & (STATE_HOMING | STATE_CYCLE | STATE_HOLD | STATE_JOG | STATE_SAFETY_DOOR)) {
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sys.report_ovr_counter = (REPORT_OVR_REFRESH_BUSY_COUNT-1); // Reset counter for slow refresh
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} else { sys.report_ovr_counter = (REPORT_OVR_REFRESH_IDLE_COUNT-1); }
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printPgmString(PSTR("|Ov:"));
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print_uint8_base10(sys.f_override);
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serial_write(',');
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print_uint8_base10(sys.r_override);
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serial_write(',');
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print_uint8_base10(sys.spindle_speed_ovr);
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uint8_t sp_state = spindle_get_state();
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uint8_t cl_state = coolant_get_state();
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if (sp_state || cl_state) {
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printPgmString(PSTR("|A:"));
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if (sp_state) { // != SPINDLE_STATE_DISABLE
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#ifdef VARIABLE_SPINDLE
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#ifdef USE_SPINDLE_DIR_AS_ENABLE_PIN
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serial_write('S'); // CW
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#else
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if (sp_state == SPINDLE_STATE_CW) { serial_write('S'); } // CW
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else { serial_write('C'); } // CCW
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#endif
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#else
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if (sp_state & SPINDLE_STATE_CW) { serial_write('S'); } // CW
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else { serial_write('C'); } // CCW
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#endif
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}
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if (cl_state & COOLANT_STATE_FLOOD) { serial_write('F'); }
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#ifdef ENABLE_M7
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if (cl_state & COOLANT_STATE_MIST) { serial_write('M'); }
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#endif
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}
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}
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#endif
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serial_write('>');
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report_util_line_feed();
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}
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#ifdef DEBUG
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void report_realtime_debug()
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{
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}
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#endif
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