b3a53a4683
- Tons of new stuff in this release, which is fairly stable and well tested. However, much more is coming soon! - Real-time parking motion with safety door. When this compile option is enabled, an opened safety door will cause Grbl to automatically feed hold, retract, de-energize the spindle/coolant, and parks near Z max. After the door is closed and resume is commanded, this reverses and the program continues as if nothing happened. This is also highly configurable. See config.h for details. - New spindle max and min rpm ‘$’ settings! This has been requested often. Grbl will output 5V when commanded to turn on the spindle at its max rpm, and 0.02V with min rpm. The voltage and the rpm range are linear to each other. This should help users tweak their settings to get close to true rpm’s. - If the new max rpm ‘$’ setting is set = 0 or less than min rpm, the spindle speed PWM pin will act like a regular on/off spindle enable pin. On pin D11. - BEWARE: Your old EEPROM settings will be wiped! The new spindle rpm settings require a new settings version, so Grbl will automatically wipe and restore the EEPROM with the new defaults. - Control pin can now be inverted individually with a CONTROL_INVERT_MASK in the cpu_map header file. Not typical for users to need this, but handy to have. - Fixed bug when Grbl receive too many characters in a line and overflows. Previously it would respond with an error per overflow character and another acknowledge upon an EOL character. This broke the streaming protocol. Now fixed to only respond with an error after an EOL character. - Fixed a bug with the safety door during an ALARM mode. You now can’t home or unlock the axes until the safety door has been closed. This is for safety reasons (obviously.) - Tweaked some the Mega2560 cpu_map settings . Increased segment buffer size and fixed the spindle PWM settings to output at a higher PWM frequency. - Generalized the delay function used by G4 delay for use by parking motion. Allows non-blocking status reports and real-time control during re-energizing of the spindle and coolant. - Added spindle rpm max and min defaults to default.h files. - Added a new print float for rpm values.
121 lines
6.1 KiB
C
121 lines
6.1 KiB
C
/*
|
|
system.h - Header for system level commands and real-time processes
|
|
Part of Grbl
|
|
|
|
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
|
|
#define EXEC_SAFETY_DOOR bit(5) // bitmask 00100000
|
|
#define EXEC_MOTION_CANCEL bit(6) // bitmask 01000000
|
|
|
|
// 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(1) // bitmask 00000010
|
|
#define EXEC_ALARM_SOFT_LIMIT bit(2) // bitmask 00000100
|
|
#define EXEC_ALARM_ABORT_CYCLE bit(3) // bitmask 00001000
|
|
#define EXEC_ALARM_PROBE_FAIL bit(4) // bitmask 00010000
|
|
#define EXEC_ALARM_HOMING_FAIL bit(5) // bitmask 00100000
|
|
|
|
// 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_CYCLE bit(3) // Cycle is running or motions are being executed.
|
|
#define STATE_HOLD bit(4) // Active feed hold
|
|
#define STATE_SAFETY_DOOR bit(5) // Safety door is ajar. Feed holds and de-energizes system.
|
|
#define STATE_MOTION_CANCEL bit(6) // Motion cancel by feed hold and return to idle.
|
|
|
|
// Define system suspend flags. Used in various ways to manage suspend states and procedures.
|
|
#define SUSPEND_DISABLE 0 // Must be zero.
|
|
#define SUSPEND_HOLD_COMPLETE bit(0) // Indicates initial feed hold is complete.
|
|
#define SUSPEND_RESTART_RETRACT bit(1) // Flag to indicate a retract from a restore parking motion.
|
|
#define SUSPEND_RETRACT_COMPLETE bit(2) // (Safety door only) Indicates retraction and de-energizing is complete.
|
|
#define SUSPEND_INITIATE_RESTORE bit(3) // (Safety door only) Flag to initiate resume procedures from a cycle start.
|
|
#define SUSPEND_RESTORE_COMPLETE bit(4) // (Safety door only) Indicates ready to resume normal operation.
|
|
#define SUSPEND_SAFETY_DOOR_AJAR bit(5) // Indicates suspend was initiated by a safety door state.
|
|
#define SUSPEND_MOTION_CANCEL bit(6) // Indicates a canceled resume motion. Currently used by probing routine.
|
|
|
|
|
|
#define STEP_CONTROL_NORMAL_OP 0
|
|
// #define STEP_CONTROL_RECOMPUTE_ACTIVE_BLOCK bit(0)
|
|
#define STEP_CONTROL_END_MOTION bit(1)
|
|
#define STEP_CONTROL_EXECUTE_HOLD bit(2)
|
|
#define STEP_CONTROL_EXECUTE_PARK bit(3)
|
|
|
|
|
|
|
|
// 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.
|
|
uint8_t suspend; // System suspend bitflag variable that manages holds, cancels, and safety door.
|
|
uint8_t step_control;
|
|
|
|
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 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();
|
|
|
|
// Returns if safety door is open or closed, based on pin state.
|
|
uint8_t system_check_safety_door_ajar();
|
|
|
|
// 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
|