f8ca08ad66
- Altered the report counters to be count down, rather than count up. Simplified some of the logic. - Fixed an issue with parking restore. The spindle state would disable then reenable. - Clarified some of the config.h descriptions. - Moved the compile-time checks from config.h to grbl.h. They don’t belong in the config.h file. - Refactored the initialization of the system variables in main.c. System position and probe position were undefined when power cycled, but were zero anyway. Added clear vector code to make it explicit.
206 lines
9.8 KiB
C
206 lines
9.8 KiB
C
/*
|
|
system.h - Header for system level commands and real-time processes
|
|
Part of Grbl
|
|
|
|
Copyright (c) 2014-2016 Sungeun K. Jeon for Gnea Research LLC
|
|
|
|
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
|
|
#define EXEC_SLEEP bit(7) // bitmask 10000000
|
|
|
|
// Alarm executor codes. Valid values (1-255). Zero is reserved.
|
|
#define EXEC_ALARM_HARD_LIMIT 1
|
|
#define EXEC_ALARM_SOFT_LIMIT 2
|
|
#define EXEC_ALARM_ABORT_CYCLE 3
|
|
#define EXEC_ALARM_PROBE_FAIL_INITIAL 4
|
|
#define EXEC_ALARM_PROBE_FAIL_CONTACT 5
|
|
#define EXEC_ALARM_HOMING_FAIL_RESET 6
|
|
#define EXEC_ALARM_HOMING_FAIL_DOOR 7
|
|
#define EXEC_ALARM_HOMING_FAIL_PULLOFF 8
|
|
#define EXEC_ALARM_HOMING_FAIL_APPROACH 9
|
|
|
|
// Override bit maps. Realtime bitflags to control feed, rapid, spindle, and coolant overrides.
|
|
// Spindle/coolant and feed/rapids are separated into two controlling flag variables.
|
|
#define EXEC_FEED_OVR_RESET bit(0)
|
|
#define EXEC_FEED_OVR_COARSE_PLUS bit(1)
|
|
#define EXEC_FEED_OVR_COARSE_MINUS bit(2)
|
|
#define EXEC_FEED_OVR_FINE_PLUS bit(3)
|
|
#define EXEC_FEED_OVR_FINE_MINUS bit(4)
|
|
#define EXEC_RAPID_OVR_RESET bit(5)
|
|
#define EXEC_RAPID_OVR_MEDIUM bit(6)
|
|
#define EXEC_RAPID_OVR_LOW bit(7)
|
|
// #define EXEC_RAPID_OVR_EXTRA_LOW bit(*) // *NOT SUPPORTED*
|
|
|
|
#define EXEC_SPINDLE_OVR_RESET bit(0)
|
|
#define EXEC_SPINDLE_OVR_COARSE_PLUS bit(1)
|
|
#define EXEC_SPINDLE_OVR_COARSE_MINUS bit(2)
|
|
#define EXEC_SPINDLE_OVR_FINE_PLUS bit(3)
|
|
#define EXEC_SPINDLE_OVR_FINE_MINUS bit(4)
|
|
#define EXEC_SPINDLE_OVR_STOP bit(5)
|
|
#define EXEC_COOLANT_FLOOD_OVR_TOGGLE bit(6)
|
|
#define EXEC_COOLANT_MIST_OVR_TOGGLE bit(7)
|
|
|
|
// 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_JOG bit(5) // Jogging mode.
|
|
#define STATE_SAFETY_DOOR bit(6) // Safety door is ajar. Feed holds and de-energizes system.
|
|
#define STATE_SLEEP bit(7) // Sleep state.
|
|
|
|
// 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) // Tracks safety door state for resuming.
|
|
#define SUSPEND_MOTION_CANCEL bit(6) // Indicates a canceled resume motion. Currently used by probing routine.
|
|
#define SUSPEND_JOG_CANCEL bit(7) // Indicates a jog cancel in process and to reset buffers when complete.
|
|
|
|
// Define step segment generator state flags.
|
|
#define STEP_CONTROL_NORMAL_OP 0 // Must be zero.
|
|
#define STEP_CONTROL_END_MOTION bit(0)
|
|
#define STEP_CONTROL_EXECUTE_HOLD bit(1)
|
|
#define STEP_CONTROL_EXECUTE_SYS_MOTION bit(2)
|
|
#define STEP_CONTROL_UPDATE_SPINDLE_PWM bit(3)
|
|
|
|
// Define control pin index for Grbl internal use. Pin maps may change, but these values don't.
|
|
#ifdef ENABLE_SAFETY_DOOR_INPUT_PIN
|
|
#define N_CONTROL_PIN 4
|
|
#define CONTROL_PIN_INDEX_SAFETY_DOOR bit(0)
|
|
#define CONTROL_PIN_INDEX_RESET bit(1)
|
|
#define CONTROL_PIN_INDEX_FEED_HOLD bit(2)
|
|
#define CONTROL_PIN_INDEX_CYCLE_START bit(3)
|
|
#else
|
|
#define N_CONTROL_PIN 3
|
|
#define CONTROL_PIN_INDEX_RESET bit(0)
|
|
#define CONTROL_PIN_INDEX_FEED_HOLD bit(1)
|
|
#define CONTROL_PIN_INDEX_CYCLE_START bit(2)
|
|
#endif
|
|
|
|
// Define spindle stop override control states.
|
|
#define SPINDLE_STOP_OVR_DISABLED 0 // Must be zero.
|
|
#define SPINDLE_STOP_OVR_ENABLED bit(0)
|
|
#define SPINDLE_STOP_OVR_INITIATE bit(1)
|
|
#define SPINDLE_STOP_OVR_RESTORE bit(2)
|
|
#define SPINDLE_STOP_OVR_RESTORE_CYCLE bit(3)
|
|
|
|
|
|
// Define global system variables
|
|
typedef struct {
|
|
uint8_t state; // Tracks the current system state of Grbl.
|
|
uint8_t abort; // System abort flag. Forces exit back to main loop for reset.
|
|
uint8_t suspend; // System suspend bitflag variable that manages holds, cancels, and safety door.
|
|
uint8_t soft_limit; // Tracks soft limit errors for the state machine. (boolean)
|
|
uint8_t step_control; // Governs the step segment generator depending on system state.
|
|
uint8_t probe_succeeded; // Tracks if last probing cycle was successful.
|
|
uint8_t homing_axis_lock; // Locks axes when limits engage. Used as an axis motion mask in the stepper ISR.
|
|
uint8_t f_override; // Feed rate override value in percent
|
|
uint8_t r_override; // Rapids override value in percent
|
|
uint8_t spindle_speed_ovr; // Spindle speed value in percent
|
|
uint8_t spindle_stop_ovr; // Tracks spindle stop override states
|
|
uint8_t report_ovr_counter; // Tracks when to add override data to status reports.
|
|
uint8_t report_wco_counter; // Tracks when to add work coordinate offset data to status reports.
|
|
#ifdef VARIABLE_SPINDLE
|
|
float spindle_speed;
|
|
#endif
|
|
} system_t;
|
|
extern system_t sys;
|
|
|
|
// NOTE: These position variables may need to be declared as volatiles, if problems arise.
|
|
int32_t sys_position[N_AXIS]; // Real-time machine (aka home) position vector in steps.
|
|
int32_t sys_probe_position[N_AXIS]; // Last probe position in machine coordinates and steps.
|
|
|
|
volatile uint8_t sys_probe_state; // Probing state value. Used to coordinate the probing cycle with stepper ISR.
|
|
volatile uint8_t sys_rt_exec_state; // Global realtime executor bitflag variable for state management. See EXEC bitmasks.
|
|
volatile uint8_t sys_rt_exec_alarm; // Global realtime executor bitflag variable for setting various alarms.
|
|
volatile uint8_t sys_rt_exec_motion_override; // Global realtime executor bitflag variable for motion-based overrides.
|
|
volatile uint8_t sys_rt_exec_accessory_override; // Global realtime executor bitflag variable for spindle/coolant overrides.
|
|
|
|
#ifdef DEBUG
|
|
#define EXEC_DEBUG_REPORT bit(0)
|
|
volatile uint8_t sys_rt_exec_debug;
|
|
#endif
|
|
|
|
// Initialize the serial protocol
|
|
void system_init();
|
|
|
|
// Returns bitfield of control pin states, organized by CONTROL_PIN_INDEX. (1=triggered, 0=not triggered).
|
|
uint8_t system_control_get_state();
|
|
|
|
// 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);
|
|
|
|
|
|
void system_flag_wco_change();
|
|
|
|
// 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);
|
|
|
|
// CoreXY calculation only. Returns x or y-axis "steps" based on CoreXY motor steps.
|
|
#ifdef COREXY
|
|
int32_t system_convert_corexy_to_x_axis_steps(int32_t *steps);
|
|
int32_t system_convert_corexy_to_y_axis_steps(int32_t *steps);
|
|
#endif
|
|
|
|
// Checks and reports if target array exceeds machine travel limits.
|
|
uint8_t system_check_travel_limits(float *target);
|
|
|
|
// Special handlers for setting and clearing Grbl's real-time execution flags.
|
|
void system_set_exec_state_flag(uint8_t mask);
|
|
void system_clear_exec_state_flag(uint8_t mask);
|
|
void system_set_exec_alarm(uint8_t code);
|
|
void system_clear_exec_alarm_flag(uint8_t mask);
|
|
void system_set_exec_motion_override_flag(uint8_t mask);
|
|
void system_set_exec_accessory_override_flag(uint8_t mask);
|
|
void system_clear_exec_motion_overrides();
|
|
void system_clear_exec_accessory_overrides();
|
|
|
|
|
|
#endif
|