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.
557 lines
27 KiB
C
557 lines
27 KiB
C
/*
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protocol.c - controls Grbl execution protocol and procedures
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Part of Grbl
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Copyright (c) 2011-2015 Sungeun K. Jeon
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Copyright (c) 2009-2011 Simen Svale Skogsrud
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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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#include "grbl.h"
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// Define line flags. Includes comment type tracking and line overflow detection.
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#define LINE_FLAG_OVERFLOW bit(0)
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#define LINE_FLAG_COMMENT_PARENTHESES bit(1)
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#define LINE_FLAG_COMMENT_SEMICOLON bit(2)
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static char line[LINE_BUFFER_SIZE]; // Line to be executed. Zero-terminated.
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static void protocol_exec_rt_suspend();
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/*
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GRBL PRIMARY LOOP:
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*/
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void protocol_main_loop()
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{
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// ------------------------------------------------------------
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// Complete initialization procedures upon a power-up or reset.
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// ------------------------------------------------------------
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// Print welcome message
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report_init_message();
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// Check for and report alarm state after a reset, error, or an initial power up.
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if (sys.state == STATE_ALARM) {
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report_feedback_message(MESSAGE_ALARM_LOCK);
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} else {
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// All systems go! But first check for safety door.
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sys.state = STATE_IDLE;
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if (system_check_safety_door_ajar()) {
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bit_true(sys.rt_exec_state, EXEC_SAFETY_DOOR);
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protocol_execute_realtime(); // Enter safety door mode. Should return as IDLE state.
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}
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system_execute_startup(line); // Execute startup script.
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}
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// ---------------------------------------------------------------------------------
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// Primary loop! Upon a system abort, this exits back to main() to reset the system.
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// ---------------------------------------------------------------------------------
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uint8_t line_flags = 0;
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uint8_t char_counter = 0;
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uint8_t c;
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for (;;) {
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// Process one line of incoming serial data, as the data becomes available. Performs an
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// initial filtering by removing spaces and comments and capitalizing all letters.
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// NOTE: While comment, spaces, and block delete(if supported) handling should technically
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// be done in the g-code parser, doing it here helps compress the incoming data into Grbl's
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// line buffer, which is limited in size. The g-code standard actually states a line can't
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// exceed 256 characters, but the Arduino Uno does not have the memory space for this.
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// With a better processor, it would be very easy to pull this initial parsing out as a
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// seperate task to be shared by the g-code parser and Grbl's system commands.
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while((c = serial_read()) != SERIAL_NO_DATA) {
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if ((c == '\n') || (c == '\r')) { // End of line reached
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protocol_execute_realtime(); // Runtime command check point.
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if (sys.abort) { return; } // Bail to calling function upon system abort
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line[char_counter] = 0; // Set string termination character.
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#ifdef REPORT_ECHO_LINE_RECEIVED
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report_echo_line_received(line);
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#endif
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// Direct and execute one line of formatted input, and report status of execution.
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if (line_flags & LINE_FLAG_OVERFLOW) {
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// Report line overflow error.
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report_status_message(STATUS_OVERFLOW);
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} else if (line[0] == 0) {
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// Empty or comment line. For syncing purposes.
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report_status_message(STATUS_OK);
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} else if (line[0] == '$') {
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// Grbl '$' system command
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report_status_message(system_execute_line(line));
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} else if (sys.state == STATE_ALARM) {
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// Everything else is gcode. Block if in alarm mode.
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report_status_message(STATUS_ALARM_LOCK);
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} else {
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// Parse and execute g-code block.
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report_status_message(gc_execute_line(line));
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}
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// Reset tracking data for next line.
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line_flags = 0;
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char_counter = 0;
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} else {
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if (line_flags) {
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// Throw away all (except EOL) comment characters and overflow characters.
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if (c == ')') {
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// End of '()' comment. Resume line allowed.
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if (line_flags & LINE_FLAG_COMMENT_PARENTHESES) { line_flags &= ~(LINE_FLAG_COMMENT_PARENTHESES); }
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}
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} else {
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if (c <= ' ') {
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// Throw away whitepace and control characters
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} else if (c == '/') {
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// Block delete NOT SUPPORTED. Ignore character.
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// NOTE: If supported, would simply need to check the system if block delete is enabled.
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} else if (c == '(') {
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// Enable comments flag and ignore all characters until ')' or EOL.
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// NOTE: This doesn't follow the NIST definition exactly, but is good enough for now.
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// In the future, we could simply remove the items within the comments, but retain the
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// comment control characters, so that the g-code parser can error-check it.
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line_flags |= LINE_FLAG_COMMENT_PARENTHESES;
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} else if (c == ';') {
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// NOTE: ';' comment to EOL is a LinuxCNC definition. Not NIST.
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line_flags |= LINE_FLAG_COMMENT_SEMICOLON;
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// TODO: Install '%' feature
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// } else if (c == '%') {
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// Program start-end percent sign NOT SUPPORTED.
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// NOTE: This maybe installed to tell Grbl when a program is running vs manual input,
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// where, during a program, the system auto-cycle start will continue to execute
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// everything until the next '%' sign. This will help fix resuming issues with certain
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// functions that empty the planner buffer to execute its task on-time.
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} else if (char_counter >= (LINE_BUFFER_SIZE-1)) {
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// Detect line buffer overflow and set flag.
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line_flags |= LINE_FLAG_OVERFLOW;
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} else if (c >= 'a' && c <= 'z') { // Upcase lowercase
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line[char_counter++] = c-'a'+'A';
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} else {
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line[char_counter++] = c;
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}
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}
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}
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}
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// If there are no more characters in the serial read buffer to be processed and executed,
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// this indicates that g-code streaming has either filled the planner buffer or has
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// completed. In either case, auto-cycle start, if enabled, any queued moves.
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protocol_auto_cycle_start();
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protocol_execute_realtime(); // Runtime command check point.
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if (sys.abort) { return; } // Bail to main() program loop to reset system.
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}
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return; /* Never reached */
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}
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// Block until all buffered steps are executed or in a cycle state. Works with feed hold
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// during a synchronize call, if it should happen. Also, waits for clean cycle end.
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void protocol_buffer_synchronize()
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{
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// If system is queued, ensure cycle resumes if the auto start flag is present.
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protocol_auto_cycle_start();
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do {
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protocol_execute_realtime(); // Check and execute run-time commands
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if (sys.abort) { return; } // Check for system abort
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} while (plan_get_current_block() || (sys.state == STATE_CYCLE));
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}
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// Auto-cycle start has two purposes: 1. Resumes a plan_synchronize() call from a function that
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// requires the planner buffer to empty (spindle enable, dwell, etc.) 2. As a user setting that
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// automatically begins the cycle when a user enters a valid motion command manually. This is
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// intended as a beginners feature to help new users to understand g-code. It can be disabled
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// as a beginner tool, but (1.) still operates. If disabled, the operation of cycle start is
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// manually issuing a cycle start command whenever the user is ready and there is a valid motion
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// command in the planner queue.
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// NOTE: This function is called from the main loop, buffer sync, and mc_line() only and executes
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// when one of these conditions exist respectively: There are no more blocks sent (i.e. streaming
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// is finished, single commands), a command that needs to wait for the motions in the buffer to
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// execute calls a buffer sync, or the planner buffer is full and ready to go.
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void protocol_auto_cycle_start() { bit_true_atomic(sys.rt_exec_state, EXEC_CYCLE_START); }
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// This function is the general interface to Grbl's real-time command execution system. It is called
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// from various check points in the main program, primarily where there may be a while loop waiting
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// for a buffer to clear space or any point where the execution time from the last check point may
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// be more than a fraction of a second. This is a way to execute realtime commands asynchronously
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// (aka multitasking) with grbl's g-code parsing and planning functions. This function also serves
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// as an interface for the interrupts to set the system realtime flags, where only the main program
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// handles them, removing the need to define more computationally-expensive volatile variables. This
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// also provides a controlled way to execute certain tasks without having two or more instances of
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// the same task, such as the planner recalculating the buffer upon a feedhold or overrides.
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// NOTE: The sys.rt_exec_state variable flags are set by any process, step or serial interrupts, pinouts,
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// limit switches, or the main program.
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void protocol_execute_realtime()
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{
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protocol_exec_rt_system();
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if (sys.suspend) { protocol_exec_rt_suspend(); }
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}
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// Executes run-time commands, when required. This function primarily operates as Grbl's state
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// machine and controls the various real-time features Grbl has to offer.
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// NOTE: Do not alter this unless you know exactly what you are doing!
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void protocol_exec_rt_system()
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{
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uint8_t rt_exec; // Temp variable to avoid calling volatile multiple times.
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rt_exec = sys.rt_exec_alarm; // Copy volatile sys.rt_exec_alarm.
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if (rt_exec) { // Enter only if any bit flag is true
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// System alarm. Everything has shutdown by something that has gone severely wrong. Report
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// the source of the error to the user. If critical, Grbl disables by entering an infinite
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// loop until system reset/abort.
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sys.state = STATE_ALARM; // Set system alarm state
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if (rt_exec & EXEC_ALARM_HARD_LIMIT) {
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report_alarm_message(ALARM_HARD_LIMIT_ERROR);
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} else if (rt_exec & EXEC_ALARM_SOFT_LIMIT) {
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report_alarm_message(ALARM_SOFT_LIMIT_ERROR);
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} else if (rt_exec & EXEC_ALARM_ABORT_CYCLE) {
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report_alarm_message(ALARM_ABORT_CYCLE);
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} else if (rt_exec & EXEC_ALARM_PROBE_FAIL) {
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report_alarm_message(ALARM_PROBE_FAIL);
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} else if (rt_exec & EXEC_ALARM_HOMING_FAIL) {
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report_alarm_message(ALARM_HOMING_FAIL);
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}
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// Halt everything upon a critical event flag. Currently hard and soft limits flag this.
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if (rt_exec & EXEC_CRITICAL_EVENT) {
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report_feedback_message(MESSAGE_CRITICAL_EVENT);
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bit_false_atomic(sys.rt_exec_state,EXEC_RESET); // Disable any existing reset
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do {
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// Block everything, except reset and status reports, until user issues reset or power
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// cycles. Hard limits typically occur while unattended or not paying attention. Gives
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// the user and a GUI time to do what is needed before resetting, like killing the
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// incoming stream. The same could be said about soft limits. While the position is not
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// lost, streaming could cause a serious crash if it continues afterwards.
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// TODO: Allow status reports during a critical alarm. Still need to think about implications of this.
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// if (sys.rt_exec_state & EXEC_STATUS_REPORT) {
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// report_realtime_status();
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// bit_false_atomic(sys.rt_exec_state,EXEC_STATUS_REPORT);
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// }
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} while (bit_isfalse(sys.rt_exec_state,EXEC_RESET));
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}
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bit_false_atomic(sys.rt_exec_alarm,0xFF); // Clear all alarm flags
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}
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rt_exec = sys.rt_exec_state; // Copy volatile sys.rt_exec_state.
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if (rt_exec) {
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// Execute system abort.
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if (rt_exec & EXEC_RESET) {
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sys.abort = true; // Only place this is set true.
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return; // Nothing else to do but exit.
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}
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// Execute and serial print status
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if (rt_exec & EXEC_STATUS_REPORT) {
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report_realtime_status();
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bit_false_atomic(sys.rt_exec_state,EXEC_STATUS_REPORT);
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}
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// NOTE: The math involved to calculate the hold should be low enough for most, if not all,
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// operational scenarios. Once hold is initiated, the system enters a suspend state to block
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// all main program processes until either reset or resumed.
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if (rt_exec & (EXEC_MOTION_CANCEL | EXEC_FEED_HOLD | EXEC_SAFETY_DOOR)) {
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// TODO: CHECK MODE? How to handle this? Likely nothing, since it only works when IDLE and then resets Grbl.
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// State check for allowable states for hold methods.
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if ((sys.state == STATE_IDLE) || (sys.state & (STATE_CYCLE | STATE_HOMING | STATE_MOTION_CANCEL | STATE_HOLD | STATE_SAFETY_DOOR))) {
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// If in CYCLE state, all hold states immediately initiate a motion HOLD.
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if (sys.state == STATE_CYCLE) {
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st_update_plan_block_parameters(); // Notify stepper module to recompute for hold deceleration.
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sys.step_control = STEP_CONTROL_EXECUTE_HOLD; // Initiate suspend state with active flag.
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}
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// If IDLE, Grbl is not in motion. Simply indicate suspend state and hold is complete.
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if (sys.state == STATE_IDLE) {
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sys.suspend = SUSPEND_HOLD_COMPLETE;
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sys.step_control = STEP_CONTROL_END_MOTION;
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}
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// Execute and flag a motion cancel with deceleration and return to idle. Used primarily by probing cycle
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// to halt and cancel the remainder of the motion.
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if (rt_exec & EXEC_MOTION_CANCEL) {
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// MOTION_CANCEL only occurs during a CYCLE, but a HOLD and SAFETY_DOOR may been initiated beforehand
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// to hold the CYCLE. If so, only flag that motion cancel is complete.
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if (sys.state == STATE_CYCLE) { sys.state = STATE_MOTION_CANCEL; }
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// NOTE: Ensures the motion cancel is handled correctly if it is active during a HOLD or DOOR state.
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sys.suspend |= SUSPEND_MOTION_CANCEL; // Indicate motion cancel when resuming.
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}
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// Execute a feed hold with deceleration, if required. Then, suspend system.
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if (rt_exec & EXEC_FEED_HOLD) {
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// Block SAFETY_DOOR state from prematurely changing back to HOLD, which should only
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// occur if the safety door switch closes.
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if (sys.state != STATE_SAFETY_DOOR) { sys.state = STATE_HOLD; }
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}
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// Execute a safety door stop with a feed hold and disable spindle/coolant.
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// NOTE: Safety door differs from feed holds by stopping everything no matter state, disables powered
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// devices (spindle/coolant), and blocks resuming until switch is re-engaged.
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if (rt_exec & EXEC_SAFETY_DOOR) {
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report_feedback_message(MESSAGE_SAFETY_DOOR_AJAR);
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// Check if the safety re-opened during a restore parking motion only. Ignore if
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// already retracting or parked.
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if (sys.suspend & SUSPEND_SAFETY_DOOR_AJAR) {
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if (sys.suspend & SUSPEND_INITIATE_RESTORE) { // Actively restoring
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#ifdef PARKING_ENABLE
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// Set hold and reset appropriate control flags to restart parking sequence.
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if (sys.step_control & STEP_CONTROL_EXECUTE_PARK) {
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st_update_plan_block_parameters(); // Notify stepper module to recompute for hold deceleration.
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sys.step_control = (STEP_CONTROL_EXECUTE_HOLD | STEP_CONTROL_EXECUTE_PARK);
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sys.suspend &= ~(SUSPEND_HOLD_COMPLETE);
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} // else NO_MOTION is active.
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#endif
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sys.suspend &= ~(SUSPEND_RETRACT_COMPLETE | SUSPEND_INITIATE_RESTORE | SUSPEND_RESTORE_COMPLETE);
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sys.suspend |= SUSPEND_RESTART_RETRACT;
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}
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}
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// NOTE: This flag doesn't change when the door closes, unlike sys.state. Ensures any parking motions
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// are executed if the door switch closes and the state returns to HOLD.
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sys.suspend |= SUSPEND_SAFETY_DOOR_AJAR;
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sys.state = STATE_SAFETY_DOOR;
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}
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}
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bit_false_atomic(sys.rt_exec_state,(EXEC_MOTION_CANCEL | EXEC_FEED_HOLD | EXEC_SAFETY_DOOR));
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}
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// Execute a cycle start by starting the stepper interrupt to begin executing the blocks in queue.
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if (rt_exec & EXEC_CYCLE_START) {
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// Block if called at same time as the hold commands: feed hold, motion cancel, and safety door.
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// Ensures auto-cycle-start doesn't resume a hold without an explicit user-input.
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if (!(rt_exec & (EXEC_FEED_HOLD | EXEC_MOTION_CANCEL | EXEC_SAFETY_DOOR))) {
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// Cycle start only when IDLE or when a hold is complete and ready to resume.
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// NOTE: SAFETY_DOOR is implicitly blocked. It reverts to HOLD when the door is closed.
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if ((sys.state == STATE_IDLE) || ((sys.state & (STATE_HOLD | STATE_MOTION_CANCEL)) && (sys.suspend & SUSPEND_HOLD_COMPLETE))) {
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if (sys.suspend & SUSPEND_SAFETY_DOOR_AJAR) {
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if (sys.suspend & SUSPEND_RETRACT_COMPLETE) {
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if bit_isfalse(sys.suspend,SUSPEND_RESTORE_COMPLETE) {
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// Flag to re-energize powered components and restore original position, if disabled by SAFETY_DOOR.
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// NOTE: For a safety door to resume, the switch must be closed, as indicated by HOLD state, and
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// the retraction execution is complete, which implies the initial feed hold is not active. To
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// restore normal operation, the restore procedures must be initiated by the following flag. Once,
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// they are complete, it will call CYCLE_START automatically to resume and exit the suspend.
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sys.suspend |= SUSPEND_INITIATE_RESTORE;
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} else {
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bit_false(sys.suspend,SUSPEND_SAFETY_DOOR_AJAR);
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}
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}
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}
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if (!(sys.suspend & SUSPEND_SAFETY_DOOR_AJAR)) {
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// Start cycle only if queued motions exist in planner buffer and the motion is not canceled.
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sys.step_control = STEP_CONTROL_NORMAL_OP; // Restore step control to normal operation
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if (plan_get_current_block() && bit_isfalse(sys.suspend,SUSPEND_MOTION_CANCEL)) {
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sys.suspend = SUSPEND_DISABLE; // Break suspend state.
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sys.state = STATE_CYCLE;
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st_prep_buffer(); // Initialize step segment buffer before beginning cycle.
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st_wake_up();
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} else { // Otherwise, do nothing. Set and resume IDLE state.
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sys.suspend = SUSPEND_DISABLE; // Break suspend state.
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sys.state = STATE_IDLE;
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}
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}
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}
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}
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bit_false_atomic(sys.rt_exec_state,EXEC_CYCLE_START);
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}
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if (rt_exec & EXEC_CYCLE_STOP) {
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|
// Reinitializes the cycle plan and stepper system after a feed hold for a resume. Called by
|
|
// realtime command execution in the main program, ensuring that the planner re-plans safely.
|
|
// NOTE: Bresenham algorithm variables are still maintained through both the planner and stepper
|
|
// cycle reinitializations. The stepper path should continue exactly as if nothing has happened.
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|
// NOTE: EXEC_CYCLE_STOP is set by the stepper subsystem when a cycle or feed hold completes.
|
|
if (sys.state & (STATE_HOLD | STATE_SAFETY_DOOR)) {
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|
// Hold complete. Set to indicate ready to resume. Remain in HOLD or DOOR states until user
|
|
// has issued a resume command or reset.
|
|
plan_cycle_reinitialize();
|
|
if (sys.step_control & STEP_CONTROL_EXECUTE_HOLD) { sys.suspend |= SUSPEND_HOLD_COMPLETE; }
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|
bit_false(sys.step_control,(STEP_CONTROL_EXECUTE_HOLD | STEP_CONTROL_EXECUTE_PARK));
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|
} else { // Motion is complete. Includes CYCLE, HOMING, and MOTION_CANCEL states.
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|
sys.suspend = SUSPEND_DISABLE;
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|
sys.state = STATE_IDLE;
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|
}
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|
bit_false_atomic(sys.rt_exec_state,EXEC_CYCLE_STOP);
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|
}
|
|
}
|
|
|
|
// Overrides flag byte (sys.override) and execution should be installed here, since they
|
|
// are realtime and require a direct and controlled interface to the main stepper program.
|
|
|
|
// Reload step segment buffer
|
|
if (sys.state & (STATE_CYCLE | STATE_HOLD | STATE_MOTION_CANCEL | STATE_SAFETY_DOOR | STATE_HOMING)) {
|
|
st_prep_buffer();
|
|
}
|
|
|
|
}
|
|
|
|
|
|
// Handles Grbl system suspend procedures, such as feed hold, safety door, and parking motion.
|
|
// The system will enter this loop, create local variables for suspend tasks, and return to
|
|
// whatever function that invoked the suspend, such that Grbl resumes normal operation.
|
|
// This function is written in a way to promote custom parking motions. Simply use this as a
|
|
// template
|
|
static void protocol_exec_rt_suspend()
|
|
{
|
|
#ifdef PARKING_ENABLE
|
|
// Declare parking local variables
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|
float restore_target[N_AXIS];
|
|
float parking_target[N_AXIS];
|
|
float retract_waypoint = PARKING_PULLOUT_INCREMENT;
|
|
#endif
|
|
|
|
while (sys.suspend) {
|
|
|
|
if (sys.abort) { return; }
|
|
|
|
// Safety door manager. Handles de/re-energizing, switch state checks, and parking motions.
|
|
if ((sys.suspend & SUSPEND_SAFETY_DOOR_AJAR) && (sys.suspend & SUSPEND_HOLD_COMPLETE)) {
|
|
|
|
// Handles retraction motions and de-energizing.
|
|
if (bit_isfalse(sys.suspend,SUSPEND_RETRACT_COMPLETE)) {
|
|
|
|
#ifndef PARKING_ENABLE
|
|
|
|
spindle_stop(); // De-energize
|
|
coolant_stop(); // De-energize
|
|
|
|
#else
|
|
|
|
// Get current position and store restore location and spindle retract waypoint.
|
|
system_convert_array_steps_to_mpos(parking_target,sys.position);
|
|
if (bit_isfalse(sys.suspend,SUSPEND_RESTART_RETRACT)) {
|
|
memcpy(restore_target,parking_target,sizeof(parking_target));
|
|
retract_waypoint += restore_target[PARKING_AXIS];
|
|
retract_waypoint = min(retract_waypoint,PARKING_TARGET);
|
|
}
|
|
|
|
// Execute slow pull-out parking retract motion. Parking requires homing enabled and
|
|
// the current location not exceeding the parking target location.
|
|
// NOTE: State is will remain DOOR, until the de-energizing and retract is complete.
|
|
if ((bit_istrue(settings.flags,BITFLAG_HOMING_ENABLE)) &&
|
|
(parking_target[PARKING_AXIS] < PARKING_TARGET)) {
|
|
|
|
// Retract spindle by pullout distance. Ensure retraction motion moves away from
|
|
// the workpiece and waypoint motion doesn't exceed the parking target location.
|
|
if (parking_target[PARKING_AXIS] < retract_waypoint) {
|
|
parking_target[PARKING_AXIS] = retract_waypoint;
|
|
mc_parking_motion(parking_target, PARKING_PULLOUT_RATE);
|
|
}
|
|
|
|
spindle_stop(); // De-energize
|
|
coolant_stop(); // De-energize
|
|
|
|
// Execute fast parking retract motion to parking target location.
|
|
if (parking_target[PARKING_AXIS] < PARKING_TARGET) {
|
|
parking_target[PARKING_AXIS] = PARKING_TARGET;
|
|
mc_parking_motion(parking_target, PARKING_RATE);
|
|
}
|
|
|
|
} else {
|
|
|
|
// Parking motion not possible. Just disable the spindle and coolant.
|
|
spindle_stop(); // De-energize
|
|
coolant_stop(); // De-energize
|
|
|
|
}
|
|
|
|
#endif
|
|
|
|
sys.suspend &= ~(SUSPEND_RESTART_RETRACT);
|
|
sys.suspend |= SUSPEND_RETRACT_COMPLETE;
|
|
|
|
} else {
|
|
|
|
// Allows resuming from parking/safety door. Actively checks if safety door is closed and ready to resume.
|
|
// NOTE: This unlocks the SAFETY_DOOR state to a HOLD state, such that CYCLE_START can activate a resume.
|
|
if (sys.state == STATE_SAFETY_DOOR) {
|
|
if (!(system_check_safety_door_ajar())) {
|
|
sys.state = STATE_HOLD; // Update to HOLD state to indicate door is closed and ready to resume.
|
|
}
|
|
}
|
|
|
|
// Handles parking restore and safety door resume.
|
|
if (sys.suspend & SUSPEND_INITIATE_RESTORE) {
|
|
|
|
#ifdef PARKING_ENABLE
|
|
// Execute fast restore motion to the pull-out position. Parking requires homing enabled.
|
|
// NOTE: State is will remain DOOR, until the de-energizing and retract is complete.
|
|
if (bit_istrue(settings.flags,BITFLAG_HOMING_ENABLE)) {
|
|
// Check to ensure the motion doesn't move below pull-out position.
|
|
if (parking_target[PARKING_AXIS] <= PARKING_TARGET) {
|
|
parking_target[PARKING_AXIS] = retract_waypoint;
|
|
mc_parking_motion(parking_target, PARKING_RATE);
|
|
}
|
|
}
|
|
#endif
|
|
|
|
// Delayed Tasks: Restart spindle and coolant, delay to power-up, then resume cycle.
|
|
if (gc_state.modal.spindle != SPINDLE_DISABLE) {
|
|
// Block if safety door re-opened during prior restore actions.
|
|
if (bit_isfalse(sys.suspend,SUSPEND_RESTART_RETRACT)) {
|
|
spindle_set_state(gc_state.modal.spindle, gc_state.spindle_speed);
|
|
delay_sec(SAFETY_DOOR_SPINDLE_DELAY, DELAY_MODE_SAFETY_DOOR);
|
|
}
|
|
}
|
|
if (gc_state.modal.coolant != COOLANT_DISABLE) {
|
|
// Block if safety door re-opened during prior restore actions.
|
|
if (bit_isfalse(sys.suspend,SUSPEND_RESTART_RETRACT)) {
|
|
coolant_set_state(gc_state.modal.coolant);
|
|
delay_sec(SAFETY_DOOR_COOLANT_DELAY, DELAY_MODE_SAFETY_DOOR);
|
|
}
|
|
}
|
|
|
|
#ifdef PARKING_ENABLE
|
|
// Execute slow plunge motion from pull-out position to resume position.
|
|
if (bit_istrue(settings.flags,BITFLAG_HOMING_ENABLE)) {
|
|
// Block if safety door re-opened during prior restore actions.
|
|
if (bit_isfalse(sys.suspend,SUSPEND_RESTART_RETRACT)) {
|
|
// Regardless if the retract parking motion was a valid/safe motion or not, the
|
|
// restore parking motion should logically be valid, either by returning to the
|
|
// original position through valid machine space or by not moving at all.
|
|
mc_parking_motion(restore_target, PARKING_PULLOUT_RATE);
|
|
}
|
|
}
|
|
#endif
|
|
|
|
if (bit_isfalse(sys.suspend,SUSPEND_RESTART_RETRACT)) {
|
|
sys.suspend |= SUSPEND_RESTORE_COMPLETE;
|
|
bit_true_atomic(sys.rt_exec_state,EXEC_CYCLE_START); // Set to resume program.
|
|
}
|
|
}
|
|
|
|
}
|
|
}
|
|
|
|
protocol_exec_rt_system();
|
|
}
|
|
}
|