4bdc20ffb9
- Overhauled the state machine and cleaned up its overall operation. This involved creating a new ‘suspend’ state for what all external commands, except real-time commands, are ignored. All hold type states enter this suspend state. - Removed ‘auto cycle start’ setting from Grbl. This was not used by users in its intended way and is somewhat redundant, as GUI manage the cycle start by streaming. It also muddled up how Grbl should interpret how and when to execute a g-code block. Removing it made everything much much simpler. - Fixed a program pause bug when used with other buffer_sync commands. - New safety door feature for OEMs. Immediately forces a feed hold and then de-energizes the machine. Resuming is blocked until the door is closed. When it is, it re-energizes the system and then resumes on the normal toolpath. - Safety door input pin is optional and uses the feed hold pin on A1. Enabled by config.h define. - Spindle and coolant re-energizing upon a safety door resume has a programmable delay time to allow for complete spin up to rpm and turning on the coolant before resuming motion. - Safety door-style feed holds can be used instead of regular feed hold (doesn’t de-energize the machine) with a ‘@‘ character. If the safety door input pin is not enabled, the system can be resumed at any time.
389 lines
19 KiB
C
389 lines
19 KiB
C
/*
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protocol.c - controls Grbl execution protocol and procedures
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Part of Grbl v0.9
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Copyright (c) 2012-2015 Sungeun K. Jeon
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Grbl is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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Grbl is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with Grbl. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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This file is based on work from Grbl v0.8, distributed under the
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terms of the MIT-license. See COPYING for more details.
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Copyright (c) 2009-2011 Simen Svale Skogsrud
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Copyright (c) 2011-2012 Sungeun K. Jeon
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*/
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#include "grbl.h"
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static char line[LINE_BUFFER_SIZE]; // Line to be executed. Zero-terminated.
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// Directs and executes one line of formatted input from protocol_process. While mostly
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// incoming streaming g-code blocks, this also directs and executes Grbl internal commands,
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// such as settings, initiating the homing cycle, and toggling switch states.
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static void protocol_execute_line(char *line)
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{
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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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if (line[0] == 0) {
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// Empty or comment line. Send status message 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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}
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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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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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} else {
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sys.state = STATE_IDLE; // Set system to ready. Clear all state flags.
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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 iscomment = false;
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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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line[char_counter] = 0; // Set string termination character.
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protocol_execute_line(line); // Line is complete. Execute it!
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iscomment = false;
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char_counter = 0;
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} else {
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if (iscomment) {
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// Throw away all comment characters
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if (c == ')') {
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// End of comment. Resume line.
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iscomment = false;
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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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iscomment = true;
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// } else if (c == ';') {
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// Comment character to EOL NOT SUPPORTED. LinuxCNC definition. Not NIST.
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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. Report error and reset line buffer.
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report_status_message(STATUS_OVERFLOW);
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iscomment = false;
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char_counter = 0;
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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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// Executes run-time commands, when required. This is called from various check points in the main
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// program, primarily where there may be a while loop waiting for a buffer to clear space or any
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// point where the execution time from the last check point may be more than a fraction of a second.
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// This is a way to execute realtime commands asynchronously (aka multitasking) with grbl's g-code
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// parsing and planning functions. This function also serves as an interface for the interrupts to
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// set the system realtime flags, where only the main program handles them, removing the need to
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// define more computationally-expensive volatile variables. This also provides a controlled way to
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// execute certain tasks without having two or more instances of the same task, such as the planner
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// recalculating the buffer upon a feedhold or override.
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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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uint8_t rt_exec; // Temp variable to avoid calling volatile multiple times.
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do { // If system is suspended, suspend loop restarts here.
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// Check and execute alarms.
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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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}
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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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// Nothing. Block EVERYTHING until user issues reset or power cycles. Hard limits
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// typically occur while unattended or not paying attention. Gives the user time
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// to do what is needed before resetting, like killing the incoming stream. The
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// same could be said about soft limits. While the position is not lost, the incoming
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// stream could be still engaged and cause a serious crash if it continues afterwards.
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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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// Check amd execute realtime commands
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rt_exec = sys.rt_exec_state; // Copy volatile sys.rt_exec_state.
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if (rt_exec) { // Enter only if any bit flag is true
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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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// Execute hold states.
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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.suspend = SUSPEND_ENABLE_HOLD; // Initiate holding cycle with flag.
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}
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// If IDLE, Grbl is not in motion. Simply indicate suspend ready state.
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if (sys.state == STATE_IDLE) { sys.suspend = SUSPEND_ENABLE_READY; }
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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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sys.suspend |= SUSPEND_MOTION_CANCEL; // Indicate motion cancel when resuming. Special motion complete.
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}
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// Execute a feed hold with deceleration, only during cycle.
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if (rt_exec & EXEC_FEED_HOLD) {
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// Block SAFETY_DOOR state from prematurely changing back to HOLD.
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if (bit_isfalse(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, only during a cycle, 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. The power-down is
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// executed here, if IDLE, or when the CYCLE completes via the EXEC_CYCLE_STOP flag.
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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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// If already in active, ready-to-resume HOLD, set CYCLE_STOP flag to force de-energize.
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// NOTE: Only temporarily sets the 'rt_exec' variable, not the volatile 'rt_exec_state' variable.
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if (sys.suspend & SUSPEND_ENABLE_READY) { bit_true(rt_exec,EXEC_CYCLE_STOP); }
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sys.suspend |= SUSPEND_ENERGIZE;
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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_ENABLE_READY))) {
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// Re-energize powered components, if disabled by SAFETY_DOOR.
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if (sys.suspend & SUSPEND_ENERGIZE) {
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// Delayed Tasks: Restart spindle and coolant, delay to power-up, then resume cycle.
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if (gc_state.modal.spindle != SPINDLE_DISABLE) {
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spindle_set_state(gc_state.modal.spindle, gc_state.spindle_speed);
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delay_ms(SAFETY_DOOR_SPINDLE_DELAY); // TODO: Blocking function call. Need a non-blocking one eventually.
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}
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if (gc_state.modal.coolant != COOLANT_DISABLE) {
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coolant_set_state(gc_state.modal.coolant);
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delay_ms(SAFETY_DOOR_COOLANT_DELAY); // TODO: Blocking function call. Need a non-blocking one eventually.
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}
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// TODO: Install return to pre-park position.
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}
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// Start cycle only if queued motions exist in planner buffer and the motion is not canceled.
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if (plan_get_current_block() && bit_isfalse(sys.suspend,SUSPEND_MOTION_CANCEL)) {
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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.state = STATE_IDLE;
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}
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sys.suspend = SUSPEND_DISABLE; // Break suspend state.
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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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// Reinitializes the cycle plan and stepper system after a feed hold for a resume. Called by
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// realtime command execution in the main program, ensuring that the planner re-plans safely.
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// NOTE: Bresenham algorithm variables are still maintained through both the planner and stepper
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// 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.
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if (rt_exec & EXEC_CYCLE_STOP) {
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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
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// has issued a resume command or reset.
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if (sys.suspend & SUSPEND_ENERGIZE) { // De-energize system if safety door has been opened.
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spindle_stop();
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coolant_stop();
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// TODO: Install parking motion here.
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}
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bit_true(sys.suspend,SUSPEND_ENABLE_READY);
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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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}
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}
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// Overrides flag byte (sys.override) and execution should be installed here, since they
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// are realtime and require a direct and controlled interface to the main stepper program.
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// Reload step segment buffer
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if (sys.state & (STATE_CYCLE | STATE_HOLD | STATE_MOTION_CANCEL | STATE_SAFETY_DOOR | STATE_HOMING)) { st_prep_buffer(); }
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// If safety door was opened, actively check when safety door is closed and ready to resume.
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// NOTE: This unlocks the SAFETY_DOOR state to a HOLD state, such that CYCLE_START can activate a resume.
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if (sys.state == STATE_SAFETY_DOOR) {
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if (bit_istrue(sys.suspend,SUSPEND_ENABLE_READY)) {
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if (!(system_check_safety_door_ajar())) {
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sys.state = STATE_HOLD; // Update to HOLD state to indicate door is closed and ready to resume.
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}
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}
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}
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} while(sys.suspend); // Check for system suspend state before exiting.
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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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