grbl/system.h - grbl-v1.1h-fork - Gitiles

 /*
   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
 #define EXEC_ALARM_HOMING_FAIL_DUAL_APPROACH  10
 #ifdef ADC_CONFIG_SYSTEM_ALARM
   #define EXEC_ALARM_ADC                      11
 #endif

 // 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.
   #ifdef ENABLE_DUAL_AXIS
     uint8_t homing_axis_lock_dual;
   #endif
   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 ENABLE_PARKING_OVERRIDE_CONTROL
     uint8_t override_ctrl;     // Tracks override control states.
   #endif
   #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.
 extern int32_t sys_position[N_AXIS];      // Real-time machine (aka home) position vector in steps.
 extern int32_t sys_probe_position[N_AXIS]; // Last probe position in machine coordinates and steps.

 extern volatile uint8_t sys_probe_state;   // Probing state value.  Used to coordinate the probing cycle with stepper ISR.
 extern volatile uint8_t sys_rt_exec_state;   // Global realtime executor bitflag variable for state management. See EXEC bitmasks.
 extern volatile uint8_t sys_rt_exec_alarm;   // Global realtime executor bitflag variable for setting various alarms.
 extern volatile uint8_t sys_rt_exec_motion_override; // Global realtime executor bitflag variable for motion-based overrides.
 extern 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)
   extern 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();
 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
	/*
	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
	#define EXEC_ALARM_HOMING_FAIL_DUAL_APPROACH 10
	#ifdef ADC_CONFIG_SYSTEM_ALARM
	#define EXEC_ALARM_ADC 11
	#endif

	// 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.
	#ifdef ENABLE_DUAL_AXIS
	uint8_t homing_axis_lock_dual;
	#endif
	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 ENABLE_PARKING_OVERRIDE_CONTROL
	uint8_t override_ctrl; // Tracks override control states.
	#endif
	#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.
	extern int32_t sys_position[N_AXIS]; // Real-time machine (aka home) position vector in steps.
	extern int32_t sys_probe_position[N_AXIS]; // Last probe position in machine coordinates and steps.

	extern volatile uint8_t sys_probe_state; // Probing state value. Used to coordinate the probing cycle with stepper ISR.
	extern volatile uint8_t sys_rt_exec_state; // Global realtime executor bitflag variable for state management. See EXEC bitmasks.
	extern volatile uint8_t sys_rt_exec_alarm; // Global realtime executor bitflag variable for setting various alarms.
	extern volatile uint8_t sys_rt_exec_motion_override; // Global realtime executor bitflag variable for motion-based overrides.
	extern 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)
	extern 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();
	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