Import grbl v1.1h
diff --git a/grbl/protocol.c b/grbl/protocol.c
new file mode 100644
index 0000000..08ea48b
--- /dev/null
+++ b/grbl/protocol.c
@@ -0,0 +1,765 @@
+/*
+ protocol.c - controls Grbl execution protocol and procedures
+ Part of Grbl
+
+ Copyright (c) 2011-2016 Sungeun K. Jeon for Gnea Research LLC
+ Copyright (c) 2009-2011 Simen Svale Skogsrud
+
+ 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/>.
+*/
+
+#include "grbl.h"
+
+// Define line flags. Includes comment type tracking and line overflow detection.
+#define LINE_FLAG_OVERFLOW bit(0)
+#define LINE_FLAG_COMMENT_PARENTHESES bit(1)
+#define LINE_FLAG_COMMENT_SEMICOLON bit(2)
+
+
+static char line[LINE_BUFFER_SIZE]; // Line to be executed. Zero-terminated.
+
+static void protocol_exec_rt_suspend();
+
+
+/*
+ GRBL PRIMARY LOOP:
+*/
+void protocol_main_loop()
+{
+ // Perform some machine checks to make sure everything is good to go.
+ #ifdef CHECK_LIMITS_AT_INIT
+ if (bit_istrue(settings.flags, BITFLAG_HARD_LIMIT_ENABLE)) {
+ if (limits_get_state()) {
+ sys.state = STATE_ALARM; // Ensure alarm state is active.
+ report_feedback_message(MESSAGE_CHECK_LIMITS);
+ }
+ }
+ #endif
+ // Check for and report alarm state after a reset, error, or an initial power up.
+ // NOTE: Sleep mode disables the stepper drivers and position can't be guaranteed.
+ // Re-initialize the sleep state as an ALARM mode to ensure user homes or acknowledges.
+ if (sys.state & (STATE_ALARM | STATE_SLEEP)) {
+ report_feedback_message(MESSAGE_ALARM_LOCK);
+ sys.state = STATE_ALARM; // Ensure alarm state is set.
+ } else {
+ // Check if the safety door is open.
+ sys.state = STATE_IDLE;
+ if (system_check_safety_door_ajar()) {
+ bit_true(sys_rt_exec_state, EXEC_SAFETY_DOOR);
+ protocol_execute_realtime(); // Enter safety door mode. Should return as IDLE state.
+ }
+ // All systems go!
+ system_execute_startup(line); // Execute startup script.
+ }
+
+ // ---------------------------------------------------------------------------------
+ // Primary loop! Upon a system abort, this exits back to main() to reset the system.
+ // This is also where Grbl idles while waiting for something to do.
+ // ---------------------------------------------------------------------------------
+
+ uint8_t line_flags = 0;
+ uint8_t char_counter = 0;
+ uint8_t c;
+ for (;;) {
+
+ // Process one line of incoming serial data, as the data becomes available. Performs an
+ // initial filtering by removing spaces and comments and capitalizing all letters.
+ while((c = serial_read()) != SERIAL_NO_DATA) {
+ if ((c == '\n') || (c == '\r')) { // End of line reached
+
+ protocol_execute_realtime(); // Runtime command check point.
+ if (sys.abort) { return; } // Bail to calling function upon system abort
+
+ line[char_counter] = 0; // Set string termination character.
+ #ifdef REPORT_ECHO_LINE_RECEIVED
+ report_echo_line_received(line);
+ #endif
+
+ // Direct and execute one line of formatted input, and report status of execution.
+ if (line_flags & LINE_FLAG_OVERFLOW) {
+ // Report line overflow error.
+ report_status_message(STATUS_OVERFLOW);
+ } else if (line[0] == 0) {
+ // Empty or comment line. For syncing purposes.
+ report_status_message(STATUS_OK);
+ } else if (line[0] == '$') {
+ // Grbl '$' system command
+ report_status_message(system_execute_line(line));
+ } else if (sys.state & (STATE_ALARM | STATE_JOG)) {
+ // Everything else is gcode. Block if in alarm or jog mode.
+ report_status_message(STATUS_SYSTEM_GC_LOCK);
+ } else {
+ // Parse and execute g-code block.
+ report_status_message(gc_execute_line(line));
+ }
+
+ // Reset tracking data for next line.
+ line_flags = 0;
+ char_counter = 0;
+
+ } else {
+
+ if (line_flags) {
+ // Throw away all (except EOL) comment characters and overflow characters.
+ if (c == ')') {
+ // End of '()' comment. Resume line allowed.
+ if (line_flags & LINE_FLAG_COMMENT_PARENTHESES) { line_flags &= ~(LINE_FLAG_COMMENT_PARENTHESES); }
+ }
+ } else {
+ if (c <= ' ') {
+ // Throw away whitepace and control characters
+ } else if (c == '/') {
+ // Block delete NOT SUPPORTED. Ignore character.
+ // NOTE: If supported, would simply need to check the system if block delete is enabled.
+ } else if (c == '(') {
+ // Enable comments flag and ignore all characters until ')' or EOL.
+ // NOTE: This doesn't follow the NIST definition exactly, but is good enough for now.
+ // In the future, we could simply remove the items within the comments, but retain the
+ // comment control characters, so that the g-code parser can error-check it.
+ line_flags |= LINE_FLAG_COMMENT_PARENTHESES;
+ } else if (c == ';') {
+ // NOTE: ';' comment to EOL is a LinuxCNC definition. Not NIST.
+ line_flags |= LINE_FLAG_COMMENT_SEMICOLON;
+ // TODO: Install '%' feature
+ // } else if (c == '%') {
+ // Program start-end percent sign NOT SUPPORTED.
+ // NOTE: This maybe installed to tell Grbl when a program is running vs manual input,
+ // where, during a program, the system auto-cycle start will continue to execute
+ // everything until the next '%' sign. This will help fix resuming issues with certain
+ // functions that empty the planner buffer to execute its task on-time.
+ } else if (char_counter >= (LINE_BUFFER_SIZE-1)) {
+ // Detect line buffer overflow and set flag.
+ line_flags |= LINE_FLAG_OVERFLOW;
+ } else if (c >= 'a' && c <= 'z') { // Upcase lowercase
+ line[char_counter++] = c-'a'+'A';
+ } else {
+ line[char_counter++] = c;
+ }
+ }
+
+ }
+ }
+
+ // If there are no more characters in the serial read buffer to be processed and executed,
+ // this indicates that g-code streaming has either filled the planner buffer or has
+ // completed. In either case, auto-cycle start, if enabled, any queued moves.
+ protocol_auto_cycle_start();
+
+ protocol_execute_realtime(); // Runtime command check point.
+ if (sys.abort) { return; } // Bail to main() program loop to reset system.
+ }
+
+ return; /* Never reached */
+}
+
+
+// Block until all buffered steps are executed or in a cycle state. Works with feed hold
+// during a synchronize call, if it should happen. Also, waits for clean cycle end.
+void protocol_buffer_synchronize()
+{
+ // If system is queued, ensure cycle resumes if the auto start flag is present.
+ protocol_auto_cycle_start();
+ do {
+ protocol_execute_realtime(); // Check and execute run-time commands
+ if (sys.abort) { return; } // Check for system abort
+ } while (plan_get_current_block() || (sys.state == STATE_CYCLE));
+}
+
+
+// Auto-cycle start triggers when there is a motion ready to execute and if the main program is not
+// actively parsing commands.
+// NOTE: This function is called from the main loop, buffer sync, and mc_line() only and executes
+// when one of these conditions exist respectively: There are no more blocks sent (i.e. streaming
+// is finished, single commands), a command that needs to wait for the motions in the buffer to
+// execute calls a buffer sync, or the planner buffer is full and ready to go.
+void protocol_auto_cycle_start()
+{
+ if (plan_get_current_block() != NULL) { // Check if there are any blocks in the buffer.
+ system_set_exec_state_flag(EXEC_CYCLE_START); // If so, execute them!
+ }
+}
+
+
+// This function is the general interface to Grbl's real-time command execution system. It is called
+// from various check points in the main program, primarily where there may be a while loop waiting
+// for a buffer to clear space or any point where the execution time from the last check point may
+// be more than a fraction of a second. This is a way to execute realtime commands asynchronously
+// (aka multitasking) with grbl's g-code parsing and planning functions. This function also serves
+// as an interface for the interrupts to set the system realtime flags, where only the main program
+// handles them, removing the need to define more computationally-expensive volatile variables. This
+// also provides a controlled way to execute certain tasks without having two or more instances of
+// the same task, such as the planner recalculating the buffer upon a feedhold or overrides.
+// NOTE: The sys_rt_exec_state variable flags are set by any process, step or serial interrupts, pinouts,
+// limit switches, or the main program.
+void protocol_execute_realtime()
+{
+ protocol_exec_rt_system();
+ if (sys.suspend) { protocol_exec_rt_suspend(); }
+}
+
+
+// Executes run-time commands, when required. This function primarily operates as Grbl's state
+// machine and controls the various real-time features Grbl has to offer.
+// NOTE: Do not alter this unless you know exactly what you are doing!
+void protocol_exec_rt_system()
+{
+ uint8_t rt_exec; // Temp variable to avoid calling volatile multiple times.
+ rt_exec = sys_rt_exec_alarm; // Copy volatile sys_rt_exec_alarm.
+ if (rt_exec) { // Enter only if any bit flag is true
+ // System alarm. Everything has shutdown by something that has gone severely wrong. Report
+ // the source of the error to the user. If critical, Grbl disables by entering an infinite
+ // loop until system reset/abort.
+ sys.state = STATE_ALARM; // Set system alarm state
+ report_alarm_message(rt_exec);
+ // Halt everything upon a critical event flag. Currently hard and soft limits flag this.
+ if ((rt_exec == EXEC_ALARM_HARD_LIMIT) || (rt_exec == EXEC_ALARM_SOFT_LIMIT)) {
+ report_feedback_message(MESSAGE_CRITICAL_EVENT);
+ system_clear_exec_state_flag(EXEC_RESET); // Disable any existing reset
+ do {
+ // Block everything, except reset and status reports, until user issues reset or power
+ // cycles. Hard limits typically occur while unattended or not paying attention. Gives
+ // the user and a GUI time to do what is needed before resetting, like killing the
+ // incoming stream. The same could be said about soft limits. While the position is not
+ // lost, continued streaming could cause a serious crash if by chance it gets executed.
+ } while (bit_isfalse(sys_rt_exec_state,EXEC_RESET));
+ }
+ system_clear_exec_alarm(); // Clear alarm
+ }
+
+ rt_exec = sys_rt_exec_state; // Copy volatile sys_rt_exec_state.
+ if (rt_exec) {
+
+ // Execute system abort.
+ if (rt_exec & EXEC_RESET) {
+ sys.abort = true; // Only place this is set true.
+ return; // Nothing else to do but exit.
+ }
+
+ // Execute and serial print status
+ if (rt_exec & EXEC_STATUS_REPORT) {
+ report_realtime_status();
+ system_clear_exec_state_flag(EXEC_STATUS_REPORT);
+ }
+
+ // NOTE: Once hold is initiated, the system immediately enters a suspend state to block all
+ // main program processes until either reset or resumed. This ensures a hold completes safely.
+ if (rt_exec & (EXEC_MOTION_CANCEL | EXEC_FEED_HOLD | EXEC_SAFETY_DOOR | EXEC_SLEEP)) {
+
+ // State check for allowable states for hold methods.
+ if (!(sys.state & (STATE_ALARM | STATE_CHECK_MODE))) {
+
+ // If in CYCLE or JOG states, immediately initiate a motion HOLD.
+ if (sys.state & (STATE_CYCLE | STATE_JOG)) {
+ if (!(sys.suspend & (SUSPEND_MOTION_CANCEL | SUSPEND_JOG_CANCEL))) { // Block, if already holding.
+ st_update_plan_block_parameters(); // Notify stepper module to recompute for hold deceleration.
+ sys.step_control = STEP_CONTROL_EXECUTE_HOLD; // Initiate suspend state with active flag.
+ if (sys.state == STATE_JOG) { // Jog cancelled upon any hold event, except for sleeping.
+ if (!(rt_exec & EXEC_SLEEP)) { sys.suspend |= SUSPEND_JOG_CANCEL; }
+ }
+ }
+ }
+ // If IDLE, Grbl is not in motion. Simply indicate suspend state and hold is complete.
+ if (sys.state == STATE_IDLE) { sys.suspend = SUSPEND_HOLD_COMPLETE; }
+
+ // Execute and flag a motion cancel with deceleration and return to idle. Used primarily by probing cycle
+ // to halt and cancel the remainder of the motion.
+ if (rt_exec & EXEC_MOTION_CANCEL) {
+ // MOTION_CANCEL only occurs during a CYCLE, but a HOLD and SAFETY_DOOR may been initiated beforehand
+ // to hold the CYCLE. Motion cancel is valid for a single planner block motion only, while jog cancel
+ // will handle and clear multiple planner block motions.
+ if (!(sys.state & STATE_JOG)) { sys.suspend |= SUSPEND_MOTION_CANCEL; } // NOTE: State is STATE_CYCLE.
+ }
+
+ // Execute a feed hold with deceleration, if required. Then, suspend system.
+ if (rt_exec & EXEC_FEED_HOLD) {
+ // Block SAFETY_DOOR, JOG, and SLEEP states from changing to HOLD state.
+ if (!(sys.state & (STATE_SAFETY_DOOR | STATE_JOG | STATE_SLEEP))) { sys.state = STATE_HOLD; }
+ }
+
+ // Execute a safety door stop with a feed hold and disable spindle/coolant.
+ // NOTE: Safety door differs from feed holds by stopping everything no matter state, disables powered
+ // devices (spindle/coolant), and blocks resuming until switch is re-engaged.
+ if (rt_exec & EXEC_SAFETY_DOOR) {
+ report_feedback_message(MESSAGE_SAFETY_DOOR_AJAR);
+ // If jogging, block safety door methods until jog cancel is complete. Just flag that it happened.
+ if (!(sys.suspend & SUSPEND_JOG_CANCEL)) {
+ // Check if the safety re-opened during a restore parking motion only. Ignore if
+ // already retracting, parked or in sleep state.
+ if (sys.state == STATE_SAFETY_DOOR) {
+ if (sys.suspend & SUSPEND_INITIATE_RESTORE) { // Actively restoring
+ #ifdef PARKING_ENABLE
+ // Set hold and reset appropriate control flags to restart parking sequence.
+ if (sys.step_control & STEP_CONTROL_EXECUTE_SYS_MOTION) {
+ st_update_plan_block_parameters(); // Notify stepper module to recompute for hold deceleration.
+ sys.step_control = (STEP_CONTROL_EXECUTE_HOLD | STEP_CONTROL_EXECUTE_SYS_MOTION);
+ sys.suspend &= ~(SUSPEND_HOLD_COMPLETE);
+ } // else NO_MOTION is active.
+ #endif
+ sys.suspend &= ~(SUSPEND_RETRACT_COMPLETE | SUSPEND_INITIATE_RESTORE | SUSPEND_RESTORE_COMPLETE);
+ sys.suspend |= SUSPEND_RESTART_RETRACT;
+ }
+ }
+ if (sys.state != STATE_SLEEP) { sys.state = STATE_SAFETY_DOOR; }
+ }
+ // NOTE: This flag doesn't change when the door closes, unlike sys.state. Ensures any parking motions
+ // are executed if the door switch closes and the state returns to HOLD.
+ sys.suspend |= SUSPEND_SAFETY_DOOR_AJAR;
+ }
+
+ }
+
+ if (rt_exec & EXEC_SLEEP) {
+ if (sys.state == STATE_ALARM) { sys.suspend |= (SUSPEND_RETRACT_COMPLETE|SUSPEND_HOLD_COMPLETE); }
+ sys.state = STATE_SLEEP;
+ }
+
+ system_clear_exec_state_flag((EXEC_MOTION_CANCEL | EXEC_FEED_HOLD | EXEC_SAFETY_DOOR | EXEC_SLEEP));
+ }
+
+ // Execute a cycle start by starting the stepper interrupt to begin executing the blocks in queue.
+ if (rt_exec & EXEC_CYCLE_START) {
+ // Block if called at same time as the hold commands: feed hold, motion cancel, and safety door.
+ // Ensures auto-cycle-start doesn't resume a hold without an explicit user-input.
+ if (!(rt_exec & (EXEC_FEED_HOLD | EXEC_MOTION_CANCEL | EXEC_SAFETY_DOOR))) {
+ // Resume door state when parking motion has retracted and door has been closed.
+ if ((sys.state == STATE_SAFETY_DOOR) && !(sys.suspend & SUSPEND_SAFETY_DOOR_AJAR)) {
+ if (sys.suspend & SUSPEND_RESTORE_COMPLETE) {
+ sys.state = STATE_IDLE; // Set to IDLE to immediately resume the cycle.
+ } else if (sys.suspend & SUSPEND_RETRACT_COMPLETE) {
+ // Flag to re-energize powered components and restore original position, if disabled by SAFETY_DOOR.
+ // NOTE: For a safety door to resume, the switch must be closed, as indicated by HOLD state, and
+ // the retraction execution is complete, which implies the initial feed hold is not active. To
+ // restore normal operation, the restore procedures must be initiated by the following flag. Once,
+ // they are complete, it will call CYCLE_START automatically to resume and exit the suspend.
+ sys.suspend |= SUSPEND_INITIATE_RESTORE;
+ }
+ }
+ // Cycle start only when IDLE or when a hold is complete and ready to resume.
+ if ((sys.state == STATE_IDLE) || ((sys.state & STATE_HOLD) && (sys.suspend & SUSPEND_HOLD_COMPLETE))) {
+ if (sys.state == STATE_HOLD && sys.spindle_stop_ovr) {
+ sys.spindle_stop_ovr |= SPINDLE_STOP_OVR_RESTORE_CYCLE; // Set to restore in suspend routine and cycle start after.
+ } else {
+ // Start cycle only if queued motions exist in planner buffer and the motion is not canceled.
+ sys.step_control = STEP_CONTROL_NORMAL_OP; // Restore step control to normal operation
+ if (plan_get_current_block() && bit_isfalse(sys.suspend,SUSPEND_MOTION_CANCEL)) {
+ sys.suspend = SUSPEND_DISABLE; // Break suspend state.
+ sys.state = STATE_CYCLE;
+ st_prep_buffer(); // Initialize step segment buffer before beginning cycle.
+ st_wake_up();
+ } else { // Otherwise, do nothing. Set and resume IDLE state.
+ sys.suspend = SUSPEND_DISABLE; // Break suspend state.
+ sys.state = STATE_IDLE;
+ }
+ }
+ }
+ }
+ system_clear_exec_state_flag(EXEC_CYCLE_START);
+ }
+
+ if (rt_exec & EXEC_CYCLE_STOP) {
+ // 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.
+ // 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|STATE_SLEEP)) && !(sys.soft_limit) && !(sys.suspend & SUSPEND_JOG_CANCEL)) {
+ // 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; }
+ bit_false(sys.step_control,(STEP_CONTROL_EXECUTE_HOLD | STEP_CONTROL_EXECUTE_SYS_MOTION));
+ } else {
+ // Motion complete. Includes CYCLE/JOG/HOMING states and jog cancel/motion cancel/soft limit events.
+ // NOTE: Motion and jog cancel both immediately return to idle after the hold completes.
+ if (sys.suspend & SUSPEND_JOG_CANCEL) { // For jog cancel, flush buffers and sync positions.
+ sys.step_control = STEP_CONTROL_NORMAL_OP;
+ plan_reset();
+ st_reset();
+ gc_sync_position();
+ plan_sync_position();
+ }
+ if (sys.suspend & SUSPEND_SAFETY_DOOR_AJAR) { // Only occurs when safety door opens during jog.
+ sys.suspend &= ~(SUSPEND_JOG_CANCEL);
+ sys.suspend |= SUSPEND_HOLD_COMPLETE;
+ sys.state = STATE_SAFETY_DOOR;
+ } else {
+ sys.suspend = SUSPEND_DISABLE;
+ sys.state = STATE_IDLE;
+ }
+ }
+ system_clear_exec_state_flag(EXEC_CYCLE_STOP);
+ }
+ }
+
+ // Execute overrides.
+ rt_exec = sys_rt_exec_motion_override; // Copy volatile sys_rt_exec_motion_override
+ if (rt_exec) {
+ system_clear_exec_motion_overrides(); // Clear all motion override flags.
+
+ uint8_t new_f_override = sys.f_override;
+ if (rt_exec & EXEC_FEED_OVR_RESET) { new_f_override = DEFAULT_FEED_OVERRIDE; }
+ if (rt_exec & EXEC_FEED_OVR_COARSE_PLUS) { new_f_override += FEED_OVERRIDE_COARSE_INCREMENT; }
+ if (rt_exec & EXEC_FEED_OVR_COARSE_MINUS) { new_f_override -= FEED_OVERRIDE_COARSE_INCREMENT; }
+ if (rt_exec & EXEC_FEED_OVR_FINE_PLUS) { new_f_override += FEED_OVERRIDE_FINE_INCREMENT; }
+ if (rt_exec & EXEC_FEED_OVR_FINE_MINUS) { new_f_override -= FEED_OVERRIDE_FINE_INCREMENT; }
+ new_f_override = min(new_f_override,MAX_FEED_RATE_OVERRIDE);
+ new_f_override = max(new_f_override,MIN_FEED_RATE_OVERRIDE);
+
+ uint8_t new_r_override = sys.r_override;
+ if (rt_exec & EXEC_RAPID_OVR_RESET) { new_r_override = DEFAULT_RAPID_OVERRIDE; }
+ if (rt_exec & EXEC_RAPID_OVR_MEDIUM) { new_r_override = RAPID_OVERRIDE_MEDIUM; }
+ if (rt_exec & EXEC_RAPID_OVR_LOW) { new_r_override = RAPID_OVERRIDE_LOW; }
+
+ if ((new_f_override != sys.f_override) || (new_r_override != sys.r_override)) {
+ sys.f_override = new_f_override;
+ sys.r_override = new_r_override;
+ sys.report_ovr_counter = 0; // Set to report change immediately
+ plan_update_velocity_profile_parameters();
+ plan_cycle_reinitialize();
+ }
+ }
+
+ rt_exec = sys_rt_exec_accessory_override;
+ if (rt_exec) {
+ system_clear_exec_accessory_overrides(); // Clear all accessory override flags.
+
+ // NOTE: Unlike motion overrides, spindle overrides do not require a planner reinitialization.
+ uint8_t last_s_override = sys.spindle_speed_ovr;
+ if (rt_exec & EXEC_SPINDLE_OVR_RESET) { last_s_override = DEFAULT_SPINDLE_SPEED_OVERRIDE; }
+ if (rt_exec & EXEC_SPINDLE_OVR_COARSE_PLUS) { last_s_override += SPINDLE_OVERRIDE_COARSE_INCREMENT; }
+ if (rt_exec & EXEC_SPINDLE_OVR_COARSE_MINUS) { last_s_override -= SPINDLE_OVERRIDE_COARSE_INCREMENT; }
+ if (rt_exec & EXEC_SPINDLE_OVR_FINE_PLUS) { last_s_override += SPINDLE_OVERRIDE_FINE_INCREMENT; }
+ if (rt_exec & EXEC_SPINDLE_OVR_FINE_MINUS) { last_s_override -= SPINDLE_OVERRIDE_FINE_INCREMENT; }
+ last_s_override = min(last_s_override,MAX_SPINDLE_SPEED_OVERRIDE);
+ last_s_override = max(last_s_override,MIN_SPINDLE_SPEED_OVERRIDE);
+
+ if (last_s_override != sys.spindle_speed_ovr) {
+ sys.spindle_speed_ovr = last_s_override;
+ // NOTE: Spindle speed overrides during HOLD state are taken care of by suspend function.
+ if (sys.state == STATE_IDLE) { spindle_set_state(gc_state.modal.spindle, gc_state.spindle_speed); }
+ else { bit_true(sys.step_control, STEP_CONTROL_UPDATE_SPINDLE_PWM); }
+ sys.report_ovr_counter = 0; // Set to report change immediately
+ }
+
+ if (rt_exec & EXEC_SPINDLE_OVR_STOP) {
+ // Spindle stop override allowed only while in HOLD state.
+ // NOTE: Report counters are set in spindle_set_state() when spindle stop is executed.
+ if (sys.state == STATE_HOLD) {
+ if (!(sys.spindle_stop_ovr)) { sys.spindle_stop_ovr = SPINDLE_STOP_OVR_INITIATE; }
+ else if (sys.spindle_stop_ovr & SPINDLE_STOP_OVR_ENABLED) { sys.spindle_stop_ovr |= SPINDLE_STOP_OVR_RESTORE; }
+ }
+ }
+
+ // NOTE: Since coolant state always performs a planner sync whenever it changes, the current
+ // run state can be determined by checking the parser state.
+ // NOTE: Coolant overrides only operate during IDLE, CYCLE, HOLD, and JOG states. Ignored otherwise.
+ if (rt_exec & (EXEC_COOLANT_FLOOD_OVR_TOGGLE | EXEC_COOLANT_MIST_OVR_TOGGLE)) {
+ if ((sys.state == STATE_IDLE) || (sys.state & (STATE_CYCLE | STATE_HOLD | STATE_JOG))) {
+ uint8_t coolant_state = gc_state.modal.coolant;
+ #ifdef ENABLE_M7
+ if (rt_exec & EXEC_COOLANT_MIST_OVR_TOGGLE) {
+ if (coolant_state & COOLANT_MIST_ENABLE) { bit_false(coolant_state,COOLANT_MIST_ENABLE); }
+ else { coolant_state |= COOLANT_MIST_ENABLE; }
+ }
+ if (rt_exec & EXEC_COOLANT_FLOOD_OVR_TOGGLE) {
+ if (coolant_state & COOLANT_FLOOD_ENABLE) { bit_false(coolant_state,COOLANT_FLOOD_ENABLE); }
+ else { coolant_state |= COOLANT_FLOOD_ENABLE; }
+ }
+ #else
+ if (coolant_state & COOLANT_FLOOD_ENABLE) { bit_false(coolant_state,COOLANT_FLOOD_ENABLE); }
+ else { coolant_state |= COOLANT_FLOOD_ENABLE; }
+ #endif
+ coolant_set_state(coolant_state); // Report counter set in coolant_set_state().
+ gc_state.modal.coolant = coolant_state;
+ }
+ }
+ }
+
+ #ifdef DEBUG
+ if (sys_rt_exec_debug) {
+ report_realtime_debug();
+ sys_rt_exec_debug = 0;
+ }
+ #endif
+
+ // Reload step segment buffer
+ if (sys.state & (STATE_CYCLE | STATE_HOLD | STATE_SAFETY_DOOR | STATE_HOMING | STATE_SLEEP| STATE_JOG)) {
+ 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 and initialize parking local variables
+ float restore_target[N_AXIS];
+ float parking_target[N_AXIS];
+ float retract_waypoint = PARKING_PULLOUT_INCREMENT;
+ plan_line_data_t plan_data;
+ plan_line_data_t *pl_data = &plan_data;
+ memset(pl_data,0,sizeof(plan_line_data_t));
+ pl_data->condition = (PL_COND_FLAG_SYSTEM_MOTION|PL_COND_FLAG_NO_FEED_OVERRIDE);
+ #ifdef USE_LINE_NUMBERS
+ pl_data->line_number = PARKING_MOTION_LINE_NUMBER;
+ #endif
+ #endif
+
+ plan_block_t *block = plan_get_current_block();
+ uint8_t restore_condition;
+ #ifdef VARIABLE_SPINDLE
+ float restore_spindle_speed;
+ if (block == NULL) {
+ restore_condition = (gc_state.modal.spindle | gc_state.modal.coolant);
+ restore_spindle_speed = gc_state.spindle_speed;
+ } else {
+ restore_condition = (block->condition & PL_COND_SPINDLE_MASK) | coolant_get_state();
+ restore_spindle_speed = block->spindle_speed;
+ }
+ #ifdef DISABLE_LASER_DURING_HOLD
+ if (bit_istrue(settings.flags,BITFLAG_LASER_MODE)) {
+ system_set_exec_accessory_override_flag(EXEC_SPINDLE_OVR_STOP);
+ }
+ #endif
+ #else
+ if (block == NULL) { restore_condition = (gc_state.modal.spindle | gc_state.modal.coolant); }
+ else { restore_condition = (block->condition & PL_COND_SPINDLE_MASK) | coolant_get_state(); }
+ #endif
+
+ while (sys.suspend) {
+
+ if (sys.abort) { return; }
+
+ // Block until initial hold is complete and the machine has stopped motion.
+ if (sys.suspend & SUSPEND_HOLD_COMPLETE) {
+
+ // Parking manager. Handles de/re-energizing, switch state checks, and parking motions for
+ // the safety door and sleep states.
+ if (sys.state & (STATE_SAFETY_DOOR | STATE_SLEEP)) {
+
+ // Handles retraction motions and de-energizing.
+ if (bit_isfalse(sys.suspend,SUSPEND_RETRACT_COMPLETE)) {
+
+ // Ensure any prior spindle stop override is disabled at start of safety door routine.
+ sys.spindle_stop_ovr = SPINDLE_STOP_OVR_DISABLED;
+
+ #ifndef PARKING_ENABLE
+
+ spindle_set_state(SPINDLE_DISABLE,0.0); // De-energize
+ coolant_set_state(COOLANT_DISABLE); // 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, the
+ // current location not exceeding the parking target location, and laser mode disabled.
+ // NOTE: State is will remain DOOR, until the de-energizing and retract is complete.
+ #ifdef ENABLE_PARKING_OVERRIDE_CONTROL
+ if ((bit_istrue(settings.flags,BITFLAG_HOMING_ENABLE)) &&
+ (parking_target[PARKING_AXIS] < PARKING_TARGET) &&
+ bit_isfalse(settings.flags,BITFLAG_LASER_MODE) &&
+ (sys.override_ctrl == OVERRIDE_PARKING_MOTION)) {
+ #else
+ if ((bit_istrue(settings.flags,BITFLAG_HOMING_ENABLE)) &&
+ (parking_target[PARKING_AXIS] < PARKING_TARGET) &&
+ bit_isfalse(settings.flags,BITFLAG_LASER_MODE)) {
+ #endif
+ // 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;
+ pl_data->feed_rate = PARKING_PULLOUT_RATE;
+ pl_data->condition |= (restore_condition & PL_COND_ACCESSORY_MASK); // Retain accessory state
+ pl_data->spindle_speed = restore_spindle_speed;
+ mc_parking_motion(parking_target, pl_data);
+ }
+
+ // NOTE: Clear accessory state after retract and after an aborted restore motion.
+ pl_data->condition = (PL_COND_FLAG_SYSTEM_MOTION|PL_COND_FLAG_NO_FEED_OVERRIDE);
+ pl_data->spindle_speed = 0.0;
+ spindle_set_state(SPINDLE_DISABLE,0.0); // De-energize
+ coolant_set_state(COOLANT_DISABLE); // De-energize
+
+ // Execute fast parking retract motion to parking target location.
+ if (parking_target[PARKING_AXIS] < PARKING_TARGET) {
+ parking_target[PARKING_AXIS] = PARKING_TARGET;
+ pl_data->feed_rate = PARKING_RATE;
+ mc_parking_motion(parking_target, pl_data);
+ }
+
+ } else {
+
+ // Parking motion not possible. Just disable the spindle and coolant.
+ // NOTE: Laser mode does not start a parking motion to ensure the laser stops immediately.
+ spindle_set_state(SPINDLE_DISABLE,0.0); // De-energize
+ coolant_set_state(COOLANT_DISABLE); // De-energize
+
+ }
+
+ #endif
+
+ sys.suspend &= ~(SUSPEND_RESTART_RETRACT);
+ sys.suspend |= SUSPEND_RETRACT_COMPLETE;
+
+ } else {
+
+
+ if (sys.state == STATE_SLEEP) {
+ report_feedback_message(MESSAGE_SLEEP_MODE);
+ // Spindle and coolant should already be stopped, but do it again just to be sure.
+ spindle_set_state(SPINDLE_DISABLE,0.0); // De-energize
+ coolant_set_state(COOLANT_DISABLE); // De-energize
+ st_go_idle(); // Disable steppers
+ while (!(sys.abort)) { protocol_exec_rt_system(); } // Do nothing until reset.
+ return; // Abort received. Return to re-initialize.
+ }
+
+ // Allows resuming from parking/safety door. Actively checks if safety door is closed and ready to resume.
+ if (sys.state == STATE_SAFETY_DOOR) {
+ if (!(system_check_safety_door_ajar())) {
+ sys.suspend &= ~(SUSPEND_SAFETY_DOOR_AJAR); // Reset door ajar flag to denote 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.
+ #ifdef ENABLE_PARKING_OVERRIDE_CONTROL
+ if (((settings.flags & (BITFLAG_HOMING_ENABLE|BITFLAG_LASER_MODE)) == BITFLAG_HOMING_ENABLE) &&
+ (sys.override_ctrl == OVERRIDE_PARKING_MOTION)) {
+ #else
+ if ((settings.flags & (BITFLAG_HOMING_ENABLE|BITFLAG_LASER_MODE)) == BITFLAG_HOMING_ENABLE) {
+ #endif
+ // 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;
+ pl_data->feed_rate = PARKING_RATE;
+ mc_parking_motion(parking_target, pl_data);
+ }
+ }
+ #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)) {
+ if (bit_istrue(settings.flags,BITFLAG_LASER_MODE)) {
+ // When in laser mode, ignore spindle spin-up delay. Set to turn on laser when cycle starts.
+ bit_true(sys.step_control, STEP_CONTROL_UPDATE_SPINDLE_PWM);
+ } else {
+ spindle_set_state((restore_condition & (PL_COND_FLAG_SPINDLE_CW | PL_COND_FLAG_SPINDLE_CCW)), restore_spindle_speed);
+ delay_sec(SAFETY_DOOR_SPINDLE_DELAY, DELAY_MODE_SYS_SUSPEND);
+ }
+ }
+ }
+ 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)) {
+ // NOTE: Laser mode will honor this delay. An exhaust system is often controlled by this pin.
+ coolant_set_state((restore_condition & (PL_COND_FLAG_COOLANT_FLOOD | PL_COND_FLAG_COOLANT_MIST)));
+ delay_sec(SAFETY_DOOR_COOLANT_DELAY, DELAY_MODE_SYS_SUSPEND);
+ }
+ }
+
+ #ifdef PARKING_ENABLE
+ // Execute slow plunge motion from pull-out position to resume position.
+ #ifdef ENABLE_PARKING_OVERRIDE_CONTROL
+ if (((settings.flags & (BITFLAG_HOMING_ENABLE|BITFLAG_LASER_MODE)) == BITFLAG_HOMING_ENABLE) &&
+ (sys.override_ctrl == OVERRIDE_PARKING_MOTION)) {
+ #else
+ if ((settings.flags & (BITFLAG_HOMING_ENABLE|BITFLAG_LASER_MODE)) == BITFLAG_HOMING_ENABLE) {
+ #endif
+ // 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.
+ pl_data->feed_rate = PARKING_PULLOUT_RATE;
+ pl_data->condition |= (restore_condition & PL_COND_ACCESSORY_MASK); // Restore accessory state
+ pl_data->spindle_speed = restore_spindle_speed;
+ mc_parking_motion(restore_target, pl_data);
+ }
+ }
+ #endif
+
+ if (bit_isfalse(sys.suspend,SUSPEND_RESTART_RETRACT)) {
+ sys.suspend |= SUSPEND_RESTORE_COMPLETE;
+ system_set_exec_state_flag(EXEC_CYCLE_START); // Set to resume program.
+ }
+ }
+
+ }
+
+
+ } else {
+
+ // Feed hold manager. Controls spindle stop override states.
+ // NOTE: Hold ensured as completed by condition check at the beginning of suspend routine.
+ if (sys.spindle_stop_ovr) {
+ // Handles beginning of spindle stop
+ if (sys.spindle_stop_ovr & SPINDLE_STOP_OVR_INITIATE) {
+ if (gc_state.modal.spindle != SPINDLE_DISABLE) {
+ spindle_set_state(SPINDLE_DISABLE,0.0); // De-energize
+ sys.spindle_stop_ovr = SPINDLE_STOP_OVR_ENABLED; // Set stop override state to enabled, if de-energized.
+ } else {
+ sys.spindle_stop_ovr = SPINDLE_STOP_OVR_DISABLED; // Clear stop override state
+ }
+ // Handles restoring of spindle state
+ } else if (sys.spindle_stop_ovr & (SPINDLE_STOP_OVR_RESTORE | SPINDLE_STOP_OVR_RESTORE_CYCLE)) {
+ if (gc_state.modal.spindle != SPINDLE_DISABLE) {
+ report_feedback_message(MESSAGE_SPINDLE_RESTORE);
+ if (bit_istrue(settings.flags,BITFLAG_LASER_MODE)) {
+ // When in laser mode, ignore spindle spin-up delay. Set to turn on laser when cycle starts.
+ bit_true(sys.step_control, STEP_CONTROL_UPDATE_SPINDLE_PWM);
+ } else {
+ spindle_set_state((restore_condition & (PL_COND_FLAG_SPINDLE_CW | PL_COND_FLAG_SPINDLE_CCW)), restore_spindle_speed);
+ }
+ }
+ if (sys.spindle_stop_ovr & SPINDLE_STOP_OVR_RESTORE_CYCLE) {
+ system_set_exec_state_flag(EXEC_CYCLE_START); // Set to resume program.
+ }
+ sys.spindle_stop_ovr = SPINDLE_STOP_OVR_DISABLED; // Clear stop override state
+ }
+ } else {
+ // Handles spindle state during hold. NOTE: Spindle speed overrides may be altered during hold state.
+ // NOTE: STEP_CONTROL_UPDATE_SPINDLE_PWM is automatically reset upon resume in step generator.
+ if (bit_istrue(sys.step_control, STEP_CONTROL_UPDATE_SPINDLE_PWM)) {
+ spindle_set_state((restore_condition & (PL_COND_FLAG_SPINDLE_CW | PL_COND_FLAG_SPINDLE_CCW)), restore_spindle_speed);
+ bit_false(sys.step_control, STEP_CONTROL_UPDATE_SPINDLE_PWM);
+ }
+ }
+
+ }
+ }
+
+ protocol_exec_rt_system();
+
+ }
+}