kopia lustrzana https://github.com/Schildkroet/GRBL-Advanced
223 wiersze
11 KiB
C
223 wiersze
11 KiB
C
/*
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System.h - Header for system level commands and real-time processes
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Part of Grbl-Advanced
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Copyright (c) 2014-2016 Sungeun K. Jeon for Gnea Research LLC
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Copyright (c) 2017-2020 Patrick F.
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Grbl-Advanced 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-Advanced 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-Advanced. If not, see <http://www.gnu.org/licenses/>.
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*/
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#ifndef SYSTEM_H
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#define SYSTEM_H
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#include <stdint.h>
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#include <stdbool.h>
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#include "util.h"
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// Define system executor bit map. Used internally by realtime protocol as realtime command flags,
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// which notifies the main program to execute the specified realtime command asynchronously.
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// NOTE: The system executor uses an unsigned 8-bit volatile variable (8 flag limit.) The default
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// flags are always false, so the realtime protocol only needs to check for a non-zero value to
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// know when there is a realtime command to execute.
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#define EXEC_STATUS_REPORT BIT(0)
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#define EXEC_CYCLE_START BIT(1)
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#define EXEC_CYCLE_STOP BIT(2)
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#define EXEC_FEED_HOLD BIT(3)
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#define EXEC_RESET BIT(4)
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#define EXEC_SAFETY_DOOR BIT(5)
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#define EXEC_MOTION_CANCEL BIT(6)
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#define EXEC_SLEEP BIT(7)
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#define EXEC_FEED_DWELL BIT(8)
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#define EXEC_TOOL_CHANGE BIT(9)
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// Alarm executor codes. Valid values (1-255). Zero is reserved.
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#define EXEC_ALARM_HARD_LIMIT 1
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#define EXEC_ALARM_SOFT_LIMIT 2
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#define EXEC_ALARM_ABORT_CYCLE 3
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#define EXEC_ALARM_PROBE_FAIL_INITIAL 4
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#define EXEC_ALARM_PROBE_FAIL_CONTACT 5
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#define EXEC_ALARM_HOMING_FAIL_RESET 6
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#define EXEC_ALARM_HOMING_FAIL_DOOR 7
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#define EXEC_ALARM_HOMING_FAIL_PULLOFF 8
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#define EXEC_ALARM_HOMING_FAIL_APPROACH 9
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#define EXEC_ALARM_HARD_LIMIT_X1 21
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#define EXEC_ALARM_HARD_LIMIT_X2 22
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#define EXEC_ALARM_HARD_LIMIT_Y1 23
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#define EXEC_ALARM_HARD_LIMIT_Y2 24
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#define EXEC_ALARM_HARD_LIMIT_Z1 25
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#define EXEC_ALARM_HARD_LIMIT_Z2 26
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// Override bit maps. Realtime bitflags to control feed, rapid, spindle, and coolant overrides.
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// Spindle/coolant and feed/rapids are separated into two controlling flag variables.
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#define EXEC_FEED_OVR_RESET BIT(0)
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#define EXEC_FEED_OVR_COARSE_PLUS BIT(1)
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#define EXEC_FEED_OVR_COARSE_MINUS BIT(2)
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#define EXEC_FEED_OVR_FINE_PLUS BIT(3)
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#define EXEC_FEED_OVR_FINE_MINUS BIT(4)
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#define EXEC_RAPID_OVR_RESET BIT(5)
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#define EXEC_RAPID_OVR_MEDIUM BIT(6)
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#define EXEC_RAPID_OVR_LOW BIT(7)
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//#define EXEC_RAPID_OVR_EXTRA_LOW BIT(*) // *NOT SUPPORTED*
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#define EXEC_SPINDLE_OVR_RESET BIT(0)
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#define EXEC_SPINDLE_OVR_COARSE_PLUS BIT(1)
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#define EXEC_SPINDLE_OVR_COARSE_MINUS BIT(2)
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#define EXEC_SPINDLE_OVR_FINE_PLUS BIT(3)
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#define EXEC_SPINDLE_OVR_FINE_MINUS BIT(4)
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#define EXEC_SPINDLE_OVR_STOP BIT(5)
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#define EXEC_COOLANT_FLOOD_OVR_TOGGLE BIT(6)
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#define EXEC_COOLANT_MIST_OVR_TOGGLE BIT(7)
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// Define system state bit map. The state variable primarily tracks the individual functions
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// of Grbl to manage each without overlapping. It is also used as a messaging flag for
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// critical events.
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#define STATE_IDLE 0 // Must be zero. No flags.
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#define STATE_ALARM BIT(0) // In alarm state. Locks out all g-code processes. Allows settings access.
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#define STATE_CHECK_MODE BIT(1) // G-code check mode. Locks out planner and motion only.
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#define STATE_HOMING BIT(2) // Performing homing cycle
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#define STATE_CYCLE BIT(3) // Cycle is running or motions are being executed.
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#define STATE_HOLD BIT(4) // Active feed hold
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#define STATE_JOG BIT(5) // Jogging mode.
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#define STATE_SAFETY_DOOR BIT(6) // Safety door is ajar. Feed holds and de-energizes system.
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#define STATE_SLEEP BIT(7) // Sleep state.
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#define STATE_FEED_DWELL BIT(8) // Dwell
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#define STATE_TOOL_CHANGE BIT(9) // Tool change in progress
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#define STATE_BUSY BIT(10) // Writing NVM etc.
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#define STATE_ALARM_INPUT BIT(11)
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// Define system suspend flags. Used in various ways to manage suspend states and procedures.
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#define SUSPEND_DISABLE 0 // Must be zero.
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#define SUSPEND_HOLD_COMPLETE BIT(0) // Indicates initial feed hold is complete.
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#define SUSPEND_RESTART_RETRACT BIT(1) // Flag to indicate a retract from a restore parking motion.
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#define SUSPEND_RETRACT_COMPLETE BIT(2) // (Safety door only) Indicates retraction and de-energizing is complete.
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#define SUSPEND_INITIATE_RESTORE BIT(3) // (Safety door only) Flag to initiate resume procedures from a cycle start.
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#define SUSPEND_RESTORE_COMPLETE BIT(4) // (Safety door only) Indicates ready to resume normal operation.
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#define SUSPEND_SAFETY_DOOR_AJAR BIT(5) // Tracks safety door state for resuming.
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#define SUSPEND_MOTION_CANCEL BIT(6) // Indicates a canceled resume motion. Currently used by probing routine.
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#define SUSPEND_JOG_CANCEL BIT(7) // Indicates a jog cancel in process and to reset buffers when complete.
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// Define step segment generator state flags.
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#define STEP_CONTROL_NORMAL_OP 0 // Must be zero.
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#define STEP_CONTROL_END_MOTION BIT(0)
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#define STEP_CONTROL_EXECUTE_HOLD BIT(1)
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#define STEP_CONTROL_EXECUTE_SYS_MOTION BIT(2)
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#define STEP_CONTROL_UPDATE_SPINDLE_PWM BIT(3)
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// Define control pin index for Grbl internal use. Pin maps may change, but these values don't.
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#define N_CONTROL_PIN 4
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#define CONTROL_PIN_INDEX_SAFETY_DOOR BIT(0)
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#define CONTROL_PIN_INDEX_RESET BIT(1)
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#define CONTROL_PIN_INDEX_FEED_HOLD BIT(2)
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#define CONTROL_PIN_INDEX_CYCLE_START BIT(3)
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// Define spindle stop override control states.
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#define SPINDLE_STOP_OVR_DISABLED 0 // Must be zero.
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#define SPINDLE_STOP_OVR_ENABLED BIT(0)
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#define SPINDLE_STOP_OVR_INITIATE BIT(1)
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#define SPINDLE_STOP_OVR_RESTORE BIT(2)
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#define SPINDLE_STOP_OVR_RESTORE_CYCLE BIT(3)
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// Define global system variables
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typedef struct
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{
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uint16_t state; // Tracks the current system state of Grbl.
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uint8_t abort; // System abort flag. Forces exit back to main loop for reset.
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uint8_t suspend; // System suspend bitflag variable that manages holds, cancels, and safety door.
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uint8_t soft_limit; // Tracks soft limit errors for the state machine. (boolean)
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uint8_t step_control; // Governs the step segment generator depending on system state.
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uint8_t probe_succeeded; // Tracks if last probing cycle was successful.
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uint8_t homing_axis_lock; // Locks axes when limits engage. Used as an axis motion mask in the stepper ISR.
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uint8_t f_override; // Feed rate override value in percent
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uint8_t r_override; // Rapids override value in percent
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uint8_t spindle_speed_ovr; // Spindle speed value in percent
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uint8_t spindle_stop_ovr; // Tracks spindle stop override states
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uint8_t report_ovr_counter; // Tracks when to add override data to status reports.
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uint8_t report_wco_counter; // Tracks when to add work coordinate offset data to status reports.
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#ifdef ENABLE_PARKING_OVERRIDE_CONTROL
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uint8_t override_ctrl; // Tracks override control states.
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#endif
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float spindle_speed;
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uint8_t is_homed;
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uint8_t sync_move;
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float x_pos; // Current x-position of tool (for G96)
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uint8_t system_flags; // Runtime flags
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} System_t;
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extern System_t sys;
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// NOTE: These position variables may need to be declared as volatiles, if problems arise.
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extern int32_t sys_position[N_AXIS]; // Real-time machine (aka home) position vector in steps.
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extern int32_t sys_probe_position[N_AXIS]; // Last probe position in machine coordinates and steps.
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extern volatile uint8_t sys_probe_state; // Probing state value. Used to coordinate the probing cycle with stepper ISR.
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extern volatile uint16_t sys_rt_exec_state; // Global realtime executor bitflag variable for state management. See EXEC bitmasks.
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extern volatile uint8_t sys_rt_exec_alarm; // Global realtime executor bitflag variable for setting various alarms.
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extern volatile uint8_t sys_rt_exec_motion_override; // Global realtime executor bitflag variable for motion-based overrides.
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extern volatile uint8_t sys_rt_exec_accessory_override; // Global realtime executor bitflag variable for spindle/coolant overrides.
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// Initialize the serial protocol
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void System_Init(void);
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void System_Clear(void);
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void System_ResetPosition(void);
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// Returns bitfield of control pin states, organized by CONTROL_PIN_INDEX. (1=triggered, 0=not triggered).
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uint8_t System_GetControlState(bool held);
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// Returns if safety door is open or closed, based on pin state.
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uint8_t System_CheckSafetyDoorAjar(void);
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// Executes an internal system command, defined as a string starting with a '$'
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uint8_t System_ExecuteLine(char *line);
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// Execute the startup script lines stored in EEPROM upon initialization
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void System_ExecuteStartup(char *line);
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void System_FlagWcoChange(void);
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// Returns machine position of axis 'idx'. Must be sent a 'step' array.
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float System_ConvertAxisSteps2Mpos(const int32_t *steps, const uint8_t idx);
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// Updates a machine 'position' array based on the 'step' array sent.
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void System_ConvertArraySteps2Mpos(float *position, const int32_t *steps);
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// CoreXY calculation only. Returns x or y-axis "steps" based on CoreXY motor steps.
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int32_t system_convert_corexy_to_x_axis_steps(const int32_t *steps);
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int32_t system_convert_corexy_to_y_axis_steps(const int32_t *steps);
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// Checks and reports if target array exceeds machine travel limits.
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uint8_t System_CheckTravelLimits(const float *target);
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// Special handlers for setting and clearing Grbl's real-time execution flags.
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void System_SetExecStateFlag(uint16_t mask);
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void System_ClearExecStateFlag(uint16_t mask);
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void System_SetExecAlarm(uint8_t code);
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void System_ClearExecAlarm(void);
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void System_SetExecMotionOverrideFlag(uint8_t mask);
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void System_SetExecAccessoryOverrideFlag(uint8_t mask);
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void System_ClearExecMotionOverride(void);
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void System_ClearExecAccessoryOverrides(void);
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#endif // SYSTEM_H
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