2012-11-01 15:37:27 +00:00
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/*
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report.c - reporting and messaging methods
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Part of Grbl
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2013-12-31 05:02:05 +00:00
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Copyright (c) 2012-2014 Sungeun K. Jeon
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2012-11-01 15:37:27 +00:00
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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 functions as the primary feedback interface for Grbl. Any outgoing data, such
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as the protocol status messages, feedback messages, and status reports, are stored here.
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For the most part, these functions primarily are called from protocol.c methods. If a
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different style feedback is desired (i.e. JSON), then a user can change these following
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methods to accomodate their needs.
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*/
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2014-01-11 03:22:10 +00:00
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#include "system.h"
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New startup script setting. New dry run, check gcode switches. New system state variable. Lots of reorganizing.
(All v0.8 features installed. Still likely buggy, but now thourough
testing will need to start to squash them all. As soon as we're done,
this will be pushed to master and v0.9 development will be started.
Please report ANY issues to us so we can get this rolled out ASAP.)
- User startup script! A user can now save one (up to 5 as compile-time
option) block of g-code in EEPROM memory. This will be run everytime
Grbl resets. Mainly to be used as a way to set your preferences, like
G21, G54, etc.
- New dry run and check g-code switches. Dry run moves ALL motions at
rapids rate ignoring spindle, coolant, and dwell commands. For rapid
physical proofing of your code. The check g-code switch ignores all
motion and provides the user a way to check if there are any errors in
their program that Grbl may not like.
- Program restart! (sort of). Program restart is typically an advanced
feature that allows users to restart a program mid-stream. The check
g-code switch can perform this feature by enabling the switch at the
start of the program, and disabling it at the desired point with some
minimal changes.
- New system state variable. This state variable tracks all of the
different state processes that Grbl performs, i.e. cycle start, feed
hold, homing, etc. This is mainly for making managing of these task
easier and more clear.
- Position lost state variable. Only when homing is enabled, Grbl will
refuse to move until homing is completed and position is known. This is
mainly for safety. Otherwise, it will let users fend for themselves.
- Moved the default settings defines into config.h. The plan is to
eventually create a set of config.h's for particular as-built machines
to help users from doing it themselves.
- Moved around misc defines into .h files. And lots of other little
things.
2012-11-03 17:32:23 +00:00
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#include "report.h"
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2012-11-01 15:37:27 +00:00
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#include "print.h"
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#include "settings.h"
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2012-11-02 01:48:55 +00:00
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#include "gcode.h"
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#include "coolant_control.h"
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2014-02-06 23:10:27 +00:00
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#include "planner.h"
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2012-11-01 15:37:27 +00:00
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// Handles the primary confirmation protocol response for streaming interfaces and human-feedback.
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// For every incoming line, this method responds with an 'ok' for a successful command or an
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// 'error:' to indicate some error event with the line or some critical system error during
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// operation. Errors events can originate from the g-code parser, settings module, or asynchronously
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// from a critical error, such as a triggered hard limit. Interface should always monitor for these
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// responses.
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// NOTE: In silent mode, all error codes are greater than zero.
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// TODO: Install silent mode to return only numeric values, primarily for GUIs.
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void report_status_message(uint8_t status_code)
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{
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if (status_code == 0) { // STATUS_OK
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printPgmString(PSTR("ok\r\n"));
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} else {
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printPgmString(PSTR("error: "));
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switch(status_code) {
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case STATUS_BAD_NUMBER_FORMAT:
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printPgmString(PSTR("Bad number format")); break;
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case STATUS_EXPECTED_COMMAND_LETTER:
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printPgmString(PSTR("Expected command letter")); break;
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case STATUS_UNSUPPORTED_STATEMENT:
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printPgmString(PSTR("Unsupported statement")); break;
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2012-11-10 19:49:33 +00:00
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case STATUS_ARC_RADIUS_ERROR:
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printPgmString(PSTR("Invalid radius")); break;
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2012-11-01 15:37:27 +00:00
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case STATUS_MODAL_GROUP_VIOLATION:
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printPgmString(PSTR("Modal group violation")); break;
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case STATUS_INVALID_STATEMENT:
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printPgmString(PSTR("Invalid statement")); break;
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case STATUS_SETTING_DISABLED:
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2012-11-04 17:48:57 +00:00
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printPgmString(PSTR("Setting disabled")); break;
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2012-11-01 15:37:27 +00:00
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case STATUS_SETTING_VALUE_NEG:
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2012-11-08 03:53:03 +00:00
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printPgmString(PSTR("Value < 0.0")); break;
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2012-11-01 15:37:27 +00:00
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case STATUS_SETTING_STEP_PULSE_MIN:
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2012-11-08 03:53:03 +00:00
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printPgmString(PSTR("Value < 3 usec")); break;
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2012-11-01 15:37:27 +00:00
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case STATUS_SETTING_READ_FAIL:
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2012-11-08 03:53:03 +00:00
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printPgmString(PSTR("EEPROM read fail. Using defaults")); break;
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2012-11-06 04:40:52 +00:00
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case STATUS_IDLE_ERROR:
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2013-12-31 01:44:46 +00:00
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printPgmString(PSTR("Not idle")); break;
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2012-11-15 00:36:29 +00:00
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case STATUS_ALARM_LOCK:
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printPgmString(PSTR("Alarm lock")); break;
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2013-10-30 01:10:39 +00:00
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case STATUS_SOFT_LIMIT_ERROR:
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printPgmString(PSTR("Homing not enabled")); break;
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case STATUS_OVERFLOW:
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printPgmString(PSTR("Line overflow")); break;
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2012-11-01 15:37:27 +00:00
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}
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printPgmString(PSTR("\r\n"));
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}
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}
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2012-11-15 00:36:29 +00:00
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// Prints alarm messages.
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void report_alarm_message(int8_t alarm_code)
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{
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printPgmString(PSTR("ALARM: "));
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switch (alarm_code) {
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2013-10-30 01:10:39 +00:00
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case ALARM_LIMIT_ERROR:
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printPgmString(PSTR("Hard/soft limit")); break;
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2012-11-15 00:36:29 +00:00
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case ALARM_ABORT_CYCLE:
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printPgmString(PSTR("Abort during cycle")); break;
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}
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printPgmString(PSTR(". MPos?\r\n"));
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2013-01-19 00:02:44 +00:00
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delay_ms(500); // Force delay to ensure message clears serial write buffer.
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2012-11-15 00:36:29 +00:00
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}
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2012-11-01 15:37:27 +00:00
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// Prints feedback messages. This serves as a centralized method to provide additional
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2012-11-15 00:36:29 +00:00
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// user feedback for things that are not of the status/alarm message protocol. These are
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// messages such as setup warnings, switch toggling, and how to exit alarms.
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New startup script setting. New dry run, check gcode switches. New system state variable. Lots of reorganizing.
(All v0.8 features installed. Still likely buggy, but now thourough
testing will need to start to squash them all. As soon as we're done,
this will be pushed to master and v0.9 development will be started.
Please report ANY issues to us so we can get this rolled out ASAP.)
- User startup script! A user can now save one (up to 5 as compile-time
option) block of g-code in EEPROM memory. This will be run everytime
Grbl resets. Mainly to be used as a way to set your preferences, like
G21, G54, etc.
- New dry run and check g-code switches. Dry run moves ALL motions at
rapids rate ignoring spindle, coolant, and dwell commands. For rapid
physical proofing of your code. The check g-code switch ignores all
motion and provides the user a way to check if there are any errors in
their program that Grbl may not like.
- Program restart! (sort of). Program restart is typically an advanced
feature that allows users to restart a program mid-stream. The check
g-code switch can perform this feature by enabling the switch at the
start of the program, and disabling it at the desired point with some
minimal changes.
- New system state variable. This state variable tracks all of the
different state processes that Grbl performs, i.e. cycle start, feed
hold, homing, etc. This is mainly for making managing of these task
easier and more clear.
- Position lost state variable. Only when homing is enabled, Grbl will
refuse to move until homing is completed and position is known. This is
mainly for safety. Otherwise, it will let users fend for themselves.
- Moved the default settings defines into config.h. The plan is to
eventually create a set of config.h's for particular as-built machines
to help users from doing it themselves.
- Moved around misc defines into .h files. And lots of other little
things.
2012-11-03 17:32:23 +00:00
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// NOTE: For interfaces, messages are always placed within brackets. And if silent mode
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2012-11-02 01:48:55 +00:00
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// is installed, the message number codes are less than zero.
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2012-11-01 15:37:27 +00:00
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// TODO: Install silence feedback messages option in settings
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2012-11-15 00:36:29 +00:00
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void report_feedback_message(uint8_t message_code)
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2012-11-01 15:37:27 +00:00
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{
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New startup script setting. New dry run, check gcode switches. New system state variable. Lots of reorganizing.
(All v0.8 features installed. Still likely buggy, but now thourough
testing will need to start to squash them all. As soon as we're done,
this will be pushed to master and v0.9 development will be started.
Please report ANY issues to us so we can get this rolled out ASAP.)
- User startup script! A user can now save one (up to 5 as compile-time
option) block of g-code in EEPROM memory. This will be run everytime
Grbl resets. Mainly to be used as a way to set your preferences, like
G21, G54, etc.
- New dry run and check g-code switches. Dry run moves ALL motions at
rapids rate ignoring spindle, coolant, and dwell commands. For rapid
physical proofing of your code. The check g-code switch ignores all
motion and provides the user a way to check if there are any errors in
their program that Grbl may not like.
- Program restart! (sort of). Program restart is typically an advanced
feature that allows users to restart a program mid-stream. The check
g-code switch can perform this feature by enabling the switch at the
start of the program, and disabling it at the desired point with some
minimal changes.
- New system state variable. This state variable tracks all of the
different state processes that Grbl performs, i.e. cycle start, feed
hold, homing, etc. This is mainly for making managing of these task
easier and more clear.
- Position lost state variable. Only when homing is enabled, Grbl will
refuse to move until homing is completed and position is known. This is
mainly for safety. Otherwise, it will let users fend for themselves.
- Moved the default settings defines into config.h. The plan is to
eventually create a set of config.h's for particular as-built machines
to help users from doing it themselves.
- Moved around misc defines into .h files. And lots of other little
things.
2012-11-03 17:32:23 +00:00
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printPgmString(PSTR("["));
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2012-11-01 15:37:27 +00:00
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switch(message_code) {
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2012-11-06 04:40:52 +00:00
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case MESSAGE_CRITICAL_EVENT:
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2012-11-15 00:36:29 +00:00
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printPgmString(PSTR("Reset to continue")); break;
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case MESSAGE_ALARM_LOCK:
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printPgmString(PSTR("'$H'|'$X' to unlock")); break;
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case MESSAGE_ALARM_UNLOCK:
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printPgmString(PSTR("Caution: Unlocked")); break;
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2012-11-06 04:40:52 +00:00
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case MESSAGE_ENABLED:
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printPgmString(PSTR("Enabled")); break;
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case MESSAGE_DISABLED:
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2013-10-30 01:10:39 +00:00
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printPgmString(PSTR("Disabled")); break;
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2012-11-01 15:37:27 +00:00
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}
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New startup script setting. New dry run, check gcode switches. New system state variable. Lots of reorganizing.
(All v0.8 features installed. Still likely buggy, but now thourough
testing will need to start to squash them all. As soon as we're done,
this will be pushed to master and v0.9 development will be started.
Please report ANY issues to us so we can get this rolled out ASAP.)
- User startup script! A user can now save one (up to 5 as compile-time
option) block of g-code in EEPROM memory. This will be run everytime
Grbl resets. Mainly to be used as a way to set your preferences, like
G21, G54, etc.
- New dry run and check g-code switches. Dry run moves ALL motions at
rapids rate ignoring spindle, coolant, and dwell commands. For rapid
physical proofing of your code. The check g-code switch ignores all
motion and provides the user a way to check if there are any errors in
their program that Grbl may not like.
- Program restart! (sort of). Program restart is typically an advanced
feature that allows users to restart a program mid-stream. The check
g-code switch can perform this feature by enabling the switch at the
start of the program, and disabling it at the desired point with some
minimal changes.
- New system state variable. This state variable tracks all of the
different state processes that Grbl performs, i.e. cycle start, feed
hold, homing, etc. This is mainly for making managing of these task
easier and more clear.
- Position lost state variable. Only when homing is enabled, Grbl will
refuse to move until homing is completed and position is known. This is
mainly for safety. Otherwise, it will let users fend for themselves.
- Moved the default settings defines into config.h. The plan is to
eventually create a set of config.h's for particular as-built machines
to help users from doing it themselves.
- Moved around misc defines into .h files. And lots of other little
things.
2012-11-03 17:32:23 +00:00
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printPgmString(PSTR("]\r\n"));
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2012-11-01 15:37:27 +00:00
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}
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|
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|
|
|
New startup script setting. New dry run, check gcode switches. New system state variable. Lots of reorganizing.
(All v0.8 features installed. Still likely buggy, but now thourough
testing will need to start to squash them all. As soon as we're done,
this will be pushed to master and v0.9 development will be started.
Please report ANY issues to us so we can get this rolled out ASAP.)
- User startup script! A user can now save one (up to 5 as compile-time
option) block of g-code in EEPROM memory. This will be run everytime
Grbl resets. Mainly to be used as a way to set your preferences, like
G21, G54, etc.
- New dry run and check g-code switches. Dry run moves ALL motions at
rapids rate ignoring spindle, coolant, and dwell commands. For rapid
physical proofing of your code. The check g-code switch ignores all
motion and provides the user a way to check if there are any errors in
their program that Grbl may not like.
- Program restart! (sort of). Program restart is typically an advanced
feature that allows users to restart a program mid-stream. The check
g-code switch can perform this feature by enabling the switch at the
start of the program, and disabling it at the desired point with some
minimal changes.
- New system state variable. This state variable tracks all of the
different state processes that Grbl performs, i.e. cycle start, feed
hold, homing, etc. This is mainly for making managing of these task
easier and more clear.
- Position lost state variable. Only when homing is enabled, Grbl will
refuse to move until homing is completed and position is known. This is
mainly for safety. Otherwise, it will let users fend for themselves.
- Moved the default settings defines into config.h. The plan is to
eventually create a set of config.h's for particular as-built machines
to help users from doing it themselves.
- Moved around misc defines into .h files. And lots of other little
things.
2012-11-03 17:32:23 +00:00
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2012-11-01 15:37:27 +00:00
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// Welcome message
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void report_init_message()
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{
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2014-01-05 17:27:34 +00:00
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printPgmString(PSTR("\r\nGrbl " GRBL_VERSION " ['$' for help]\r\n"));
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2012-11-01 15:37:27 +00:00
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}
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|
|
|
|
|
New startup script setting. New dry run, check gcode switches. New system state variable. Lots of reorganizing.
(All v0.8 features installed. Still likely buggy, but now thourough
testing will need to start to squash them all. As soon as we're done,
this will be pushed to master and v0.9 development will be started.
Please report ANY issues to us so we can get this rolled out ASAP.)
- User startup script! A user can now save one (up to 5 as compile-time
option) block of g-code in EEPROM memory. This will be run everytime
Grbl resets. Mainly to be used as a way to set your preferences, like
G21, G54, etc.
- New dry run and check g-code switches. Dry run moves ALL motions at
rapids rate ignoring spindle, coolant, and dwell commands. For rapid
physical proofing of your code. The check g-code switch ignores all
motion and provides the user a way to check if there are any errors in
their program that Grbl may not like.
- Program restart! (sort of). Program restart is typically an advanced
feature that allows users to restart a program mid-stream. The check
g-code switch can perform this feature by enabling the switch at the
start of the program, and disabling it at the desired point with some
minimal changes.
- New system state variable. This state variable tracks all of the
different state processes that Grbl performs, i.e. cycle start, feed
hold, homing, etc. This is mainly for making managing of these task
easier and more clear.
- Position lost state variable. Only when homing is enabled, Grbl will
refuse to move until homing is completed and position is known. This is
mainly for safety. Otherwise, it will let users fend for themselves.
- Moved the default settings defines into config.h. The plan is to
eventually create a set of config.h's for particular as-built machines
to help users from doing it themselves.
- Moved around misc defines into .h files. And lots of other little
things.
2012-11-03 17:32:23 +00:00
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// Grbl help message
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2012-11-01 15:37:27 +00:00
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void report_grbl_help() {
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2012-11-08 03:53:03 +00:00
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printPgmString(PSTR("$$ (view Grbl settings)\r\n"
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"$# (view # parameters)\r\n"
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"$G (view parser state)\r\n"
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"$N (view startup blocks)\r\n"
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"$x=value (save Grbl setting)\r\n"
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"$Nx=line (save startup block)\r\n"
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2012-11-16 04:53:11 +00:00
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"$C (check gcode mode)\r\n"
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2012-11-15 00:36:29 +00:00
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"$X (kill alarm lock)\r\n"
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2012-11-08 03:53:03 +00:00
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"$H (run homing cycle)\r\n"
|
New startup script setting. New dry run, check gcode switches. New system state variable. Lots of reorganizing.
(All v0.8 features installed. Still likely buggy, but now thourough
testing will need to start to squash them all. As soon as we're done,
this will be pushed to master and v0.9 development will be started.
Please report ANY issues to us so we can get this rolled out ASAP.)
- User startup script! A user can now save one (up to 5 as compile-time
option) block of g-code in EEPROM memory. This will be run everytime
Grbl resets. Mainly to be used as a way to set your preferences, like
G21, G54, etc.
- New dry run and check g-code switches. Dry run moves ALL motions at
rapids rate ignoring spindle, coolant, and dwell commands. For rapid
physical proofing of your code. The check g-code switch ignores all
motion and provides the user a way to check if there are any errors in
their program that Grbl may not like.
- Program restart! (sort of). Program restart is typically an advanced
feature that allows users to restart a program mid-stream. The check
g-code switch can perform this feature by enabling the switch at the
start of the program, and disabling it at the desired point with some
minimal changes.
- New system state variable. This state variable tracks all of the
different state processes that Grbl performs, i.e. cycle start, feed
hold, homing, etc. This is mainly for making managing of these task
easier and more clear.
- Position lost state variable. Only when homing is enabled, Grbl will
refuse to move until homing is completed and position is known. This is
mainly for safety. Otherwise, it will let users fend for themselves.
- Moved the default settings defines into config.h. The plan is to
eventually create a set of config.h's for particular as-built machines
to help users from doing it themselves.
- Moved around misc defines into .h files. And lots of other little
things.
2012-11-03 17:32:23 +00:00
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"~ (cycle start)\r\n"
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"! (feed hold)\r\n"
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2012-11-16 04:53:11 +00:00
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"? (current status)\r\n"
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2012-11-08 03:53:03 +00:00
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|
"ctrl-x (reset Grbl)\r\n"));
|
2012-11-02 01:48:55 +00:00
|
|
|
}
|
|
|
|
|
|
New startup script setting. New dry run, check gcode switches. New system state variable. Lots of reorganizing.
(All v0.8 features installed. Still likely buggy, but now thourough
testing will need to start to squash them all. As soon as we're done,
this will be pushed to master and v0.9 development will be started.
Please report ANY issues to us so we can get this rolled out ASAP.)
- User startup script! A user can now save one (up to 5 as compile-time
option) block of g-code in EEPROM memory. This will be run everytime
Grbl resets. Mainly to be used as a way to set your preferences, like
G21, G54, etc.
- New dry run and check g-code switches. Dry run moves ALL motions at
rapids rate ignoring spindle, coolant, and dwell commands. For rapid
physical proofing of your code. The check g-code switch ignores all
motion and provides the user a way to check if there are any errors in
their program that Grbl may not like.
- Program restart! (sort of). Program restart is typically an advanced
feature that allows users to restart a program mid-stream. The check
g-code switch can perform this feature by enabling the switch at the
start of the program, and disabling it at the desired point with some
minimal changes.
- New system state variable. This state variable tracks all of the
different state processes that Grbl performs, i.e. cycle start, feed
hold, homing, etc. This is mainly for making managing of these task
easier and more clear.
- Position lost state variable. Only when homing is enabled, Grbl will
refuse to move until homing is completed and position is known. This is
mainly for safety. Otherwise, it will let users fend for themselves.
- Moved the default settings defines into config.h. The plan is to
eventually create a set of config.h's for particular as-built machines
to help users from doing it themselves.
- Moved around misc defines into .h files. And lots of other little
things.
2012-11-03 17:32:23 +00:00
|
|
|
// Grbl global settings print out.
|
|
|
|
|
// NOTE: The numbering scheme here must correlate to storing in settings.c
|
2012-11-02 01:48:55 +00:00
|
|
|
void report_grbl_settings() {
|
New startup script setting. New dry run, check gcode switches. New system state variable. Lots of reorganizing.
(All v0.8 features installed. Still likely buggy, but now thourough
testing will need to start to squash them all. As soon as we're done,
this will be pushed to master and v0.9 development will be started.
Please report ANY issues to us so we can get this rolled out ASAP.)
- User startup script! A user can now save one (up to 5 as compile-time
option) block of g-code in EEPROM memory. This will be run everytime
Grbl resets. Mainly to be used as a way to set your preferences, like
G21, G54, etc.
- New dry run and check g-code switches. Dry run moves ALL motions at
rapids rate ignoring spindle, coolant, and dwell commands. For rapid
physical proofing of your code. The check g-code switch ignores all
motion and provides the user a way to check if there are any errors in
their program that Grbl may not like.
- Program restart! (sort of). Program restart is typically an advanced
feature that allows users to restart a program mid-stream. The check
g-code switch can perform this feature by enabling the switch at the
start of the program, and disabling it at the desired point with some
minimal changes.
- New system state variable. This state variable tracks all of the
different state processes that Grbl performs, i.e. cycle start, feed
hold, homing, etc. This is mainly for making managing of these task
easier and more clear.
- Position lost state variable. Only when homing is enabled, Grbl will
refuse to move until homing is completed and position is known. This is
mainly for safety. Otherwise, it will let users fend for themselves.
- Moved the default settings defines into config.h. The plan is to
eventually create a set of config.h's for particular as-built machines
to help users from doing it themselves.
- Moved around misc defines into .h files. And lots of other little
things.
2012-11-03 17:32:23 +00:00
|
|
|
printPgmString(PSTR("$0=")); printFloat(settings.steps_per_mm[X_AXIS]);
|
2012-11-08 03:53:03 +00:00
|
|
|
printPgmString(PSTR(" (x, step/mm)\r\n$1=")); printFloat(settings.steps_per_mm[Y_AXIS]);
|
|
|
|
|
printPgmString(PSTR(" (y, step/mm)\r\n$2=")); printFloat(settings.steps_per_mm[Z_AXIS]);
|
2013-12-07 15:40:25 +00:00
|
|
|
printPgmString(PSTR(" (z, step/mm)\r\n$3=")); printFloat(settings.max_rate[X_AXIS]);
|
|
|
|
|
printPgmString(PSTR(" (x max rate, mm/min)\r\n$4=")); printFloat(settings.max_rate[Y_AXIS]);
|
|
|
|
|
printPgmString(PSTR(" (y max rate, mm/min)\r\n$5=")); printFloat(settings.max_rate[Z_AXIS]);
|
|
|
|
|
printPgmString(PSTR(" (z max rate, mm/min)\r\n$6=")); printFloat(settings.acceleration[X_AXIS]/(60*60)); // Convert from mm/min^2 for human readability
|
2012-12-16 23:23:24 +00:00
|
|
|
printPgmString(PSTR(" (x accel, mm/sec^2)\r\n$7=")); printFloat(settings.acceleration[Y_AXIS]/(60*60)); // Convert from mm/min^2 for human readability
|
|
|
|
|
printPgmString(PSTR(" (y accel, mm/sec^2)\r\n$8=")); printFloat(settings.acceleration[Z_AXIS]/(60*60)); // Convert from mm/min^2 for human readability
|
2013-10-30 01:10:39 +00:00
|
|
|
printPgmString(PSTR(" (z accel, mm/sec^2)\r\n$9=")); printFloat(-settings.max_travel[X_AXIS]); // Grbl internally store this as negative.
|
|
|
|
|
printPgmString(PSTR(" (x max travel, mm)\r\n$10=")); printFloat(-settings.max_travel[Y_AXIS]); // Grbl internally store this as negative.
|
|
|
|
|
printPgmString(PSTR(" (y max travel, mm)\r\n$11=")); printFloat(-settings.max_travel[Z_AXIS]); // Grbl internally store this as negative.
|
|
|
|
|
printPgmString(PSTR(" (z max travel, mm)\r\n$12=")); printInteger(settings.pulse_microseconds);
|
|
|
|
|
printPgmString(PSTR(" (step pulse, usec)\r\n$13=")); printFloat(settings.default_feed_rate);
|
2013-12-31 01:44:46 +00:00
|
|
|
printPgmString(PSTR(" (default feed, mm/min)\r\n$14=")); printInteger(settings.step_invert_mask);
|
2014-01-11 03:22:10 +00:00
|
|
|
printPgmString(PSTR(" (step port invert mask:")); print_uint8_base2(settings.step_invert_mask);
|
2013-12-31 01:44:46 +00:00
|
|
|
printPgmString(PSTR(")\r\n$15=")); printInteger(settings.dir_invert_mask);
|
2014-01-11 03:22:10 +00:00
|
|
|
printPgmString(PSTR(" (dir port invert mask:")); print_uint8_base2(settings.dir_invert_mask);
|
2013-12-31 01:44:46 +00:00
|
|
|
printPgmString(PSTR(")\r\n$16=")); printInteger(settings.stepper_idle_lock_time);
|
|
|
|
|
printPgmString(PSTR(" (step idle delay, msec)\r\n$17=")); printFloat(settings.junction_deviation);
|
|
|
|
|
printPgmString(PSTR(" (junction deviation, mm)\r\n$18=")); printFloat(settings.arc_tolerance);
|
|
|
|
|
printPgmString(PSTR(" (arc tolerance, mm)\r\n$19=")); printInteger(settings.decimal_places);
|
|
|
|
|
printPgmString(PSTR(" (n-decimals, int)\r\n$20=")); printInteger(bit_istrue(settings.flags,BITFLAG_REPORT_INCHES));
|
|
|
|
|
printPgmString(PSTR(" (report inches, bool)\r\n$21=")); printInteger(bit_istrue(settings.flags,BITFLAG_AUTO_START));
|
|
|
|
|
printPgmString(PSTR(" (auto start, bool)\r\n$22=")); printInteger(bit_istrue(settings.flags,BITFLAG_INVERT_ST_ENABLE));
|
|
|
|
|
printPgmString(PSTR(" (invert step enable, bool)\r\n$23=")); printInteger(bit_istrue(settings.flags,BITFLAG_INVERT_LIMIT_PINS));
|
|
|
|
|
printPgmString(PSTR(" (invert limit pins, bool)\r\n$24=")); printInteger(bit_istrue(settings.flags,BITFLAG_SOFT_LIMIT_ENABLE));
|
|
|
|
|
printPgmString(PSTR(" (soft limits, bool)\r\n$25=")); printInteger(bit_istrue(settings.flags,BITFLAG_HARD_LIMIT_ENABLE));
|
|
|
|
|
printPgmString(PSTR(" (hard limits, bool)\r\n$26=")); printInteger(bit_istrue(settings.flags,BITFLAG_HOMING_ENABLE));
|
|
|
|
|
printPgmString(PSTR(" (homing cycle, bool)\r\n$27=")); printInteger(settings.homing_dir_mask);
|
2014-01-11 03:22:10 +00:00
|
|
|
printPgmString(PSTR(" (homing dir invert mask:")); print_uint8_base2(settings.homing_dir_mask);
|
2013-12-31 01:44:46 +00:00
|
|
|
printPgmString(PSTR(")\r\n$28=")); printFloat(settings.homing_feed_rate);
|
|
|
|
|
printPgmString(PSTR(" (homing feed, mm/min)\r\n$29=")); printFloat(settings.homing_seek_rate);
|
|
|
|
|
printPgmString(PSTR(" (homing seek, mm/min)\r\n$30=")); printInteger(settings.homing_debounce_delay);
|
|
|
|
|
printPgmString(PSTR(" (homing debounce, msec)\r\n$31=")); printFloat(settings.homing_pulloff);
|
2013-10-30 01:10:39 +00:00
|
|
|
printPgmString(PSTR(" (homing pull-off, mm)\r\n"));
|
2012-11-01 15:37:27 +00:00
|
|
|
}
|
|
|
|
|
|
New startup script setting. New dry run, check gcode switches. New system state variable. Lots of reorganizing.
(All v0.8 features installed. Still likely buggy, but now thourough
testing will need to start to squash them all. As soon as we're done,
this will be pushed to master and v0.9 development will be started.
Please report ANY issues to us so we can get this rolled out ASAP.)
- User startup script! A user can now save one (up to 5 as compile-time
option) block of g-code in EEPROM memory. This will be run everytime
Grbl resets. Mainly to be used as a way to set your preferences, like
G21, G54, etc.
- New dry run and check g-code switches. Dry run moves ALL motions at
rapids rate ignoring spindle, coolant, and dwell commands. For rapid
physical proofing of your code. The check g-code switch ignores all
motion and provides the user a way to check if there are any errors in
their program that Grbl may not like.
- Program restart! (sort of). Program restart is typically an advanced
feature that allows users to restart a program mid-stream. The check
g-code switch can perform this feature by enabling the switch at the
start of the program, and disabling it at the desired point with some
minimal changes.
- New system state variable. This state variable tracks all of the
different state processes that Grbl performs, i.e. cycle start, feed
hold, homing, etc. This is mainly for making managing of these task
easier and more clear.
- Position lost state variable. Only when homing is enabled, Grbl will
refuse to move until homing is completed and position is known. This is
mainly for safety. Otherwise, it will let users fend for themselves.
- Moved the default settings defines into config.h. The plan is to
eventually create a set of config.h's for particular as-built machines
to help users from doing it themselves.
- Moved around misc defines into .h files. And lots of other little
things.
2012-11-03 17:32:23 +00:00
|
|
|
|
|
|
|
|
// Prints gcode coordinate offset parameters
|
2012-11-02 01:48:55 +00:00
|
|
|
void report_gcode_parameters()
|
|
|
|
|
{
|
|
|
|
|
float coord_data[N_AXIS];
|
|
|
|
|
uint8_t coord_select, i;
|
|
|
|
|
for (coord_select = 0; coord_select <= SETTING_INDEX_NCOORD; coord_select++) {
|
|
|
|
|
if (!(settings_read_coord_data(coord_select,coord_data))) {
|
|
|
|
|
report_status_message(STATUS_SETTING_READ_FAIL);
|
|
|
|
|
return;
|
|
|
|
|
}
|
2012-11-20 00:39:40 +00:00
|
|
|
printPgmString(PSTR("[G"));
|
2012-11-02 01:48:55 +00:00
|
|
|
switch (coord_select) {
|
2012-11-20 00:39:40 +00:00
|
|
|
case 0: printPgmString(PSTR("54:")); break;
|
|
|
|
|
case 1: printPgmString(PSTR("55:")); break;
|
|
|
|
|
case 2: printPgmString(PSTR("56:")); break;
|
|
|
|
|
case 3: printPgmString(PSTR("57:")); break;
|
|
|
|
|
case 4: printPgmString(PSTR("58:")); break;
|
|
|
|
|
case 5: printPgmString(PSTR("59:")); break;
|
|
|
|
|
case 6: printPgmString(PSTR("28:")); break;
|
|
|
|
|
case 7: printPgmString(PSTR("30:")); break;
|
|
|
|
|
// case 8: printPgmString(PSTR("92:")); break; // G92.2, G92.3 not supported. Hence not stored.
|
2012-11-02 01:48:55 +00:00
|
|
|
}
|
|
|
|
|
for (i=0; i<N_AXIS; i++) {
|
|
|
|
|
if (bit_istrue(settings.flags,BITFLAG_REPORT_INCHES)) { printFloat(coord_data[i]*INCH_PER_MM); }
|
|
|
|
|
else { printFloat(coord_data[i]); }
|
|
|
|
|
if (i < (N_AXIS-1)) { printPgmString(PSTR(",")); }
|
|
|
|
|
else { printPgmString(PSTR("]\r\n")); }
|
|
|
|
|
}
|
|
|
|
|
}
|
2012-11-20 00:39:40 +00:00
|
|
|
printPgmString(PSTR("[G92:")); // Print G92,G92.1 which are not persistent in memory
|
2012-11-02 01:48:55 +00:00
|
|
|
for (i=0; i<N_AXIS; i++) {
|
|
|
|
|
if (bit_istrue(settings.flags,BITFLAG_REPORT_INCHES)) { printFloat(gc.coord_offset[i]*INCH_PER_MM); }
|
|
|
|
|
else { printFloat(gc.coord_offset[i]); }
|
|
|
|
|
if (i < (N_AXIS-1)) { printPgmString(PSTR(",")); }
|
|
|
|
|
else { printPgmString(PSTR("]\r\n")); }
|
|
|
|
|
}
|
|
|
|
|
}
|
2012-11-01 15:37:27 +00:00
|
|
|
|
New startup script setting. New dry run, check gcode switches. New system state variable. Lots of reorganizing.
(All v0.8 features installed. Still likely buggy, but now thourough
testing will need to start to squash them all. As soon as we're done,
this will be pushed to master and v0.9 development will be started.
Please report ANY issues to us so we can get this rolled out ASAP.)
- User startup script! A user can now save one (up to 5 as compile-time
option) block of g-code in EEPROM memory. This will be run everytime
Grbl resets. Mainly to be used as a way to set your preferences, like
G21, G54, etc.
- New dry run and check g-code switches. Dry run moves ALL motions at
rapids rate ignoring spindle, coolant, and dwell commands. For rapid
physical proofing of your code. The check g-code switch ignores all
motion and provides the user a way to check if there are any errors in
their program that Grbl may not like.
- Program restart! (sort of). Program restart is typically an advanced
feature that allows users to restart a program mid-stream. The check
g-code switch can perform this feature by enabling the switch at the
start of the program, and disabling it at the desired point with some
minimal changes.
- New system state variable. This state variable tracks all of the
different state processes that Grbl performs, i.e. cycle start, feed
hold, homing, etc. This is mainly for making managing of these task
easier and more clear.
- Position lost state variable. Only when homing is enabled, Grbl will
refuse to move until homing is completed and position is known. This is
mainly for safety. Otherwise, it will let users fend for themselves.
- Moved the default settings defines into config.h. The plan is to
eventually create a set of config.h's for particular as-built machines
to help users from doing it themselves.
- Moved around misc defines into .h files. And lots of other little
things.
2012-11-03 17:32:23 +00:00
|
|
|
|
2012-11-16 04:53:11 +00:00
|
|
|
// Print current gcode parser mode state
|
2012-11-02 01:48:55 +00:00
|
|
|
void report_gcode_modes()
|
|
|
|
|
{
|
|
|
|
|
switch (gc.motion_mode) {
|
2012-11-20 00:39:40 +00:00
|
|
|
case MOTION_MODE_SEEK : printPgmString(PSTR("[G0")); break;
|
|
|
|
|
case MOTION_MODE_LINEAR : printPgmString(PSTR("[G1")); break;
|
|
|
|
|
case MOTION_MODE_CW_ARC : printPgmString(PSTR("[G2")); break;
|
|
|
|
|
case MOTION_MODE_CCW_ARC : printPgmString(PSTR("[G3")); break;
|
|
|
|
|
case MOTION_MODE_CANCEL : printPgmString(PSTR("[G80")); break;
|
2012-11-02 01:48:55 +00:00
|
|
|
}
|
2012-11-01 15:37:27 +00:00
|
|
|
|
2012-11-02 01:48:55 +00:00
|
|
|
printPgmString(PSTR(" G"));
|
|
|
|
|
printInteger(gc.coord_select+54);
|
|
|
|
|
|
|
|
|
|
if (gc.plane_axis_0 == X_AXIS) {
|
|
|
|
|
if (gc.plane_axis_1 == Y_AXIS) { printPgmString(PSTR(" G17")); }
|
|
|
|
|
else { printPgmString(PSTR(" G18")); }
|
|
|
|
|
} else { printPgmString(PSTR(" G19")); }
|
|
|
|
|
|
|
|
|
|
if (gc.inches_mode) { printPgmString(PSTR(" G20")); }
|
|
|
|
|
else { printPgmString(PSTR(" G21")); }
|
|
|
|
|
|
|
|
|
|
if (gc.absolute_mode) { printPgmString(PSTR(" G90")); }
|
|
|
|
|
else { printPgmString(PSTR(" G91")); }
|
|
|
|
|
|
|
|
|
|
if (gc.inverse_feed_rate_mode) { printPgmString(PSTR(" G93")); }
|
|
|
|
|
else { printPgmString(PSTR(" G94")); }
|
New startup script setting. New dry run, check gcode switches. New system state variable. Lots of reorganizing.
(All v0.8 features installed. Still likely buggy, but now thourough
testing will need to start to squash them all. As soon as we're done,
this will be pushed to master and v0.9 development will be started.
Please report ANY issues to us so we can get this rolled out ASAP.)
- User startup script! A user can now save one (up to 5 as compile-time
option) block of g-code in EEPROM memory. This will be run everytime
Grbl resets. Mainly to be used as a way to set your preferences, like
G21, G54, etc.
- New dry run and check g-code switches. Dry run moves ALL motions at
rapids rate ignoring spindle, coolant, and dwell commands. For rapid
physical proofing of your code. The check g-code switch ignores all
motion and provides the user a way to check if there are any errors in
their program that Grbl may not like.
- Program restart! (sort of). Program restart is typically an advanced
feature that allows users to restart a program mid-stream. The check
g-code switch can perform this feature by enabling the switch at the
start of the program, and disabling it at the desired point with some
minimal changes.
- New system state variable. This state variable tracks all of the
different state processes that Grbl performs, i.e. cycle start, feed
hold, homing, etc. This is mainly for making managing of these task
easier and more clear.
- Position lost state variable. Only when homing is enabled, Grbl will
refuse to move until homing is completed and position is known. This is
mainly for safety. Otherwise, it will let users fend for themselves.
- Moved the default settings defines into config.h. The plan is to
eventually create a set of config.h's for particular as-built machines
to help users from doing it themselves.
- Moved around misc defines into .h files. And lots of other little
things.
2012-11-03 17:32:23 +00:00
|
|
|
|
2012-11-02 01:48:55 +00:00
|
|
|
switch (gc.program_flow) {
|
|
|
|
|
case PROGRAM_FLOW_RUNNING : printPgmString(PSTR(" M0")); break;
|
|
|
|
|
case PROGRAM_FLOW_PAUSED : printPgmString(PSTR(" M1")); break;
|
|
|
|
|
case PROGRAM_FLOW_COMPLETED : printPgmString(PSTR(" M2")); break;
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
switch (gc.spindle_direction) {
|
|
|
|
|
case 1 : printPgmString(PSTR(" M3")); break;
|
|
|
|
|
case -1 : printPgmString(PSTR(" M4")); break;
|
|
|
|
|
case 0 : printPgmString(PSTR(" M5")); break;
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
switch (gc.coolant_mode) {
|
|
|
|
|
case COOLANT_DISABLE : printPgmString(PSTR(" M9")); break;
|
|
|
|
|
case COOLANT_FLOOD_ENABLE : printPgmString(PSTR(" M8")); break;
|
New startup script setting. New dry run, check gcode switches. New system state variable. Lots of reorganizing.
(All v0.8 features installed. Still likely buggy, but now thourough
testing will need to start to squash them all. As soon as we're done,
this will be pushed to master and v0.9 development will be started.
Please report ANY issues to us so we can get this rolled out ASAP.)
- User startup script! A user can now save one (up to 5 as compile-time
option) block of g-code in EEPROM memory. This will be run everytime
Grbl resets. Mainly to be used as a way to set your preferences, like
G21, G54, etc.
- New dry run and check g-code switches. Dry run moves ALL motions at
rapids rate ignoring spindle, coolant, and dwell commands. For rapid
physical proofing of your code. The check g-code switch ignores all
motion and provides the user a way to check if there are any errors in
their program that Grbl may not like.
- Program restart! (sort of). Program restart is typically an advanced
feature that allows users to restart a program mid-stream. The check
g-code switch can perform this feature by enabling the switch at the
start of the program, and disabling it at the desired point with some
minimal changes.
- New system state variable. This state variable tracks all of the
different state processes that Grbl performs, i.e. cycle start, feed
hold, homing, etc. This is mainly for making managing of these task
easier and more clear.
- Position lost state variable. Only when homing is enabled, Grbl will
refuse to move until homing is completed and position is known. This is
mainly for safety. Otherwise, it will let users fend for themselves.
- Moved the default settings defines into config.h. The plan is to
eventually create a set of config.h's for particular as-built machines
to help users from doing it themselves.
- Moved around misc defines into .h files. And lots of other little
things.
2012-11-03 17:32:23 +00:00
|
|
|
#ifdef ENABLE_M7
|
|
|
|
|
case COOLANT_MIST_ENABLE : printPgmString(PSTR(" M7")); break;
|
|
|
|
|
#endif
|
2012-11-02 01:48:55 +00:00
|
|
|
}
|
|
|
|
|
|
|
|
|
|
printPgmString(PSTR(" T"));
|
|
|
|
|
printInteger(gc.tool);
|
|
|
|
|
|
|
|
|
|
printPgmString(PSTR(" F"));
|
|
|
|
|
if (gc.inches_mode) { printFloat(gc.feed_rate*INCH_PER_MM); }
|
|
|
|
|
else { printFloat(gc.feed_rate); }
|
2012-11-16 04:53:11 +00:00
|
|
|
|
2012-11-20 00:39:40 +00:00
|
|
|
printPgmString(PSTR("]\r\n"));
|
2012-11-02 01:48:55 +00:00
|
|
|
}
|
2012-11-01 15:37:27 +00:00
|
|
|
|
New startup script setting. New dry run, check gcode switches. New system state variable. Lots of reorganizing.
(All v0.8 features installed. Still likely buggy, but now thourough
testing will need to start to squash them all. As soon as we're done,
this will be pushed to master and v0.9 development will be started.
Please report ANY issues to us so we can get this rolled out ASAP.)
- User startup script! A user can now save one (up to 5 as compile-time
option) block of g-code in EEPROM memory. This will be run everytime
Grbl resets. Mainly to be used as a way to set your preferences, like
G21, G54, etc.
- New dry run and check g-code switches. Dry run moves ALL motions at
rapids rate ignoring spindle, coolant, and dwell commands. For rapid
physical proofing of your code. The check g-code switch ignores all
motion and provides the user a way to check if there are any errors in
their program that Grbl may not like.
- Program restart! (sort of). Program restart is typically an advanced
feature that allows users to restart a program mid-stream. The check
g-code switch can perform this feature by enabling the switch at the
start of the program, and disabling it at the desired point with some
minimal changes.
- New system state variable. This state variable tracks all of the
different state processes that Grbl performs, i.e. cycle start, feed
hold, homing, etc. This is mainly for making managing of these task
easier and more clear.
- Position lost state variable. Only when homing is enabled, Grbl will
refuse to move until homing is completed and position is known. This is
mainly for safety. Otherwise, it will let users fend for themselves.
- Moved the default settings defines into config.h. The plan is to
eventually create a set of config.h's for particular as-built machines
to help users from doing it themselves.
- Moved around misc defines into .h files. And lots of other little
things.
2012-11-03 17:32:23 +00:00
|
|
|
// Prints specified startup line
|
|
|
|
|
void report_startup_line(uint8_t n, char *line)
|
|
|
|
|
{
|
2012-11-20 00:39:40 +00:00
|
|
|
printPgmString(PSTR("$N")); printInteger(n);
|
New startup script setting. New dry run, check gcode switches. New system state variable. Lots of reorganizing.
(All v0.8 features installed. Still likely buggy, but now thourough
testing will need to start to squash them all. As soon as we're done,
this will be pushed to master and v0.9 development will be started.
Please report ANY issues to us so we can get this rolled out ASAP.)
- User startup script! A user can now save one (up to 5 as compile-time
option) block of g-code in EEPROM memory. This will be run everytime
Grbl resets. Mainly to be used as a way to set your preferences, like
G21, G54, etc.
- New dry run and check g-code switches. Dry run moves ALL motions at
rapids rate ignoring spindle, coolant, and dwell commands. For rapid
physical proofing of your code. The check g-code switch ignores all
motion and provides the user a way to check if there are any errors in
their program that Grbl may not like.
- Program restart! (sort of). Program restart is typically an advanced
feature that allows users to restart a program mid-stream. The check
g-code switch can perform this feature by enabling the switch at the
start of the program, and disabling it at the desired point with some
minimal changes.
- New system state variable. This state variable tracks all of the
different state processes that Grbl performs, i.e. cycle start, feed
hold, homing, etc. This is mainly for making managing of these task
easier and more clear.
- Position lost state variable. Only when homing is enabled, Grbl will
refuse to move until homing is completed and position is known. This is
mainly for safety. Otherwise, it will let users fend for themselves.
- Moved the default settings defines into config.h. The plan is to
eventually create a set of config.h's for particular as-built machines
to help users from doing it themselves.
- Moved around misc defines into .h files. And lots of other little
things.
2012-11-03 17:32:23 +00:00
|
|
|
printPgmString(PSTR("=")); printString(line);
|
|
|
|
|
printPgmString(PSTR("\r\n"));
|
|
|
|
|
}
|
2012-11-01 15:37:27 +00:00
|
|
|
|
2014-01-05 17:27:34 +00:00
|
|
|
|
|
|
|
|
// Prints build info line
|
|
|
|
|
void report_build_info(char *line)
|
|
|
|
|
{
|
|
|
|
|
printPgmString(PSTR("[" GRBL_VERSION "." GRBL_VERSION_BUILD ":"));
|
|
|
|
|
printString(line);
|
|
|
|
|
printPgmString(PSTR("]\r\n"));
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
New startup script setting. New dry run, check gcode switches. New system state variable. Lots of reorganizing.
(All v0.8 features installed. Still likely buggy, but now thourough
testing will need to start to squash them all. As soon as we're done,
this will be pushed to master and v0.9 development will be started.
Please report ANY issues to us so we can get this rolled out ASAP.)
- User startup script! A user can now save one (up to 5 as compile-time
option) block of g-code in EEPROM memory. This will be run everytime
Grbl resets. Mainly to be used as a way to set your preferences, like
G21, G54, etc.
- New dry run and check g-code switches. Dry run moves ALL motions at
rapids rate ignoring spindle, coolant, and dwell commands. For rapid
physical proofing of your code. The check g-code switch ignores all
motion and provides the user a way to check if there are any errors in
their program that Grbl may not like.
- Program restart! (sort of). Program restart is typically an advanced
feature that allows users to restart a program mid-stream. The check
g-code switch can perform this feature by enabling the switch at the
start of the program, and disabling it at the desired point with some
minimal changes.
- New system state variable. This state variable tracks all of the
different state processes that Grbl performs, i.e. cycle start, feed
hold, homing, etc. This is mainly for making managing of these task
easier and more clear.
- Position lost state variable. Only when homing is enabled, Grbl will
refuse to move until homing is completed and position is known. This is
mainly for safety. Otherwise, it will let users fend for themselves.
- Moved the default settings defines into config.h. The plan is to
eventually create a set of config.h's for particular as-built machines
to help users from doing it themselves.
- Moved around misc defines into .h files. And lots of other little
things.
2012-11-03 17:32:23 +00:00
|
|
|
// Prints real-time data. This function grabs a real-time snapshot of the stepper subprogram
|
|
|
|
|
// and the actual location of the CNC machine. Users may change the following function to their
|
|
|
|
|
// specific needs, but the desired real-time data report must be as short as possible. This is
|
|
|
|
|
// requires as it minimizes the computational overhead and allows grbl to keep running smoothly,
|
|
|
|
|
// especially during g-code programs with fast, short line segments and high frequency reports (5-20Hz).
|
2012-11-01 15:37:27 +00:00
|
|
|
void report_realtime_status()
|
|
|
|
|
{
|
2012-11-15 00:36:29 +00:00
|
|
|
// **Under construction** Bare-bones status report. Provides real-time machine position relative to
|
|
|
|
|
// the system power on location (0,0,0) and work coordinate position (G54 and G92 applied). Eventually
|
|
|
|
|
// to be added are distance to go on block, processed block id, and feed rate. Also a settings bitmask
|
|
|
|
|
// for a user to select the desired real-time data.
|
|
|
|
|
uint8_t i;
|
2013-01-09 22:22:45 +00:00
|
|
|
int32_t current_position[N_AXIS]; // Copy current state of the system position variable
|
2012-11-15 00:36:29 +00:00
|
|
|
memcpy(current_position,sys.position,sizeof(sys.position));
|
2013-01-09 22:22:45 +00:00
|
|
|
float print_position[N_AXIS];
|
2012-11-15 00:36:29 +00:00
|
|
|
|
2012-11-16 04:53:11 +00:00
|
|
|
// Report current machine state
|
|
|
|
|
switch (sys.state) {
|
2012-11-20 00:39:40 +00:00
|
|
|
case STATE_IDLE: printPgmString(PSTR("<Idle")); break;
|
|
|
|
|
case STATE_QUEUED: printPgmString(PSTR("<Queue")); break;
|
|
|
|
|
case STATE_CYCLE: printPgmString(PSTR("<Run")); break;
|
|
|
|
|
case STATE_HOLD: printPgmString(PSTR("<Hold")); break;
|
|
|
|
|
case STATE_HOMING: printPgmString(PSTR("<Home")); break;
|
|
|
|
|
case STATE_ALARM: printPgmString(PSTR("<Alarm")); break;
|
|
|
|
|
case STATE_CHECK_MODE: printPgmString(PSTR("<Check")); break;
|
2012-11-16 04:53:11 +00:00
|
|
|
}
|
2012-11-01 15:37:27 +00:00
|
|
|
|
2012-11-15 00:36:29 +00:00
|
|
|
// Report machine position
|
2012-11-16 04:53:11 +00:00
|
|
|
printPgmString(PSTR(",MPos:"));
|
2013-01-09 22:22:45 +00:00
|
|
|
for (i=0; i< N_AXIS; i++) {
|
2012-11-15 00:36:29 +00:00
|
|
|
print_position[i] = current_position[i]/settings.steps_per_mm[i];
|
|
|
|
|
if (bit_istrue(settings.flags,BITFLAG_REPORT_INCHES)) { print_position[i] *= INCH_PER_MM; }
|
|
|
|
|
printFloat(print_position[i]);
|
2012-11-16 04:53:11 +00:00
|
|
|
printPgmString(PSTR(","));
|
2012-11-15 00:36:29 +00:00
|
|
|
}
|
|
|
|
|
|
|
|
|
|
// Report work position
|
2012-11-16 04:53:11 +00:00
|
|
|
printPgmString(PSTR("WPos:"));
|
2013-01-09 22:22:45 +00:00
|
|
|
for (i=0; i< N_AXIS; i++) {
|
2012-11-15 00:36:29 +00:00
|
|
|
if (bit_istrue(settings.flags,BITFLAG_REPORT_INCHES)) {
|
|
|
|
|
print_position[i] -= (gc.coord_system[i]+gc.coord_offset[i])*INCH_PER_MM;
|
|
|
|
|
} else {
|
|
|
|
|
print_position[i] -= gc.coord_system[i]+gc.coord_offset[i];
|
|
|
|
|
}
|
|
|
|
|
printFloat(print_position[i]);
|
2013-01-19 00:02:44 +00:00
|
|
|
if (i < (N_AXIS-1)) { printPgmString(PSTR(",")); }
|
2012-11-15 00:36:29 +00:00
|
|
|
}
|
2014-02-06 23:10:27 +00:00
|
|
|
|
|
|
|
|
// Report current line number
|
|
|
|
|
printPgmString(PSTR(","));
|
|
|
|
|
printPgmString(PSTR("Ln:"));
|
|
|
|
|
uint32_t ln=0;
|
|
|
|
|
plan_block_t * pb = plan_get_current_block();
|
|
|
|
|
if(pb != NULL) {
|
|
|
|
|
ln = pb->line_number;
|
|
|
|
|
}
|
|
|
|
|
printInteger(ln);
|
|
|
|
|
|
2012-11-15 00:36:29 +00:00
|
|
|
|
2012-11-20 00:39:40 +00:00
|
|
|
printPgmString(PSTR(">\r\n"));
|
2012-11-01 15:37:27 +00:00
|
|
|
}
|