kopia lustrzana https://github.com/gnea/grbl
145 wiersze
7.2 KiB
C
145 wiersze
7.2 KiB
C
/*
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system.h - Header for system level commands and real-time processes
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Part of Grbl
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Copyright (c) 2014-2015 Sungeun K. Jeon
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Grbl is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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Grbl is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with Grbl. If not, see <http://www.gnu.org/licenses/>.
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*/
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#ifndef system_h
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#define system_h
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#include "grbl.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) // bitmask 00000001
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#define EXEC_CYCLE_START bit(1) // bitmask 00000010
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#define EXEC_CYCLE_STOP bit(2) // bitmask 00000100
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#define EXEC_FEED_HOLD bit(3) // bitmask 00001000
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#define EXEC_RESET bit(4) // bitmask 00010000
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#define EXEC_SAFETY_DOOR bit(5) // bitmask 00100000
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#define EXEC_MOTION_CANCEL bit(6) // bitmask 01000000
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// Alarm executor bit map.
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// NOTE: EXEC_CRITICAL_EVENT is an optional flag that must be set with an alarm flag. When enabled,
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// this halts Grbl into an infinite loop until the user aknowledges the problem and issues a soft-
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// reset command. For example, a hard limit event needs this type of halt and aknowledgement.
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#define EXEC_CRITICAL_EVENT bit(0) // bitmask 00000001 (SPECIAL FLAG. See NOTE:)
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#define EXEC_ALARM_HARD_LIMIT bit(1) // bitmask 00000010
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#define EXEC_ALARM_SOFT_LIMIT bit(2) // bitmask 00000100
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#define EXEC_ALARM_ABORT_CYCLE bit(3) // bitmask 00001000
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#define EXEC_ALARM_PROBE_FAIL bit(4) // bitmask 00010000
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#define EXEC_ALARM_HOMING_FAIL bit(5) // bitmask 00100000
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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_SAFETY_DOOR bit(5) // Safety door is ajar. Feed holds and de-energizes system.
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#define STATE_MOTION_CANCEL bit(6) // Motion cancel by feed hold and return to idle.
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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) // Indicates suspend was initiated by a safety door state.
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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 step segment generator state flags.
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#define STEP_CONTROL_NORMAL_OP 0
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// #define STEP_CONTROL_RECOMPUTE_ACTIVE_BLOCK bit(0)
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#define STEP_CONTROL_END_MOTION bit(1)
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#define STEP_CONTROL_EXECUTE_HOLD bit(2)
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#define STEP_CONTROL_EXECUTE_PARK 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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#ifdef ENABLE_SAFETY_DOOR_INPUT_PIN
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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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#else
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#define N_CONTROL_PIN 3
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#define CONTROL_PIN_INDEX_RESET bit(0)
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#define CONTROL_PIN_INDEX_FEED_HOLD bit(1)
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#define CONTROL_PIN_INDEX_CYCLE_START bit(2)
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#endif
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// Define global system variables
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typedef struct {
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uint8_t abort; // System abort flag. Forces exit back to main loop for reset.
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uint8_t state; // Tracks the current state of Grbl.
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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;
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int32_t position[N_AXIS]; // Real-time machine (aka home) position vector in steps.
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// NOTE: This may need to be a volatile variable, if problems arise.
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int32_t probe_position[N_AXIS]; // Last probe position in machine coordinates and steps.
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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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} system_t;
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extern system_t sys;
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volatile uint8_t sys_probe_state; // Probing state value. Used to coordinate the probing cycle with stepper ISR.
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volatile uint8_t sys_rt_exec_state; // Global realtime executor bitflag variable for state management. See EXEC bitmasks.
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volatile uint8_t sys_rt_exec_alarm; // Global realtime executor bitflag variable for setting various alarms.
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// Initialize the serial protocol
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void system_init();
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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_control_get_state();
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// Returns if safety door is open or closed, based on pin state.
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uint8_t system_check_safety_door_ajar();
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// Executes an internal system command, defined as a string starting with a '$'
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uint8_t system_execute_line(char *line);
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// Execute the startup script lines stored in EEPROM upon initialization
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void system_execute_startup(char *line);
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// Returns machine position of axis 'idx'. Must be sent a 'step' array.
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float system_convert_axis_steps_to_mpos(int32_t *steps, uint8_t idx);
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// Updates a machine 'position' array based on the 'step' array sent.
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void system_convert_array_steps_to_mpos(float *position, int32_t *steps);
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// Special handlers for setting and clearing Grbl's real-time execution flags.
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void system_set_exec_state_flag(uint8_t mask);
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void system_clear_exec_state_flag(uint8_t mask);
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void system_set_exec_alarm_flag(uint8_t mask);
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void system_clear_exec_alarm_flag(uint8_t mask);
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#endif
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