kopia lustrzana https://github.com/gnea/grbl
99 wiersze
4.1 KiB
C
99 wiersze
4.1 KiB
C
/*
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system.h - Header for system level commands and real-time processes
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Part of Grbl v0.9
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Copyright (c) 2014 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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// Define system header files and standard libraries used by Grbl
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#include <avr/io.h>
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#include <avr/pgmspace.h>
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#include <avr/interrupt.h>
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#include <avr/wdt.h>
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#include <util/delay.h>
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#include <math.h>
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#include <inttypes.h>
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#include <string.h>
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#include <stdlib.h>
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#include <stdint.h>
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#include <stdbool.h>
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// Define Grbl configuration and shared header files
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#include "config.h"
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#include "defaults.h"
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#include "cpu_map.h"
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#include "nuts_bolts.h"
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// Define system executor bit map. Used internally by runtime protocol as runtime command flags,
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// which notifies the main program to execute the specified runtime 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 runtime protocol only needs to check for a non-zero value to
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// know when there is a runtime 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_ALARM bit(5) // bitmask 00100000
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#define EXEC_CRIT_EVENT bit(6) // bitmask 01000000
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// #define bit(7) // bitmask 10000000
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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_QUEUED bit(3) // Indicates buffered blocks, awaiting cycle start.
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#define STATE_CYCLE bit(4) // Cycle is running
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#define STATE_HOLD bit(5) // Executing feed hold
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// #define STATE_JOG bit(6) // Jogging mode is unique like homing.
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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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volatile uint8_t execute; // Global system runtime executor bitflag variable. See EXEC bitmasks.
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uint8_t homing_axis_lock;
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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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uint8_t auto_start; // Planner auto-start flag. Toggled off during feed hold. Defaulted by settings.
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volatile uint8_t probe_state; // Probing state value. Used to coordinate the probing cycle with stepper ISR.
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int32_t probe_position[N_AXIS]; // Last probe position in machine coordinates and steps.
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} system_t;
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extern system_t sys;
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// Initialize the serial protocol
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void system_init();
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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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// Checks and executes a runtime command at various stop points in main program
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void system_execute_runtime();
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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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#endif
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