kopia lustrzana https://github.com/gnea/grbl
345 wiersze
16 KiB
C
345 wiersze
16 KiB
C
/*
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report.c - reporting and messaging methods
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Part of Grbl
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Copyright (c) 2012-2014 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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/*
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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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#include <avr/pgmspace.h>
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#include "report.h"
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#include "print.h"
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#include "settings.h"
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#include "nuts_bolts.h"
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#include "gcode.h"
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#include "coolant_control.h"
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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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case STATUS_ARC_RADIUS_ERROR:
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printPgmString(PSTR("Invalid radius")); break;
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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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printPgmString(PSTR("Setting disabled")); break;
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case STATUS_SETTING_VALUE_NEG:
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printPgmString(PSTR("Value < 0.0")); break;
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case STATUS_SETTING_STEP_PULSE_MIN:
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printPgmString(PSTR("Value < 3 usec")); break;
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case STATUS_SETTING_READ_FAIL:
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printPgmString(PSTR("EEPROM read fail. Using defaults")); break;
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case STATUS_IDLE_ERROR:
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printPgmString(PSTR("Not idle")); break;
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case STATUS_ALARM_LOCK:
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printPgmString(PSTR("Alarm lock")); break;
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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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}
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printPgmString(PSTR("\r\n"));
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}
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}
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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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case ALARM_LIMIT_ERROR:
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printPgmString(PSTR("Hard/soft limit")); break;
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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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delay_ms(500); // Force delay to ensure message clears serial write buffer.
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}
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// Prints feedback messages. This serves as a centralized method to provide additional
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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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// NOTE: For interfaces, messages are always placed within brackets. And if silent mode
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// is installed, the message number codes are less than zero.
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// TODO: Install silence feedback messages option in settings
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void report_feedback_message(uint8_t message_code)
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{
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printPgmString(PSTR("["));
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switch(message_code) {
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case MESSAGE_CRITICAL_EVENT:
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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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case MESSAGE_ENABLED:
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printPgmString(PSTR("Enabled")); break;
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case MESSAGE_DISABLED:
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printPgmString(PSTR("Disabled")); break;
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}
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printPgmString(PSTR("]\r\n"));
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}
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// Welcome message
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void report_init_message()
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{
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printPgmString(PSTR("\r\nGrbl " GRBL_VERSION " ("GRBL_VERSION_BUILD ") ['$' for help]\r\n"));
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}
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// Grbl help message
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void report_grbl_help() {
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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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"$Nx=line (save startup block)\r\n"
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"$C (check gcode mode)\r\n"
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"$X (kill alarm lock)\r\n"
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"$H (run homing cycle)\r\n"
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"~ (cycle start)\r\n"
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"! (feed hold)\r\n"
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"? (current status)\r\n"
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"ctrl-x (reset Grbl)\r\n"));
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}
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// Grbl global settings print out.
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// NOTE: The numbering scheme here must correlate to storing in settings.c
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void report_grbl_settings() {
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printPgmString(PSTR("$0=")); printFloat(settings.steps_per_mm[X_AXIS]);
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printPgmString(PSTR(" (x, step/mm)\r\n$1=")); printFloat(settings.steps_per_mm[Y_AXIS]);
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printPgmString(PSTR(" (y, step/mm)\r\n$2=")); printFloat(settings.steps_per_mm[Z_AXIS]);
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printPgmString(PSTR(" (z, step/mm)\r\n$3=")); printFloat(settings.max_rate[X_AXIS]);
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printPgmString(PSTR(" (x max rate, mm/min)\r\n$4=")); printFloat(settings.max_rate[Y_AXIS]);
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printPgmString(PSTR(" (y max rate, mm/min)\r\n$5=")); printFloat(settings.max_rate[Z_AXIS]);
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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
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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
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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
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printPgmString(PSTR(" (z accel, mm/sec^2)\r\n$9=")); printFloat(-settings.max_travel[X_AXIS]); // Grbl internally store this as negative.
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printPgmString(PSTR(" (x max travel, mm)\r\n$10=")); printFloat(-settings.max_travel[Y_AXIS]); // Grbl internally store this as negative.
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printPgmString(PSTR(" (y max travel, mm)\r\n$11=")); printFloat(-settings.max_travel[Z_AXIS]); // Grbl internally store this as negative.
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printPgmString(PSTR(" (z max travel, mm)\r\n$12=")); printInteger(settings.pulse_microseconds);
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printPgmString(PSTR(" (step pulse, usec)\r\n$13=")); printFloat(settings.default_feed_rate);
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printPgmString(PSTR(" (default feed, mm/min)\r\n$14=")); printInteger(settings.step_invert_mask);
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printPgmString(PSTR(" (step port invert mask, int:")); print_uint8_base2(settings.step_invert_mask);
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printPgmString(PSTR(")\r\n$15=")); printInteger(settings.dir_invert_mask);
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printPgmString(PSTR(" (dir port invert mask, int:")); print_uint8_base2(settings.dir_invert_mask);
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printPgmString(PSTR(")\r\n$16=")); printInteger(settings.stepper_idle_lock_time);
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printPgmString(PSTR(" (step idle delay, msec)\r\n$17=")); printFloat(settings.junction_deviation);
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printPgmString(PSTR(" (junction deviation, mm)\r\n$18=")); printFloat(settings.arc_tolerance);
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printPgmString(PSTR(" (arc tolerance, mm)\r\n$19=")); printInteger(settings.decimal_places);
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printPgmString(PSTR(" (n-decimals, int)\r\n$20=")); printInteger(bit_istrue(settings.flags,BITFLAG_REPORT_INCHES));
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printPgmString(PSTR(" (report inches, bool)\r\n$21=")); printInteger(bit_istrue(settings.flags,BITFLAG_AUTO_START));
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printPgmString(PSTR(" (auto start, bool)\r\n$22=")); printInteger(bit_istrue(settings.flags,BITFLAG_INVERT_ST_ENABLE));
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printPgmString(PSTR(" (invert step enable, bool)\r\n$23=")); printInteger(bit_istrue(settings.flags,BITFLAG_INVERT_LIMIT_PINS));
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printPgmString(PSTR(" (invert limit pins, bool)\r\n$24=")); printInteger(bit_istrue(settings.flags,BITFLAG_SOFT_LIMIT_ENABLE));
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printPgmString(PSTR(" (soft limits, bool)\r\n$25=")); printInteger(bit_istrue(settings.flags,BITFLAG_HARD_LIMIT_ENABLE));
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printPgmString(PSTR(" (hard limits, bool)\r\n$26=")); printInteger(bit_istrue(settings.flags,BITFLAG_HOMING_ENABLE));
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printPgmString(PSTR(" (homing cycle, bool)\r\n$27=")); printInteger(settings.homing_dir_mask);
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printPgmString(PSTR(" (homing dir invert mask, int:")); print_uint8_base2(settings.homing_dir_mask);
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printPgmString(PSTR(")\r\n$28=")); printFloat(settings.homing_feed_rate);
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printPgmString(PSTR(" (homing feed, mm/min)\r\n$29=")); printFloat(settings.homing_seek_rate);
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printPgmString(PSTR(" (homing seek, mm/min)\r\n$30=")); printInteger(settings.homing_debounce_delay);
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printPgmString(PSTR(" (homing debounce, msec)\r\n$31=")); printFloat(settings.homing_pulloff);
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printPgmString(PSTR(" (homing pull-off, mm)\r\n"));
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}
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// Prints gcode coordinate offset parameters
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void report_gcode_parameters()
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{
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float coord_data[N_AXIS];
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uint8_t coord_select, i;
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for (coord_select = 0; coord_select <= SETTING_INDEX_NCOORD; coord_select++) {
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if (!(settings_read_coord_data(coord_select,coord_data))) {
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report_status_message(STATUS_SETTING_READ_FAIL);
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return;
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}
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printPgmString(PSTR("[G"));
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switch (coord_select) {
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case 0: printPgmString(PSTR("54:")); break;
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case 1: printPgmString(PSTR("55:")); break;
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case 2: printPgmString(PSTR("56:")); break;
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case 3: printPgmString(PSTR("57:")); break;
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case 4: printPgmString(PSTR("58:")); break;
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case 5: printPgmString(PSTR("59:")); break;
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case 6: printPgmString(PSTR("28:")); break;
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case 7: printPgmString(PSTR("30:")); break;
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// case 8: printPgmString(PSTR("92:")); break; // G92.2, G92.3 not supported. Hence not stored.
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}
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for (i=0; i<N_AXIS; i++) {
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if (bit_istrue(settings.flags,BITFLAG_REPORT_INCHES)) { printFloat(coord_data[i]*INCH_PER_MM); }
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else { printFloat(coord_data[i]); }
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if (i < (N_AXIS-1)) { printPgmString(PSTR(",")); }
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else { printPgmString(PSTR("]\r\n")); }
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}
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}
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printPgmString(PSTR("[G92:")); // Print G92,G92.1 which are not persistent in memory
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for (i=0; i<N_AXIS; i++) {
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if (bit_istrue(settings.flags,BITFLAG_REPORT_INCHES)) { printFloat(gc.coord_offset[i]*INCH_PER_MM); }
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else { printFloat(gc.coord_offset[i]); }
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if (i < (N_AXIS-1)) { printPgmString(PSTR(",")); }
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else { printPgmString(PSTR("]\r\n")); }
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}
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}
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// Print current gcode parser mode state
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void report_gcode_modes()
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{
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switch (gc.motion_mode) {
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case MOTION_MODE_SEEK : printPgmString(PSTR("[G0")); break;
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case MOTION_MODE_LINEAR : printPgmString(PSTR("[G1")); break;
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case MOTION_MODE_CW_ARC : printPgmString(PSTR("[G2")); break;
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case MOTION_MODE_CCW_ARC : printPgmString(PSTR("[G3")); break;
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case MOTION_MODE_CANCEL : printPgmString(PSTR("[G80")); break;
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}
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printPgmString(PSTR(" G"));
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printInteger(gc.coord_select+54);
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if (gc.plane_axis_0 == X_AXIS) {
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if (gc.plane_axis_1 == Y_AXIS) { printPgmString(PSTR(" G17")); }
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else { printPgmString(PSTR(" G18")); }
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} else { printPgmString(PSTR(" G19")); }
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if (gc.inches_mode) { printPgmString(PSTR(" G20")); }
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else { printPgmString(PSTR(" G21")); }
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if (gc.absolute_mode) { printPgmString(PSTR(" G90")); }
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else { printPgmString(PSTR(" G91")); }
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if (gc.inverse_feed_rate_mode) { printPgmString(PSTR(" G93")); }
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else { printPgmString(PSTR(" G94")); }
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switch (gc.program_flow) {
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case PROGRAM_FLOW_RUNNING : printPgmString(PSTR(" M0")); break;
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case PROGRAM_FLOW_PAUSED : printPgmString(PSTR(" M1")); break;
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case PROGRAM_FLOW_COMPLETED : printPgmString(PSTR(" M2")); break;
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}
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switch (gc.spindle_direction) {
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case 1 : printPgmString(PSTR(" M3")); break;
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case -1 : printPgmString(PSTR(" M4")); break;
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case 0 : printPgmString(PSTR(" M5")); break;
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}
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switch (gc.coolant_mode) {
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case COOLANT_DISABLE : printPgmString(PSTR(" M9")); break;
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case COOLANT_FLOOD_ENABLE : printPgmString(PSTR(" M8")); break;
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#ifdef ENABLE_M7
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case COOLANT_MIST_ENABLE : printPgmString(PSTR(" M7")); break;
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#endif
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}
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printPgmString(PSTR(" T"));
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printInteger(gc.tool);
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printPgmString(PSTR(" F"));
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if (gc.inches_mode) { printFloat(gc.feed_rate*INCH_PER_MM); }
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else { printFloat(gc.feed_rate); }
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printPgmString(PSTR("]\r\n"));
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}
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// Prints specified startup line
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void report_startup_line(uint8_t n, char *line)
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{
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printPgmString(PSTR("$N")); printInteger(n);
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printPgmString(PSTR("=")); printString(line);
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printPgmString(PSTR("\r\n"));
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}
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// Prints real-time data. This function grabs a real-time snapshot of the stepper subprogram
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// and the actual location of the CNC machine. Users may change the following function to their
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// specific needs, but the desired real-time data report must be as short as possible. This is
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// requires as it minimizes the computational overhead and allows grbl to keep running smoothly,
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// especially during g-code programs with fast, short line segments and high frequency reports (5-20Hz).
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void report_realtime_status()
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{
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// **Under construction** Bare-bones status report. Provides real-time machine position relative to
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// the system power on location (0,0,0) and work coordinate position (G54 and G92 applied). Eventually
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// to be added are distance to go on block, processed block id, and feed rate. Also a settings bitmask
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// for a user to select the desired real-time data.
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uint8_t i;
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int32_t current_position[N_AXIS]; // Copy current state of the system position variable
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memcpy(current_position,sys.position,sizeof(sys.position));
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float print_position[N_AXIS];
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// Report current machine state
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switch (sys.state) {
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case STATE_IDLE: printPgmString(PSTR("<Idle")); break;
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case STATE_QUEUED: printPgmString(PSTR("<Queue")); break;
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case STATE_CYCLE: printPgmString(PSTR("<Run")); break;
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case STATE_HOLD: printPgmString(PSTR("<Hold")); break;
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case STATE_HOMING: printPgmString(PSTR("<Home")); break;
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case STATE_ALARM: printPgmString(PSTR("<Alarm")); break;
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case STATE_CHECK_MODE: printPgmString(PSTR("<Check")); break;
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}
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// Report machine position
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printPgmString(PSTR(",MPos:"));
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for (i=0; i< N_AXIS; i++) {
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print_position[i] = current_position[i]/settings.steps_per_mm[i];
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if (bit_istrue(settings.flags,BITFLAG_REPORT_INCHES)) { print_position[i] *= INCH_PER_MM; }
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printFloat(print_position[i]);
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printPgmString(PSTR(","));
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}
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// Report work position
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printPgmString(PSTR("WPos:"));
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for (i=0; i< N_AXIS; i++) {
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if (bit_istrue(settings.flags,BITFLAG_REPORT_INCHES)) {
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print_position[i] -= (gc.coord_system[i]+gc.coord_offset[i])*INCH_PER_MM;
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} else {
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print_position[i] -= gc.coord_system[i]+gc.coord_offset[i];
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}
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printFloat(print_position[i]);
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if (i < (N_AXIS-1)) { printPgmString(PSTR(",")); }
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}
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printPgmString(PSTR(">\r\n"));
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}
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