Sergey Pastor / grbl1

grbl/system.c@0:8f0d870509fe, 2017-09-04 (annotated)

Committer:
Sergunb
Date:
Mon Sep 04 12:04:13 2017 +0000
Revision:
0:8f0d870509fe
Initial commit

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Sergunb 0:8f0d870509fe 1 /*
Sergunb 0:8f0d870509fe 2 system.c - Handles system level commands and real-time processes
Sergunb 0:8f0d870509fe 3 Part of Grbl
Sergunb 0:8f0d870509fe 4
Sergunb 0:8f0d870509fe 5 Copyright (c) 2014-2016 Sungeun K. Jeon for Gnea Research LLC
Sergunb 0:8f0d870509fe 6
Sergunb 0:8f0d870509fe 7 Grbl is free software: you can redistribute it and/or modify
Sergunb 0:8f0d870509fe 8 it under the terms of the GNU General Public License as published by
Sergunb 0:8f0d870509fe 9 the Free Software Foundation, either version 3 of the License, or
Sergunb 0:8f0d870509fe 10 (at your option) any later version.
Sergunb 0:8f0d870509fe 11
Sergunb 0:8f0d870509fe 12 Grbl is distributed in the hope that it will be useful,
Sergunb 0:8f0d870509fe 13 but WITHOUT ANY WARRANTY; without even the implied warranty of
Sergunb 0:8f0d870509fe 14 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
Sergunb 0:8f0d870509fe 15 GNU General Public License for more details.
Sergunb 0:8f0d870509fe 16
Sergunb 0:8f0d870509fe 17 You should have received a copy of the GNU General Public License
Sergunb 0:8f0d870509fe 18 along with Grbl. If not, see <http://www.gnu.org/licenses/>.
Sergunb 0:8f0d870509fe 19 */
Sergunb 0:8f0d870509fe 20
Sergunb 0:8f0d870509fe 21 #include "grbl.h"
Sergunb 0:8f0d870509fe 22
Sergunb 0:8f0d870509fe 23
Sergunb 0:8f0d870509fe 24 void system_init()
Sergunb 0:8f0d870509fe 25 {
Sergunb 0:8f0d870509fe 26 #ifdef AVRTARGET
Sergunb 0:8f0d870509fe 27 CONTROL_DDR &= ~(CONTROL_MASK); // Configure as input pins
Sergunb 0:8f0d870509fe 28 #ifdef DISABLE_CONTROL_PIN_PULL_UP
Sergunb 0:8f0d870509fe 29 CONTROL_PORT &= ~(CONTROL_MASK); // Normal low operation. Requires external pull-down.
Sergunb 0:8f0d870509fe 30 #else
Sergunb 0:8f0d870509fe 31 CONTROL_PORT |= CONTROL_MASK; // Enable internal pull-up resistors. Normal high operation.
Sergunb 0:8f0d870509fe 32 #endif
Sergunb 0:8f0d870509fe 33 CONTROL_PCMSK |= CONTROL_MASK; // Enable specific pins of the Pin Change Interrupt
Sergunb 0:8f0d870509fe 34 PCICR |= (1 << CONTROL_INT); // Enable Pin Change Interrupt
Sergunb 0:8f0d870509fe 35 #endif
Sergunb 0:8f0d870509fe 36 #ifdef STM32F103C8
Sergunb 0:8f0d870509fe 37 GPIO_InitTypeDef GPIO_InitStructure;
Sergunb 0:8f0d870509fe 38 RCC_APB2PeriphClockCmd(RCC_CONTROL_PORT | RCC_APB2Periph_AFIO, ENABLE);
Sergunb 0:8f0d870509fe 39 GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
Sergunb 0:8f0d870509fe 40 #ifdef DISABLE_CONTROL_PIN_PULL_UP
Sergunb 0:8f0d870509fe 41 GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
Sergunb 0:8f0d870509fe 42 #else
Sergunb 0:8f0d870509fe 43 GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
Sergunb 0:8f0d870509fe 44 #endif
Sergunb 0:8f0d870509fe 45 GPIO_InitStructure.GPIO_Pin = CONTROL_MASK;
Sergunb 0:8f0d870509fe 46 GPIO_Init(CONTROL_PORT, &GPIO_InitStructure);
Sergunb 0:8f0d870509fe 47
Sergunb 0:8f0d870509fe 48 GPIO_EXTILineConfig(GPIO_CONTROL_PORT, CONTROL_RESET_BIT);
Sergunb 0:8f0d870509fe 49 GPIO_EXTILineConfig(GPIO_CONTROL_PORT, CONTROL_FEED_HOLD_BIT);
Sergunb 0:8f0d870509fe 50 GPIO_EXTILineConfig(GPIO_CONTROL_PORT, CONTROL_CYCLE_START_BIT);
Sergunb 0:8f0d870509fe 51 GPIO_EXTILineConfig(GPIO_CONTROL_PORT, CONTROL_SAFETY_DOOR_BIT);
Sergunb 0:8f0d870509fe 52
Sergunb 0:8f0d870509fe 53 EXTI_InitTypeDef EXTI_InitStructure;
Sergunb 0:8f0d870509fe 54 EXTI_InitStructure.EXTI_Line = CONTROL_MASK; //
Sergunb 0:8f0d870509fe 55 EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt; //Interrupt mode, optional values for the interrupt EXTI_Mode_Interrupt and event EXTI_Mode_Event.
Sergunb 0:8f0d870509fe 56 EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Falling; //Trigger mode, can be a falling edge trigger EXTI_Trigger_Falling, the rising edge triggered EXTI_Trigger_Rising, or any level (rising edge and falling edge trigger EXTI_Trigger_Rising_Falling)
Sergunb 0:8f0d870509fe 57 EXTI_InitStructure.EXTI_LineCmd = ENABLE;
Sergunb 0:8f0d870509fe 58 EXTI_Init(&EXTI_InitStructure);
Sergunb 0:8f0d870509fe 59
Sergunb 0:8f0d870509fe 60 NVIC_InitTypeDef NVIC_InitStructure;
Sergunb 0:8f0d870509fe 61 NVIC_InitStructure.NVIC_IRQChannel = EXTI9_5_IRQn; //Enable keypad external interrupt channel
Sergunb 0:8f0d870509fe 62 NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0x02; //Priority 2,
Sergunb 0:8f0d870509fe 63 NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0x02; //Sub priority 2
Sergunb 0:8f0d870509fe 64 NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; //Enable external interrupt channel
Sergunb 0:8f0d870509fe 65 NVIC_Init(&NVIC_InitStructure);
Sergunb 0:8f0d870509fe 66 #endif
Sergunb 0:8f0d870509fe 67 }
Sergunb 0:8f0d870509fe 68
Sergunb 0:8f0d870509fe 69
Sergunb 0:8f0d870509fe 70 // Returns control pin state as a uint8 bitfield. Each bit indicates the input pin state, where
Sergunb 0:8f0d870509fe 71 // triggered is 1 and not triggered is 0. Invert mask is applied. Bitfield organization is
Sergunb 0:8f0d870509fe 72 // defined by the CONTROL_PIN_INDEX in the header file.
Sergunb 0:8f0d870509fe 73 uint8_t system_control_get_state()
Sergunb 0:8f0d870509fe 74 {
Sergunb 0:8f0d870509fe 75 uint8_t control_state = 0;
Sergunb 0:8f0d870509fe 76 #ifdef AVRTARGET
Sergunb 0:8f0d870509fe 77 uint8_t pin = (CONTROL_PIN & CONTROL_MASK);
Sergunb 0:8f0d870509fe 78 #endif
Sergunb 0:8f0d870509fe 79 #ifdef WIN32
Sergunb 0:8f0d870509fe 80 uint8_t pin = 0;
Sergunb 0:8f0d870509fe 81 #endif
Sergunb 0:8f0d870509fe 82 #ifdef STM32F103C8
Sergunb 0:8f0d870509fe 83 uint16_t pin= GPIO_ReadInputData(CONTROL_PIN_PORT);
Sergunb 0:8f0d870509fe 84 #endif
Sergunb 0:8f0d870509fe 85 #ifdef INVERT_CONTROL_PIN_MASK
Sergunb 0:8f0d870509fe 86 pin ^= INVERT_CONTROL_PIN_MASK;
Sergunb 0:8f0d870509fe 87 #endif
Sergunb 0:8f0d870509fe 88 if (pin) {
Sergunb 0:8f0d870509fe 89 #ifdef ENABLE_SAFETY_DOOR_INPUT_PIN
Sergunb 0:8f0d870509fe 90 if (bit_isfalse(pin,(1<<CONTROL_SAFETY_DOOR_BIT))) { control_state |= CONTROL_PIN_INDEX_SAFETY_DOOR; }
Sergunb 0:8f0d870509fe 91 #endif
Sergunb 0:8f0d870509fe 92 if (bit_isfalse(pin,(1<<CONTROL_RESET_BIT))) { control_state |= CONTROL_PIN_INDEX_RESET; }
Sergunb 0:8f0d870509fe 93 if (bit_isfalse(pin,(1<<CONTROL_FEED_HOLD_BIT))) { control_state |= CONTROL_PIN_INDEX_FEED_HOLD; }
Sergunb 0:8f0d870509fe 94 if (bit_isfalse(pin,(1<<CONTROL_CYCLE_START_BIT))) { control_state |= CONTROL_PIN_INDEX_CYCLE_START; }
Sergunb 0:8f0d870509fe 95 }
Sergunb 0:8f0d870509fe 96 return(control_state);
Sergunb 0:8f0d870509fe 97 }
Sergunb 0:8f0d870509fe 98
Sergunb 0:8f0d870509fe 99
Sergunb 0:8f0d870509fe 100 // Pin change interrupt for pin-out commands, i.e. cycle start, feed hold, and reset. Sets
Sergunb 0:8f0d870509fe 101 // only the realtime command execute variable to have the main program execute these when
Sergunb 0:8f0d870509fe 102 // its ready. This works exactly like the character-based realtime commands when picked off
Sergunb 0:8f0d870509fe 103 // directly from the incoming serial data stream.
Sergunb 0:8f0d870509fe 104 #ifdef AVRTARGET
Sergunb 0:8f0d870509fe 105 ISR(CONTROL_INT_vect)
Sergunb 0:8f0d870509fe 106 {
Sergunb 0:8f0d870509fe 107 uint8_t pin = system_control_get_state();
Sergunb 0:8f0d870509fe 108 if (pin) {
Sergunb 0:8f0d870509fe 109 if (bit_istrue(pin,CONTROL_PIN_INDEX_RESET)) {
Sergunb 0:8f0d870509fe 110 mc_reset();
Sergunb 0:8f0d870509fe 111 } else if (bit_istrue(pin,CONTROL_PIN_INDEX_CYCLE_START)) {
Sergunb 0:8f0d870509fe 112 bit_true(sys_rt_exec_state, EXEC_CYCLE_START);
Sergunb 0:8f0d870509fe 113 #ifndef ENABLE_SAFETY_DOOR_INPUT_PIN
Sergunb 0:8f0d870509fe 114 } else if (bit_istrue(pin,CONTROL_PIN_INDEX_FEED_HOLD)) {
Sergunb 0:8f0d870509fe 115 bit_true(sys_rt_exec_state, EXEC_FEED_HOLD);
Sergunb 0:8f0d870509fe 116 #else
Sergunb 0:8f0d870509fe 117 } else if (bit_istrue(pin,CONTROL_PIN_INDEX_SAFETY_DOOR)) {
Sergunb 0:8f0d870509fe 118 bit_true(sys_rt_exec_state, EXEC_SAFETY_DOOR);
Sergunb 0:8f0d870509fe 119 #endif
Sergunb 0:8f0d870509fe 120 }
Sergunb 0:8f0d870509fe 121 }
Sergunb 0:8f0d870509fe 122 }
Sergunb 0:8f0d870509fe 123 #endif
Sergunb 0:8f0d870509fe 124 #if defined (STM32F103C8)
Sergunb 0:8f0d870509fe 125 void EXTI9_5_IRQHandler(void)
Sergunb 0:8f0d870509fe 126 {
Sergunb 0:8f0d870509fe 127 EXTI_ClearITPendingBit((1 << CONTROL_RESET_BIT) | (1 << CONTROL_FEED_HOLD_BIT) | (1 << CONTROL_CYCLE_START_BIT) | (1 << CONTROL_SAFETY_DOOR_BIT));
Sergunb 0:8f0d870509fe 128 uint8_t pin = system_control_get_state();
Sergunb 0:8f0d870509fe 129 if (pin)
Sergunb 0:8f0d870509fe 130 {
Sergunb 0:8f0d870509fe 131 if (bit_istrue(pin,CONTROL_PIN_INDEX_RESET))
Sergunb 0:8f0d870509fe 132 {
Sergunb 0:8f0d870509fe 133 mc_reset();
Sergunb 0:8f0d870509fe 134 }
Sergunb 0:8f0d870509fe 135 else if (bit_istrue(pin, CONTROL_PIN_INDEX_CYCLE_START))
Sergunb 0:8f0d870509fe 136 {
Sergunb 0:8f0d870509fe 137 bit_true(sys_rt_exec_state, EXEC_CYCLE_START);
Sergunb 0:8f0d870509fe 138 }
Sergunb 0:8f0d870509fe 139 #ifndef ENABLE_SAFETY_DOOR_INPUT_PIN
Sergunb 0:8f0d870509fe 140 else if (bit_istrue(pin, CONTROL_PIN_INDEX_FEED_HOLD))
Sergunb 0:8f0d870509fe 141 {
Sergunb 0:8f0d870509fe 142 bit_true(sys_rt_exec_state, EXEC_FEED_HOLD);
Sergunb 0:8f0d870509fe 143 }
Sergunb 0:8f0d870509fe 144 #else
Sergunb 0:8f0d870509fe 145 else if (bit_istrue(pin, CONTROL_PIN_INDEX_SAFETY_DOOR))
Sergunb 0:8f0d870509fe 146 {
Sergunb 0:8f0d870509fe 147 bit_true(sys_rt_exec_state, EXEC_SAFETY_DOOR);
Sergunb 0:8f0d870509fe 148 }
Sergunb 0:8f0d870509fe 149 #endif
Sergunb 0:8f0d870509fe 150 NVIC_ClearPendingIRQ(EXTI9_5_IRQn);
Sergunb 0:8f0d870509fe 151 }
Sergunb 0:8f0d870509fe 152 }
Sergunb 0:8f0d870509fe 153 #endif
Sergunb 0:8f0d870509fe 154
Sergunb 0:8f0d870509fe 155 // Returns if safety door is ajar(T) or closed(F), based on pin state.
Sergunb 0:8f0d870509fe 156 uint8_t system_check_safety_door_ajar()
Sergunb 0:8f0d870509fe 157 {
Sergunb 0:8f0d870509fe 158 #ifdef ENABLE_SAFETY_DOOR_INPUT_PIN
Sergunb 0:8f0d870509fe 159 return(system_control_get_state() & CONTROL_PIN_INDEX_SAFETY_DOOR);
Sergunb 0:8f0d870509fe 160 #else
Sergunb 0:8f0d870509fe 161 return(false); // Input pin not enabled, so just return that it's closed.
Sergunb 0:8f0d870509fe 162 #endif
Sergunb 0:8f0d870509fe 163 }
Sergunb 0:8f0d870509fe 164
Sergunb 0:8f0d870509fe 165
Sergunb 0:8f0d870509fe 166 // Executes user startup script, if stored.
Sergunb 0:8f0d870509fe 167 void system_execute_startup(char *line)
Sergunb 0:8f0d870509fe 168 {
Sergunb 0:8f0d870509fe 169 uint8_t n;
Sergunb 0:8f0d870509fe 170 for (n=0; n < N_STARTUP_LINE; n++) {
Sergunb 0:8f0d870509fe 171 if (!(settings_read_startup_line(n, line))) {
Sergunb 0:8f0d870509fe 172 line[0] = 0;
Sergunb 0:8f0d870509fe 173 report_execute_startup_message(line,STATUS_SETTING_READ_FAIL);
Sergunb 0:8f0d870509fe 174 } else {
Sergunb 0:8f0d870509fe 175 if (line[0] != 0) {
Sergunb 0:8f0d870509fe 176 uint8_t status_code = gc_execute_line(line);
Sergunb 0:8f0d870509fe 177 report_execute_startup_message(line,status_code);
Sergunb 0:8f0d870509fe 178 }
Sergunb 0:8f0d870509fe 179 }
Sergunb 0:8f0d870509fe 180 }
Sergunb 0:8f0d870509fe 181 }
Sergunb 0:8f0d870509fe 182
Sergunb 0:8f0d870509fe 183
Sergunb 0:8f0d870509fe 184 // Directs and executes one line of formatted input from protocol_process. While mostly
Sergunb 0:8f0d870509fe 185 // incoming streaming g-code blocks, this also executes Grbl internal commands, such as
Sergunb 0:8f0d870509fe 186 // settings, initiating the homing cycle, and toggling switch states. This differs from
Sergunb 0:8f0d870509fe 187 // the realtime command module by being susceptible to when Grbl is ready to execute the
Sergunb 0:8f0d870509fe 188 // next line during a cycle, so for switches like block delete, the switch only effects
Sergunb 0:8f0d870509fe 189 // the lines that are processed afterward, not necessarily real-time during a cycle,
Sergunb 0:8f0d870509fe 190 // since there are motions already stored in the buffer. However, this 'lag' should not
Sergunb 0:8f0d870509fe 191 // be an issue, since these commands are not typically used during a cycle.
Sergunb 0:8f0d870509fe 192 uint8_t system_execute_line(char *line)
Sergunb 0:8f0d870509fe 193 {
Sergunb 0:8f0d870509fe 194 uint8_t char_counter = 1;
Sergunb 0:8f0d870509fe 195 uint8_t helper_var = 0; // Helper variable
Sergunb 0:8f0d870509fe 196 float parameter, value;
Sergunb 0:8f0d870509fe 197 switch( line[char_counter] ) {
Sergunb 0:8f0d870509fe 198 case 0 : report_grbl_help(); break;
Sergunb 0:8f0d870509fe 199 case 'J' : // Jogging
Sergunb 0:8f0d870509fe 200 // Execute only if in IDLE or JOG states.
Sergunb 0:8f0d870509fe 201 if (sys.state != STATE_IDLE && sys.state != STATE_JOG) { return(STATUS_IDLE_ERROR); }
Sergunb 0:8f0d870509fe 202 if(line[2] != '=') { return(STATUS_INVALID_STATEMENT); }
Sergunb 0:8f0d870509fe 203 return(gc_execute_line(line)); // NOTE: $J= is ignored inside g-code parser and used to detect jog motions.
Sergunb 0:8f0d870509fe 204 break;
Sergunb 0:8f0d870509fe 205 case '$': case 'G': case 'C': case 'X':
Sergunb 0:8f0d870509fe 206 if ( line[2] != 0 ) { return(STATUS_INVALID_STATEMENT); }
Sergunb 0:8f0d870509fe 207 switch( line[1] ) {
Sergunb 0:8f0d870509fe 208 case '$' : // Prints Grbl settings
Sergunb 0:8f0d870509fe 209 if ( sys.state & (STATE_CYCLE | STATE_HOLD) ) { return(STATUS_IDLE_ERROR); } // Block during cycle. Takes too long to print.
Sergunb 0:8f0d870509fe 210 else { report_grbl_settings(); }
Sergunb 0:8f0d870509fe 211 break;
Sergunb 0:8f0d870509fe 212 case 'G' : // Prints gcode parser state
Sergunb 0:8f0d870509fe 213 // TODO: Move this to realtime commands for GUIs to request this data during suspend-state.
Sergunb 0:8f0d870509fe 214 report_gcode_modes();
Sergunb 0:8f0d870509fe 215 break;
Sergunb 0:8f0d870509fe 216 case 'C' : // Set check g-code mode [IDLE/CHECK]
Sergunb 0:8f0d870509fe 217 // Perform reset when toggling off. Check g-code mode should only work if Grbl
Sergunb 0:8f0d870509fe 218 // is idle and ready, regardless of alarm locks. This is mainly to keep things
Sergunb 0:8f0d870509fe 219 // simple and consistent.
Sergunb 0:8f0d870509fe 220 if ( sys.state == STATE_CHECK_MODE ) {
Sergunb 0:8f0d870509fe 221 mc_reset();
Sergunb 0:8f0d870509fe 222 report_feedback_message(MESSAGE_DISABLED);
Sergunb 0:8f0d870509fe 223 } else {
Sergunb 0:8f0d870509fe 224 if (sys.state) { return(STATUS_IDLE_ERROR); } // Requires no alarm mode.
Sergunb 0:8f0d870509fe 225 sys.state = STATE_CHECK_MODE;
Sergunb 0:8f0d870509fe 226 report_feedback_message(MESSAGE_ENABLED);
Sergunb 0:8f0d870509fe 227 }
Sergunb 0:8f0d870509fe 228 break;
Sergunb 0:8f0d870509fe 229 case 'X' : // Disable alarm lock [ALARM]
Sergunb 0:8f0d870509fe 230 if (sys.state == STATE_ALARM) {
Sergunb 0:8f0d870509fe 231 // Block if safety door is ajar.
Sergunb 0:8f0d870509fe 232 if (system_check_safety_door_ajar()) { return(STATUS_CHECK_DOOR); }
Sergunb 0:8f0d870509fe 233 report_feedback_message(MESSAGE_ALARM_UNLOCK);
Sergunb 0:8f0d870509fe 234 sys.state = STATE_IDLE;
Sergunb 0:8f0d870509fe 235 // Don't run startup script. Prevents stored moves in startup from causing accidents.
Sergunb 0:8f0d870509fe 236 } // Otherwise, no effect.
Sergunb 0:8f0d870509fe 237 break;
Sergunb 0:8f0d870509fe 238 }
Sergunb 0:8f0d870509fe 239 break;
Sergunb 0:8f0d870509fe 240 default :
Sergunb 0:8f0d870509fe 241 // Block any system command that requires the state as IDLE/ALARM. (i.e. EEPROM, homing)
Sergunb 0:8f0d870509fe 242 if ( !(sys.state == STATE_IDLE || sys.state == STATE_ALARM) ) { return(STATUS_IDLE_ERROR); }
Sergunb 0:8f0d870509fe 243 switch( line[1] ) {
Sergunb 0:8f0d870509fe 244 case '#' : // Print Grbl NGC parameters
Sergunb 0:8f0d870509fe 245 if ( line[2] != 0 ) { return(STATUS_INVALID_STATEMENT); }
Sergunb 0:8f0d870509fe 246 else { report_ngc_parameters(); }
Sergunb 0:8f0d870509fe 247 break;
Sergunb 0:8f0d870509fe 248 case 'H' : // Perform homing cycle [IDLE/ALARM]
Sergunb 0:8f0d870509fe 249 if (bit_isfalse(settings.flags,BITFLAG_HOMING_ENABLE)) {return(STATUS_SETTING_DISABLED); }
Sergunb 0:8f0d870509fe 250 if (system_check_safety_door_ajar()) { return(STATUS_CHECK_DOOR); } // Block if safety door is ajar.
Sergunb 0:8f0d870509fe 251 sys.state = STATE_HOMING; // Set system state variable
Sergunb 0:8f0d870509fe 252 if (line[2] == 0) {
Sergunb 0:8f0d870509fe 253 mc_homing_cycle(HOMING_CYCLE_ALL);
Sergunb 0:8f0d870509fe 254 #ifdef HOMING_SINGLE_AXIS_COMMANDS
Sergunb 0:8f0d870509fe 255 } else if (line[3] == 0) {
Sergunb 0:8f0d870509fe 256 switch (line[2]) {
Sergunb 0:8f0d870509fe 257 case 'X': mc_homing_cycle(HOMING_CYCLE_X); break;
Sergunb 0:8f0d870509fe 258 case 'Y': mc_homing_cycle(HOMING_CYCLE_Y); break;
Sergunb 0:8f0d870509fe 259 case 'Z': mc_homing_cycle(HOMING_CYCLE_Z); break;
Sergunb 0:8f0d870509fe 260 default: return(STATUS_INVALID_STATEMENT);
Sergunb 0:8f0d870509fe 261 }
Sergunb 0:8f0d870509fe 262 #endif
Sergunb 0:8f0d870509fe 263 } else { return(STATUS_INVALID_STATEMENT); }
Sergunb 0:8f0d870509fe 264 if (!sys.abort) { // Execute startup scripts after successful homing.
Sergunb 0:8f0d870509fe 265 sys.state = STATE_IDLE; // Set to IDLE when complete.
Sergunb 0:8f0d870509fe 266 st_go_idle(); // Set steppers to the settings idle state before returning.
Sergunb 0:8f0d870509fe 267 if (line[2] == 0) { system_execute_startup(line); }
Sergunb 0:8f0d870509fe 268 }
Sergunb 0:8f0d870509fe 269 break;
Sergunb 0:8f0d870509fe 270 case 'S' : // Puts Grbl to sleep [IDLE/ALARM]
Sergunb 0:8f0d870509fe 271 if ((line[2] != 'L') || (line[3] != 'P') || (line[4] != 0)) { return(STATUS_INVALID_STATEMENT); }
Sergunb 0:8f0d870509fe 272 system_set_exec_state_flag(EXEC_SLEEP); // Set to execute sleep mode immediately
Sergunb 0:8f0d870509fe 273 break;
Sergunb 0:8f0d870509fe 274 case 'I' : // Print or store build info. [IDLE/ALARM]
Sergunb 0:8f0d870509fe 275 if ( line[++char_counter] == 0 ) {
Sergunb 0:8f0d870509fe 276 settings_read_build_info(line);
Sergunb 0:8f0d870509fe 277 report_build_info(line);
Sergunb 0:8f0d870509fe 278 #ifdef ENABLE_BUILD_INFO_WRITE_COMMAND
Sergunb 0:8f0d870509fe 279 } else { // Store startup line [IDLE/ALARM]
Sergunb 0:8f0d870509fe 280 if(line[char_counter++] != '=') { return(STATUS_INVALID_STATEMENT); }
Sergunb 0:8f0d870509fe 281 helper_var = char_counter; // Set helper variable as counter to start of user info line.
Sergunb 0:8f0d870509fe 282 do {
Sergunb 0:8f0d870509fe 283 line[char_counter-helper_var] = line[char_counter];
Sergunb 0:8f0d870509fe 284 } while (line[char_counter++] != 0);
Sergunb 0:8f0d870509fe 285 settings_store_build_info(line);
Sergunb 0:8f0d870509fe 286 #endif
Sergunb 0:8f0d870509fe 287 }
Sergunb 0:8f0d870509fe 288 break;
Sergunb 0:8f0d870509fe 289 case 'R' : // Restore defaults [IDLE/ALARM]
Sergunb 0:8f0d870509fe 290 if ((line[2] != 'S') || (line[3] != 'T') || (line[4] != '=') || (line[6] != 0)) { return(STATUS_INVALID_STATEMENT); }
Sergunb 0:8f0d870509fe 291 switch (line[5]) {
Sergunb 0:8f0d870509fe 292 #ifdef ENABLE_RESTORE_EEPROM_DEFAULT_SETTINGS
Sergunb 0:8f0d870509fe 293 case '$': settings_restore(SETTINGS_RESTORE_DEFAULTS); break;
Sergunb 0:8f0d870509fe 294 #endif
Sergunb 0:8f0d870509fe 295 #ifdef ENABLE_RESTORE_EEPROM_CLEAR_PARAMETERS
Sergunb 0:8f0d870509fe 296 case '#': settings_restore(SETTINGS_RESTORE_PARAMETERS); break;
Sergunb 0:8f0d870509fe 297 #endif
Sergunb 0:8f0d870509fe 298 #ifdef ENABLE_RESTORE_EEPROM_WIPE_ALL
Sergunb 0:8f0d870509fe 299 case '*': settings_restore(SETTINGS_RESTORE_ALL); break;
Sergunb 0:8f0d870509fe 300 #endif
Sergunb 0:8f0d870509fe 301 default: return(STATUS_INVALID_STATEMENT);
Sergunb 0:8f0d870509fe 302 }
Sergunb 0:8f0d870509fe 303 report_feedback_message(MESSAGE_RESTORE_DEFAULTS);
Sergunb 0:8f0d870509fe 304 mc_reset(); // Force reset to ensure settings are initialized correctly.
Sergunb 0:8f0d870509fe 305 break;
Sergunb 0:8f0d870509fe 306 case 'N' : // Startup lines. [IDLE/ALARM]
Sergunb 0:8f0d870509fe 307 if ( line[++char_counter] == 0 ) { // Print startup lines
Sergunb 0:8f0d870509fe 308 for (helper_var=0; helper_var < N_STARTUP_LINE; helper_var++) {
Sergunb 0:8f0d870509fe 309 if (!(settings_read_startup_line(helper_var, line))) {
Sergunb 0:8f0d870509fe 310 report_status_message(STATUS_SETTING_READ_FAIL);
Sergunb 0:8f0d870509fe 311 } else {
Sergunb 0:8f0d870509fe 312 report_startup_line(helper_var,line);
Sergunb 0:8f0d870509fe 313 }
Sergunb 0:8f0d870509fe 314 }
Sergunb 0:8f0d870509fe 315 break;
Sergunb 0:8f0d870509fe 316 } else { // Store startup line [IDLE Only] Prevents motion during ALARM.
Sergunb 0:8f0d870509fe 317 if (sys.state != STATE_IDLE) { return(STATUS_IDLE_ERROR); } // Store only when idle.
Sergunb 0:8f0d870509fe 318 helper_var = true; // Set helper_var to flag storing method.
Sergunb 0:8f0d870509fe 319 // No break. Continues into default: to read remaining command characters.
Sergunb 0:8f0d870509fe 320 }
Sergunb 0:8f0d870509fe 321 default : // Storing setting methods [IDLE/ALARM]
Sergunb 0:8f0d870509fe 322 if(!read_float(line, &char_counter, &parameter)) { return(STATUS_BAD_NUMBER_FORMAT); }
Sergunb 0:8f0d870509fe 323 if(line[char_counter++] != '=') { return(STATUS_INVALID_STATEMENT); }
Sergunb 0:8f0d870509fe 324 if (helper_var) { // Store startup line
Sergunb 0:8f0d870509fe 325 // Prepare sending gcode block to gcode parser by shifting all characters
Sergunb 0:8f0d870509fe 326 helper_var = char_counter; // Set helper variable as counter to start of gcode block
Sergunb 0:8f0d870509fe 327 do {
Sergunb 0:8f0d870509fe 328 line[char_counter-helper_var] = line[char_counter];
Sergunb 0:8f0d870509fe 329 } while (line[char_counter++] != 0);
Sergunb 0:8f0d870509fe 330 // Execute gcode block to ensure block is valid.
Sergunb 0:8f0d870509fe 331 helper_var = gc_execute_line(line); // Set helper_var to returned status code.
Sergunb 0:8f0d870509fe 332 if (helper_var) { return(helper_var); }
Sergunb 0:8f0d870509fe 333 else {
Sergunb 0:8f0d870509fe 334 helper_var = truncf(parameter); // Set helper_var to int value of parameter
Sergunb 0:8f0d870509fe 335 settings_store_startup_line(helper_var,line);
Sergunb 0:8f0d870509fe 336 }
Sergunb 0:8f0d870509fe 337 } else { // Store global setting.
Sergunb 0:8f0d870509fe 338 if(!read_float(line, &char_counter, &value)) { return(STATUS_BAD_NUMBER_FORMAT); }
Sergunb 0:8f0d870509fe 339 if((line[char_counter] != 0) || (parameter > 255)) { return(STATUS_INVALID_STATEMENT); }
Sergunb 0:8f0d870509fe 340 return(settings_store_global_setting((uint8_t)parameter, value));
Sergunb 0:8f0d870509fe 341 }
Sergunb 0:8f0d870509fe 342 }
Sergunb 0:8f0d870509fe 343 }
Sergunb 0:8f0d870509fe 344 return(STATUS_OK); // If '$' command makes it to here, then everything's ok.
Sergunb 0:8f0d870509fe 345 }
Sergunb 0:8f0d870509fe 346
Sergunb 0:8f0d870509fe 347
Sergunb 0:8f0d870509fe 348
Sergunb 0:8f0d870509fe 349 void system_flag_wco_change()
Sergunb 0:8f0d870509fe 350 {
Sergunb 0:8f0d870509fe 351 #ifdef FORCE_BUFFER_SYNC_DURING_WCO_CHANGE
Sergunb 0:8f0d870509fe 352 protocol_buffer_synchronize();
Sergunb 0:8f0d870509fe 353 #endif
Sergunb 0:8f0d870509fe 354 sys.report_wco_counter = 0;
Sergunb 0:8f0d870509fe 355 }
Sergunb 0:8f0d870509fe 356
Sergunb 0:8f0d870509fe 357
Sergunb 0:8f0d870509fe 358 // Returns machine position of axis 'idx'. Must be sent a 'step' array.
Sergunb 0:8f0d870509fe 359 // NOTE: If motor steps and machine position are not in the same coordinate frame, this function
Sergunb 0:8f0d870509fe 360 // serves as a central place to compute the transformation.
Sergunb 0:8f0d870509fe 361 float system_convert_axis_steps_to_mpos(int32_t *steps, uint8_t idx)
Sergunb 0:8f0d870509fe 362 {
Sergunb 0:8f0d870509fe 363 float pos;
Sergunb 0:8f0d870509fe 364 #ifdef COREXY
Sergunb 0:8f0d870509fe 365 if (idx==X_AXIS) {
Sergunb 0:8f0d870509fe 366 pos = (float)system_convert_corexy_to_x_axis_steps(steps) / settings.steps_per_mm[idx];
Sergunb 0:8f0d870509fe 367 } else if (idx==Y_AXIS) {
Sergunb 0:8f0d870509fe 368 pos = (float)system_convert_corexy_to_y_axis_steps(steps) / settings.steps_per_mm[idx];
Sergunb 0:8f0d870509fe 369 } else {
Sergunb 0:8f0d870509fe 370 pos = steps[idx]/settings.steps_per_mm[idx];
Sergunb 0:8f0d870509fe 371 }
Sergunb 0:8f0d870509fe 372 #else
Sergunb 0:8f0d870509fe 373 pos = steps[idx]/settings.steps_per_mm[idx];
Sergunb 0:8f0d870509fe 374 #endif
Sergunb 0:8f0d870509fe 375 return(pos);
Sergunb 0:8f0d870509fe 376 }
Sergunb 0:8f0d870509fe 377
Sergunb 0:8f0d870509fe 378
Sergunb 0:8f0d870509fe 379 void system_convert_array_steps_to_mpos(float *position, int32_t *steps)
Sergunb 0:8f0d870509fe 380 {
Sergunb 0:8f0d870509fe 381 uint8_t idx;
Sergunb 0:8f0d870509fe 382 for (idx=0; idx<N_AXIS; idx++) {
Sergunb 0:8f0d870509fe 383 position[idx] = system_convert_axis_steps_to_mpos(steps, idx);
Sergunb 0:8f0d870509fe 384 }
Sergunb 0:8f0d870509fe 385 return;
Sergunb 0:8f0d870509fe 386 }
Sergunb 0:8f0d870509fe 387
Sergunb 0:8f0d870509fe 388
Sergunb 0:8f0d870509fe 389 // CoreXY calculation only. Returns x or y-axis "steps" based on CoreXY motor steps.
Sergunb 0:8f0d870509fe 390 #ifdef COREXY
Sergunb 0:8f0d870509fe 391 int32_t system_convert_corexy_to_x_axis_steps(int32_t *steps)
Sergunb 0:8f0d870509fe 392 {
Sergunb 0:8f0d870509fe 393 return( (steps[A_MOTOR] + steps[B_MOTOR])/2 );
Sergunb 0:8f0d870509fe 394 }
Sergunb 0:8f0d870509fe 395 int32_t system_convert_corexy_to_y_axis_steps(int32_t *steps)
Sergunb 0:8f0d870509fe 396 {
Sergunb 0:8f0d870509fe 397 return( (steps[A_MOTOR] - steps[B_MOTOR])/2 );
Sergunb 0:8f0d870509fe 398 }
Sergunb 0:8f0d870509fe 399 #endif
Sergunb 0:8f0d870509fe 400
Sergunb 0:8f0d870509fe 401
Sergunb 0:8f0d870509fe 402 // Checks and reports if target array exceeds machine travel limits.
Sergunb 0:8f0d870509fe 403 uint8_t system_check_travel_limits(float *target)
Sergunb 0:8f0d870509fe 404 {
Sergunb 0:8f0d870509fe 405 uint8_t idx;
Sergunb 0:8f0d870509fe 406 for (idx=0; idx<N_AXIS; idx++) {
Sergunb 0:8f0d870509fe 407 #ifdef HOMING_FORCE_SET_ORIGIN
Sergunb 0:8f0d870509fe 408 // When homing forced set origin is enabled, soft limits checks need to account for directionality.
Sergunb 0:8f0d870509fe 409 // NOTE: max_travel is stored as negative
Sergunb 0:8f0d870509fe 410 if (bit_istrue(settings.homing_dir_mask,bit(idx))) {
Sergunb 0:8f0d870509fe 411 if (target[idx] < 0 || target[idx] > -settings.max_travel[idx]) { return(true); }
Sergunb 0:8f0d870509fe 412 } else {
Sergunb 0:8f0d870509fe 413 if (target[idx] > 0 || target[idx] < settings.max_travel[idx]) { return(true); }
Sergunb 0:8f0d870509fe 414 }
Sergunb 0:8f0d870509fe 415 #else
Sergunb 0:8f0d870509fe 416 // NOTE: max_travel is stored as negative
Sergunb 0:8f0d870509fe 417 if (target[idx] > 0 || target[idx] < settings.max_travel[idx]) { return(true); }
Sergunb 0:8f0d870509fe 418 #endif
Sergunb 0:8f0d870509fe 419 }
Sergunb 0:8f0d870509fe 420 return(false);
Sergunb 0:8f0d870509fe 421 }
Sergunb 0:8f0d870509fe 422
Sergunb 0:8f0d870509fe 423 #ifdef WIN32
Sergunb 0:8f0d870509fe 424 extern CRITICAL_SECTION CriticalSection;
Sergunb 0:8f0d870509fe 425 #endif
Sergunb 0:8f0d870509fe 426
Sergunb 0:8f0d870509fe 427 // Special handlers for setting and clearing Grbl's real-time execution flags.
Sergunb 0:8f0d870509fe 428 void system_set_exec_state_flag(uint8_t mask) {
Sergunb 0:8f0d870509fe 429 #ifdef AVRTARGET
Sergunb 0:8f0d870509fe 430 uint8_t sreg = SREG;
Sergunb 0:8f0d870509fe 431 cli();
Sergunb 0:8f0d870509fe 432 sys_rt_exec_state |= (mask);
Sergunb 0:8f0d870509fe 433 SREG = sreg;
Sergunb 0:8f0d870509fe 434 #endif
Sergunb 0:8f0d870509fe 435 #ifdef WIN32
Sergunb 0:8f0d870509fe 436 EnterCriticalSection(&CriticalSection);
Sergunb 0:8f0d870509fe 437 sys_rt_exec_state |= (mask);
Sergunb 0:8f0d870509fe 438 LeaveCriticalSection(&CriticalSection);
Sergunb 0:8f0d870509fe 439 #endif
Sergunb 0:8f0d870509fe 440 #ifdef STM32F103C8
Sergunb 0:8f0d870509fe 441 __disable_irq();
Sergunb 0:8f0d870509fe 442 sys_rt_exec_state |= (mask);
Sergunb 0:8f0d870509fe 443 __enable_irq();
Sergunb 0:8f0d870509fe 444 #endif
Sergunb 0:8f0d870509fe 445 }
Sergunb 0:8f0d870509fe 446
Sergunb 0:8f0d870509fe 447 void system_clear_exec_state_flag(uint8_t mask) {
Sergunb 0:8f0d870509fe 448 #ifdef AVRTARGET
Sergunb 0:8f0d870509fe 449 uint8_t sreg = SREG;
Sergunb 0:8f0d870509fe 450 cli();
Sergunb 0:8f0d870509fe 451 sys_rt_exec_state &= ~(mask);
Sergunb 0:8f0d870509fe 452 SREG = sreg;
Sergunb 0:8f0d870509fe 453 #endif
Sergunb 0:8f0d870509fe 454 #ifdef WIN32
Sergunb 0:8f0d870509fe 455 EnterCriticalSection(&CriticalSection);
Sergunb 0:8f0d870509fe 456 sys_rt_exec_state &= ~(mask);
Sergunb 0:8f0d870509fe 457 LeaveCriticalSection(&CriticalSection);
Sergunb 0:8f0d870509fe 458 #endif
Sergunb 0:8f0d870509fe 459 #ifdef STM32F103C8
Sergunb 0:8f0d870509fe 460 __disable_irq();
Sergunb 0:8f0d870509fe 461 sys_rt_exec_state &= ~(mask);
Sergunb 0:8f0d870509fe 462 __enable_irq();
Sergunb 0:8f0d870509fe 463 #endif
Sergunb 0:8f0d870509fe 464 }
Sergunb 0:8f0d870509fe 465
Sergunb 0:8f0d870509fe 466 void system_set_exec_alarm(uint8_t code) {
Sergunb 0:8f0d870509fe 467 #ifdef AVRTARGET
Sergunb 0:8f0d870509fe 468 uint8_t sreg = SREG;
Sergunb 0:8f0d870509fe 469 cli();
Sergunb 0:8f0d870509fe 470 sys_rt_exec_alarm = code;
Sergunb 0:8f0d870509fe 471 SREG = sreg;
Sergunb 0:8f0d870509fe 472 #endif
Sergunb 0:8f0d870509fe 473 #ifdef WIN32
Sergunb 0:8f0d870509fe 474 EnterCriticalSection(&CriticalSection);
Sergunb 0:8f0d870509fe 475 sys_rt_exec_alarm |= (code);
Sergunb 0:8f0d870509fe 476 LeaveCriticalSection(&CriticalSection);
Sergunb 0:8f0d870509fe 477 #endif
Sergunb 0:8f0d870509fe 478 #ifdef STM32F103C8
Sergunb 0:8f0d870509fe 479 __disable_irq();
Sergunb 0:8f0d870509fe 480 sys_rt_exec_alarm |= (code);
Sergunb 0:8f0d870509fe 481 __enable_irq();
Sergunb 0:8f0d870509fe 482 #endif
Sergunb 0:8f0d870509fe 483 }
Sergunb 0:8f0d870509fe 484
Sergunb 0:8f0d870509fe 485 void system_clear_exec_alarm() {
Sergunb 0:8f0d870509fe 486 #ifdef AVRTARGET
Sergunb 0:8f0d870509fe 487 uint8_t sreg = SREG;
Sergunb 0:8f0d870509fe 488 cli();
Sergunb 0:8f0d870509fe 489 sys_rt_exec_alarm = 0;
Sergunb 0:8f0d870509fe 490 SREG = sreg;
Sergunb 0:8f0d870509fe 491 #endif
Sergunb 0:8f0d870509fe 492 #ifdef WIN32
Sergunb 0:8f0d870509fe 493 EnterCriticalSection(&CriticalSection);
Sergunb 0:8f0d870509fe 494 sys_rt_exec_alarm = 0;
Sergunb 0:8f0d870509fe 495 LeaveCriticalSection(&CriticalSection);
Sergunb 0:8f0d870509fe 496 #endif
Sergunb 0:8f0d870509fe 497 #ifdef STM32F103C8
Sergunb 0:8f0d870509fe 498 __disable_irq();
Sergunb 0:8f0d870509fe 499 sys_rt_exec_alarm = 0;
Sergunb 0:8f0d870509fe 500 __enable_irq();
Sergunb 0:8f0d870509fe 501 #endif
Sergunb 0:8f0d870509fe 502 }
Sergunb 0:8f0d870509fe 503
Sergunb 0:8f0d870509fe 504 void system_set_exec_motion_override_flag(uint8_t mask) {
Sergunb 0:8f0d870509fe 505 #ifdef AVRTARGET
Sergunb 0:8f0d870509fe 506 uint8_t sreg = SREG;
Sergunb 0:8f0d870509fe 507 cli();
Sergunb 0:8f0d870509fe 508 sys_rt_exec_motion_override |= (mask);
Sergunb 0:8f0d870509fe 509 SREG = sreg;
Sergunb 0:8f0d870509fe 510 #endif
Sergunb 0:8f0d870509fe 511 #ifdef WIN32
Sergunb 0:8f0d870509fe 512 EnterCriticalSection(&CriticalSection);
Sergunb 0:8f0d870509fe 513 sys_rt_exec_motion_override |= (mask);
Sergunb 0:8f0d870509fe 514 LeaveCriticalSection(&CriticalSection);
Sergunb 0:8f0d870509fe 515 #endif
Sergunb 0:8f0d870509fe 516 #ifdef STM32F103C8
Sergunb 0:8f0d870509fe 517 __disable_irq();
Sergunb 0:8f0d870509fe 518 sys_rt_exec_motion_override |= (mask);
Sergunb 0:8f0d870509fe 519 __enable_irq();
Sergunb 0:8f0d870509fe 520 #endif
Sergunb 0:8f0d870509fe 521 }
Sergunb 0:8f0d870509fe 522
Sergunb 0:8f0d870509fe 523 void system_set_exec_accessory_override_flag(uint8_t mask) {
Sergunb 0:8f0d870509fe 524 #ifdef AVRTARGET
Sergunb 0:8f0d870509fe 525 uint8_t sreg = SREG;
Sergunb 0:8f0d870509fe 526 cli();
Sergunb 0:8f0d870509fe 527 sys_rt_exec_accessory_override |= (mask);
Sergunb 0:8f0d870509fe 528 SREG = sreg;
Sergunb 0:8f0d870509fe 529 #endif
Sergunb 0:8f0d870509fe 530 #ifdef WIN32
Sergunb 0:8f0d870509fe 531 EnterCriticalSection(&CriticalSection);
Sergunb 0:8f0d870509fe 532 sys_rt_exec_accessory_override |= (mask);
Sergunb 0:8f0d870509fe 533 LeaveCriticalSection(&CriticalSection);
Sergunb 0:8f0d870509fe 534 #endif
Sergunb 0:8f0d870509fe 535 #ifdef STM32F103C8
Sergunb 0:8f0d870509fe 536 __disable_irq();
Sergunb 0:8f0d870509fe 537 sys_rt_exec_accessory_override |= (mask);
Sergunb 0:8f0d870509fe 538 __enable_irq();
Sergunb 0:8f0d870509fe 539 #endif
Sergunb 0:8f0d870509fe 540 }
Sergunb 0:8f0d870509fe 541
Sergunb 0:8f0d870509fe 542 void system_clear_exec_motion_overrides() {
Sergunb 0:8f0d870509fe 543 #ifdef AVRTARGET
Sergunb 0:8f0d870509fe 544 uint8_t sreg = SREG;
Sergunb 0:8f0d870509fe 545 cli();
Sergunb 0:8f0d870509fe 546 sys_rt_exec_motion_override = 0;
Sergunb 0:8f0d870509fe 547 SREG = sreg;
Sergunb 0:8f0d870509fe 548 #endif
Sergunb 0:8f0d870509fe 549 #ifdef WIN32
Sergunb 0:8f0d870509fe 550 EnterCriticalSection(&CriticalSection);
Sergunb 0:8f0d870509fe 551 sys_rt_exec_motion_override = 0;
Sergunb 0:8f0d870509fe 552 LeaveCriticalSection(&CriticalSection);
Sergunb 0:8f0d870509fe 553 #endif
Sergunb 0:8f0d870509fe 554 #ifdef STM32F103C8
Sergunb 0:8f0d870509fe 555 __disable_irq();
Sergunb 0:8f0d870509fe 556 sys_rt_exec_motion_override = 0;
Sergunb 0:8f0d870509fe 557 __enable_irq();
Sergunb 0:8f0d870509fe 558 #endif
Sergunb 0:8f0d870509fe 559 }
Sergunb 0:8f0d870509fe 560
Sergunb 0:8f0d870509fe 561 void system_clear_exec_accessory_overrides() {
Sergunb 0:8f0d870509fe 562 #ifdef AVRTARGET
Sergunb 0:8f0d870509fe 563 uint8_t sreg = SREG;
Sergunb 0:8f0d870509fe 564 cli();
Sergunb 0:8f0d870509fe 565 sys_rt_exec_accessory_override = 0;
Sergunb 0:8f0d870509fe 566 SREG = sreg;
Sergunb 0:8f0d870509fe 567 #endif
Sergunb 0:8f0d870509fe 568 #ifdef WIN32
Sergunb 0:8f0d870509fe 569 EnterCriticalSection(&CriticalSection);
Sergunb 0:8f0d870509fe 570 sys_rt_exec_accessory_override = 0;
Sergunb 0:8f0d870509fe 571 LeaveCriticalSection(&CriticalSection);
Sergunb 0:8f0d870509fe 572 #endif
Sergunb 0:8f0d870509fe 573 #ifdef STM32F103C8
Sergunb 0:8f0d870509fe 574 __disable_irq();
Sergunb 0:8f0d870509fe 575 sys_rt_exec_accessory_override = 0;
Sergunb 0:8f0d870509fe 576 __enable_irq();
Sergunb 0:8f0d870509fe 577 #endif
Sergunb 0:8f0d870509fe 578 }