Sergey Pastor / grbl1

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

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

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Sergunb 0:8f0d870509fe 1 /*
Sergunb 0:8f0d870509fe 2 system.h - Header for 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 #ifndef system_h
Sergunb 0:8f0d870509fe 22 #define system_h
Sergunb 0:8f0d870509fe 23
Sergunb 0:8f0d870509fe 24 #include "grbl.h"
Sergunb 0:8f0d870509fe 25
Sergunb 0:8f0d870509fe 26 // Define system executor bit map. Used internally by realtime protocol as realtime command flags,
Sergunb 0:8f0d870509fe 27 // which notifies the main program to execute the specified realtime command asynchronously.
Sergunb 0:8f0d870509fe 28 // NOTE: The system executor uses an unsigned 8-bit volatile variable (8 flag limit.) The default
Sergunb 0:8f0d870509fe 29 // flags are always false, so the realtime protocol only needs to check for a non-zero value to
Sergunb 0:8f0d870509fe 30 // know when there is a realtime command to execute.
Sergunb 0:8f0d870509fe 31 #define EXEC_STATUS_REPORT bit(0) // bitmask 00000001
Sergunb 0:8f0d870509fe 32 #define EXEC_CYCLE_START bit(1) // bitmask 00000010
Sergunb 0:8f0d870509fe 33 #define EXEC_CYCLE_STOP bit(2) // bitmask 00000100
Sergunb 0:8f0d870509fe 34 #define EXEC_FEED_HOLD bit(3) // bitmask 00001000
Sergunb 0:8f0d870509fe 35 #define EXEC_RESET bit(4) // bitmask 00010000
Sergunb 0:8f0d870509fe 36 #define EXEC_SAFETY_DOOR bit(5) // bitmask 00100000
Sergunb 0:8f0d870509fe 37 #define EXEC_MOTION_CANCEL bit(6) // bitmask 01000000
Sergunb 0:8f0d870509fe 38 #define EXEC_SLEEP bit(7) // bitmask 10000000
Sergunb 0:8f0d870509fe 39
Sergunb 0:8f0d870509fe 40 // Alarm executor codes. Valid values (1-255). Zero is reserved.
Sergunb 0:8f0d870509fe 41 #define EXEC_ALARM_HARD_LIMIT 1
Sergunb 0:8f0d870509fe 42 #define EXEC_ALARM_SOFT_LIMIT 2
Sergunb 0:8f0d870509fe 43 #define EXEC_ALARM_ABORT_CYCLE 3
Sergunb 0:8f0d870509fe 44 #define EXEC_ALARM_PROBE_FAIL_INITIAL 4
Sergunb 0:8f0d870509fe 45 #define EXEC_ALARM_PROBE_FAIL_CONTACT 5
Sergunb 0:8f0d870509fe 46 #define EXEC_ALARM_HOMING_FAIL_RESET 6
Sergunb 0:8f0d870509fe 47 #define EXEC_ALARM_HOMING_FAIL_DOOR 7
Sergunb 0:8f0d870509fe 48 #define EXEC_ALARM_HOMING_FAIL_PULLOFF 8
Sergunb 0:8f0d870509fe 49 #define EXEC_ALARM_HOMING_FAIL_APPROACH 9
Sergunb 0:8f0d870509fe 50
Sergunb 0:8f0d870509fe 51 // Override bit maps. Realtime bitflags to control feed, rapid, spindle, and coolant overrides.
Sergunb 0:8f0d870509fe 52 // Spindle/coolant and feed/rapids are separated into two controlling flag variables.
Sergunb 0:8f0d870509fe 53 #define EXEC_FEED_OVR_RESET bit(0)
Sergunb 0:8f0d870509fe 54 #define EXEC_FEED_OVR_COARSE_PLUS bit(1)
Sergunb 0:8f0d870509fe 55 #define EXEC_FEED_OVR_COARSE_MINUS bit(2)
Sergunb 0:8f0d870509fe 56 #define EXEC_FEED_OVR_FINE_PLUS bit(3)
Sergunb 0:8f0d870509fe 57 #define EXEC_FEED_OVR_FINE_MINUS bit(4)
Sergunb 0:8f0d870509fe 58 #define EXEC_RAPID_OVR_RESET bit(5)
Sergunb 0:8f0d870509fe 59 #define EXEC_RAPID_OVR_MEDIUM bit(6)
Sergunb 0:8f0d870509fe 60 #define EXEC_RAPID_OVR_LOW bit(7)
Sergunb 0:8f0d870509fe 61 // #define EXEC_RAPID_OVR_EXTRA_LOW bit(*) // *NOT SUPPORTED*
Sergunb 0:8f0d870509fe 62
Sergunb 0:8f0d870509fe 63 #define EXEC_SPINDLE_OVR_RESET bit(0)
Sergunb 0:8f0d870509fe 64 #define EXEC_SPINDLE_OVR_COARSE_PLUS bit(1)
Sergunb 0:8f0d870509fe 65 #define EXEC_SPINDLE_OVR_COARSE_MINUS bit(2)
Sergunb 0:8f0d870509fe 66 #define EXEC_SPINDLE_OVR_FINE_PLUS bit(3)
Sergunb 0:8f0d870509fe 67 #define EXEC_SPINDLE_OVR_FINE_MINUS bit(4)
Sergunb 0:8f0d870509fe 68 #define EXEC_SPINDLE_OVR_STOP bit(5)
Sergunb 0:8f0d870509fe 69 #define EXEC_COOLANT_FLOOD_OVR_TOGGLE bit(6)
Sergunb 0:8f0d870509fe 70 #define EXEC_COOLANT_MIST_OVR_TOGGLE bit(7)
Sergunb 0:8f0d870509fe 71
Sergunb 0:8f0d870509fe 72 // Define system state bit map. The state variable primarily tracks the individual functions
Sergunb 0:8f0d870509fe 73 // of Grbl to manage each without overlapping. It is also used as a messaging flag for
Sergunb 0:8f0d870509fe 74 // critical events.
Sergunb 0:8f0d870509fe 75 #define STATE_IDLE 0 // Must be zero. No flags.
Sergunb 0:8f0d870509fe 76 #define STATE_ALARM bit(0) // In alarm state. Locks out all g-code processes. Allows settings access.
Sergunb 0:8f0d870509fe 77 #define STATE_CHECK_MODE bit(1) // G-code check mode. Locks out planner and motion only.
Sergunb 0:8f0d870509fe 78 #define STATE_HOMING bit(2) // Performing homing cycle
Sergunb 0:8f0d870509fe 79 #define STATE_CYCLE bit(3) // Cycle is running or motions are being executed.
Sergunb 0:8f0d870509fe 80 #define STATE_HOLD bit(4) // Active feed hold
Sergunb 0:8f0d870509fe 81 #define STATE_JOG bit(5) // Jogging mode.
Sergunb 0:8f0d870509fe 82 #define STATE_SAFETY_DOOR bit(6) // Safety door is ajar. Feed holds and de-energizes system.
Sergunb 0:8f0d870509fe 83 #define STATE_SLEEP bit(7) // Sleep state.
Sergunb 0:8f0d870509fe 84
Sergunb 0:8f0d870509fe 85 // Define system suspend flags. Used in various ways to manage suspend states and procedures.
Sergunb 0:8f0d870509fe 86 #define SUSPEND_DISABLE 0 // Must be zero.
Sergunb 0:8f0d870509fe 87 #define SUSPEND_HOLD_COMPLETE bit(0) // Indicates initial feed hold is complete.
Sergunb 0:8f0d870509fe 88 #define SUSPEND_RESTART_RETRACT bit(1) // Flag to indicate a retract from a restore parking motion.
Sergunb 0:8f0d870509fe 89 #define SUSPEND_RETRACT_COMPLETE bit(2) // (Safety door only) Indicates retraction and de-energizing is complete.
Sergunb 0:8f0d870509fe 90 #define SUSPEND_INITIATE_RESTORE bit(3) // (Safety door only) Flag to initiate resume procedures from a cycle start.
Sergunb 0:8f0d870509fe 91 #define SUSPEND_RESTORE_COMPLETE bit(4) // (Safety door only) Indicates ready to resume normal operation.
Sergunb 0:8f0d870509fe 92 #define SUSPEND_SAFETY_DOOR_AJAR bit(5) // Tracks safety door state for resuming.
Sergunb 0:8f0d870509fe 93 #define SUSPEND_MOTION_CANCEL bit(6) // Indicates a canceled resume motion. Currently used by probing routine.
Sergunb 0:8f0d870509fe 94 #define SUSPEND_JOG_CANCEL bit(7) // Indicates a jog cancel in process and to reset buffers when complete.
Sergunb 0:8f0d870509fe 95
Sergunb 0:8f0d870509fe 96 // Define step segment generator state flags.
Sergunb 0:8f0d870509fe 97 #define STEP_CONTROL_NORMAL_OP 0 // Must be zero.
Sergunb 0:8f0d870509fe 98 #define STEP_CONTROL_END_MOTION bit(0)
Sergunb 0:8f0d870509fe 99 #define STEP_CONTROL_EXECUTE_HOLD bit(1)
Sergunb 0:8f0d870509fe 100 #define STEP_CONTROL_EXECUTE_SYS_MOTION bit(2)
Sergunb 0:8f0d870509fe 101 #define STEP_CONTROL_UPDATE_SPINDLE_PWM bit(3)
Sergunb 0:8f0d870509fe 102
Sergunb 0:8f0d870509fe 103 // Define control pin index for Grbl internal use. Pin maps may change, but these values don't.
Sergunb 0:8f0d870509fe 104 #ifdef ENABLE_SAFETY_DOOR_INPUT_PIN
Sergunb 0:8f0d870509fe 105 #define N_CONTROL_PIN 4
Sergunb 0:8f0d870509fe 106 #define CONTROL_PIN_INDEX_SAFETY_DOOR bit(0)
Sergunb 0:8f0d870509fe 107 #define CONTROL_PIN_INDEX_RESET bit(1)
Sergunb 0:8f0d870509fe 108 #define CONTROL_PIN_INDEX_FEED_HOLD bit(2)
Sergunb 0:8f0d870509fe 109 #define CONTROL_PIN_INDEX_CYCLE_START bit(3)
Sergunb 0:8f0d870509fe 110 #else
Sergunb 0:8f0d870509fe 111 #define N_CONTROL_PIN 3
Sergunb 0:8f0d870509fe 112 #define CONTROL_PIN_INDEX_RESET bit(0)
Sergunb 0:8f0d870509fe 113 #define CONTROL_PIN_INDEX_FEED_HOLD bit(1)
Sergunb 0:8f0d870509fe 114 #define CONTROL_PIN_INDEX_CYCLE_START bit(2)
Sergunb 0:8f0d870509fe 115 #endif
Sergunb 0:8f0d870509fe 116
Sergunb 0:8f0d870509fe 117 // Define spindle stop override control states.
Sergunb 0:8f0d870509fe 118 #define SPINDLE_STOP_OVR_DISABLED 0 // Must be zero.
Sergunb 0:8f0d870509fe 119 #define SPINDLE_STOP_OVR_ENABLED bit(0)
Sergunb 0:8f0d870509fe 120 #define SPINDLE_STOP_OVR_INITIATE bit(1)
Sergunb 0:8f0d870509fe 121 #define SPINDLE_STOP_OVR_RESTORE bit(2)
Sergunb 0:8f0d870509fe 122 #define SPINDLE_STOP_OVR_RESTORE_CYCLE bit(3)
Sergunb 0:8f0d870509fe 123
Sergunb 0:8f0d870509fe 124
Sergunb 0:8f0d870509fe 125 // Define global system variables
Sergunb 0:8f0d870509fe 126 typedef struct {
Sergunb 0:8f0d870509fe 127 uint8_t state; // Tracks the current system state of Grbl.
Sergunb 0:8f0d870509fe 128 uint8_t abort; // System abort flag. Forces exit back to main loop for reset.
Sergunb 0:8f0d870509fe 129 uint8_t suspend; // System suspend bitflag variable that manages holds, cancels, and safety door.
Sergunb 0:8f0d870509fe 130 uint8_t soft_limit; // Tracks soft limit errors for the state machine. (boolean)
Sergunb 0:8f0d870509fe 131 uint8_t step_control; // Governs the step segment generator depending on system state.
Sergunb 0:8f0d870509fe 132 uint8_t probe_succeeded; // Tracks if last probing cycle was successful.
Sergunb 0:8f0d870509fe 133 uint8_t homing_axis_lock; // Locks axes when limits engage. Used as an axis motion mask in the stepper ISR.
Sergunb 0:8f0d870509fe 134 uint8_t f_override; // Feed rate override value in percent
Sergunb 0:8f0d870509fe 135 uint8_t r_override; // Rapids override value in percent
Sergunb 0:8f0d870509fe 136 uint8_t spindle_speed_ovr; // Spindle speed value in percent
Sergunb 0:8f0d870509fe 137 uint8_t spindle_stop_ovr; // Tracks spindle stop override states
Sergunb 0:8f0d870509fe 138 uint8_t report_ovr_counter; // Tracks when to add override data to status reports.
Sergunb 0:8f0d870509fe 139 uint8_t report_wco_counter; // Tracks when to add work coordinate offset data to status reports.
Sergunb 0:8f0d870509fe 140 #ifdef ENABLE_PARKING_OVERRIDE_CONTROL
Sergunb 0:8f0d870509fe 141 uint8_t override_ctrl; // Tracks override control states.
Sergunb 0:8f0d870509fe 142 #endif
Sergunb 0:8f0d870509fe 143 #ifdef VARIABLE_SPINDLE
Sergunb 0:8f0d870509fe 144 float spindle_speed;
Sergunb 0:8f0d870509fe 145 #endif
Sergunb 0:8f0d870509fe 146 } system_t;
Sergunb 0:8f0d870509fe 147 extern system_t sys;
Sergunb 0:8f0d870509fe 148
Sergunb 0:8f0d870509fe 149 // NOTE: These position variables may need to be declared as volatiles, if problems arise.
Sergunb 0:8f0d870509fe 150 extern int32_t sys_position[N_AXIS]; // Real-time machine (aka home) position vector in steps.
Sergunb 0:8f0d870509fe 151 extern int32_t sys_probe_position[N_AXIS]; // Last probe position in machine coordinates and steps.
Sergunb 0:8f0d870509fe 152
Sergunb 0:8f0d870509fe 153 extern volatile uint8_t sys_probe_state; // Probing state value. Used to coordinate the probing cycle with stepper ISR.
Sergunb 0:8f0d870509fe 154 extern volatile uint8_t sys_rt_exec_state; // Global realtime executor bitflag variable for state management. See EXEC bitmasks.
Sergunb 0:8f0d870509fe 155 extern volatile uint8_t sys_rt_exec_alarm; // Global realtime executor bitflag variable for setting various alarms.
Sergunb 0:8f0d870509fe 156 extern volatile uint8_t sys_rt_exec_motion_override; // Global realtime executor bitflag variable for motion-based overrides.
Sergunb 0:8f0d870509fe 157 extern volatile uint8_t sys_rt_exec_accessory_override; // Global realtime executor bitflag variable for spindle/coolant overrides.
Sergunb 0:8f0d870509fe 158
Sergunb 0:8f0d870509fe 159 #ifdef DEBUG
Sergunb 0:8f0d870509fe 160 #define EXEC_DEBUG_REPORT bit(0)
Sergunb 0:8f0d870509fe 161 extern volatile uint8_t sys_rt_exec_debug;
Sergunb 0:8f0d870509fe 162 #endif
Sergunb 0:8f0d870509fe 163
Sergunb 0:8f0d870509fe 164 // Initialize the serial protocol
Sergunb 0:8f0d870509fe 165 void system_init();
Sergunb 0:8f0d870509fe 166
Sergunb 0:8f0d870509fe 167 // Returns bitfield of control pin states, organized by CONTROL_PIN_INDEX. (1=triggered, 0=not triggered).
Sergunb 0:8f0d870509fe 168 uint8_t system_control_get_state();
Sergunb 0:8f0d870509fe 169
Sergunb 0:8f0d870509fe 170 // Returns if safety door is open or closed, based on pin state.
Sergunb 0:8f0d870509fe 171 uint8_t system_check_safety_door_ajar();
Sergunb 0:8f0d870509fe 172
Sergunb 0:8f0d870509fe 173 // Executes an internal system command, defined as a string starting with a '$'
Sergunb 0:8f0d870509fe 174 uint8_t system_execute_line(char *line);
Sergunb 0:8f0d870509fe 175
Sergunb 0:8f0d870509fe 176 // Execute the startup script lines stored in EEPROM upon initialization
Sergunb 0:8f0d870509fe 177 void system_execute_startup(char *line);
Sergunb 0:8f0d870509fe 178
Sergunb 0:8f0d870509fe 179
Sergunb 0:8f0d870509fe 180 void system_flag_wco_change();
Sergunb 0:8f0d870509fe 181
Sergunb 0:8f0d870509fe 182 // Returns machine position of axis 'idx'. Must be sent a 'step' array.
Sergunb 0:8f0d870509fe 183 float system_convert_axis_steps_to_mpos(int32_t *steps, uint8_t idx);
Sergunb 0:8f0d870509fe 184
Sergunb 0:8f0d870509fe 185 // Updates a machine 'position' array based on the 'step' array sent.
Sergunb 0:8f0d870509fe 186 void system_convert_array_steps_to_mpos(float *position, int32_t *steps);
Sergunb 0:8f0d870509fe 187
Sergunb 0:8f0d870509fe 188 // CoreXY calculation only. Returns x or y-axis "steps" based on CoreXY motor steps.
Sergunb 0:8f0d870509fe 189 #ifdef COREXY
Sergunb 0:8f0d870509fe 190 int32_t system_convert_corexy_to_x_axis_steps(int32_t *steps);
Sergunb 0:8f0d870509fe 191 int32_t system_convert_corexy_to_y_axis_steps(int32_t *steps);
Sergunb 0:8f0d870509fe 192 #endif
Sergunb 0:8f0d870509fe 193
Sergunb 0:8f0d870509fe 194 // Checks and reports if target array exceeds machine travel limits.
Sergunb 0:8f0d870509fe 195 uint8_t system_check_travel_limits(float *target);
Sergunb 0:8f0d870509fe 196
Sergunb 0:8f0d870509fe 197 // Special handlers for setting and clearing Grbl's real-time execution flags.
Sergunb 0:8f0d870509fe 198 void system_set_exec_state_flag(uint8_t mask);
Sergunb 0:8f0d870509fe 199 void system_clear_exec_state_flag(uint8_t mask);
Sergunb 0:8f0d870509fe 200 void system_set_exec_alarm(uint8_t code);
Sergunb 0:8f0d870509fe 201 void system_clear_exec_alarm();
Sergunb 0:8f0d870509fe 202 void system_set_exec_motion_override_flag(uint8_t mask);
Sergunb 0:8f0d870509fe 203 void system_set_exec_accessory_override_flag(uint8_t mask);
Sergunb 0:8f0d870509fe 204 void system_clear_exec_motion_overrides();
Sergunb 0:8f0d870509fe 205 void system_clear_exec_accessory_overrides();
Sergunb 0:8f0d870509fe 206
Sergunb 0:8f0d870509fe 207
Sergunb 0:8f0d870509fe 208 #endif