Diff: grbl/system.c

Revision:

0:9dcf85d9b2f3

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/grbl/system.c	Mon Sep 04 12:05:05 2017 +0000
@@ -0,0 +1,578 @@
+/*
+  system.c - Handles system level commands and real-time processes
+  Part of Grbl
+
+  Copyright (c) 2014-2016 Sungeun K. Jeon for Gnea Research LLC
+
+  Grbl is free software: you can redistribute it and/or modify
+  it under the terms of the GNU General Public License as published by
+  the Free Software Foundation, either version 3 of the License, or
+  (at your option) any later version.
+
+  Grbl is distributed in the hope that it will be useful,
+  but WITHOUT ANY WARRANTY; without even the implied warranty of
+  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+  GNU General Public License for more details.
+
+  You should have received a copy of the GNU General Public License
+  along with Grbl.  If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#include "grbl.h"
+
+
+void system_init()
+{
+#ifdef AVRTARGET
+  CONTROL_DDR &= ~(CONTROL_MASK); // Configure as input pins
+  #ifdef DISABLE_CONTROL_PIN_PULL_UP
+    CONTROL_PORT &= ~(CONTROL_MASK); // Normal low operation. Requires external pull-down.
+  #else
+    CONTROL_PORT |= CONTROL_MASK;   // Enable internal pull-up resistors. Normal high operation.
+  #endif
+  CONTROL_PCMSK |= CONTROL_MASK;  // Enable specific pins of the Pin Change Interrupt
+  PCICR |= (1 << CONTROL_INT);   // Enable Pin Change Interrupt
+#endif
+#ifdef STM32F103C8
+  GPIO_InitTypeDef GPIO_InitStructure;
+  RCC_APB2PeriphClockCmd(RCC_CONTROL_PORT | RCC_APB2Periph_AFIO, ENABLE);
+  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
+#ifdef DISABLE_CONTROL_PIN_PULL_UP
+  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
+#else
+  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
+#endif
+  GPIO_InitStructure.GPIO_Pin = CONTROL_MASK;
+  GPIO_Init(CONTROL_PORT, &GPIO_InitStructure);
+
+  GPIO_EXTILineConfig(GPIO_CONTROL_PORT, CONTROL_RESET_BIT);
+  GPIO_EXTILineConfig(GPIO_CONTROL_PORT, CONTROL_FEED_HOLD_BIT);
+  GPIO_EXTILineConfig(GPIO_CONTROL_PORT, CONTROL_CYCLE_START_BIT);
+  GPIO_EXTILineConfig(GPIO_CONTROL_PORT, CONTROL_SAFETY_DOOR_BIT);
+
+  EXTI_InitTypeDef EXTI_InitStructure;
+  EXTI_InitStructure.EXTI_Line = CONTROL_MASK;    //
+  EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt; //Interrupt mode, optional values for the interrupt EXTI_Mode_Interrupt and event EXTI_Mode_Event.
+  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)
+  EXTI_InitStructure.EXTI_LineCmd = ENABLE;
+  EXTI_Init(&EXTI_InitStructure);
+
+  NVIC_InitTypeDef NVIC_InitStructure;
+  NVIC_InitStructure.NVIC_IRQChannel = EXTI9_5_IRQn; //Enable keypad external interrupt channel
+  NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0x02; //Priority 2,
+  NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0x02; //Sub priority 2
+  NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; //Enable external interrupt channel
+  NVIC_Init(&NVIC_InitStructure);
+#endif
+}
+
+
+// Returns control pin state as a uint8 bitfield. Each bit indicates the input pin state, where
+// triggered is 1 and not triggered is 0. Invert mask is applied. Bitfield organization is
+// defined by the CONTROL_PIN_INDEX in the header file.
+uint8_t system_control_get_state()
+{
+  uint8_t control_state = 0;
+#ifdef AVRTARGET
+  uint8_t pin = (CONTROL_PIN & CONTROL_MASK);
+#endif
+#ifdef WIN32
+  uint8_t pin = 0;
+#endif
+#ifdef STM32F103C8
+  uint16_t pin= GPIO_ReadInputData(CONTROL_PIN_PORT);
+#endif
+  #ifdef INVERT_CONTROL_PIN_MASK
+    pin ^= INVERT_CONTROL_PIN_MASK;
+  #endif
+  if (pin) {
+    #ifdef ENABLE_SAFETY_DOOR_INPUT_PIN
+      if (bit_isfalse(pin,(1<<CONTROL_SAFETY_DOOR_BIT))) { control_state |= CONTROL_PIN_INDEX_SAFETY_DOOR; }
+    #endif
+    if (bit_isfalse(pin,(1<<CONTROL_RESET_BIT))) { control_state |= CONTROL_PIN_INDEX_RESET; }
+    if (bit_isfalse(pin,(1<<CONTROL_FEED_HOLD_BIT))) { control_state |= CONTROL_PIN_INDEX_FEED_HOLD; }
+    if (bit_isfalse(pin,(1<<CONTROL_CYCLE_START_BIT))) { control_state |= CONTROL_PIN_INDEX_CYCLE_START; }
+  }
+  return(control_state);
+}
+
+
+// Pin change interrupt for pin-out commands, i.e. cycle start, feed hold, and reset. Sets
+// only the realtime command execute variable to have the main program execute these when
+// its ready. This works exactly like the character-based realtime commands when picked off
+// directly from the incoming serial data stream.
+#ifdef AVRTARGET
+ISR(CONTROL_INT_vect)
+{
+  uint8_t pin = system_control_get_state();
+  if (pin) {
+    if (bit_istrue(pin,CONTROL_PIN_INDEX_RESET)) {
+      mc_reset();
+    } else if (bit_istrue(pin,CONTROL_PIN_INDEX_CYCLE_START)) {
+      bit_true(sys_rt_exec_state, EXEC_CYCLE_START);
+    #ifndef ENABLE_SAFETY_DOOR_INPUT_PIN
+      } else if (bit_istrue(pin,CONTROL_PIN_INDEX_FEED_HOLD)) {
+        bit_true(sys_rt_exec_state, EXEC_FEED_HOLD);
+    #else
+      } else if (bit_istrue(pin,CONTROL_PIN_INDEX_SAFETY_DOOR)) {
+        bit_true(sys_rt_exec_state, EXEC_SAFETY_DOOR);
+    #endif
+    }
+  }
+}
+#endif
+#if defined (STM32F103C8)
+void EXTI9_5_IRQHandler(void)
+{
+    EXTI_ClearITPendingBit((1 << CONTROL_RESET_BIT) | (1 << CONTROL_FEED_HOLD_BIT) | (1 << CONTROL_CYCLE_START_BIT) | (1 << CONTROL_SAFETY_DOOR_BIT));
+	uint8_t pin = system_control_get_state();
+	if (pin) 
+	{ 
+		if (bit_istrue(pin,CONTROL_PIN_INDEX_RESET)) 
+		{
+			mc_reset();
+		}
+		else if (bit_istrue(pin, CONTROL_PIN_INDEX_CYCLE_START))
+		{
+			bit_true(sys_rt_exec_state, EXEC_CYCLE_START);
+		}
+#ifndef ENABLE_SAFETY_DOOR_INPUT_PIN
+		else if (bit_istrue(pin, CONTROL_PIN_INDEX_FEED_HOLD))
+		{
+			bit_true(sys_rt_exec_state, EXEC_FEED_HOLD);
+		}
+#else
+		else if (bit_istrue(pin, CONTROL_PIN_INDEX_SAFETY_DOOR))
+		{
+			bit_true(sys_rt_exec_state, EXEC_SAFETY_DOOR);
+		}
+#endif
+		NVIC_ClearPendingIRQ(EXTI9_5_IRQn);
+}
+}
+#endif
+
+// Returns if safety door is ajar(T) or closed(F), based on pin state.
+uint8_t system_check_safety_door_ajar()
+{
+  #ifdef ENABLE_SAFETY_DOOR_INPUT_PIN
+    return(system_control_get_state() & CONTROL_PIN_INDEX_SAFETY_DOOR);
+  #else
+    return(false); // Input pin not enabled, so just return that it's closed.
+  #endif
+}
+
+
+// Executes user startup script, if stored.
+void system_execute_startup(char *line)
+{
+  uint8_t n;
+  for (n=0; n < N_STARTUP_LINE; n++) {
+    if (!(settings_read_startup_line(n, line))) {
+      line[0] = 0;
+      report_execute_startup_message(line,STATUS_SETTING_READ_FAIL);
+    } else {
+      if (line[0] != 0) {
+        uint8_t status_code = gc_execute_line(line);
+        report_execute_startup_message(line,status_code);
+      }
+    }
+  }
+}
+
+
+// Directs and executes one line of formatted input from protocol_process. While mostly
+// incoming streaming g-code blocks, this also executes Grbl internal commands, such as
+// settings, initiating the homing cycle, and toggling switch states. This differs from
+// the realtime command module by being susceptible to when Grbl is ready to execute the
+// next line during a cycle, so for switches like block delete, the switch only effects
+// the lines that are processed afterward, not necessarily real-time during a cycle,
+// since there are motions already stored in the buffer. However, this 'lag' should not
+// be an issue, since these commands are not typically used during a cycle.
+uint8_t system_execute_line(char *line)
+{
+  uint8_t char_counter = 1;
+  uint8_t helper_var = 0; // Helper variable
+  float parameter, value;
+  switch( line[char_counter] ) {
+    case 0 : report_grbl_help(); break;
+    case 'J' : // Jogging
+      // Execute only if in IDLE or JOG states.
+      if (sys.state != STATE_IDLE && sys.state != STATE_JOG) { return(STATUS_IDLE_ERROR); }
+      if(line[2] != '=') { return(STATUS_INVALID_STATEMENT); }
+      return(gc_execute_line(line)); // NOTE: $J= is ignored inside g-code parser and used to detect jog motions.
+      break;
+    case '$': case 'G': case 'C': case 'X':
+      if ( line[2] != 0 ) { return(STATUS_INVALID_STATEMENT); }
+      switch( line[1] ) {
+        case '$' : // Prints Grbl settings
+          if ( sys.state & (STATE_CYCLE | STATE_HOLD) ) { return(STATUS_IDLE_ERROR); } // Block during cycle. Takes too long to print.
+          else { report_grbl_settings(); }
+          break;
+        case 'G' : // Prints gcode parser state
+          // TODO: Move this to realtime commands for GUIs to request this data during suspend-state.
+          report_gcode_modes();
+          break;
+        case 'C' : // Set check g-code mode [IDLE/CHECK]
+          // Perform reset when toggling off. Check g-code mode should only work if Grbl
+          // is idle and ready, regardless of alarm locks. This is mainly to keep things
+          // simple and consistent.
+          if ( sys.state == STATE_CHECK_MODE ) {
+            mc_reset();
+            report_feedback_message(MESSAGE_DISABLED);
+          } else {
+            if (sys.state) { return(STATUS_IDLE_ERROR); } // Requires no alarm mode.
+            sys.state = STATE_CHECK_MODE;
+            report_feedback_message(MESSAGE_ENABLED);
+          }
+          break;
+        case 'X' : // Disable alarm lock [ALARM]
+          if (sys.state == STATE_ALARM) {
+            // Block if safety door is ajar.
+            if (system_check_safety_door_ajar()) { return(STATUS_CHECK_DOOR); }
+            report_feedback_message(MESSAGE_ALARM_UNLOCK);
+            sys.state = STATE_IDLE;
+            // Don't run startup script. Prevents stored moves in startup from causing accidents.
+          } // Otherwise, no effect.
+          break;
+      }
+      break;
+    default :
+      // Block any system command that requires the state as IDLE/ALARM. (i.e. EEPROM, homing)
+      if ( !(sys.state == STATE_IDLE || sys.state == STATE_ALARM) ) { return(STATUS_IDLE_ERROR); }
+      switch( line[1] ) {
+        case '#' : // Print Grbl NGC parameters
+          if ( line[2] != 0 ) { return(STATUS_INVALID_STATEMENT); }
+          else { report_ngc_parameters(); }
+          break;
+        case 'H' : // Perform homing cycle [IDLE/ALARM]
+          if (bit_isfalse(settings.flags,BITFLAG_HOMING_ENABLE)) {return(STATUS_SETTING_DISABLED); }
+          if (system_check_safety_door_ajar()) { return(STATUS_CHECK_DOOR); } // Block if safety door is ajar.
+          sys.state = STATE_HOMING; // Set system state variable
+          if (line[2] == 0) {
+            mc_homing_cycle(HOMING_CYCLE_ALL);
+          #ifdef HOMING_SINGLE_AXIS_COMMANDS
+            } else if (line[3] == 0) {
+              switch (line[2]) {
+                case 'X': mc_homing_cycle(HOMING_CYCLE_X); break;
+                case 'Y': mc_homing_cycle(HOMING_CYCLE_Y); break;
+                case 'Z': mc_homing_cycle(HOMING_CYCLE_Z); break;
+                default: return(STATUS_INVALID_STATEMENT);
+              }
+          #endif
+          } else { return(STATUS_INVALID_STATEMENT); }
+          if (!sys.abort) {  // Execute startup scripts after successful homing.
+            sys.state = STATE_IDLE; // Set to IDLE when complete.
+            st_go_idle(); // Set steppers to the settings idle state before returning.
+            if (line[2] == 0) { system_execute_startup(line); }
+          }
+          break;
+        case 'S' : // Puts Grbl to sleep [IDLE/ALARM]
+          if ((line[2] != 'L') || (line[3] != 'P') || (line[4] != 0)) { return(STATUS_INVALID_STATEMENT); }
+          system_set_exec_state_flag(EXEC_SLEEP); // Set to execute sleep mode immediately
+          break;
+        case 'I' : // Print or store build info. [IDLE/ALARM]
+          if ( line[++char_counter] == 0 ) {
+            settings_read_build_info(line);
+            report_build_info(line);
+          #ifdef ENABLE_BUILD_INFO_WRITE_COMMAND
+            } else { // Store startup line [IDLE/ALARM]
+              if(line[char_counter++] != '=') { return(STATUS_INVALID_STATEMENT); }
+              helper_var = char_counter; // Set helper variable as counter to start of user info line.
+              do {
+                line[char_counter-helper_var] = line[char_counter];
+              } while (line[char_counter++] != 0);
+              settings_store_build_info(line);
+          #endif
+          }
+          break;
+        case 'R' : // Restore defaults [IDLE/ALARM]
+          if ((line[2] != 'S') || (line[3] != 'T') || (line[4] != '=') || (line[6] != 0)) { return(STATUS_INVALID_STATEMENT); }
+          switch (line[5]) {
+            #ifdef ENABLE_RESTORE_EEPROM_DEFAULT_SETTINGS
+              case '$': settings_restore(SETTINGS_RESTORE_DEFAULTS); break;
+            #endif
+            #ifdef ENABLE_RESTORE_EEPROM_CLEAR_PARAMETERS
+              case '#': settings_restore(SETTINGS_RESTORE_PARAMETERS); break;
+            #endif
+            #ifdef ENABLE_RESTORE_EEPROM_WIPE_ALL
+              case '*': settings_restore(SETTINGS_RESTORE_ALL); break;
+            #endif
+            default: return(STATUS_INVALID_STATEMENT);
+          }
+          report_feedback_message(MESSAGE_RESTORE_DEFAULTS);
+          mc_reset(); // Force reset to ensure settings are initialized correctly.
+          break;
+        case 'N' : // Startup lines. [IDLE/ALARM]
+          if ( line[++char_counter] == 0 ) { // Print startup lines
+            for (helper_var=0; helper_var < N_STARTUP_LINE; helper_var++) {
+              if (!(settings_read_startup_line(helper_var, line))) {
+                report_status_message(STATUS_SETTING_READ_FAIL);
+              } else {
+                report_startup_line(helper_var,line);
+              }
+            }
+            break;
+          } else { // Store startup line [IDLE Only] Prevents motion during ALARM.
+            if (sys.state != STATE_IDLE) { return(STATUS_IDLE_ERROR); } // Store only when idle.
+            helper_var = true;  // Set helper_var to flag storing method.
+            // No break. Continues into default: to read remaining command characters.
+          }
+        default :  // Storing setting methods [IDLE/ALARM]
+          if(!read_float(line, &char_counter, &parameter)) { return(STATUS_BAD_NUMBER_FORMAT); }
+          if(line[char_counter++] != '=') { return(STATUS_INVALID_STATEMENT); }
+          if (helper_var) { // Store startup line
+            // Prepare sending gcode block to gcode parser by shifting all characters
+            helper_var = char_counter; // Set helper variable as counter to start of gcode block
+            do {
+              line[char_counter-helper_var] = line[char_counter];
+            } while (line[char_counter++] != 0);
+            // Execute gcode block to ensure block is valid.
+            helper_var = gc_execute_line(line); // Set helper_var to returned status code.
+            if (helper_var) { return(helper_var); }
+            else {
+              helper_var = truncf(parameter); // Set helper_var to int value of parameter
+              settings_store_startup_line(helper_var,line);
+            }
+          } else { // Store global setting.
+            if(!read_float(line, &char_counter, &value)) { return(STATUS_BAD_NUMBER_FORMAT); }
+            if((line[char_counter] != 0) || (parameter > 255)) { return(STATUS_INVALID_STATEMENT); }
+            return(settings_store_global_setting((uint8_t)parameter, value));
+          }
+      }
+  }
+  return(STATUS_OK); // If '$' command makes it to here, then everything's ok.
+}
+
+
+
+void system_flag_wco_change()
+{
+  #ifdef FORCE_BUFFER_SYNC_DURING_WCO_CHANGE
+    protocol_buffer_synchronize();
+  #endif
+  sys.report_wco_counter = 0;
+}
+
+
+// Returns machine position of axis 'idx'. Must be sent a 'step' array.
+// NOTE: If motor steps and machine position are not in the same coordinate frame, this function
+//   serves as a central place to compute the transformation.
+float system_convert_axis_steps_to_mpos(int32_t *steps, uint8_t idx)
+{
+  float pos;
+  #ifdef COREXY
+    if (idx==X_AXIS) {
+      pos = (float)system_convert_corexy_to_x_axis_steps(steps) / settings.steps_per_mm[idx];
+    } else if (idx==Y_AXIS) {
+      pos = (float)system_convert_corexy_to_y_axis_steps(steps) / settings.steps_per_mm[idx];
+    } else {
+      pos = steps[idx]/settings.steps_per_mm[idx];
+    }
+  #else
+    pos = steps[idx]/settings.steps_per_mm[idx];
+  #endif
+  return(pos);
+}
+
+
+void system_convert_array_steps_to_mpos(float *position, int32_t *steps)
+{
+  uint8_t idx;
+  for (idx=0; idx<N_AXIS; idx++) {
+    position[idx] = system_convert_axis_steps_to_mpos(steps, idx);
+  }
+  return;
+}
+
+
+// CoreXY calculation only. Returns x or y-axis "steps" based on CoreXY motor steps.
+#ifdef COREXY
+  int32_t system_convert_corexy_to_x_axis_steps(int32_t *steps)
+  {
+    return( (steps[A_MOTOR] + steps[B_MOTOR])/2 );
+  }
+  int32_t system_convert_corexy_to_y_axis_steps(int32_t *steps)
+  {
+    return( (steps[A_MOTOR] - steps[B_MOTOR])/2 );
+  }
+#endif
+
+
+// Checks and reports if target array exceeds machine travel limits.
+uint8_t system_check_travel_limits(float *target)
+{
+  uint8_t idx;
+  for (idx=0; idx<N_AXIS; idx++) {
+    #ifdef HOMING_FORCE_SET_ORIGIN
+      // When homing forced set origin is enabled, soft limits checks need to account for directionality.
+      // NOTE: max_travel is stored as negative
+      if (bit_istrue(settings.homing_dir_mask,bit(idx))) {
+        if (target[idx] < 0 || target[idx] > -settings.max_travel[idx]) { return(true); }
+      } else {
+        if (target[idx] > 0 || target[idx] < settings.max_travel[idx]) { return(true); }
+      }
+    #else
+      // NOTE: max_travel is stored as negative
+      if (target[idx] > 0 || target[idx] < settings.max_travel[idx]) { return(true); }
+    #endif
+  }
+  return(false);
+}
+
+#ifdef WIN32
+extern CRITICAL_SECTION CriticalSection;
+#endif
+
+// Special handlers for setting and clearing Grbl's real-time execution flags.
+void system_set_exec_state_flag(uint8_t mask) {
+#ifdef AVRTARGET
+  uint8_t sreg = SREG;
+  cli();
+  sys_rt_exec_state |= (mask);
+  SREG = sreg;
+#endif
+#ifdef WIN32
+  EnterCriticalSection(&CriticalSection);
+  sys_rt_exec_state |= (mask);
+  LeaveCriticalSection(&CriticalSection);
+#endif
+#ifdef STM32F103C8
+  __disable_irq();
+  sys_rt_exec_state |= (mask);
+  __enable_irq();
+#endif
+}
+
+void system_clear_exec_state_flag(uint8_t mask) {
+#ifdef AVRTARGET
+  uint8_t sreg = SREG;
+  cli();
+  sys_rt_exec_state &= ~(mask);
+  SREG = sreg;
+#endif
+#ifdef WIN32
+  EnterCriticalSection(&CriticalSection);
+  sys_rt_exec_state &= ~(mask);
+  LeaveCriticalSection(&CriticalSection);
+#endif
+#ifdef STM32F103C8
+  __disable_irq();
+  sys_rt_exec_state &= ~(mask);
+  __enable_irq();
+#endif
+}
+
+void system_set_exec_alarm(uint8_t code) {
+#ifdef AVRTARGET
+  uint8_t sreg = SREG;
+  cli();
+  sys_rt_exec_alarm = code;
+  SREG = sreg;
+#endif
+#ifdef WIN32
+  EnterCriticalSection(&CriticalSection);
+  sys_rt_exec_alarm |= (code);
+  LeaveCriticalSection(&CriticalSection);
+#endif
+#ifdef STM32F103C8
+  __disable_irq();
+  sys_rt_exec_alarm |= (code);
+  __enable_irq();
+#endif
+}
+
+void system_clear_exec_alarm() {
+#ifdef AVRTARGET
+  uint8_t sreg = SREG;
+  cli();
+  sys_rt_exec_alarm = 0;
+  SREG = sreg;
+#endif
+#ifdef WIN32
+  EnterCriticalSection(&CriticalSection);
+  sys_rt_exec_alarm = 0;
+  LeaveCriticalSection(&CriticalSection);
+#endif
+#ifdef STM32F103C8
+  __disable_irq();
+  sys_rt_exec_alarm = 0;
+  __enable_irq();
+#endif
+}
+
+void system_set_exec_motion_override_flag(uint8_t mask) {
+#ifdef AVRTARGET
+  uint8_t sreg = SREG;
+  cli();
+  sys_rt_exec_motion_override |= (mask);
+  SREG = sreg;
+#endif
+#ifdef WIN32
+  EnterCriticalSection(&CriticalSection);
+  sys_rt_exec_motion_override |= (mask);
+  LeaveCriticalSection(&CriticalSection);
+#endif
+#ifdef STM32F103C8
+  __disable_irq();
+  sys_rt_exec_motion_override |= (mask);
+  __enable_irq();
+#endif
+}
+
+void system_set_exec_accessory_override_flag(uint8_t mask) {
+#ifdef AVRTARGET
+	uint8_t sreg = SREG;
+  cli();
+  sys_rt_exec_accessory_override |= (mask);
+  SREG = sreg;
+#endif
+#ifdef WIN32
+  EnterCriticalSection(&CriticalSection);
+  sys_rt_exec_accessory_override |= (mask);
+  LeaveCriticalSection(&CriticalSection);
+#endif
+#ifdef STM32F103C8
+  __disable_irq();
+  sys_rt_exec_accessory_override |= (mask);
+  __enable_irq();
+#endif
+}
+
+void system_clear_exec_motion_overrides() {
+#ifdef AVRTARGET
+	uint8_t sreg = SREG;
+  cli();
+  sys_rt_exec_motion_override = 0;
+  SREG = sreg;
+#endif
+#ifdef WIN32
+  EnterCriticalSection(&CriticalSection);
+  sys_rt_exec_motion_override = 0;
+  LeaveCriticalSection(&CriticalSection);
+#endif
+#ifdef STM32F103C8
+  __disable_irq();
+  sys_rt_exec_motion_override = 0;
+  __enable_irq();
+#endif
+}
+
+void system_clear_exec_accessory_overrides() {
+#ifdef AVRTARGET
+  uint8_t sreg = SREG;
+  cli();
+  sys_rt_exec_accessory_override = 0;
+  SREG = sreg;
+#endif
+#ifdef WIN32
+  EnterCriticalSection(&CriticalSection);
+  sys_rt_exec_accessory_override = 0;
+  LeaveCriticalSection(&CriticalSection);
+#endif
+#ifdef STM32F103C8
+  __disable_irq();
+  sys_rt_exec_accessory_override = 0;
+  __enable_irq();
+#endif
+}