forked from grblHAL/core
-
Notifications
You must be signed in to change notification settings - Fork 0
/
system.c
1093 lines (922 loc) · 36 KB
/
system.c
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
702
703
704
705
706
707
708
709
710
711
712
713
714
715
716
717
718
719
720
721
722
723
724
725
726
727
728
729
730
731
732
733
734
735
736
737
738
739
740
741
742
743
744
745
746
747
748
749
750
751
752
753
754
755
756
757
758
759
760
761
762
763
764
765
766
767
768
769
770
771
772
773
774
775
776
777
778
779
780
781
782
783
784
785
786
787
788
789
790
791
792
793
794
795
796
797
798
799
800
801
802
803
804
805
806
807
808
809
810
811
812
813
814
815
816
817
818
819
820
821
822
823
824
825
826
827
828
829
830
831
832
833
834
835
836
837
838
839
840
841
842
843
844
845
846
847
848
849
850
851
852
853
854
855
856
857
858
859
860
861
862
863
864
865
866
867
868
869
870
871
872
873
874
875
876
877
878
879
880
881
882
883
884
885
886
887
888
889
890
891
892
893
894
895
896
897
898
899
900
901
902
903
904
905
906
907
908
909
910
911
912
913
914
915
916
917
918
919
920
921
922
923
924
925
926
927
928
929
930
931
932
933
934
935
936
937
938
939
940
941
942
943
944
945
946
947
948
949
950
951
952
953
954
955
956
957
958
959
960
961
962
963
964
965
966
967
968
969
970
971
972
973
974
975
976
977
978
979
980
981
982
983
984
985
986
987
988
989
990
991
992
993
994
995
996
997
998
999
1000
/*
system.c - Handles system level commands and real-time processes
Part of grblHAL
Copyright (c) 2017-2023 Terje Io
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 <math.h>
#include <string.h>
#include "hal.h"
#include "motion_control.h"
#include "protocol.h"
#include "tool_change.h"
#include "state_machine.h"
#include "machine_limits.h"
#ifdef KINEMATICS_API
#include "kinematics.h"
#endif
static status_code_t jog (sys_state_t state, char *args);
static status_code_t enumerate_alarms (sys_state_t state, char *args);
static status_code_t enumerate_alarms_grblformatted (sys_state_t state, char *args);
static status_code_t enumerate_errors (sys_state_t state, char *args);
static status_code_t enumerate_errors_grblformatted (sys_state_t state, char *args);
static status_code_t enumerate_groups (sys_state_t state, char *args);
static status_code_t enumerate_settings (sys_state_t state, char *args);
static status_code_t enumerate_all (sys_state_t state, char *args);
static status_code_t enumerate_settings_grblformatted (sys_state_t state, char *args);
static status_code_t enumerate_settings_halformatted (sys_state_t state, char *args);
static status_code_t enumerate_pins (sys_state_t state, char *args);
static status_code_t output_settings (sys_state_t state, char *args);
static status_code_t output_all_settings (sys_state_t state, char *args);
#ifndef NO_SETTINGS_DESCRIPTIONS
static status_code_t output_setting_description (sys_state_t state, char *args);
#endif
static status_code_t output_parser_state (sys_state_t state, char *args);
static status_code_t toggle_block_delete (sys_state_t state, char *args);
static status_code_t toggle_single_block (sys_state_t state, char *args);
static status_code_t toggle_optional_stop (sys_state_t state, char *args);
static status_code_t check_mode (sys_state_t state, char *args);
static status_code_t disable_lock (sys_state_t state, char *args);
static status_code_t output_help (sys_state_t state, char *args);
static status_code_t output_spindles (sys_state_t state, char *args);
static status_code_t home (sys_state_t state, char *args);
static status_code_t home_x (sys_state_t state, char *args);
static status_code_t home_y (sys_state_t state, char *args);
static status_code_t home_z (sys_state_t state, char *args);
#ifdef A_AXIS
static status_code_t home_a (sys_state_t state, char *args);
#endif
#ifdef B_AXIS
static status_code_t home_b (sys_state_t state, char *args);
#endif
#ifdef C_AXIS
static status_code_t home_c (sys_state_t state, char *args);
#endif
#ifdef U_AXIS
static status_code_t home_u (sys_state_t state, char *args);
#endif
#ifdef V_AXIS
static status_code_t home_v (sys_state_t state, char *args);
#endif
static status_code_t enter_sleep (sys_state_t state, char *args);
static status_code_t set_tool_reference (sys_state_t state, char *args);
static status_code_t tool_probe_workpiece (sys_state_t state, char *args);
static status_code_t output_ngc_parameters (sys_state_t state, char *args);
static status_code_t build_info (sys_state_t state, char *args);
static status_code_t output_all_build_info (sys_state_t state, char *args);
static status_code_t settings_reset (sys_state_t state, char *args);
static status_code_t output_startup_lines (sys_state_t state, char *args);
static status_code_t set_startup_line0 (sys_state_t state, char *args);
static status_code_t set_startup_line1 (sys_state_t state, char *args);
static status_code_t rtc_action (sys_state_t state, char *args);
#ifdef DEBUGOUT
static status_code_t output_memmap (sys_state_t state, char *args);
#endif
// Simple hypotenuse computation function.
inline static float hypot_f (float x, float y)
{
return sqrtf(x*x + y*y);
}
// 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 data stream.
ISR_CODE void ISR_FUNC(control_interrupt_handler)(control_signals_t signals)
{
if(signals.deasserted)
return; // for now...
if (signals.value) {
sys.last_event.control.value = signals.value;
if ((signals.reset || signals.e_stop || signals.motor_fault) && state_get() != STATE_ESTOP)
mc_reset();
else {
#ifndef NO_SAFETY_DOOR_SUPPORT
if (signals.safety_door_ajar && hal.signals_cap.safety_door_ajar) {
if(settings.safety_door.flags.ignore_when_idle) {
// Only stop the spindle (laser off) when idle or jogging,
// this to allow positioning the controlled point (spindle) when door is open.
// NOTE: at least for lasers there should be an external interlock blocking laser power.
if(state_get() != STATE_IDLE && state_get() != STATE_JOG)
system_set_exec_state_flag(EXEC_SAFETY_DOOR);
if(settings.mode == Mode_Laser) // Turn off spindle immediately (laser) when in laser mode
spindle_all_off();
} else
system_set_exec_state_flag(EXEC_SAFETY_DOOR);
}
#endif
if (signals.probe_triggered) {
if(sys.probing_state == Probing_Off && (state_get() & (STATE_CYCLE|STATE_JOG))) {
system_set_exec_state_flag(EXEC_STOP);
sys.alarm_pending = Alarm_ProbeProtect;
} else
hal.probe.configure(false, false);
} else if (signals.probe_disconnected) {
if(sys.probing_state == Probing_Active && state_get() == STATE_CYCLE) {
system_set_exec_state_flag(EXEC_FEED_HOLD);
sys.alarm_pending = Alarm_ProbeProtect;
}
} else if (signals.feed_hold)
system_set_exec_state_flag(EXEC_FEED_HOLD);
else if (signals.cycle_start)
system_set_exec_state_flag(EXEC_CYCLE_START);
}
}
}
// Executes user startup script, if stored.
void system_execute_startup (void)
{
if(hal.nvs.type != NVS_None) {
char line[sizeof(stored_line_t)];
uint_fast8_t n;
for (n = 0; n < N_STARTUP_LINE; n++) {
if (!settings_read_startup_line(n, line))
report_execute_startup_message(line, Status_SettingReadFail);
else if (*line != '\0')
report_execute_startup_message(line, gc_execute_block(line));
}
}
}
// Reset spindle encoder data
status_code_t spindle_reset_data (sys_state_t state, char *args)
{
spindle_ptrs_t *spindle = gc_spindle_get();
if(spindle->reset_data)
spindle->reset_data();
return spindle->reset_data ? Status_OK : Status_InvalidStatement;
}
status_code_t read_int (char *s, int32_t *value)
{
uint_fast8_t counter = 0;
float parameter;
if(!read_float(s, &counter, ¶meter))
return Status_BadNumberFormat;
if(parameter - truncf(parameter) != 0.0f)
return Status_InvalidStatement;
*value = (int32_t)parameter;
return Status_OK;
}
PROGMEM static const sys_command_t sys_commands[] = {
{ "G", true, output_parser_state },
{ "J", false, jog },
{ "#", false, output_ngc_parameters },
{ "$", false, output_settings },
{ "+", false, output_all_settings },
#ifndef NO_SETTINGS_DESCRIPTIONS
{ "SED", false, output_setting_description },
#endif
{ "B", true, toggle_block_delete },
{ "S", true, toggle_single_block },
{ "O", true, toggle_optional_stop },
{ "C", true, check_mode },
{ "X", false, disable_lock },
{ "H", false, home },
{ "HX", false, home_x },
{ "HY", false, home_y },
{ "HZ", false, home_z },
#if AXIS_REMAP_ABC2UVW
#ifdef A_AXIS
{ "HU", false, home_a },
#endif
#ifdef B_AXIS
{ "HV", false, home_b },
#endif
#ifdef C_AXIS
{ "HW", false, home_c },
#endif
#else
#ifdef A_AXIS
{ "HA", false, home_a },
#endif
#ifdef B_AXIS
{ "HB", false, home_b },
#endif
#ifdef C_AXIS
{ "HC", false, home_c },
#endif
#endif
#ifdef U_AXIS
{ "HU", false, home_u },
#endif
#ifdef V_AXIS
{ "HV", false, home_v },
#endif
{ "HELP", false, output_help },
{ "SPINDLES", false, output_spindles },
{ "SLP", true, enter_sleep },
{ "TLR", true, set_tool_reference },
{ "TPW", true, tool_probe_workpiece },
{ "I", false, build_info },
{ "I+", true, output_all_build_info },
{ "RST", false, settings_reset },
{ "N", true, output_startup_lines },
{ "N0", false, set_startup_line0 },
{ "N1", false, set_startup_line1 },
{ "EA", true, enumerate_alarms },
{ "EAG", true, enumerate_alarms_grblformatted },
{ "EE", true, enumerate_errors },
{ "EEG", true, enumerate_errors_grblformatted },
{ "EG", true, enumerate_groups },
{ "ES", true, enumerate_settings },
{ "ESG", true, enumerate_settings_grblformatted },
{ "ESH", true, enumerate_settings_halformatted },
{ "E*", true, enumerate_all },
{ "PINS", true, enumerate_pins },
{ "RST", false, settings_reset },
{ "LEV", true, report_last_signals_event },
{ "LIM", true, report_current_limit_state },
{ "SD", false, report_spindle_data },
{ "SR", false, spindle_reset_data },
{ "RTC", false, rtc_action },
#ifdef DEBUGOUT
{ "Q", true, output_memmap },
#endif
};
void system_command_help (void)
{
hal.stream.write("$I - output system information" ASCII_EOL);
hal.stream.write("$I+ - output extended system information" ASCII_EOL);
hal.stream.write("$<n> - output setting <n> value" ASCII_EOL);
hal.stream.write("$<n>=<value> - assign <value> to settings <n>" ASCII_EOL);
hal.stream.write("$$ - output all setting values" ASCII_EOL);
hal.stream.write("$+ - output all setting values" ASCII_EOL);
hal.stream.write("$$=<n> - output setting details for setting <n>" ASCII_EOL);
hal.stream.write("$# - output offsets, tool table, probing and home position" ASCII_EOL);
hal.stream.write("$#=<n> - output value for parameter <n>" ASCII_EOL);
hal.stream.write("$G - output parser state" ASCII_EOL);
hal.stream.write("$N - output startup lines" ASCII_EOL);
if(settings.homing.flags.enabled)
hal.stream.write("$H - home configured axes" ASCII_EOL);
if(settings.homing.flags.single_axis_commands)
hal.stream.write("$H<axisletter> - home single axis" ASCII_EOL);
hal.stream.write("$X - unlock machine" ASCII_EOL);
hal.stream.write("$SLP - enter sleep mode" ASCII_EOL);
hal.stream.write("$HELP - output help topics" ASCII_EOL);
hal.stream.write("$HELP <topic> - output help for <topic>" ASCII_EOL);
hal.stream.write("$SPINDLES - output spindle list" ASCII_EOL);
hal.stream.write("$RST=* - restore/reset all settings" ASCII_EOL);
hal.stream.write("$RST=$ - restore default settings" ASCII_EOL);
if(settings_get_details()->next)
hal.stream.write("$RST=& - restore driver and plugin default settings" ASCII_EOL);
#if N_TOOLS
hal.stream.write("$RST=# - reset offsets and tool data" ASCII_EOL);
#else
hal.stream.write("$RST=# - reset offsets" ASCII_EOL);
#endif
spindle_ptrs_t *spindle = gc_spindle_get();
if(spindle->reset_data)
hal.stream.write("$SR - reset spindle encoder data" ASCII_EOL);
if(spindle->get_data)
hal.stream.write("$SD - output spindle encoder data" ASCII_EOL);
hal.stream.write("$TLR - set tool offset reference" ASCII_EOL);
hal.stream.write("$TPW - probe tool plate" ASCII_EOL);
hal.stream.write("$EA - enumerate alarms" ASCII_EOL);
hal.stream.write("$EAG - enumerate alarms, Grbl formatted" ASCII_EOL);
hal.stream.write("$EE - enumerate status codes" ASCII_EOL);
hal.stream.write("$EEG - enumerate status codes, Grbl formatted" ASCII_EOL);
hal.stream.write("$ES - enumerate settings" ASCII_EOL);
hal.stream.write("$ESG - enumerate settings, Grbl formatted" ASCII_EOL);
hal.stream.write("$ESH- enumerate settings, grblHAL formatted" ASCII_EOL);
hal.stream.write("$E* - enumerate alarms, status codes and settings" ASCII_EOL);
if(hal.enumerate_pins)
hal.stream.write("$PINS - enumerate pin bindings" ASCII_EOL);
hal.stream.write("$LEV - output last control signal events" ASCII_EOL);
hal.stream.write("$LIM - output current limit pins state" ASCII_EOL);
if(hal.rtc.get_datetime) {
hal.stream.write("$RTC - output current time" ASCII_EOL);
hal.stream.write("$RTC=<ISO8601 datetime> - set current time" ASCII_EOL);
}
#ifndef NO_SETTINGS_DESCRIPTIONS
hal.stream.write("$SED=<n> - output settings description for setting <n>" ASCII_EOL);
#endif
}
// 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.
// NOTE: Code calling system_execute_line() needs to provide a line buffer of at least LINE_BUFFER_SIZE
status_code_t system_execute_line (char *line)
{
if(line[1] == '\0') {
grbl.report.help_message();
return Status_OK;
}
sys_commands_t base = {
.n_commands = sizeof(sys_commands) / sizeof(sys_command_t),
.commands = sys_commands,
.on_get_commands = grbl.on_get_commands
};
status_code_t retval = Status_Unhandled;
char c, *s1, *s2;
s1 = s2 = ++line;
c = *s1;
while(c && c != '=') {
if(c != ' ')
*s2++ = CAPS(c);
c = *++s1;
}
while((c = *s1++))
*s2++ = c;
*s2 = '\0';
if(!strncmp(line, "HELP", 4))
return report_help(&line[4]);
char *args = strchr(line, '=');
if(args)
*args++ = '\0';
uint_fast8_t idx;
sys_commands_t *cmd = &base;
do {
for(idx = 0; idx < cmd->n_commands; idx++) {
if(!strcmp(line, cmd->commands[idx].command)) {
if(!cmd->commands[idx].noargs || args == NULL) {
if((retval = cmd->commands[idx].execute(state_get(), args)) != Status_Unhandled)
break;
}
}
}
cmd = retval == Status_Unhandled && cmd->on_get_commands ? cmd->on_get_commands() : NULL;
} while(cmd);
// Let user code have a peek at system commands before check for global setting
if(retval == Status_Unhandled && grbl.on_unknown_sys_command) {
if(args)
*(--args) = '=';
retval = grbl.on_unknown_sys_command(state_get(), line);
if(args)
*args++ = '\0';
}
if (retval == Status_Unhandled) {
// Check for global setting, store if so
if(state_get() == STATE_IDLE || (state_get() & (STATE_ALARM|STATE_ESTOP|STATE_CHECK_MODE))) {
uint_fast8_t counter = 0;
float parameter;
if(!read_float(line, &counter, ¶meter))
retval = Status_BadNumberFormat;
else if(!isintf(parameter))
retval = Status_InvalidStatement;
else if(args)
retval = settings_store_setting((setting_id_t)parameter, args);
else
retval = report_grbl_setting((setting_id_t)parameter, NULL);
} else
retval = Status_IdleError;
}
return retval;
}
// System commands
static status_code_t jog (sys_state_t state, char *args)
{
if(!(state == STATE_IDLE || (state & (STATE_JOG|STATE_TOOL_CHANGE))))
return Status_IdleError;
if(args != NULL) {
*(--args) = '=';
args -= 2;
}
return args == NULL ? Status_InvalidStatement : gc_execute_block(args); // NOTE: $J= is ignored inside g-code parser and used to detect jog motions.
}
static status_code_t enumerate_alarms (sys_state_t state, char *args)
{
return report_alarm_details(false);
}
static status_code_t enumerate_alarms_grblformatted (sys_state_t state, char *args)
{
return report_alarm_details(true);
}
static status_code_t enumerate_errors (sys_state_t state, char *args)
{
return report_error_details(false);
}
static status_code_t enumerate_errors_grblformatted (sys_state_t state, char *args)
{
return report_error_details(true);
}
static status_code_t enumerate_groups (sys_state_t state, char *args)
{
return report_setting_group_details(true, NULL);
}
static status_code_t enumerate_settings (sys_state_t state, char *args)
{
return report_settings_details(SettingsFormat_MachineReadable, Setting_SettingsAll, Group_All);
}
static status_code_t enumerate_settings_grblformatted (sys_state_t state, char *args)
{
return report_settings_details(SettingsFormat_Grbl, Setting_SettingsAll, Group_All);
}
static status_code_t enumerate_settings_halformatted (sys_state_t state, char *args)
{
return report_settings_details(SettingsFormat_grblHAL, Setting_SettingsAll, Group_All);
}
static status_code_t enumerate_all (sys_state_t state, char *args)
{
report_alarm_details(false);
report_error_details(false);
report_setting_group_details(true, NULL);
return report_settings_details(SettingsFormat_MachineReadable, Setting_SettingsAll, Group_All);
}
static status_code_t enumerate_pins (sys_state_t state, char *args)
{
return report_pins(state, args);
}
static status_code_t output_settings (sys_state_t state, char *args)
{
status_code_t retval = Status_OK;
if(args) {
int32_t id;
retval = read_int(args, &id);
if(retval == Status_OK && id >= 0)
retval = report_settings_details(SettingsFormat_HumanReadable, (setting_id_t)id, Group_All);
} else if (state & (STATE_CYCLE|STATE_HOLD))
retval = Status_IdleError; // Block during cycle. Takes too long to print.
else
#if COMPATIBILITY_LEVEL <= 1
report_grbl_settings(true, NULL);
#else
report_grbl_settings(false, NULL);
#endif
return retval;
}
#ifndef NO_SETTINGS_DESCRIPTIONS
static status_code_t output_setting_description (sys_state_t state, char *args)
{
status_code_t retval = Status_BadNumberFormat;
if(args) {
int32_t id;
retval = read_int(args, &id);
if(retval == Status_OK && id >= 0)
retval = report_setting_description(SettingsFormat_MachineReadable, (setting_id_t)id);
}
return retval;
}
#endif
static status_code_t output_all_settings (sys_state_t state, char *args)
{
status_code_t retval = Status_OK;
if(args) {
int32_t id;
retval = read_int(args, &id);
if(retval == Status_OK && id >= 0)
retval = report_settings_details(SettingsFormat_HumanReadable, (setting_id_t)id, Group_All);
} else if (state & (STATE_CYCLE|STATE_HOLD))
retval = Status_IdleError; // Block during cycle. Takes too long to print.
else
report_grbl_settings(true, NULL);
return retval;
}
static status_code_t output_parser_state (sys_state_t state, char *args)
{
report_gcode_modes();
system_add_rt_report(Report_Homed); // Report homed state on next realtime report
return Status_OK;
}
static status_code_t toggle_single_block (sys_state_t state, char *args)
{
sys.flags.single_block = !sys.flags.single_block;
grbl.report.feedback_message(sys.flags.single_block ? Message_Enabled : Message_Disabled);
return Status_OK;
}
static status_code_t toggle_block_delete (sys_state_t state, char *args)
{
sys.flags.block_delete_enabled = !sys.flags.block_delete_enabled;
grbl.report.feedback_message(sys.flags.block_delete_enabled ? Message_Enabled : Message_Disabled);
return Status_OK;
}
static status_code_t toggle_optional_stop (sys_state_t state, char *args)
{
sys.flags.optional_stop_disable = !sys.flags.optional_stop_disable;
grbl.report.feedback_message(sys.flags.block_delete_enabled ? Message_Enabled : Message_Disabled);
return Status_OK;
}
static status_code_t check_mode (sys_state_t state, char *args)
{
if (state == STATE_CHECK_MODE) {
// 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.
mc_reset();
grbl.report.feedback_message(Message_Disabled);
} else if (state == STATE_IDLE) { // Requires idle mode.
state_set(STATE_CHECK_MODE);
grbl.report.feedback_message(Message_Enabled);
} else
return Status_IdleError;
return Status_OK;
}
static status_code_t disable_lock (sys_state_t state, char *args)
{
status_code_t retval = Status_OK;
if(state & (STATE_ALARM|STATE_ESTOP)) {
control_signals_t control_signals = hal.control.get_state();
// Block if self-test failed
if(sys.alarm == Alarm_SelftestFailed)
retval = Status_SelfTestFailed;
// Block if e-stop is active.
else if (control_signals.e_stop)
retval = Status_EStop;
// Block if safety door is ajar.
else if (control_signals.safety_door_ajar)
retval = Status_CheckDoor;
// Block if safety reset is active.
else if(control_signals.reset)
retval = Status_Reset;
else if(settings.limits.flags.hard_enabled && settings.limits.flags.check_at_init && limit_signals_merge(hal.limits.get_state()).value)
retval = Status_LimitsEngaged;
else if(limits_homing_required())
retval = Status_HomingRequired;
else {
grbl.report.feedback_message(Message_AlarmUnlock);
state_set(STATE_IDLE);
}
// Don't run startup script. Prevents stored moves in startup from causing accidents.
} // Otherwise, no effect.
return retval;
}
static status_code_t output_help (sys_state_t state, char *args)
{
return report_help(args);
}
static status_code_t output_spindles (sys_state_t state, char *args)
{
return report_spindles();
}
static status_code_t go_home (sys_state_t state, axes_signals_t axes)
{
if(axes.mask && !settings.homing.flags.single_axis_commands)
return Status_HomingDisabled;
if(!(state_get() == STATE_IDLE || (state_get() & (STATE_ALARM|STATE_ESTOP))))
return Status_IdleError;
status_code_t retval = Status_OK;
control_signals_t control_signals = hal.control.get_state();
// Block if self-test failed
if(sys.alarm == Alarm_SelftestFailed)
retval = Status_SelfTestFailed;
// Block if e-stop is active.
else if (control_signals.e_stop)
retval = Status_EStop;
else if(control_signals.motor_fault)
retval = Status_MotorFault;
else if (!(settings.homing.flags.enabled && (sys.homing.mask || settings.homing.flags.single_axis_commands || settings.homing.flags.manual)))
retval = Status_HomingDisabled;
// Block if safety door is ajar.
else if (control_signals.safety_door_ajar && !settings.safety_door.flags.ignore_when_idle)
retval = Status_CheckDoor;
// Block if safety reset is active.
else if(control_signals.reset)
retval = Status_Reset;
if(retval == Status_OK)
retval = mc_homing_cycle(axes); // Home axes according to configuration
if (retval == Status_OK && !sys.abort) {
state_set(STATE_IDLE); // Set to IDLE when complete.
st_go_idle(); // Set steppers to the settings idle state before returning.
grbl.report.feedback_message(Message_None);
// Execute startup scripts after successful homing.
if (sys.homing.mask && (sys.homing.mask & sys.homed.mask) == sys.homing.mask)
system_execute_startup();
else if(limits_homing_required()) { // Keep alarm state active if homing is required and not all axes homed.
sys.alarm = Alarm_HomingRequried;
state_set(STATE_ALARM);
}
}
return retval == Status_Unhandled ? Status_OK : retval;
}
static status_code_t home (sys_state_t state, char *args)
{
return go_home(state, (axes_signals_t){0});
}
static status_code_t home_x (sys_state_t state, char *args)
{
return go_home(state, (axes_signals_t){X_AXIS_BIT});
}
static status_code_t home_y (sys_state_t state, char *args)
{
return go_home(state, (axes_signals_t){Y_AXIS_BIT});
}
static status_code_t home_z (sys_state_t state, char *args)
{
return go_home(state, (axes_signals_t){Z_AXIS_BIT});
}
#ifdef A_AXIS
static status_code_t home_a (sys_state_t state, char *args)
{
return go_home(state, (axes_signals_t){A_AXIS_BIT});
}
#endif
#ifdef B_AXIS
static status_code_t home_b (sys_state_t state, char *args)
{
return go_home(state, (axes_signals_t){B_AXIS_BIT});
}
#endif
#ifdef C_AXIS
static status_code_t home_c (sys_state_t state, char *args)
{
return go_home(state, (axes_signals_t){C_AXIS_BIT});
}
#endif
#ifdef U_AXIS
static status_code_t home_u (sys_state_t state, char *args)
{
return go_home(state, (axes_signals_t){U_AXIS_BIT});
}
#endif
#ifdef V_AXIS
static status_code_t home_v (sys_state_t state, char *args)
{
return go_home(state, (axes_signals_t){V_AXIS_BIT});
}
#endif
static status_code_t enter_sleep (sys_state_t state, char *args)
{
if(!settings.flags.sleep_enable)
return Status_InvalidStatement;
else if(!(state == STATE_IDLE || state == STATE_ALARM))
return Status_IdleError;
else
system_set_exec_state_flag(EXEC_SLEEP); // Set to execute enter_sleep mode immediately
return Status_OK;
}
static status_code_t set_tool_reference (sys_state_t state, char *args)
{
#if TOOL_LENGTH_OFFSET_AXIS >= 0
if(sys.flags.probe_succeeded) {
sys.tlo_reference_set.mask = bit(TOOL_LENGTH_OFFSET_AXIS);
sys.tlo_reference[TOOL_LENGTH_OFFSET_AXIS] = sys.probe_position[TOOL_LENGTH_OFFSET_AXIS]; // - gc_state.tool_length_offset[Z_AXIS]));
} else
sys.tlo_reference_set.mask = 0;
#else
plane_t plane;
gc_get_plane_data(&plane, gc_state.modal.plane_select);
if(sys.flags.probe_succeeded) {
sys.tlo_reference_set.mask |= bit(plane.axis_linear);
sys.tlo_reference[plane.axis_linear] = sys.probe_position[plane.axis_linear];
// - lroundf(gc_state.tool_length_offset[plane.axis_linear] * settings.axis[plane.axis_linear].steps_per_mm);
} else
sys.tlo_reference_set.mask = 0;
#endif
system_add_rt_report(Report_TLOReference);
return Status_OK;
}
static status_code_t tool_probe_workpiece (sys_state_t state, char *args)
{
return tc_probe_workpiece();
}
static status_code_t output_ngc_parameters (sys_state_t state, char *args)
{
status_code_t retval = Status_OK;
if(args) {
int32_t id;
retval = read_int(args, &id);
if(retval == Status_OK && id >= 0)
retval = report_ngc_parameter((ngc_param_id_t)id);
else
retval = report_named_ngc_parameter(args);
} else
report_ngc_parameters();
return retval;
}
static status_code_t build_info (sys_state_t state, char *args)
{
if (!(state == STATE_IDLE || (state & (STATE_ALARM|STATE_ESTOP|STATE_CHECK_MODE))))
return Status_IdleError;
if (args == NULL) {
char info[sizeof(stored_line_t)];
settings_read_build_info(info);
report_build_info(info, false);
}
#if !DISABLE_BUILD_INFO_WRITE_COMMAND
else if (strlen(args) < (sizeof(stored_line_t) - 1))
settings_write_build_info(args);
#endif
else
return Status_InvalidStatement;
return Status_OK;
}
static status_code_t output_all_build_info (sys_state_t state, char *args)
{
char info[sizeof(stored_line_t)];
settings_read_build_info(info);
report_build_info(info, true);
return Status_OK;
}
static status_code_t settings_reset (sys_state_t state, char *args)
{
settings_restore_t restore = {0};
status_code_t retval = Status_OK;
if (!(state == STATE_IDLE || (state & (STATE_ALARM|STATE_ESTOP))))
retval = Status_IdleError;
else switch (*args) {
#if ENABLE_RESTORE_NVS_DEFAULT_SETTINGS
case '$':
restore.defaults = On;
break;
#endif
#if ENABLE_RESTORE_NVS_CLEAR_PARAMETERS
case '#':
restore.parameters = On;
break;
#endif
#if ENABLE_RESTORE_NVS_WIPE_ALL
case '*':
restore.mask = settings_all.mask;
break;
#endif
#if ENABLE_RESTORE_NVS_DRIVER_PARAMETERS
case '&':
restore.driver_parameters = On;
break;
#endif
default:
retval = Status_InvalidStatement;
break;
}
if(retval == Status_OK && restore.mask) {
settings_restore(restore);
grbl.report.feedback_message(Message_RestoreDefaults);
mc_reset(); // Force reset to ensure settings are initialized correctly.
}
return retval;
}
static status_code_t output_startup_lines (sys_state_t state, char *args)
{
if (!(state == STATE_IDLE || (state & (STATE_ALARM|STATE_ESTOP|STATE_CHECK_MODE))))
return Status_IdleError;
// Print startup lines
uint_fast8_t counter;
char line[sizeof(stored_line_t)];
for (counter = 0; counter < N_STARTUP_LINE; counter++) {
if (!(settings_read_startup_line(counter, line)))
grbl.report.status_message(Status_SettingReadFail);
else
report_startup_line(counter, line);
}
return Status_OK;
}
static status_code_t set_startup_line (sys_state_t state, char *args, uint_fast8_t lnr)
{
// Store startup line [IDLE Only] Prevents motion during ALARM.
if (!(state == STATE_IDLE || (state & (STATE_ALARM|STATE_ESTOP|STATE_CHECK_MODE))))
return Status_IdleError;
if(args == NULL)
return Status_InvalidStatement;
status_code_t retval = Status_OK;
args = gc_normalize_block(args, NULL);
if(strlen(args) >= (sizeof(stored_line_t) - 1))
retval = Status_Overflow;
else if ((retval = gc_execute_block(args)) == Status_OK) // Execute gcode block to ensure block is valid.
settings_write_startup_line(lnr, args);
return retval;
}
static status_code_t set_startup_line0 (sys_state_t state, char *args)
{
return set_startup_line(state, args, 0);
}
static status_code_t set_startup_line1 (sys_state_t state, char *args)
{
return set_startup_line(state, args, 1);
}
static status_code_t rtc_action (sys_state_t state, char *args)
{
status_code_t retval = Status_OK;
if(args) {
struct tm *time = get_datetime(args);
if(time)
hal.rtc.set_datetime(time);
else
retval = Status_BadNumberFormat;
} else
retval = report_time();
return retval;
}
#ifdef DEBUGOUT
#include "nvs_buffer.h"
static status_code_t output_memmap (sys_state_t state, char *args)
{
nvs_memmap();
return Status_OK;
}
#endif
// End system commands
void system_flag_wco_change (void)
{
if(!settings.status_report.sync_on_wco_change)
protocol_buffer_synchronize();
if(grbl.on_wco_changed)
grbl.on_wco_changed();
system_add_rt_report(Report_WCO);
}
// Sets machine position. 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.
void system_convert_array_steps_to_mpos (float *position, int32_t *steps)
{
#ifdef KINEMATICS_API
kinematics.transform_steps_to_cartesian(position, steps);
#else
uint_fast8_t idx = N_AXIS;
do {
idx--;
position[idx] = steps[idx] / settings.axis[idx].steps_per_mm;
} while(idx);
#endif
}
// Checks if XY position is within coordinate system XY with given tolerance.
// If tolerance is 0 false is returned.
bool system_xy_at_fixture (coord_system_id_t id, float tolerance)
{
bool ok = false;
coord_data_t target, position;
if(tolerance > 0.0f && settings_read_coord_data(id, &target.values)) {
system_convert_array_steps_to_mpos(position.values, sys.position);
ok = hypot_f(position.x - target.x, position.y - target.y) <= tolerance;