This version of the famous Grbl adds values in the work-coordinate-system (WCS) to the probing command. See x2grbl why you might want this.

system.c 9.4KB

    /* system.c - Handles system level commands and real-time processes Part of Grbl v0.9 Copyright (c) 2014 Sungeun K. Jeon 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 "system.h" #include "settings.h" #include "gcode.h" #include "motion_control.h" #include "report.h" #include "print.h" void system_init() { PINOUT_DDR &= ~(PINOUT_MASK); // Configure as input pins PINOUT_PORT |= PINOUT_MASK; // Enable internal pull-up resistors. Normal high operation. PINOUT_PCMSK |= PINOUT_MASK; // Enable specific pins of the Pin Change Interrupt PCICR |= (1 << PINOUT_INT); // Enable Pin Change Interrupt } // Pin change interrupt for pin-out commands, i.e. cycle start, feed hold, and reset. Sets // only the runtime command execute variable to have the main program execute these when // its ready. This works exactly like the character-based runtime commands when picked off // directly from the incoming serial data stream. ISR(PINOUT_INT_vect) { // Enter only if any pinout pin is actively low. if ((PINOUT_PIN & PINOUT_MASK) ^ PINOUT_MASK) { if (bit_isfalse(PINOUT_PIN,bit(PIN_RESET))) { mc_reset(); } else if (bit_isfalse(PINOUT_PIN,bit(PIN_FEED_HOLD))) { bit_true(sys.execute, EXEC_FEED_HOLD); } else if (bit_isfalse(PINOUT_PIN,bit(PIN_CYCLE_START))) { bit_true(sys.execute, EXEC_CYCLE_START); } } } // 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))) { report_status_message(STATUS_SETTING_READ_FAIL); } else { if (line[0] != 0) { printString(line); // Echo startup line to indicate execution. report_status_message(gc_execute_line(line)); } } } } // 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 runtime 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 '$' : // Prints Grbl settings if ( line[++char_counter] != 0 ) { return(STATUS_INVALID_STATEMENT); } 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 if ( line[++char_counter] != 0 ) { return(STATUS_INVALID_STATEMENT); } else { report_gcode_modes(); } break; case 'C' : // Set check g-code mode [IDLE/CHECK] if ( line[++char_counter] != 0 ) { return(STATUS_INVALID_STATEMENT); } // 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 ( line[++char_counter] != 0 ) { return(STATUS_INVALID_STATEMENT); } if (sys.state == STATE_ALARM) { 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; // case 'J' : break; // Jogging methods // TODO: Here jogging can be placed for execution as a seperate subprogram. It does not need to be // susceptible to other runtime commands except for e-stop. The jogging function is intended to // be a basic toggle on/off with controlled acceleration and deceleration to prevent skipped // steps. The user would supply the desired feedrate, axis to move, and direction. Toggle on would // start motion and toggle off would initiate a deceleration to stop. One could 'feather' the // motion by repeatedly toggling to slow the motion to the desired location. Location data would // need to be updated real-time and supplied to the user through status queries. // More controlled exact motions can be taken care of by inputting G0 or G1 commands, which are // handled by the planner. It would be possible for the jog subprogram to insert blocks into the // block buffer without having the planner plan them. It would need to manage de/ac-celerations // on its own carefully. This approach could be effective and possibly size/memory efficient. 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[char_counter] ) { case '#' : // Print Grbl NGC parameters if ( line[++char_counter] != 0 ) { return(STATUS_INVALID_STATEMENT); } else { report_ngc_parameters(); } break; case 'H' : // Perform homing cycle [IDLE/ALARM] if (bit_istrue(settings.flags,BITFLAG_HOMING_ENABLE)) { // Only perform homing if Grbl is idle or lost. mc_homing_cycle(); if (!sys.abort) { system_execute_startup(line); } // Execute startup scripts after successful homing. } else { return(STATUS_SETTING_DISABLED); } break; case 'I' : // Print or store build info. [IDLE/ALARM] if ( line[++char_counter] == 0 ) { settings_read_build_info(line); report_build_info(line); } 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); } 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 = trunc(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) { 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. }