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.h 4.1KB

    /* system.h - Header for 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 <>. */ #ifndef system_h #define system_h // Define system header files and standard libraries used by Grbl #include <avr/io.h> #include <avr/pgmspace.h> #include <avr/interrupt.h> #include <avr/wdt.h> #include <util/delay.h> #include <math.h> #include <inttypes.h> #include <string.h> #include <stdlib.h> #include <stdint.h> #include <stdbool.h> // Define Grbl configuration and shared header files #include "config.h" #include "defaults.h" #include "cpu_map.h" #include "nuts_bolts.h" // Define system executor bit map. Used internally by runtime protocol as runtime command flags, // which notifies the main program to execute the specified runtime command asynchronously. // NOTE: The system executor uses an unsigned 8-bit volatile variable (8 flag limit.) The default // flags are always false, so the runtime protocol only needs to check for a non-zero value to // know when there is a runtime command to execute. #define EXEC_STATUS_REPORT bit(0) // bitmask 00000001 #define EXEC_CYCLE_START bit(1) // bitmask 00000010 #define EXEC_CYCLE_STOP bit(2) // bitmask 00000100 #define EXEC_FEED_HOLD bit(3) // bitmask 00001000 #define EXEC_RESET bit(4) // bitmask 00010000 #define EXEC_ALARM bit(5) // bitmask 00100000 #define EXEC_CRIT_EVENT bit(6) // bitmask 01000000 // #define bit(7) // bitmask 10000000 // Define system state bit map. The state variable primarily tracks the individual functions // of Grbl to manage each without overlapping. It is also used as a messaging flag for // critical events. #define STATE_IDLE 0 // Must be zero. No flags. #define STATE_ALARM bit(0) // In alarm state. Locks out all g-code processes. Allows settings access. #define STATE_CHECK_MODE bit(1) // G-code check mode. Locks out planner and motion only. #define STATE_HOMING bit(2) // Performing homing cycle #define STATE_QUEUED bit(3) // Indicates buffered blocks, awaiting cycle start. #define STATE_CYCLE bit(4) // Cycle is running #define STATE_HOLD bit(5) // Executing feed hold // #define STATE_JOG bit(6) // Jogging mode is unique like homing. // Define global system variables typedef struct { uint8_t abort; // System abort flag. Forces exit back to main loop for reset. uint8_t state; // Tracks the current state of Grbl. volatile uint8_t execute; // Global system runtime executor bitflag variable. See EXEC bitmasks. uint8_t homing_axis_lock; int32_t position[N_AXIS]; // Real-time machine (aka home) position vector in steps. // NOTE: This may need to be a volatile variable, if problems arise. uint8_t auto_start; // Planner auto-start flag. Toggled off during feed hold. Defaulted by settings. volatile uint8_t probe_state; // Probing state value. Used to coordinate the probing cycle with stepper ISR. int32_t probe_position[N_AXIS]; // Last probe position in machine coordinates and steps. } system_t; extern system_t sys; // Initialize the serial protocol void system_init(); // Executes an internal system command, defined as a string starting with a '$' uint8_t system_execute_line(char *line); // Checks and executes a runtime command at various stop points in main program void system_execute_runtime(); // Execute the startup script lines stored in EEPROM upon initialization void system_execute_startup(char *line); #endif