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grbl/grbl/protocol.c

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/*
protocol.c - controls Grbl execution protocol and procedures
Part of Grbl
Copyright (c) 2011-2016 Sungeun K. Jeon for Gnea Research LLC
Copyright (c) 2009-2011 Simen Svale Skogsrud
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"
// Define line flags. Includes comment type tracking and line overflow detection.
#define LINE_FLAG_OVERFLOW bit(0)
#define LINE_FLAG_COMMENT_PARENTHESES bit(1)
#define LINE_FLAG_COMMENT_SEMICOLON bit(2)
static char line[LINE_BUFFER_SIZE]; // Line to be executed. Zero-terminated.
static void protocol_exec_rt_suspend();
/*
GRBL PRIMARY LOOP:
*/
void protocol_main_loop()
{
// Perform some machine checks to make sure everything is good to go.
#ifdef CHECK_LIMITS_AT_INIT
if (bit_istrue(settings.flags, BITFLAG_HARD_LIMIT_ENABLE)) {
if (limits_get_state()) {
sys.state = STATE_ALARM; // Ensure alarm state is active.
report_feedback_message(MESSAGE_CHECK_LIMITS);
}
}
#endif
// Check for and report alarm state after a reset, error, or an initial power up.
if (sys.state == STATE_ALARM) {
report_feedback_message(MESSAGE_ALARM_LOCK);
} else {
// Check if the safety door is open.
sys.state = STATE_IDLE;
if (system_check_safety_door_ajar()) {
bit_true(sys_rt_exec_state, EXEC_SAFETY_DOOR);
protocol_execute_realtime(); // Enter safety door mode. Should return as IDLE state.
}
// All systems go!
system_execute_startup(line); // Execute startup script.
}
// ---------------------------------------------------------------------------------
// Primary loop! Upon a system abort, this exits back to main() to reset the system.
// This is also where Grbl idles while waiting for something to do.
// ---------------------------------------------------------------------------------
uint8_t line_flags = 0;
uint8_t char_counter = 0;
uint8_t c;
for (;;) {
// Process one line of incoming serial data, as the data becomes available. Performs an
// initial filtering by removing spaces and comments and capitalizing all letters.
while((c = serial_read()) != SERIAL_NO_DATA) {
if ((c == '\n') || (c == '\r')) { // End of line reached
protocol_execute_realtime(); // Runtime command check point.
if (sys.abort) { return; } // Bail to calling function upon system abort
line[char_counter] = 0; // Set string termination character.
#ifdef REPORT_ECHO_LINE_RECEIVED
report_echo_line_received(line);
#endif
// Direct and execute one line of formatted input, and report status of execution.
if (line_flags & LINE_FLAG_OVERFLOW) {
// Report line overflow error.
report_status_message(STATUS_OVERFLOW);
} else if (line[0] == 0) {
// Empty or comment line. For syncing purposes.
report_status_message(STATUS_OK);
} else if (line[0] == '$') {
// Grbl '$' system command
report_status_message(system_execute_line(line));
} else if (sys.state & (STATE_ALARM | STATE_JOG)) {
// Everything else is gcode. Block if in alarm or jog mode.
report_status_message(STATUS_SYSTEM_GC_LOCK);
} else {
// Parse and execute g-code block.
report_status_message(gc_execute_line(line));
}
// Reset tracking data for next line.
line_flags = 0;
char_counter = 0;
} else {
if (line_flags) {
// Throw away all (except EOL) comment characters and overflow characters.
if (c == ')') {
// End of '()' comment. Resume line allowed.
if (line_flags & LINE_FLAG_COMMENT_PARENTHESES) { line_flags &= ~(LINE_FLAG_COMMENT_PARENTHESES); }
}
} else {
if (c <= ' ') {
// Throw away whitepace and control characters
} else if (c == '/') {
// Block delete NOT SUPPORTED. Ignore character.
// NOTE: If supported, would simply need to check the system if block delete is enabled.
} else if (c == '(') {
// Enable comments flag and ignore all characters until ')' or EOL.
// NOTE: This doesn't follow the NIST definition exactly, but is good enough for now.
// In the future, we could simply remove the items within the comments, but retain the
// comment control characters, so that the g-code parser can error-check it.
line_flags |= LINE_FLAG_COMMENT_PARENTHESES;
} else if (c == ';') {
// NOTE: ';' comment to EOL is a LinuxCNC definition. Not NIST.
line_flags |= LINE_FLAG_COMMENT_SEMICOLON;
// TODO: Install '%' feature
// } else if (c == '%') {
// Program start-end percent sign NOT SUPPORTED.
// NOTE: This maybe installed to tell Grbl when a program is running vs manual input,
// where, during a program, the system auto-cycle start will continue to execute
// everything until the next '%' sign. This will help fix resuming issues with certain
// functions that empty the planner buffer to execute its task on-time.
} else if (char_counter >= (LINE_BUFFER_SIZE-1)) {
// Detect line buffer overflow and set flag.
line_flags |= LINE_FLAG_OVERFLOW;
} else if (c >= 'a' && c <= 'z') { // Upcase lowercase
line[char_counter++] = c-'a'+'A';
} else {
line[char_counter++] = c;
}
}
}
}
// If there are no more characters in the serial read buffer to be processed and executed,
// this indicates that g-code streaming has either filled the planner buffer or has
// completed. In either case, auto-cycle start, if enabled, any queued moves.
protocol_auto_cycle_start();
protocol_execute_realtime(); // Runtime command check point.
if (sys.abort) { return; } // Bail to main() program loop to reset system.
}
return; /* Never reached */
}
// Block until all buffered steps are executed or in a cycle state. Works with feed hold
// during a synchronize call, if it should happen. Also, waits for clean cycle end.
void protocol_buffer_synchronize()
{
// If system is queued, ensure cycle resumes if the auto start flag is present.
protocol_auto_cycle_start();
do {
protocol_execute_realtime(); // Check and execute run-time commands
if (sys.abort) { return; } // Check for system abort
} while (plan_get_current_block() || (sys.state == STATE_CYCLE));
}
// Auto-cycle start triggers when there is a motion ready to execute and if the main program is not
// actively parsing commands.
// NOTE: This function is called from the main loop, buffer sync, and mc_line() only and executes
// when one of these conditions exist respectively: There are no more blocks sent (i.e. streaming
// is finished, single commands), a command that needs to wait for the motions in the buffer to
// execute calls a buffer sync, or the planner buffer is full and ready to go.
void protocol_auto_cycle_start()
{
if (plan_get_current_block() != NULL) { // Check if there are any blocks in the buffer.
system_set_exec_state_flag(EXEC_CYCLE_START); // If so, execute them!
}
}
// This function is the general interface to Grbl's real-time command execution system. It is called
// from various check points in the main program, primarily where there may be a while loop waiting
// for a buffer to clear space or any point where the execution time from the last check point may
// be more than a fraction of a second. This is a way to execute realtime commands asynchronously
// (aka multitasking) with grbl's g-code parsing and planning functions. This function also serves
// as an interface for the interrupts to set the system realtime flags, where only the main program
// handles them, removing the need to define more computationally-expensive volatile variables. This
// also provides a controlled way to execute certain tasks without having two or more instances of
// the same task, such as the planner recalculating the buffer upon a feedhold or overrides.
// NOTE: The sys_rt_exec_state variable flags are set by any process, step or serial interrupts, pinouts,
// limit switches, or the main program.
void protocol_execute_realtime()
{
protocol_exec_rt_system();
if (sys.suspend) { protocol_exec_rt_suspend(); }
}
// Executes run-time commands, when required. This function primarily operates as Grbl's state
// machine and controls the various real-time features Grbl has to offer.
// NOTE: Do not alter this unless you know exactly what you are doing!
void protocol_exec_rt_system()
{
uint8_t rt_exec; // Temp variable to avoid calling volatile multiple times.
rt_exec = sys_rt_exec_alarm; // Copy volatile sys_rt_exec_alarm.
if (rt_exec) { // Enter only if any bit flag is true
// System alarm. Everything has shutdown by something that has gone severely wrong. Report
// the source of the error to the user. If critical, Grbl disables by entering an infinite
// loop until system reset/abort.
sys.state = STATE_ALARM; // Set system alarm state
report_alarm_message(rt_exec);
// Halt everything upon a critical event flag. Currently hard and soft limits flag this.
if ((rt_exec == EXEC_ALARM_HARD_LIMIT) || (rt_exec == EXEC_ALARM_HARD_LIMIT)) {
report_feedback_message(MESSAGE_CRITICAL_EVENT);
system_clear_exec_state_flag(EXEC_RESET); // Disable any existing reset
do {
// Block everything, except reset and status reports, until user issues reset or power
// cycles. Hard limits typically occur while unattended or not paying attention. Gives
// the user and a GUI time to do what is needed before resetting, like killing the
// incoming stream. The same could be said about soft limits. While the position is not
// lost, continued streaming could cause a serious crash if by chance it gets executed.
} while (bit_isfalse(sys_rt_exec_state,EXEC_RESET));
}
system_clear_exec_alarm_flag(0xFF); // Clear all alarm flags
}
rt_exec = sys_rt_exec_state; // Copy volatile sys_rt_exec_state.
if (rt_exec) {
// Execute system abort.
if (rt_exec & EXEC_RESET) {
sys.abort = true; // Only place this is set true.
return; // Nothing else to do but exit.
}
// Execute and serial print status
if (rt_exec & EXEC_STATUS_REPORT) {
report_realtime_status();
system_clear_exec_state_flag(EXEC_STATUS_REPORT);
}
// NOTE: Once hold is initiated, the system immediately enters a suspend state to block all
// main program processes until either reset or resumed. This ensures a hold completes safely.
if (rt_exec & (EXEC_MOTION_CANCEL | EXEC_FEED_HOLD | EXEC_SAFETY_DOOR)) {
// State check for allowable states for hold methods.
if ((sys.state == STATE_IDLE) ||
(sys.state & (STATE_CYCLE | STATE_HOMING | STATE_HOLD | STATE_SAFETY_DOOR | STATE_JOG))) {
// If in CYCLE or JOG states, immediately initiate a motion HOLD.
if (sys.state & (STATE_CYCLE | STATE_JOG)) {
if (!(sys.suspend & (SUSPEND_MOTION_CANCEL | SUSPEND_JOG_CANCEL))) { // Block, if already holding.
st_update_plan_block_parameters(); // Notify stepper module to recompute for hold deceleration.
sys.step_control = STEP_CONTROL_EXECUTE_HOLD; // Initiate suspend state with active flag.
if (sys.state == STATE_JOG) { sys.suspend |= SUSPEND_JOG_CANCEL; } // Jog cancelled upon any hold event.
}
}
// If IDLE, Grbl is not in motion. Simply indicate suspend state and hold is complete.
if (sys.state == STATE_IDLE) {
sys.suspend = SUSPEND_HOLD_COMPLETE;
sys.step_control = STEP_CONTROL_END_MOTION;
}
// Execute and flag a motion cancel with deceleration and return to idle. Used primarily by probing cycle
// to halt and cancel the remainder of the motion.
if (rt_exec & EXEC_MOTION_CANCEL) {
// MOTION_CANCEL only occurs during a CYCLE, but a HOLD and SAFETY_DOOR may been initiated beforehand
// to hold the CYCLE. If so, only flag that motion cancel is complete.
// NOTE: State is still STATE_CYCLE.
sys.suspend |= SUSPEND_MOTION_CANCEL; // Indicate motion cancel when resuming.
}
// Execute a feed hold with deceleration, if required. Then, suspend system.
if (rt_exec & EXEC_FEED_HOLD) {
// Block SAFETY_DOOR state from prematurely changing back to HOLD, which should only
// occur if the safety door switch closes.
if (!(sys.state & (STATE_SAFETY_DOOR | STATE_JOG))) { sys.state = STATE_HOLD; }
}
// Execute a safety door stop with a feed hold and disable spindle/coolant.
// NOTE: Safety door differs from feed holds by stopping everything no matter state, disables powered
// devices (spindle/coolant), and blocks resuming until switch is re-engaged.
if (rt_exec & EXEC_SAFETY_DOOR) {
report_feedback_message(MESSAGE_SAFETY_DOOR_AJAR);
// If jogging, block safety door methods until jog cancel is complete. Just flag that it happened.
if (!(sys.suspend & SUSPEND_JOG_CANCEL)) {
// Check if the safety re-opened during a restore parking motion only. Ignore if
// already retracting or parked.
if (sys.suspend & SUSPEND_SAFETY_DOOR_AJAR) {
if (sys.suspend & SUSPEND_INITIATE_RESTORE) { // Actively restoring
#ifdef PARKING_ENABLE
// Set hold and reset appropriate control flags to restart parking sequence.
if (sys.step_control & STEP_CONTROL_EXECUTE_SYS_MOTION) {
st_update_plan_block_parameters(); // Notify stepper module to recompute for hold deceleration.
sys.step_control = (STEP_CONTROL_EXECUTE_HOLD | STEP_CONTROL_EXECUTE_SYS_MOTION);
sys.suspend &= ~(SUSPEND_HOLD_COMPLETE);
} // else NO_MOTION is active.
#endif
sys.suspend &= ~(SUSPEND_RETRACT_COMPLETE | SUSPEND_INITIATE_RESTORE | SUSPEND_RESTORE_COMPLETE);
sys.suspend |= SUSPEND_RESTART_RETRACT;
}
}
sys.state = STATE_SAFETY_DOOR;
}
// NOTE: This flag doesn't change when the door closes, unlike sys.state. Ensures any parking motions
// are executed if the door switch closes and the state returns to HOLD.
sys.suspend |= SUSPEND_SAFETY_DOOR_AJAR;
}
}
system_clear_exec_state_flag((EXEC_MOTION_CANCEL | EXEC_FEED_HOLD | EXEC_SAFETY_DOOR));
}
// Execute a cycle start by starting the stepper interrupt to begin executing the blocks in queue.
if (rt_exec & EXEC_CYCLE_START) {
// Block if called at same time as the hold commands: feed hold, motion cancel, and safety door.
// Ensures auto-cycle-start doesn't resume a hold without an explicit user-input.
if (!(rt_exec & (EXEC_FEED_HOLD | EXEC_MOTION_CANCEL | EXEC_SAFETY_DOOR))) {
// Resume door state when parking motion has retracted and door has been closed.
if ((sys.state == STATE_SAFETY_DOOR) && !(sys.suspend & SUSPEND_SAFETY_DOOR_AJAR)) {
if (sys.suspend & SUSPEND_RESTORE_COMPLETE) {
sys.state = STATE_IDLE; // Set to IDLE to immediately resume the cycle.
} else if (sys.suspend & SUSPEND_RETRACT_COMPLETE) {
// Flag to re-energize powered components and restore original position, if disabled by SAFETY_DOOR.
// NOTE: For a safety door to resume, the switch must be closed, as indicated by HOLD state, and
// the retraction execution is complete, which implies the initial feed hold is not active. To
// restore normal operation, the restore procedures must be initiated by the following flag. Once,
// they are complete, it will call CYCLE_START automatically to resume and exit the suspend.
sys.suspend |= SUSPEND_INITIATE_RESTORE;
}
}
// Cycle start only when IDLE or when a hold is complete and ready to resume.
if ((sys.state == STATE_IDLE) || ((sys.state & STATE_HOLD) && (sys.suspend & SUSPEND_HOLD_COMPLETE))) {
if (sys.state == STATE_HOLD && (sys.toggle_ovr_mask & TOGGLE_OVR_STOP_ACTIVE_MASK)) {
sys.toggle_ovr_mask |= TOGGLE_OVR_STOP_RESTORE_CYCLE; // Set to restore in suspend routine and cycle start after.
} else {
// Start cycle only if queued motions exist in planner buffer and the motion is not canceled.
sys.step_control = STEP_CONTROL_NORMAL_OP; // Restore step control to normal operation
if (plan_get_current_block() && bit_isfalse(sys.suspend,SUSPEND_MOTION_CANCEL)) {
sys.suspend = SUSPEND_DISABLE; // Break suspend state.
sys.state = STATE_CYCLE;
st_prep_buffer(); // Initialize step segment buffer before beginning cycle.
st_wake_up();
} else { // Otherwise, do nothing. Set and resume IDLE state.
sys.suspend = SUSPEND_DISABLE; // Break suspend state.
sys.state = STATE_IDLE;
}
}
}
}
system_clear_exec_state_flag(EXEC_CYCLE_START);
}
// if (rt_exec & EXEC_CYCLE_START) {
// // Block if called at same time as the hold commands: feed hold, motion cancel, and safety door.
// // Ensures auto-cycle-start doesn't resume a hold without an explicit user-input.
// if (!(rt_exec & (EXEC_FEED_HOLD | EXEC_MOTION_CANCEL | EXEC_SAFETY_DOOR))) {
// // Cycle start only when IDLE or when a hold is complete and ready to resume.
// // NOTE: SAFETY_DOOR is implicitly blocked. It reverts to HOLD when the door is closed.
// if ((sys.state == STATE_IDLE) || ((sys.state & STATE_HOLD) && (sys.suspend & SUSPEND_HOLD_COMPLETE))) {
// if (sys.suspend & SUSPEND_SAFETY_DOOR_AJAR) {
// if (sys.suspend & SUSPEND_RETRACT_COMPLETE) {
// if bit_isfalse(sys.suspend,SUSPEND_RESTORE_COMPLETE) {
// // Flag to re-energize powered components and restore original position, if disabled by SAFETY_DOOR.
// // NOTE: For a safety door to resume, the switch must be closed, as indicated by HOLD state, and
// // the retraction execution is complete, which implies the initial feed hold is not active. To
// // restore normal operation, the restore procedures must be initiated by the following flag. Once,
// // they are complete, it will call CYCLE_START automatically to resume and exit the suspend.
// sys.suspend |= SUSPEND_INITIATE_RESTORE;
// } else {
// bit_false(sys.suspend,SUSPEND_SAFETY_DOOR_AJAR);
// }
// }
// }
// if (!(sys.suspend & SUSPEND_SAFETY_DOOR_AJAR)) {
// // Start cycle only if queued motions exist in planner buffer and the motion is not canceled.
// sys.step_control = STEP_CONTROL_NORMAL_OP; // Restore step control to normal operation
// if (plan_get_current_block() && bit_isfalse(sys.suspend,SUSPEND_MOTION_CANCEL)) {
// sys.suspend = SUSPEND_DISABLE; // Break suspend state.
// sys.state = STATE_CYCLE;
// st_prep_buffer(); // Initialize step segment buffer before beginning cycle.
// st_wake_up();
// } else { // Otherwise, do nothing. Set and resume IDLE state.
// sys.suspend = SUSPEND_DISABLE; // Break suspend state.
// sys.state = STATE_IDLE;
// }
// }
// }
// }
// system_clear_exec_state_flag(EXEC_CYCLE_START);
// }
if (rt_exec & EXEC_CYCLE_STOP) {
// Reinitializes the cycle plan and stepper system after a feed hold for a resume. Called by
// realtime command execution in the main program, ensuring that the planner re-plans safely.
// NOTE: Bresenham algorithm variables are still maintained through both the planner and stepper
// cycle reinitializations. The stepper path should continue exactly as if nothing has happened.
// NOTE: EXEC_CYCLE_STOP is set by the stepper subsystem when a cycle or feed hold completes.
if ((sys.state & (STATE_HOLD | STATE_SAFETY_DOOR)) && !(sys.soft_limit) && !(sys.suspend & SUSPEND_JOG_CANCEL)) {
// Hold complete. Set to indicate ready to resume. Remain in HOLD or DOOR states until user
// has issued a resume command or reset.
plan_cycle_reinitialize();
if (sys.step_control & STEP_CONTROL_EXECUTE_HOLD) { sys.suspend |= SUSPEND_HOLD_COMPLETE; }
bit_false(sys.step_control,(STEP_CONTROL_EXECUTE_HOLD | STEP_CONTROL_EXECUTE_SYS_MOTION));
} else {
// Motion complete. Includes CYCLE/JOG/HOMING states and jog cancel/motion cancel/soft limit events.
// NOTE: Motion and jog cancel both immediately return to idle after the hold completes.
if (sys.suspend & SUSPEND_JOG_CANCEL) { // For jog cancel, flush buffers and sync positions.
sys.step_control = STEP_CONTROL_NORMAL_OP;
plan_reset();
st_reset();
gc_sync_position();
plan_sync_position();
}
if (sys.suspend & SUSPEND_SAFETY_DOOR_AJAR) { // Only occurs when safety door opens during jog.
sys.suspend &= ~(SUSPEND_JOG_CANCEL);
sys.suspend |= SUSPEND_HOLD_COMPLETE;
sys.state = STATE_SAFETY_DOOR;
} else {
sys.suspend = SUSPEND_DISABLE;
sys.state = STATE_IDLE;
}
}
system_clear_exec_state_flag(EXEC_CYCLE_STOP);
}
}
// Execute overrides.
rt_exec = sys_rt_exec_motion_override; // Copy volatile sys_rt_exec_motion_override
if (rt_exec) {
system_clear_exec_motion_overrides(); // Clear all motion override flags.
uint8_t new_f_override = sys.f_override;
if (rt_exec & EXEC_FEED_OVR_RESET) { new_f_override = DEFAULT_FEED_OVERRIDE; }
if (rt_exec & EXEC_FEED_OVR_COARSE_PLUS) { new_f_override += FEED_OVERRIDE_COARSE_INCREMENT; }
if (rt_exec & EXEC_FEED_OVR_COARSE_MINUS) { new_f_override -= FEED_OVERRIDE_COARSE_INCREMENT; }
if (rt_exec & EXEC_FEED_OVR_FINE_PLUS) { new_f_override += FEED_OVERRIDE_FINE_INCREMENT; }
if (rt_exec & EXEC_FEED_OVR_FINE_MINUS) { new_f_override -= FEED_OVERRIDE_FINE_INCREMENT; }
new_f_override = min(new_f_override,MAX_FEED_RATE_OVERRIDE);
new_f_override = max(new_f_override,MIN_FEED_RATE_OVERRIDE);
uint8_t new_r_override = sys.r_override;
if (rt_exec & EXEC_RAPID_OVR_RESET) { new_r_override = DEFAULT_RAPID_OVERRIDE; }
if (rt_exec & EXEC_RAPID_OVR_MEDIUM) { new_r_override = RAPID_OVERRIDE_MEDIUM; }
if (rt_exec & EXEC_RAPID_OVR_LOW) { new_r_override = RAPID_OVERRIDE_LOW; }
if ((new_f_override != sys.f_override) || (new_r_override != sys.r_override)) {
sys.f_override = new_f_override;
sys.r_override = new_r_override;
sys.report_ovr_counter = REPORT_OVR_REFRESH_BUSY_COUNT; // Set to report change immediately
plan_update_velocity_profile_parameters();
plan_cycle_reinitialize();
}
}
rt_exec = sys_rt_exec_accessory_override;
if (rt_exec) {
system_clear_exec_accessory_overrides(); // Clear all accessory override flags.
// NOTE: Unlike motion overrides, spindle overrides do not require a planner reinitialization.
uint8_t last_s_override = sys.spindle_speed_ovr;
if (rt_exec & EXEC_SPINDLE_OVR_RESET) { last_s_override = DEFAULT_SPINDLE_SPEED_OVERRIDE; }
if (rt_exec & EXEC_SPINDLE_OVR_COARSE_PLUS) { last_s_override += SPINDLE_OVERRIDE_COARSE_INCREMENT; }
if (rt_exec & EXEC_SPINDLE_OVR_COARSE_MINUS) { last_s_override -= SPINDLE_OVERRIDE_COARSE_INCREMENT; }
if (rt_exec & EXEC_SPINDLE_OVR_FINE_PLUS) { last_s_override += SPINDLE_OVERRIDE_FINE_INCREMENT; }
if (rt_exec & EXEC_SPINDLE_OVR_FINE_MINUS) { last_s_override -= SPINDLE_OVERRIDE_FINE_INCREMENT; }
last_s_override = min(last_s_override,MAX_SPINDLE_SPEED_OVERRIDE);
last_s_override = max(last_s_override,MIN_SPINDLE_SPEED_OVERRIDE);
if (last_s_override != sys.spindle_speed_ovr) {
sys.spindle_speed_ovr = last_s_override;
sys.report_ovr_counter = REPORT_OVR_REFRESH_BUSY_COUNT; // Set to report change immediately
}
uint8_t last_toggle_ovr_mask = sys.toggle_ovr_mask;
if (rt_exec & EXEC_SPINDLE_OVR_STOP) {
// Toggle allowed only while in HOLD state.
if (sys.state == STATE_HOLD) {
if (!(last_toggle_ovr_mask & TOGGLE_OVR_STOP_ACTIVE_MASK)) { last_toggle_ovr_mask |= TOGGLE_OVR_STOP_INITIATE; }
else if (last_toggle_ovr_mask & TOGGLE_OVR_STOP_ENABLED) { last_toggle_ovr_mask |= TOGGLE_OVR_STOP_RESTORE; }
}
}
// NOTE: Since coolant state always performs a planner sync whenever it changes, g-code parser
// state can be implicitly determine current run state at the beginning of the planner.
if (rt_exec & (EXEC_COOLANT_FLOOD_OVR_TOGGLE | EXEC_COOLANT_MIST_OVR_TOGGLE)) {
if ((sys.state == STATE_IDLE) || (sys.state & (STATE_CYCLE | STATE_HOLD))) {
uint8_t coolant_state = gc_state.modal.coolant;
#ifdef ENABLE_M7
if (rt_exec & EXEC_COOLANT_MIST_OVR_TOGGLE) {
if (coolant_state & COOLANT_MIST_ENABLE) { bit_false(coolant_state,COOLANT_MIST_ENABLE); }
else { coolant_state |= COOLANT_MIST_ENABLE; }
last_toggle_ovr_mask |= TOGGLE_OVR_MIST_COOLANT;
}
if (rt_exec & EXEC_COOLANT_FLOOD_OVR_TOGGLE) {
if (coolant_state & COOLANT_FLOOD_ENABLE) { bit_false(coolant_state,COOLANT_FLOOD_ENABLE); }
else { coolant_state |= COOLANT_FLOOD_ENABLE; }
last_toggle_ovr_mask |= TOGGLE_OVR_FLOOD_COOLANT;
}
#else
if (coolant_state & COOLANT_FLOOD_ENABLE) { bit_false(coolant_state,COOLANT_FLOOD_ENABLE); }
else { coolant_state |= COOLANT_FLOOD_ENABLE; }
last_toggle_ovr_mask |= TOGGLE_OVR_FLOOD_COOLANT;
#endif
coolant_set_state(coolant_state);
gc_state.modal.coolant = coolant_state;
}
}
if (last_toggle_ovr_mask != sys.toggle_ovr_mask) {
sys.toggle_ovr_mask = last_toggle_ovr_mask;
sys.report_ovr_counter = REPORT_OVR_REFRESH_BUSY_COUNT; // Set to report change immediately
}
}
#ifdef DEBUG
if (sys_rt_exec_debug) {
report_realtime_debug();
sys_rt_exec_debug = 0;
}
#endif
// Reload step segment buffer
if (sys.state & (STATE_CYCLE | STATE_HOLD | STATE_SAFETY_DOOR | STATE_HOMING | STATE_JOG)) {
st_prep_buffer();
}
}
// Handles Grbl system suspend procedures, such as feed hold, safety door, and parking motion.
// The system will enter this loop, create local variables for suspend tasks, and return to
// whatever function that invoked the suspend, such that Grbl resumes normal operation.
// This function is written in a way to promote custom parking motions. Simply use this as a
// template
static void protocol_exec_rt_suspend()
{
#ifdef PARKING_ENABLE
// Declare parking local variables
float restore_target[N_AXIS];
float parking_target[N_AXIS];
float retract_waypoint = PARKING_PULLOUT_INCREMENT;
plan_line_data_t plan_data;
plan_line_data_t *pl_data = &plan_data;
memset(pl_data,0,sizeof(plan_line_data_t));
pl_data->condition = (PL_COND_FLAG_SYSTEM_MOTION|PL_COND_FLAG_NO_FEED_OVERRIDE);
#ifdef USE_LINE_NUMBERS
pl_data->line_number = PARKING_MOTION_LINE_NUMBER;
#endif
#endif
plan_block_t *block = plan_get_current_block();
uint8_t restore_condition;
#ifdef VARIABLE_SPINDLE
float restore_spindle_speed;
if (block == NULL) {
restore_condition = (gc_state.modal.spindle | gc_state.modal.coolant);
restore_spindle_speed = gc_state.spindle_speed;
} else {
restore_condition = block->condition;
restore_spindle_speed = block->spindle_speed;
}
#else
float restore_spindle_speed = 0.0; // Without variable spindle, this value is unused.
if (block == NULL) { restore_condition = (gc_state.modal.spindle | gc_state.modal.coolant); }
else { restore_condition = block->condition; }
#endif
while (sys.suspend) {
if (sys.abort) { return; }
// Block until initial hold is complete and the machine has stopped motion.
if (sys.suspend & SUSPEND_HOLD_COMPLETE) {
// Safety door manager. Handles de/re-energizing, switch state checks, and parking motions.
if (sys.suspend & SUSPEND_SAFETY_DOOR_AJAR) {
// Handles retraction motions and de-energizing.
if (bit_isfalse(sys.suspend,SUSPEND_RETRACT_COMPLETE)) {
// Ensure any prior spindle stop override is disabled at start of safety door routine.
bit_false(sys.toggle_ovr_mask,TOGGLE_OVR_STOP_ACTIVE_MASK);
#ifndef PARKING_ENABLE
spindle_stop(); // De-energize
coolant_set_state(COOLANT_DISABLE); // De-energize
#else
// Get current position and store restore location and spindle retract waypoint.
system_convert_array_steps_to_mpos(parking_target,sys_position);
if (bit_isfalse(sys.suspend,SUSPEND_RESTART_RETRACT)) {
memcpy(restore_target,parking_target,sizeof(parking_target));
retract_waypoint += restore_target[PARKING_AXIS];
retract_waypoint = min(retract_waypoint,PARKING_TARGET);
}
// Execute slow pull-out parking retract motion. Parking requires homing enabled and
// the current location not exceeding the parking target location.
// NOTE: State is will remain DOOR, until the de-energizing and retract is complete.
if ((bit_istrue(settings.flags,BITFLAG_HOMING_ENABLE)) &&
(parking_target[PARKING_AXIS] < PARKING_TARGET)) {
// Retract spindle by pullout distance. Ensure retraction motion moves away from
// the workpiece and waypoint motion doesn't exceed the parking target location.
if (parking_target[PARKING_AXIS] < retract_waypoint) {
parking_target[PARKING_AXIS] = retract_waypoint;
pl_data->feed_rate = PARKING_PULLOUT_RATE;
mc_parking_motion(parking_target, pl_data);
}
spindle_stop(); // De-energize
coolant_set_state(COOLANT_DISABLE); // De-energize
// Execute fast parking retract motion to parking target location.
if (parking_target[PARKING_AXIS] < PARKING_TARGET) {
parking_target[PARKING_AXIS] = PARKING_TARGET;
pl_data->feed_rate = PARKING_RATE;
mc_parking_motion(parking_target, pl_data);
}
} else {
// Parking motion not possible. Just disable the spindle and coolant.
spindle_stop(); // De-energize
coolant_set_state(COOLANT_DISABLE); // De-energize
}
#endif
sys.suspend &= ~(SUSPEND_RESTART_RETRACT);
sys.suspend |= SUSPEND_RETRACT_COMPLETE;
} else {
// Allows resuming from parking/safety door. Actively checks if safety door is closed and ready to resume.
// NOTE: This unlocks the SAFETY_DOOR state to a HOLD state, such that CYCLE_START can activate a resume.
if (sys.state == STATE_SAFETY_DOOR) {
if (!(system_check_safety_door_ajar())) {
sys.suspend &= ~(SUSPEND_SAFETY_DOOR_AJAR); // Reset door ajar flag to denote ready to resume.
}
}
// Handles parking restore and safety door resume.
if (sys.suspend & SUSPEND_INITIATE_RESTORE) {
#ifdef PARKING_ENABLE
// Execute fast restore motion to the pull-out position. Parking requires homing enabled.
// NOTE: State is will remain DOOR, until the de-energizing and retract is complete.
if (bit_istrue(settings.flags,BITFLAG_HOMING_ENABLE)) {
// Check to ensure the motion doesn't move below pull-out position.
if (parking_target[PARKING_AXIS] <= PARKING_TARGET) {
parking_target[PARKING_AXIS] = retract_waypoint;
pl_data->feed_rate = PARKING_RATE;
mc_parking_motion(parking_target, pl_data);
}
}
#endif
// Delayed Tasks: Restart spindle and coolant, delay to power-up, then resume cycle.
if (gc_state.modal.spindle != SPINDLE_DISABLE) {
// Block if safety door re-opened during prior restore actions.
if (bit_isfalse(sys.suspend,SUSPEND_RESTART_RETRACT)) {
spindle_set_state((restore_condition & (PL_COND_FLAG_SPINDLE_CW | PL_COND_FLAG_SPINDLE_CCW)), restore_spindle_speed);
delay_sec(SAFETY_DOOR_SPINDLE_DELAY, DELAY_MODE_SYS_SUSPEND);
}
}
if (gc_state.modal.coolant != COOLANT_DISABLE) {
// Block if safety door re-opened during prior restore actions.
if (bit_isfalse(sys.suspend,SUSPEND_RESTART_RETRACT)) {
coolant_set_state((restore_condition & (PL_COND_FLAG_COOLANT_FLOOD | PL_COND_FLAG_COOLANT_FLOOD)));
delay_sec(SAFETY_DOOR_COOLANT_DELAY, DELAY_MODE_SYS_SUSPEND);
}
}
#ifdef PARKING_ENABLE
// Execute slow plunge motion from pull-out position to resume position.
if (bit_istrue(settings.flags,BITFLAG_HOMING_ENABLE)) {
// Block if safety door re-opened during prior restore actions.
if (bit_isfalse(sys.suspend,SUSPEND_RESTART_RETRACT)) {
// Regardless if the retract parking motion was a valid/safe motion or not, the
// restore parking motion should logically be valid, either by returning to the
// original position through valid machine space or by not moving at all.
pl_data->feed_rate = PARKING_PULLOUT_RATE;
mc_parking_motion(parking_target, pl_data);
}
}
#endif
if (bit_isfalse(sys.suspend,SUSPEND_RESTART_RETRACT)) {
sys.suspend |= SUSPEND_RESTORE_COMPLETE;
system_set_exec_state_flag(EXEC_CYCLE_START); // Set to resume program.
}
}
}
} else {
// Feed hold manager. Controls spindle stop override states.
// NOTE: Hold ensured as completed by condition check at the beginning of suspend routine.
if (sys.toggle_ovr_mask & TOGGLE_OVR_STOP_INITIATE) { // Handles beginning of spindle stop
bit_false(sys.toggle_ovr_mask,TOGGLE_OVR_STOP_ACTIVE_MASK); // Clear stop override state
if (gc_state.modal.spindle != SPINDLE_DISABLE) {
spindle_stop(); // De-energize
sys.toggle_ovr_mask |= TOGGLE_OVR_STOP_ENABLED; // Set stop override state to enabled, if de-energized.
}
} else if (sys.toggle_ovr_mask & (TOGGLE_OVR_STOP_RESTORE | TOGGLE_OVR_STOP_RESTORE_CYCLE)) { // Handles restoring of spindle state
if (gc_state.modal.spindle != SPINDLE_DISABLE) {
report_feedback_message(MESSAGE_SPINDLE_RESTORE);
spindle_set_state((restore_condition & (PL_COND_FLAG_SPINDLE_CW | PL_COND_FLAG_SPINDLE_CCW)), restore_spindle_speed);
delay_sec(SAFETY_DOOR_SPINDLE_DELAY, DELAY_MODE_SYS_SUSPEND);
}
if (sys.toggle_ovr_mask & TOGGLE_OVR_STOP_RESTORE_CYCLE) {
system_set_exec_state_flag(EXEC_CYCLE_START); // Set to resume program.
}
bit_false(sys.toggle_ovr_mask,TOGGLE_OVR_STOP_ACTIVE_MASK); // Clear stop override state
}
}
}
protocol_exec_rt_system();
}
}
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