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Pin state reporting of all pins. Flash optimization.

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- New pin state realtime reporting feature. Instead of `Lim:000` for
limit state reports, the new feature shows `Pin:000|0|0000`, or
something similar. The `|` delimited fields indicate xyz limits, probe,
and control pin states, where 0 is always not triggered, and 1 is
triggered. Invert masks ARE accounted for.
  Each field may be enabled or disabled via the `$10` status report
setting. The probe and control pin flags are bits 5 and 6, respectively.

- Remove the now deprecated `REPORT_CONTROL_PIN_STATE` option in
config.h

- The old limit pin reports `Lim:000` may be re-enabled by commenting
out `REPORT_ALL_PIN_STATES` in config.h.

- Incremented the version letter (v1.0c) to indicate the change in
reporting style.

- Replaced all bit_true_atomic and bit_false_atomic macros with
function calls. This saved a couple hundred bytes of flash.
This commit is contained in:
Sonny Jeon 2015-11-09 21:54:26 -07:00
parent b9c3461932
commit 5eee10845b
16 changed files with 182 additions and 63 deletions
Download patch file Download diff file Expand all files Collapse all files

72
grbl/system.c
View file

@ -34,27 +34,45 @@ void system_init()
}
// 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;
uint8_t pin = (CONTROL_PIN & CONTROL_MASK);
#ifndef INVERT_ALL_CONTROL_PINS
pin ^= CONTROL_INVERT_MASK;
#endif
if (pin) {
#ifdef ENABLE_SAFETY_DOOR_INPUT_PIN
if (bit_istrue(pin,(1<<SAFETY_DOOR_BIT))) { control_state |= CONTROL_PIN_INDEX_SAFETY_DOOR; }
#endif
if (bit_istrue(pin,(1<<RESET_BIT))) { control_state |= CONTROL_PIN_INDEX_RESET; }
if (bit_istrue(pin,(1<<FEED_HOLD_BIT))) { control_state |= CONTROL_PIN_INDEX_FEED_HOLD; }
if (bit_istrue(pin,(1<<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.
ISR(CONTROL_INT_vect)
{
uint8_t pin = (CONTROL_PIN & CONTROL_MASK);
#ifndef INVERT_ALL_CONTROL_PINS
pin ^= CONTROL_INVERT_MASK;
#endif
// Enter only if any CONTROL pin is detected as active.
uint8_t pin = system_control_get_state();
if (pin) {
if (bit_istrue(pin,bit(RESET_BIT))) {
if (bit_istrue(pin,CONTROL_PIN_INDEX_RESET)) {
mc_reset();
} else if (bit_istrue(pin,bit(CYCLE_START_BIT))) {
} 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,bit(FEED_HOLD_BIT))) {
} 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,bit(SAFETY_DOOR_BIT))) {
} else if (bit_istrue(pin,CONTROL_PIN_INDEX_SAFETY_DOOR)) {
bit_true(sys_rt_exec_state, EXEC_SAFETY_DOOR);
#endif
}
@ -66,11 +84,7 @@ ISR(CONTROL_INT_vect)
uint8_t system_check_safety_door_ajar()
{
#ifdef ENABLE_SAFETY_DOOR_INPUT_PIN
#ifdef INVERT_CONTROL_PIN
return(bit_istrue(CONTROL_PIN,bit(SAFETY_DOOR_BIT)));
#else
return(bit_isfalse(CONTROL_PIN,bit(SAFETY_DOOR_BIT)));
#endif
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
@ -275,3 +289,33 @@ void system_convert_array_steps_to_mpos(float *position, int32_t *steps)
}
return;
}
// Special handlers for setting and clearing Grbl's real-time execution flags.
void system_set_exec_state_flag(uint8_t mask) {
uint8_t sreg = SREG;
cli();
sys_rt_exec_state |= (mask);
SREG = sreg;
}
void system_clear_exec_state_flag(uint8_t mask) {
uint8_t sreg = SREG;
cli();
sys_rt_exec_state &= ~(mask);
SREG = sreg;
}
void system_set_exec_alarm_flag(uint8_t mask) {
uint8_t sreg = SREG;
cli();
sys_rt_exec_alarm |= (mask);
SREG = sreg;
}
void system_clear_exec_alarm_flag(uint8_t mask) {
uint8_t sreg = SREG;
cli();
sys_rt_exec_alarm &= ~(mask);
SREG = sreg;
}