Mass reformat
No code changes other than what clang-format mandates. This is breaking
This commit is contained in:
Imbus
parent
a1c041481c
commit
fe32d197f9
38 changed files with 7094 additions and 6574 deletions
209
grbl/system.h
209
grbl/system.h
|
|
@ -28,141 +28,144 @@
|
|||
// NOTE: The system executor uses an unsigned 8-bit volatile variable (8 flag limit.) The default
|
||||
// flags are always false, so the realtime protocol only needs to check for a non-zero value to
|
||||
// know when there is a realtime 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_SAFETY_DOOR bit(5) // bitmask 00100000
|
||||
#define EXEC_MOTION_CANCEL bit(6) // bitmask 01000000
|
||||
#define EXEC_SLEEP bit(7) // bitmask 10000000
|
||||
#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_SAFETY_DOOR bit(5) // bitmask 00100000
|
||||
#define EXEC_MOTION_CANCEL bit(6) // bitmask 01000000
|
||||
#define EXEC_SLEEP bit(7) // bitmask 10000000
|
||||
|
||||
// Alarm executor codes. Valid values (1-255). Zero is reserved.
|
||||
#define EXEC_ALARM_HARD_LIMIT 1
|
||||
#define EXEC_ALARM_SOFT_LIMIT 2
|
||||
#define EXEC_ALARM_ABORT_CYCLE 3
|
||||
#define EXEC_ALARM_PROBE_FAIL_INITIAL 4
|
||||
#define EXEC_ALARM_PROBE_FAIL_CONTACT 5
|
||||
#define EXEC_ALARM_HOMING_FAIL_RESET 6
|
||||
#define EXEC_ALARM_HOMING_FAIL_DOOR 7
|
||||
#define EXEC_ALARM_HOMING_FAIL_PULLOFF 8
|
||||
#define EXEC_ALARM_HOMING_FAIL_APPROACH 9
|
||||
#define EXEC_ALARM_HOMING_FAIL_DUAL_APPROACH 10
|
||||
#define EXEC_ALARM_HARD_LIMIT 1
|
||||
#define EXEC_ALARM_SOFT_LIMIT 2
|
||||
#define EXEC_ALARM_ABORT_CYCLE 3
|
||||
#define EXEC_ALARM_PROBE_FAIL_INITIAL 4
|
||||
#define EXEC_ALARM_PROBE_FAIL_CONTACT 5
|
||||
#define EXEC_ALARM_HOMING_FAIL_RESET 6
|
||||
#define EXEC_ALARM_HOMING_FAIL_DOOR 7
|
||||
#define EXEC_ALARM_HOMING_FAIL_PULLOFF 8
|
||||
#define EXEC_ALARM_HOMING_FAIL_APPROACH 9
|
||||
#define EXEC_ALARM_HOMING_FAIL_DUAL_APPROACH 10
|
||||
|
||||
// Override bit maps. Realtime bitflags to control feed, rapid, spindle, and coolant overrides.
|
||||
// Spindle/coolant and feed/rapids are separated into two controlling flag variables.
|
||||
#define EXEC_FEED_OVR_RESET bit(0)
|
||||
#define EXEC_FEED_OVR_COARSE_PLUS bit(1)
|
||||
#define EXEC_FEED_OVR_COARSE_MINUS bit(2)
|
||||
#define EXEC_FEED_OVR_FINE_PLUS bit(3)
|
||||
#define EXEC_FEED_OVR_FINE_MINUS bit(4)
|
||||
#define EXEC_RAPID_OVR_RESET bit(5)
|
||||
#define EXEC_RAPID_OVR_MEDIUM bit(6)
|
||||
#define EXEC_RAPID_OVR_LOW bit(7)
|
||||
#define EXEC_FEED_OVR_RESET bit(0)
|
||||
#define EXEC_FEED_OVR_COARSE_PLUS bit(1)
|
||||
#define EXEC_FEED_OVR_COARSE_MINUS bit(2)
|
||||
#define EXEC_FEED_OVR_FINE_PLUS bit(3)
|
||||
#define EXEC_FEED_OVR_FINE_MINUS bit(4)
|
||||
#define EXEC_RAPID_OVR_RESET bit(5)
|
||||
#define EXEC_RAPID_OVR_MEDIUM bit(6)
|
||||
#define EXEC_RAPID_OVR_LOW bit(7)
|
||||
// #define EXEC_RAPID_OVR_EXTRA_LOW bit(*) // *NOT SUPPORTED*
|
||||
|
||||
#define EXEC_SPINDLE_OVR_RESET bit(0)
|
||||
#define EXEC_SPINDLE_OVR_COARSE_PLUS bit(1)
|
||||
#define EXEC_SPINDLE_OVR_COARSE_MINUS bit(2)
|
||||
#define EXEC_SPINDLE_OVR_FINE_PLUS bit(3)
|
||||
#define EXEC_SPINDLE_OVR_FINE_MINUS bit(4)
|
||||
#define EXEC_SPINDLE_OVR_STOP bit(5)
|
||||
#define EXEC_COOLANT_FLOOD_OVR_TOGGLE bit(6)
|
||||
#define EXEC_COOLANT_MIST_OVR_TOGGLE bit(7)
|
||||
#define EXEC_SPINDLE_OVR_RESET bit(0)
|
||||
#define EXEC_SPINDLE_OVR_COARSE_PLUS bit(1)
|
||||
#define EXEC_SPINDLE_OVR_COARSE_MINUS bit(2)
|
||||
#define EXEC_SPINDLE_OVR_FINE_PLUS bit(3)
|
||||
#define EXEC_SPINDLE_OVR_FINE_MINUS bit(4)
|
||||
#define EXEC_SPINDLE_OVR_STOP bit(5)
|
||||
#define EXEC_COOLANT_FLOOD_OVR_TOGGLE bit(6)
|
||||
#define EXEC_COOLANT_MIST_OVR_TOGGLE bit(7)
|
||||
|
||||
// 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_CYCLE bit(3) // Cycle is running or motions are being executed.
|
||||
#define STATE_HOLD bit(4) // Active feed hold
|
||||
#define STATE_JOG bit(5) // Jogging mode.
|
||||
#define STATE_SAFETY_DOOR bit(6) // Safety door is ajar. Feed holds and de-energizes system.
|
||||
#define STATE_SLEEP bit(7) // Sleep state.
|
||||
#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_CYCLE bit(3) // Cycle is running or motions are being executed.
|
||||
#define STATE_HOLD bit(4) // Active feed hold
|
||||
#define STATE_JOG bit(5) // Jogging mode.
|
||||
#define STATE_SAFETY_DOOR bit(6) // Safety door is ajar. Feed holds and de-energizes system.
|
||||
#define STATE_SLEEP bit(7) // Sleep state.
|
||||
|
||||
// Define system suspend flags. Used in various ways to manage suspend states and procedures.
|
||||
#define SUSPEND_DISABLE 0 // Must be zero.
|
||||
#define SUSPEND_HOLD_COMPLETE bit(0) // Indicates initial feed hold is complete.
|
||||
#define SUSPEND_RESTART_RETRACT bit(1) // Flag to indicate a retract from a restore parking motion.
|
||||
#define SUSPEND_RETRACT_COMPLETE bit(2) // (Safety door only) Indicates retraction and de-energizing is complete.
|
||||
#define SUSPEND_INITIATE_RESTORE bit(3) // (Safety door only) Flag to initiate resume procedures from a cycle start.
|
||||
#define SUSPEND_RESTORE_COMPLETE bit(4) // (Safety door only) Indicates ready to resume normal operation.
|
||||
#define SUSPEND_SAFETY_DOOR_AJAR bit(5) // Tracks safety door state for resuming.
|
||||
#define SUSPEND_MOTION_CANCEL bit(6) // Indicates a canceled resume motion. Currently used by probing routine.
|
||||
#define SUSPEND_JOG_CANCEL bit(7) // Indicates a jog cancel in process and to reset buffers when complete.
|
||||
#define SUSPEND_DISABLE 0 // Must be zero.
|
||||
#define SUSPEND_HOLD_COMPLETE bit(0) // Indicates initial feed hold is complete.
|
||||
#define SUSPEND_RESTART_RETRACT bit(1) // Flag to indicate a retract from a restore parking motion.
|
||||
#define SUSPEND_RETRACT_COMPLETE bit(2) // (Safety door only) Indicates retraction and de-energizing is complete.
|
||||
#define SUSPEND_INITIATE_RESTORE bit(3) // (Safety door only) Flag to initiate resume procedures from a cycle start.
|
||||
#define SUSPEND_RESTORE_COMPLETE bit(4) // (Safety door only) Indicates ready to resume normal operation.
|
||||
#define SUSPEND_SAFETY_DOOR_AJAR bit(5) // Tracks safety door state for resuming.
|
||||
#define SUSPEND_MOTION_CANCEL bit(6) // Indicates a canceled resume motion. Currently used by probing routine.
|
||||
#define SUSPEND_JOG_CANCEL bit(7) // Indicates a jog cancel in process and to reset buffers when complete.
|
||||
|
||||
// Define step segment generator state flags.
|
||||
#define STEP_CONTROL_NORMAL_OP 0 // Must be zero.
|
||||
#define STEP_CONTROL_END_MOTION bit(0)
|
||||
#define STEP_CONTROL_EXECUTE_HOLD bit(1)
|
||||
#define STEP_CONTROL_EXECUTE_SYS_MOTION bit(2)
|
||||
#define STEP_CONTROL_UPDATE_SPINDLE_PWM bit(3)
|
||||
#define STEP_CONTROL_NORMAL_OP 0 // Must be zero.
|
||||
#define STEP_CONTROL_END_MOTION bit(0)
|
||||
#define STEP_CONTROL_EXECUTE_HOLD bit(1)
|
||||
#define STEP_CONTROL_EXECUTE_SYS_MOTION bit(2)
|
||||
#define STEP_CONTROL_UPDATE_SPINDLE_PWM bit(3)
|
||||
|
||||
// Define control pin index for Grbl internal use. Pin maps may change, but these values don't.
|
||||
#ifdef ENABLE_SAFETY_DOOR_INPUT_PIN
|
||||
#define N_CONTROL_PIN 4
|
||||
#define CONTROL_PIN_INDEX_SAFETY_DOOR bit(0)
|
||||
#define CONTROL_PIN_INDEX_RESET bit(1)
|
||||
#define CONTROL_PIN_INDEX_FEED_HOLD bit(2)
|
||||
#define CONTROL_PIN_INDEX_CYCLE_START bit(3)
|
||||
#define N_CONTROL_PIN 4
|
||||
#define CONTROL_PIN_INDEX_SAFETY_DOOR bit(0)
|
||||
#define CONTROL_PIN_INDEX_RESET bit(1)
|
||||
#define CONTROL_PIN_INDEX_FEED_HOLD bit(2)
|
||||
#define CONTROL_PIN_INDEX_CYCLE_START bit(3)
|
||||
#else
|
||||
#define N_CONTROL_PIN 3
|
||||
#define CONTROL_PIN_INDEX_RESET bit(0)
|
||||
#define CONTROL_PIN_INDEX_FEED_HOLD bit(1)
|
||||
#define CONTROL_PIN_INDEX_CYCLE_START bit(2)
|
||||
#define N_CONTROL_PIN 3
|
||||
#define CONTROL_PIN_INDEX_RESET bit(0)
|
||||
#define CONTROL_PIN_INDEX_FEED_HOLD bit(1)
|
||||
#define CONTROL_PIN_INDEX_CYCLE_START bit(2)
|
||||
#endif
|
||||
|
||||
// Define spindle stop override control states.
|
||||
#define SPINDLE_STOP_OVR_DISABLED 0 // Must be zero.
|
||||
#define SPINDLE_STOP_OVR_ENABLED bit(0)
|
||||
#define SPINDLE_STOP_OVR_INITIATE bit(1)
|
||||
#define SPINDLE_STOP_OVR_RESTORE bit(2)
|
||||
#define SPINDLE_STOP_OVR_RESTORE_CYCLE bit(3)
|
||||
|
||||
#define SPINDLE_STOP_OVR_DISABLED 0 // Must be zero.
|
||||
#define SPINDLE_STOP_OVR_ENABLED bit(0)
|
||||
#define SPINDLE_STOP_OVR_INITIATE bit(1)
|
||||
#define SPINDLE_STOP_OVR_RESTORE bit(2)
|
||||
#define SPINDLE_STOP_OVR_RESTORE_CYCLE bit(3)
|
||||
|
||||
// Define global system variables
|
||||
typedef struct {
|
||||
uint8_t state; // Tracks the current system state of Grbl.
|
||||
uint8_t abort; // System abort flag. Forces exit back to main loop for reset.
|
||||
uint8_t suspend; // System suspend bitflag variable that manages holds, cancels, and safety door.
|
||||
uint8_t soft_limit; // Tracks soft limit errors for the state machine. (boolean)
|
||||
uint8_t step_control; // Governs the step segment generator depending on system state.
|
||||
uint8_t probe_succeeded; // Tracks if last probing cycle was successful.
|
||||
uint8_t homing_axis_lock; // Locks axes when limits engage. Used as an axis motion mask in the stepper ISR.
|
||||
#ifdef ENABLE_DUAL_AXIS
|
||||
uint8_t state; // Tracks the current system state of Grbl.
|
||||
uint8_t abort; // System abort flag. Forces exit back to main loop for reset.
|
||||
uint8_t suspend; // System suspend bitflag variable that manages holds, cancels, and safety door.
|
||||
uint8_t soft_limit; // Tracks soft limit errors for the state machine. (boolean)
|
||||
uint8_t step_control; // Governs the step segment generator depending on system state.
|
||||
uint8_t probe_succeeded; // Tracks if last probing cycle was successful.
|
||||
uint8_t homing_axis_lock; // Locks axes when limits engage. Used as an axis motion mask in the stepper ISR.
|
||||
#ifdef ENABLE_DUAL_AXIS
|
||||
uint8_t homing_axis_lock_dual;
|
||||
#endif
|
||||
uint8_t f_override; // Feed rate override value in percent
|
||||
uint8_t r_override; // Rapids override value in percent
|
||||
uint8_t spindle_speed_ovr; // Spindle speed value in percent
|
||||
uint8_t spindle_stop_ovr; // Tracks spindle stop override states
|
||||
uint8_t report_ovr_counter; // Tracks when to add override data to status reports.
|
||||
uint8_t report_wco_counter; // Tracks when to add work coordinate offset data to status reports.
|
||||
#ifdef ENABLE_PARKING_OVERRIDE_CONTROL
|
||||
uint8_t override_ctrl; // Tracks override control states.
|
||||
#endif
|
||||
#ifdef VARIABLE_SPINDLE
|
||||
#endif
|
||||
uint8_t f_override; // Feed rate override value in percent
|
||||
uint8_t r_override; // Rapids override value in percent
|
||||
uint8_t spindle_speed_ovr; // Spindle speed value in percent
|
||||
uint8_t spindle_stop_ovr; // Tracks spindle stop override states
|
||||
uint8_t report_ovr_counter; // Tracks when to add override data to status reports.
|
||||
uint8_t report_wco_counter; // Tracks when to add work coordinate offset data to status reports.
|
||||
#ifdef ENABLE_PARKING_OVERRIDE_CONTROL
|
||||
uint8_t override_ctrl; // Tracks override control states.
|
||||
#endif
|
||||
#ifdef VARIABLE_SPINDLE
|
||||
float spindle_speed;
|
||||
#endif
|
||||
#endif
|
||||
} system_t;
|
||||
|
||||
extern system_t sys;
|
||||
|
||||
// NOTE: These position variables may need to be declared as volatiles, if problems arise.
|
||||
extern int32_t sys_position[N_AXIS]; // Real-time machine (aka home) position vector in steps.
|
||||
extern int32_t sys_position[N_AXIS]; // Real-time machine (aka home) position vector in steps.
|
||||
extern int32_t sys_probe_position[N_AXIS]; // Last probe position in machine coordinates and steps.
|
||||
|
||||
extern volatile uint8_t sys_probe_state; // Probing state value. Used to coordinate the probing cycle with stepper ISR.
|
||||
extern volatile uint8_t sys_rt_exec_state; // Global realtime executor bitflag variable for state management. See EXEC bitmasks.
|
||||
extern volatile uint8_t sys_rt_exec_alarm; // Global realtime executor bitflag variable for setting various alarms.
|
||||
extern volatile uint8_t sys_rt_exec_motion_override; // Global realtime executor bitflag variable for motion-based overrides.
|
||||
extern volatile uint8_t sys_rt_exec_accessory_override; // Global realtime executor bitflag variable for spindle/coolant overrides.
|
||||
extern volatile uint8_t sys_probe_state; // Probing state value. Used to coordinate the probing cycle with stepper ISR.
|
||||
extern volatile uint8_t
|
||||
sys_rt_exec_state; // Global realtime executor bitflag variable for state management. See EXEC bitmasks.
|
||||
extern volatile uint8_t sys_rt_exec_alarm; // Global realtime executor bitflag variable for setting various alarms.
|
||||
extern volatile uint8_t
|
||||
sys_rt_exec_motion_override; // Global realtime executor bitflag variable for motion-based overrides.
|
||||
extern volatile uint8_t
|
||||
sys_rt_exec_accessory_override; // Global realtime executor bitflag variable for spindle/coolant overrides.
|
||||
|
||||
#ifdef DEBUG
|
||||
#define EXEC_DEBUG_REPORT bit(0)
|
||||
extern volatile uint8_t sys_rt_exec_debug;
|
||||
#define EXEC_DEBUG_REPORT bit(0)
|
||||
extern volatile uint8_t sys_rt_exec_debug;
|
||||
#endif
|
||||
|
||||
// Initialize the serial protocol
|
||||
|
|
@ -180,7 +183,6 @@ uint8_t system_execute_line(char *line);
|
|||
// Execute the startup script lines stored in EEPROM upon initialization
|
||||
void system_execute_startup(char *line);
|
||||
|
||||
|
||||
void system_flag_wco_change();
|
||||
|
||||
// Returns machine position of axis 'idx'. Must be sent a 'step' array.
|
||||
|
|
@ -191,8 +193,8 @@ void system_convert_array_steps_to_mpos(float *position, int32_t *steps);
|
|||
|
||||
// CoreXY calculation only. Returns x or y-axis "steps" based on CoreXY motor steps.
|
||||
#ifdef COREXY
|
||||
int32_t system_convert_corexy_to_x_axis_steps(int32_t *steps);
|
||||
int32_t system_convert_corexy_to_y_axis_steps(int32_t *steps);
|
||||
int32_t system_convert_corexy_to_x_axis_steps(int32_t *steps);
|
||||
int32_t system_convert_corexy_to_y_axis_steps(int32_t *steps);
|
||||
#endif
|
||||
|
||||
// Checks and reports if target array exceeds machine travel limits.
|
||||
|
|
@ -208,5 +210,4 @@ void system_set_exec_accessory_override_flag(uint8_t mask);
|
|||
void system_clear_exec_motion_overrides();
|
||||
void system_clear_exec_accessory_overrides();
|
||||
|
||||
|
||||
#endif
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue