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Marked a large number of non-critical functions with FLASHMEM to save RAM for the iMXRT1062 driver.

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Improved alarm handling, if a critical alarm is active when a non-critical alarm is raised the non-critical alarm will be delayed until after reset for the critical alarm.
Improved Modbus exception handling and added high level API call for creating and sending Modbus messages.
Added G65P7 inbuilt macro for interacting with Modbus devices from gcode. See the Wiki for details.
This commit is contained in:
Terje Io
2026-02-15 22:16:03 +01:00
parent f0fa009f5e
commit 16e5df9d93
35 changed files with 988 additions and 707 deletions
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48
gcode.c
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@@ -173,7 +173,7 @@ parser_state_t *gc_get_state (void)
return &gc_state;
}
char *gc_coord_system_to_str (coord_system_id_t id)
FLASHMEM char *gc_coord_system_to_str (coord_system_id_t id)
{
static char buf[6];
@@ -188,7 +188,7 @@ char *gc_coord_system_to_str (coord_system_id_t id)
return buf;
}
static void override_disable (spindle_t *spindle, int32_t spindle_id, gc_override_flags_t flags, overrides_t *overrides)
FLASHMEM static void override_disable (spindle_t *spindle, int32_t spindle_id, gc_override_flags_t flags, overrides_t *overrides)
{
gc_override_flags_t org_flags = gc_state.modal.override_ctrl;
@@ -214,7 +214,7 @@ static void override_disable (spindle_t *spindle, int32_t spindle_id, gc_overrid
mc_override_ctrl_update(org_flags);
}
static void override_restore (spindle_t *spindle, int32_t spindle_id, gc_override_flags_t flags, overrides_t *overrides)
FLASHMEM static void override_restore (spindle_t *spindle, int32_t spindle_id, gc_override_flags_t flags, overrides_t *overrides)
{
if(flags.spindle_rpm) {
if(!(gc_state.modal.override_ctrl.spindle_rpm_disable = overrides->control.spindle_rpm_disable)) {
@@ -235,7 +235,7 @@ static void override_restore (spindle_t *spindle, int32_t spindle_id, gc_overrid
mc_override_ctrl_update(gc_state.modal.override_ctrl);
}
static void set_scaling (float factor)
FLASHMEM static void set_scaling (float factor)
{
uint_fast8_t idx = N_AXIS;
axes_signals_t state = gc_get_g51_state();
@@ -290,7 +290,7 @@ inline static float gc_get_block_offset (parser_block_t *gc_block, uint_fast8_t
return gc_block->modal.g5x_offset.data.coord.values[idx] + gc_state.g92_offset.coord.values[idx] + gc_state.modal.tool_length_offset[idx];
}
void gc_set_tool_offset (tool_offset_mode_t mode, uint_fast8_t idx, int32_t offset)
FLASHMEM void gc_set_tool_offset (tool_offset_mode_t mode, uint_fast8_t idx, int32_t offset)
{
bool tlo_changed = false;
@@ -354,7 +354,7 @@ plane_t *gc_get_plane_data (plane_t *plane, plane_select_t select)
return plane;
}
axes_signals_t gc_claim_axis_words (parser_block_t *gc_block, axes_signals_t validate)
FLASHMEM axes_signals_t gc_claim_axis_words (parser_block_t *gc_block, axes_signals_t validate)
{
static const parameter_words_t wordmap[] = {
{ .x = On },
@@ -416,7 +416,7 @@ float gc_get_accel_factor (uint8_t profile)
#if NGC_PARAMETERS_ENABLE
static parameter_words_t macro_arguments_push (gc_values_t *values, parameter_words_t words)
FLASHMEM static parameter_words_t macro_arguments_push (gc_values_t *values, parameter_words_t words)
{
// NOTE: this array has to match the parameter_words_t order!
PROGMEM static const uint8_t offset[] = {
@@ -490,7 +490,7 @@ static parameter_words_t macro_arguments_push (gc_values_t *values, parameter_wo
return g65_words;
}
static modal_restore_actions_t *get_state_restore_commands (gc_modal_t *modal, gc_modal_snapshot_t *snapshot)
FLASHMEM static modal_restore_actions_t *get_state_restore_commands (gc_modal_t *modal, gc_modal_snapshot_t *snapshot)
{
static modal_restore_actions_t actions = {0};
@@ -573,7 +573,7 @@ static modal_restore_actions_t *get_state_restore_commands (gc_modal_t *modal, g
return &actions;
}
bool gc_modal_state_restore (gc_modal_snapshot_t *snapshot)
FLASHMEM bool gc_modal_state_restore (gc_modal_snapshot_t *snapshot)
{
bool ok = false;
@@ -613,7 +613,7 @@ bool gc_modal_state_restore (gc_modal_snapshot_t *snapshot)
#endif // NGC_PARAMETERS_ENABLE
static m98_macro_t *macro_find (macro_id_t id)
FLASHMEM static m98_macro_t *macro_find (macro_id_t id)
{
m98_macro_t *sub;
@@ -625,7 +625,7 @@ static m98_macro_t *macro_find (macro_id_t id)
return sub;
}
size_t gc_macro_get_pos (macro_id_t id, vfs_file_t *file)
FLASHMEM size_t gc_macro_get_pos (macro_id_t id, vfs_file_t *file)
{
m98_macro_t *sub = macro_find(id);
@@ -646,7 +646,7 @@ bool gc_macros_validate (void)
}
*/
static void macros_clear (void)
FLASHMEM static void macros_clear (void)
{
m98_macro_t *next;
@@ -656,7 +656,7 @@ static void macros_clear (void)
} while((m98_macros = next));
}
static status_code_t macro_add (macro_id_t id, vfs_file_t *file)
FLASHMEM static status_code_t macro_add (macro_id_t id, vfs_file_t *file)
{
m98_macro_t *sub = macro_find(id);
@@ -675,7 +675,7 @@ static status_code_t macro_add (macro_id_t id, vfs_file_t *file)
return sub ? Status_OK : Status_FlowControlOutOfMemory;
}
static status_code_t macro_call (macro_id_t macro, parameter_words_t args, uint8_t repeats)
FLASHMEM static status_code_t macro_call (macro_id_t macro, parameter_words_t args, uint8_t repeats)
{
#if NGC_PARAMETERS_ENABLE
ngc_named_param_set("_value", 0.0f);
@@ -716,7 +716,7 @@ static status_code_t gc_at_exit (status_code_t status)
return status;
}
void gc_init (bool stop)
FLASHMEM void gc_init (bool stop)
{
#if COMPATIBILITY_LEVEL > 1
memset(&gc_state, 0, sizeof(parser_state_t));
@@ -813,14 +813,14 @@ inline static bool is_single_spindle_block (parser_block_t *gc_block, modal_grou
// Set dynamic laser power mode to PPI (Pulses Per Inch)
// Returns true if driver uses hardware implementation.
// Driver support for pulsing the laser on signal is required for this to work.
bool gc_laser_ppi_enable (uint_fast16_t ppi, uint_fast16_t pulse_length)
FLASHMEM bool gc_laser_ppi_enable (uint_fast16_t ppi, uint_fast16_t pulse_length)
{
gc_state.is_laser_ppi_mode = ppi > 0 && pulse_length > 0;
return grbl.on_laser_ppi_enable && grbl.on_laser_ppi_enable(ppi, pulse_length);
}
spindle_t *gc_spindle_get (spindle_num_t spindle)
FLASHMEM spindle_t *gc_spindle_get (spindle_num_t spindle)
{
#if N_SYS_SPINDLE > 1
return spindle < 0 ? gc_state.spindle : &gc_state.modal.spindle[spindle];
@@ -829,7 +829,7 @@ spindle_t *gc_spindle_get (spindle_num_t spindle)
#endif
}
void gc_spindle_off (void)
FLASHMEM void gc_spindle_off (void)
{
uint_fast8_t idx;
for(idx = 0; idx < N_SYS_SPINDLE; idx++) {
@@ -840,7 +840,7 @@ void gc_spindle_off (void)
report_add_realtime(Report_Spindle);
}
void gc_coolant (coolant_state_t state)
FLASHMEM void gc_coolant (coolant_state_t state)
{
gc_state.modal.coolant = state;
hal.coolant.set_state(gc_state.modal.coolant);
@@ -854,7 +854,7 @@ static void add_offset (const coord_data_t *offset)
system_flag_wco_change();
}
static tool_data_t *tool_get_pending (tool_id_t tool_id, char **message)
FLASHMEM static tool_data_t *tool_get_pending (tool_id_t tool_id, char **message)
{
static tool_data_t tool_data = {0};
@@ -885,7 +885,7 @@ static inline void tool_set (tool_data_t *tool)
}
// Add output command to linked list
static bool add_output_command (output_command_t *command)
FLASHMEM static bool add_output_command (output_command_t *command)
{
output_command_t *add_cmd;
@@ -907,7 +907,7 @@ static bool add_output_command (output_command_t *command)
}
// Free linked list of output commands
void gc_clear_output_commands (output_command_t *cmd)
FLASHMEM void gc_clear_output_commands (output_command_t *cmd)
{
while(cmd) {
output_command_t *next = cmd->next;
@@ -918,7 +918,7 @@ void gc_clear_output_commands (output_command_t *cmd)
static gc_thread_data thread;
static status_code_t init_sync_motion (plan_line_data_t *pl_data, float pitch)
FLASHMEM static status_code_t init_sync_motion (plan_line_data_t *pl_data, float pitch)
{
if(pl_data->spindle.hal->get_data == NULL)
RETURN(Status_GcodeUnsupportedCommand); // [Spindle not sync capable]
@@ -946,7 +946,7 @@ static status_code_t init_sync_motion (plan_line_data_t *pl_data, float pitch)
}
// Output and free previously allocated message
void gc_output_message (char *message)
FLASHMEM void gc_output_message (char *message)
{
if(message) {