/*
protocol.c - controls Grbl execution protocol and procedures
Part of grblHAL
Copyright (c) 2017-2021 Terje Io
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 .
*/
#include
#include
#include "hal.h"
#include "nuts_bolts.h"
#include "nvs_buffer.h"
#include "override.h"
#include "state_machine.h"
#include "motion_control.h"
#include "sleep.h"
#include "protocol.h"
#include "limits.h"
#ifndef RT_QUEUE_SIZE
#define RT_QUEUE_SIZE 8 // must be a power of 2
#endif
// Define line flags. Includes comment type tracking and line overflow detection.
typedef union {
uint8_t value;
struct {
uint8_t overflow :1,
comment_parentheses :1,
comment_semicolon :1,
block_delete :1,
unassigned :4;
};
} line_flags_t;
typedef struct {
char *message;
uint_fast8_t idx;
uint_fast8_t tracker;
bool show;
} user_message_t;
typedef struct {
volatile uint_fast8_t head;
volatile uint_fast8_t tail;
on_execute_realtime_ptr fn[RT_QUEUE_SIZE];
} realtime_queue_t;
static uint_fast16_t char_counter = 0;
static char line[LINE_BUFFER_SIZE]; // Line to be executed. Zero-terminated.
static char xcommand[LINE_BUFFER_SIZE];
static bool keep_rt_commands = false;
static user_message_t user_message = {NULL, 0, 0, false};
static const char *msg = "(MSG,";
static realtime_queue_t realtime_queue = {0};
static void protocol_exec_rt_suspend ();
static void protocol_execute_rt_commands (void);
// add gcode to execute not originating from normal input stream
bool protocol_enqueue_gcode (char *gcode)
{
bool ok = xcommand[0] == '\0' &&
(state_get() == STATE_IDLE || (state_get() & (STATE_JOG|STATE_TOOL_CHANGE))) &&
bit_isfalse(sys.rt_exec_state, EXEC_MOTION_CANCEL);
if(ok && gc_state.file_run)
ok = gc_state.modal.program_flow != ProgramFlow_Running || strncmp((char *)gcode, "$J=", 3);
if(ok)
strcpy(xcommand, gcode);
return ok;
}
/*
GRBL PRIMARY LOOP:
*/
bool protocol_main_loop (void)
{
if(sys.alarm == Alarm_SelftestFailed) {
system_raise_alarm(Alarm_SelftestFailed);
} else if (hal.control.get_state().e_stop) {
// Check for e-stop active. Blocks everything until cleared.
system_raise_alarm(Alarm_EStop);
grbl.report.feedback_message(Message_EStop);
} else if(hal.control.get_state().motor_fault) {
// Check for motor fault active. Blocks everything until cleared.
system_raise_alarm(Alarm_MotorFault);
grbl.report.feedback_message(Message_MotorFault);
} else if (limits_homing_required()) {
// Check for power-up and set system alarm if homing is enabled to force homing cycle
// by setting Grbl's alarm state. Alarm locks out all g-code commands, including the
// startup scripts, but allows access to settings and internal commands.
// Only a successful homing cycle '$H' will disable the alarm.
// NOTE: The startup script will run after successful completion of the homing cycle. Prevents motion startup
// blocks from crashing into things uncontrollably. Very bad.
system_raise_alarm(Alarm_HomingRequried);
grbl.report.feedback_message(Message_HomingCycleRequired);
} else if (settings.limits.flags.hard_enabled && settings.limits.flags.check_at_init && limit_signals_merge(hal.limits.get_state()).value) {
if(sys.alarm == Alarm_LimitsEngaged && hal.control.get_state().limits_override)
state_set(STATE_IDLE); // Clear alarm state to enable limit switch pulloff.
else {
// Check that no limit switches are engaged to make sure everything is good to go.
system_raise_alarm(Alarm_LimitsEngaged);
grbl.report.feedback_message(Message_CheckLimits);
}
} else if(sys.cold_start && (settings.flags.force_initialization_alarm || hal.control.get_state().reset)) {
state_set(STATE_ALARM); // Ensure alarm state is set.
grbl.report.feedback_message(Message_AlarmLock);
} else if (state_get() & (STATE_ALARM|STATE_SLEEP)) {
// Check for and report alarm state after a reset, error, or an initial power up.
// NOTE: Sleep mode disables the stepper drivers and position can't be guaranteed.
// Re-initialize the sleep state as an ALARM mode to ensure user homes or acknowledges.
if(sys.alarm == Alarm_HomingRequried)
sys.alarm = Alarm_None; // Clear Alarm_HomingRequried as the lock has been overridden by a soft reset.
state_set(STATE_ALARM); // Ensure alarm state is set.
grbl.report.feedback_message(Message_AlarmLock);
} else {
state_set(STATE_IDLE);
#ifdef ENABLE_SAFETY_DOOR_INPUT_PIN
// Check if the safety door is open.
if (!settings.flags.safety_door_ignore_when_idle && hal.control.get_state().safety_door_ajar) {
system_set_exec_state_flag(EXEC_SAFETY_DOOR);
protocol_execute_realtime(); // Enter safety door mode. Should return as IDLE state.
}
#endif
// All systems go!
system_execute_startup(); // Execute startup script.
}
// Ensure spindle and coolant is switched off on a cold start
if(sys.cold_start) {
hal.spindle.set_state((spindle_state_t){0}, 0.0f);
hal.coolant.set_state((coolant_state_t){0});
if(realtime_queue.head != realtime_queue.tail)
system_set_exec_state_flag(EXEC_RT_COMMAND); // execute any boot up commands
} else
memset(&realtime_queue, 0, sizeof(realtime_queue_t));
// ---------------------------------------------------------------------------------
// 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.
// ---------------------------------------------------------------------------------
int16_t c;
char eol = '\0';
line_flags_t line_flags = {0};
bool nocaps = false, line_is_comment = false;
xcommand[0] = '\0';
user_message.show = keep_rt_commands = false;
while(true) {
// Process one line of incoming stream data, as the data becomes available. Performs an
// initial filtering by removing spaces and comments and capitalizing all letters.
while((c = hal.stream.read()) != SERIAL_NO_DATA) {
if(c == ASCII_CAN) {
eol = xcommand[0] = '\0';
keep_rt_commands = nocaps = line_is_comment = user_message.show = false;
char_counter = line_flags.value = 0;
gc_state.last_error = Status_OK;
if (state_get() == STATE_JOG) // Block all other states from invoking motion cancel.
system_set_exec_state_flag(EXEC_MOTION_CANCEL);
} else if ((c == '\n') || (c == '\r')) { // End of line reached
// Check for possible secondary end of line character, do not process as empty line
// if part of crlf (or lfcr pair) as this produces a possibly unwanted double response
if(char_counter == 0 && eol && eol != c) {
eol = '\0';
continue;
} else
eol = (char)c;
if(!protocol_execute_realtime()) // Runtime command check point.
return !sys.flags.exit; // 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.overflow) // Report line overflow error.
gc_state.last_error = Status_Overflow;
else if ((line[0] == '\0' || char_counter == 0) && !user_message.show && !line_is_comment) // Empty or comment line. For syncing purposes.
gc_state.last_error = Status_OK;
else if (line[0] == '$') {// Grbl '$' system command
if((gc_state.last_error = system_execute_line(line)) == Status_LimitsEngaged) {
system_raise_alarm(Alarm_LimitsEngaged);
grbl.report.feedback_message(Message_CheckLimits);
}
} else if (line[0] == '[' && grbl.on_user_command)
gc_state.last_error = grbl.on_user_command(line);
else if (state_get() & (STATE_ALARM|STATE_ESTOP|STATE_JOG)) // Everything else is gcode. Block if in alarm, eStop or jog mode.
gc_state.last_error = Status_SystemGClock;
#if COMPATIBILITY_LEVEL == 0
else if(gc_state.last_error == Status_OK || gc_state.last_error == Status_GcodeToolChangePending) { // Parse and execute g-code block.
#else
else { // Parse and execute g-code block.
#endif
gc_state.last_error = gc_execute_block(line, user_message.show ? user_message.message : NULL);
}
// Add a short delay for each block processed in Check Mode to
// avoid overwhelming the sender with fast reply messages.
// This is likely to happen when streaming is done via a protocol where
// the speed is not limited to 115200 baud. An example is native USB streaming.
#if CHECK_MODE_DELAY
if(state_get() == STATE_CHECK_MODE)
hal.delay_ms(CHECK_MODE_DELAY, NULL);
#endif
grbl.report.status_message(gc_state.last_error);
// Reset tracking data for next line.
keep_rt_commands = nocaps = user_message.show = false;
char_counter = line_flags.value = 0;
} else if (c <= (nocaps ? ' ' - 1 : ' ') || line_flags.value) {
// Throw away all whitepace, control characters, comment characters and overflow characters.
if(c >= ' ' && line_flags.comment_parentheses) {
if(user_message.tracker == 5)
user_message.message[user_message.idx++] = c == ')' ? '\0' : c;
else if(user_message.tracker > 0 && CAPS(c) == msg[user_message.tracker])
user_message.tracker++;
else
user_message.tracker = 0;
if (c == ')') {
// End of '()' comment. Resume line.
line_flags.comment_parentheses = Off;
keep_rt_commands = false;
user_message.show = user_message.show || user_message.tracker == 5;
}
}
} else {
switch(c) {
case '/':
if(char_counter == 0)
line_flags.block_delete = sys.flags.block_delete_enabled;
break;
case '$':
case '[':
// Do not uppercase system or user commands - will destroy passwords etc...
if(char_counter == 0)
nocaps = keep_rt_commands = true;
break;
case '(':
if(char_counter == 0)
line_is_comment = On;
if(!keep_rt_commands) {
// Enable comments flag and ignore all characters until ')' or EOL unless it is a message.
// NOTE: This doesn't follow the NIST definition exactly, but is good enough for now.
// In the future, we could simply remove the items within the comments, but retain the
// comment control characters, so that the g-code parser can error-check it.
if((line_flags.comment_parentheses = !line_flags.comment_semicolon)) {
if(!hal.driver_cap.no_gcode_message_handling) {
if(user_message.message == NULL)
user_message.message = malloc(LINE_BUFFER_SIZE);
if(user_message.message) {
user_message.idx = 0;
user_message.tracker = 1;
}
}
keep_rt_commands = true;
}
}
break;
case ';':
if(char_counter == 0)
line_is_comment = On;
// NOTE: ';' comment to EOL is a LinuxCNC definition. Not NIST.
if(!keep_rt_commands) {
if((line_flags.comment_semicolon = !line_flags.comment_parentheses))
keep_rt_commands = true;
}
break;
}
if (line_flags.value == 0 && !(line_flags.overflow = char_counter >= (LINE_BUFFER_SIZE - 1)))
line[char_counter++] = nocaps ? c : CAPS(c);
}
}
// Handle extra command (internal stream)
if(xcommand[0] != '\0') {
if (xcommand[0] == '$') // Grbl '$' system command
system_execute_line(xcommand);
else if (state_get() & (STATE_ALARM|STATE_ESTOP|STATE_JOG)) // Everything else is gcode. Block if in alarm, eStop or jog state.
grbl.report.status_message(Status_SystemGClock);
else // Parse and execute g-code block.
gc_execute_block(xcommand, NULL);
xcommand[0] = '\0';
}
// If there are no more characters in the input stream 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();
if(!protocol_execute_realtime() && sys.abort) // Runtime command check point.
return !sys.flags.exit; // Bail to main() program loop to reset system.
sys.cancel = false;
// Check for sleep conditions and execute auto-park, if timeout duration elapses.
if(settings.flags.sleep_enable)
sleep_check();
}
}
// 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.
bool protocol_buffer_synchronize (void)
{
bool ok = true;
// If system is queued, ensure cycle resumes if the auto start flag is present.
protocol_auto_cycle_start();
while ((ok = protocol_execute_realtime()) && (plan_get_current_block() || state_get() == STATE_CYCLE));
return ok;
}
// 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 (void)
{
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 input stream events, pinouts,
// limit switches, or the main program.
// Returns false if aborted
bool protocol_execute_realtime (void)
{
if(protocol_exec_rt_system()) {
if (sys.suspend)
protocol_exec_rt_suspend();
#ifdef BUFFER_NVSDATA
if((state_get() == STATE_IDLE || (state_get() & (STATE_ALARM|STATE_ESTOP))) && settings_dirty.is_dirty && !gc_state.file_run)
nvs_buffer_sync_physical();
#endif
}
return !ABORTED;
}
// 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!
bool protocol_exec_rt_system (void)
{
rt_exec_t rt_exec;
bool killed = false;
if (sys.rt_exec_alarm && (rt_exec = system_clear_exec_alarm())) { // 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.
system_raise_alarm((alarm_code_t)rt_exec);
if(sys.rt_exec_state & EXEC_RESET) {
// Kill spindle and coolant.
killed = true;
hal.spindle.set_state((spindle_state_t){0}, 0.0f);
hal.coolant.set_state((coolant_state_t){0});
// Tell driver/plugins about reset.
hal.driver_reset();
}
// Halt everything upon a critical event flag. Currently hard and soft limits flag this.
if ((alarm_code_t)rt_exec == Alarm_HardLimit ||
(alarm_code_t)rt_exec == Alarm_SoftLimit ||
(alarm_code_t)rt_exec == Alarm_EStop ||
(alarm_code_t)rt_exec == Alarm_MotorFault) {
system_set_exec_alarm(rt_exec);
switch((alarm_code_t)rt_exec) {
case Alarm_EStop:
grbl.report.feedback_message(Message_EStop);
break;
case Alarm_MotorFault:
grbl.report.feedback_message(Message_MotorFault);
break;
default:
grbl.report.feedback_message(Message_CriticalEvent);
break;
}
system_clear_exec_state_flag(EXEC_RESET); // Disable any existing reset
while (bit_isfalse(sys.rt_exec_state, EXEC_RESET)) {
// 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.
if(bit_istrue(sys.rt_exec_state, EXEC_STATUS_REPORT)) {
system_clear_exec_state_flag(EXEC_STATUS_REPORT);
report_realtime_status();
}
grbl.on_execute_realtime(STATE_ESTOP);
}
system_clear_exec_alarm(); // Clear alarm
}
}
if (sys.rt_exec_state && (rt_exec = system_clear_exec_states())) { // Get and clear volatile sys.rt_exec_state atomically.
// Execute system abort.
if (rt_exec & EXEC_RESET) {
if(!killed) {
// Kill spindle and coolant.
hal.spindle.set_state((spindle_state_t){0}, 0.0f);
hal.coolant.set_state((coolant_state_t){0});
// Tell driver/plugins about reset.
hal.driver_reset();
}
// Only place sys.abort is set true, when E-stop is not asserted.
if(!(sys.abort = !hal.control.get_state().e_stop)) {
hal.stream.reset_read_buffer();
system_raise_alarm(Alarm_EStop);
grbl.report.feedback_message(Message_EStop);
} else if(hal.control.get_state().motor_fault) {
sys.abort = false;
hal.stream.reset_read_buffer();
system_raise_alarm(Alarm_MotorFault);
grbl.report.feedback_message(Message_MotorFault);
}
return !sys.abort; // Nothing else to do but exit.
}
if(rt_exec & EXEC_STOP) { // Experimental for now, must be verified. Do NOT move to interrupt context!
sys.cancel = true;
sys.step_control.flags = 0;
sys.flags.feed_hold_pending = Off;
sys.flags.delay_overrides = Off;
if(sys.override.control.sync)
sys.override.control = gc_state.modal.override_ctrl;
gc_state.tool_change = false;
gc_state.modal.coolant.value = 0;
gc_state.modal.spindle.value = 0;
gc_state.spindle.rpm = sys.spindle_rpm = 0.0f;
gc_state.modal.spindle_rpm_mode = SpindleSpeedMode_RPM;
// Kill spindle and coolant. TODO: Check Mach3 behaviour?
hal.spindle.set_state(gc_state.modal.spindle, 0.0f);
hal.coolant.set_state(gc_state.modal.coolant);
sys.report.spindle = sys.report.coolant = On; // Set to report change immediately
// Tell driver/plugins about reset.
hal.driver_reset();
if(hal.stream.suspend_read && hal.stream.suspend_read(false))
hal.stream.cancel_read_buffer(); // flush pending blocks (after M6)
gc_init();
plan_reset();
/* if(sys.alarm_pending == Alarm_ProbeProtect) {
st_go_idle();
system_set_exec_alarm(sys.alarm_pending);
sys.alarm_pending = Alarm_None;
} else*/
st_reset();
sync_position();
flush_override_buffers();
if(!((state_get() == STATE_ALARM) && (sys.alarm == Alarm_LimitsEngaged || sys.alarm == Alarm_HomingRequried)))
state_set(STATE_IDLE);
}
// Execute and print status to output stream
if (rt_exec & EXEC_STATUS_REPORT)
report_realtime_status();
if(rt_exec & EXEC_GCODE_REPORT)
report_gcode_modes();
if(rt_exec & EXEC_TLO_REPORT)
report_tool_offsets();
// Execute and print PID log to output stream
if (rt_exec & EXEC_PID_REPORT)
report_pid_log();
if(rt_exec & EXEC_RT_COMMAND)
protocol_execute_rt_commands();
rt_exec &= ~(EXEC_STOP|EXEC_STATUS_REPORT|EXEC_GCODE_REPORT|EXEC_PID_REPORT|EXEC_TLO_REPORT|EXEC_RT_COMMAND); // clear requests already processed
if(sys.flags.feed_hold_pending) {
if(rt_exec & EXEC_CYCLE_START)
sys.flags.feed_hold_pending = Off;
else if(!sys.override.control.feed_hold_disable)
rt_exec |= EXEC_FEED_HOLD;
}
// Let state machine handle any remaining requests
if(rt_exec)
state_update(rt_exec);
}
grbl.on_execute_realtime(state_get());
if(!sys.flags.delay_overrides) {
// Execute overrides.
if((rt_exec = get_feed_override())) {
uint_fast8_t new_f_override = sys.override.feed_rate, new_r_override = sys.override.rapid_rate;
do {
switch(rt_exec) {
case CMD_OVERRIDE_FEED_RESET:
new_f_override = DEFAULT_FEED_OVERRIDE;
break;
case CMD_OVERRIDE_FEED_COARSE_PLUS:
new_f_override += FEED_OVERRIDE_COARSE_INCREMENT;
break;
case CMD_OVERRIDE_FEED_COARSE_MINUS:
new_f_override -= FEED_OVERRIDE_COARSE_INCREMENT;
break;
case CMD_OVERRIDE_FEED_FINE_PLUS:
new_f_override += FEED_OVERRIDE_FINE_INCREMENT;
break;
case CMD_OVERRIDE_FEED_FINE_MINUS:
new_f_override -= FEED_OVERRIDE_FINE_INCREMENT;
break;
case CMD_OVERRIDE_RAPID_RESET:
new_r_override = DEFAULT_RAPID_OVERRIDE;
break;
case CMD_OVERRIDE_RAPID_MEDIUM:
new_r_override = RAPID_OVERRIDE_MEDIUM;
break;
case CMD_OVERRIDE_RAPID_LOW:
new_r_override = RAPID_OVERRIDE_LOW;
break;
}
} while((rt_exec = get_feed_override()));
plan_feed_override(new_f_override, new_r_override);
}
if((rt_exec = get_accessory_override())) {
bool spindle_stop = false;
uint_fast8_t last_s_override = sys.override.spindle_rpm;
coolant_state_t coolant_state = gc_state.modal.coolant;
do {
switch(rt_exec) {
case CMD_OVERRIDE_SPINDLE_RESET:
last_s_override = DEFAULT_SPINDLE_RPM_OVERRIDE;
break;
case CMD_OVERRIDE_SPINDLE_COARSE_PLUS:
last_s_override += SPINDLE_OVERRIDE_COARSE_INCREMENT;
break;
case CMD_OVERRIDE_SPINDLE_COARSE_MINUS:
last_s_override -= SPINDLE_OVERRIDE_COARSE_INCREMENT;
break;
case CMD_OVERRIDE_SPINDLE_FINE_PLUS:
last_s_override += SPINDLE_OVERRIDE_FINE_INCREMENT;
break;
case CMD_OVERRIDE_SPINDLE_FINE_MINUS:
last_s_override -= SPINDLE_OVERRIDE_FINE_INCREMENT;
break;
case CMD_OVERRIDE_SPINDLE_STOP:
spindle_stop = !spindle_stop;
break;
case CMD_OVERRIDE_COOLANT_MIST_TOGGLE:
if (hal.driver_cap.mist_control && ((state_get() == STATE_IDLE) || (state_get() & (STATE_CYCLE | STATE_HOLD)))) {
coolant_state.mist = !coolant_state.mist;
}
break;
case CMD_OVERRIDE_COOLANT_FLOOD_TOGGLE:
if ((state_get() == STATE_IDLE) || (state_get() & (STATE_CYCLE | STATE_HOLD))) {
coolant_state.flood = !coolant_state.flood;
}
break;
default:
if(grbl.on_unknown_accessory_override)
grbl.on_unknown_accessory_override(rt_exec);
break;
}
} while((rt_exec = get_accessory_override()));
spindle_set_override(last_s_override);
// NOTE: Since coolant state always performs a planner sync whenever it changes, the current
// run state can be determined by checking the parser state.
if(coolant_state.value != gc_state.modal.coolant.value) {
coolant_set_state(coolant_state); // Report flag set in coolant_set_state().
gc_state.modal.coolant = coolant_state;
}
if (spindle_stop && state_get() == STATE_HOLD && gc_state.modal.spindle.on) {
// Spindle stop override allowed only while in HOLD state.
// NOTE: Report flag is set in spindle_set_state() when spindle stop is executed.
if (!sys.override.spindle_stop.value)
sys.override.spindle_stop.initiate = On;
else if (sys.override.spindle_stop.enabled)
sys.override.spindle_stop.restore = On;
}
}
} // End execute overrides.
// Reload step segment buffer
if (state_get() & (STATE_CYCLE | STATE_HOLD | STATE_SAFETY_DOOR | STATE_HOMING | STATE_SLEEP| STATE_JOG))
st_prep_buffer();
return !ABORTED;
}
// 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 (void)
{
while (sys.suspend) {
if (sys.abort)
return;
// Handle spindle overrides during suspend
state_suspend_manager();
// If door closed keep issuing cycle start requests until resumed
if(state_get() == STATE_SAFETY_DOOR && !hal.control.get_state().safety_door_ajar)
system_set_exec_state_flag(EXEC_CYCLE_START);
// Check for sleep conditions and execute auto-park, if timeout duration elapses.
// Sleep is valid for both hold and door states, if the spindle or coolant are on or
// set to be re-enabled.
if(settings.flags.sleep_enable)
sleep_check();
protocol_exec_rt_system();
}
}
// Pick off (drop) real-time command characters from input stream.
// These characters are not passed into the main buffer,
// but rather sets system state flag bits for later execution by protocol_exec_rt_system().
// Called from input stream interrupt handler.
ISR_CODE bool protocol_enqueue_realtime_command (char c)
{
static bool esc = false;
bool drop = false;
// 1. Process characters in the ranges 0x - 1x and 8x-Ax
// Characters with functions assigned are always acted upon even when the input stream
// is redirected to a non-interactive stream such as from a SD card.
switch ((unsigned char)c) {
case '\n':
case '\r':
break;
case CMD_STOP:
system_set_exec_state_flag(EXEC_STOP);
char_counter = 0;
hal.stream.cancel_read_buffer();
drop = true;
break;
case CMD_RESET: // Call motion control reset routine.
if(!hal.control.get_state().e_stop)
mc_reset();
drop = true;
break;
#if COMPATIBILITY_LEVEL == 0
case CMD_EXIT: // Call motion control reset routine.
mc_reset();
sys.flags.exit = On;
drop = true;
break;
#endif
case CMD_STATUS_REPORT_ALL: // Add all statuses on to report
{
bool tlo = sys.report.tool_offset;
sys.report.value = (uint32_t)-1;
sys.report.tool_offset = tlo;
sys.report.m66result = sys.var5933 > -2;
}
// no break
case CMD_STATUS_REPORT:
case 0x05:
system_set_exec_state_flag(EXEC_STATUS_REPORT);
drop = true;
break;
case CMD_CYCLE_START:
system_set_exec_state_flag(EXEC_CYCLE_START);
// Cancel any pending tool change
gc_state.tool_change = false;
drop = true;
break;
case CMD_FEED_HOLD:
system_set_exec_state_flag(EXEC_FEED_HOLD);
drop = true;
break;
case CMD_SAFETY_DOOR:
if(!hal.signals_cap.safety_door_ajar) {
system_set_exec_state_flag(EXEC_SAFETY_DOOR);
drop = true;
}
break;
case CMD_JOG_CANCEL:
char_counter = 0;
drop = true;
hal.stream.cancel_read_buffer();
#ifdef KINEMATICS_API // needed when kinematics algorithm segments long jog distances (as it blocks reading from input stream)
if (state_get() & STATE_JOG) // Block all other states from invoking motion cancel.
system_set_exec_state_flag(EXEC_MOTION_CANCEL);
#endif
break;
case CMD_GCODE_REPORT:
system_set_exec_state_flag(EXEC_GCODE_REPORT);
drop = true;
break;
case CMD_PROBE_CONNECTED_TOGGLE:
if(hal.probe.connected_toggle)
hal.probe.connected_toggle();
break;
case CMD_OPTIONAL_STOP_TOGGLE:
if(!hal.signals_cap.stop_disable) // Not available as realtime command if HAL supports physical switch
sys.flags.optional_stop_disable = !sys.flags.optional_stop_disable;
break;
case CMD_SINGLE_BLOCK_TOGGLE:
if(!hal.signals_cap.single_block) // Not available as realtime command if HAL supports physical switch
sys.flags.single_block = !sys.flags.single_block;
break;
case CMD_PID_REPORT:
system_set_exec_state_flag(EXEC_PID_REPORT);
drop = true;
break;
case CMD_OVERRIDE_FEED_RESET:
case CMD_OVERRIDE_FEED_COARSE_PLUS:
case CMD_OVERRIDE_FEED_COARSE_MINUS:
case CMD_OVERRIDE_FEED_FINE_PLUS:
case CMD_OVERRIDE_FEED_FINE_MINUS:
case CMD_OVERRIDE_RAPID_RESET:
case CMD_OVERRIDE_RAPID_MEDIUM:
case CMD_OVERRIDE_RAPID_LOW:
drop = true;
enqueue_feed_override(c);
break;
case CMD_OVERRIDE_SPINDLE_RESET:
case CMD_OVERRIDE_SPINDLE_COARSE_PLUS:
case CMD_OVERRIDE_SPINDLE_COARSE_MINUS:
case CMD_OVERRIDE_SPINDLE_FINE_PLUS:
case CMD_OVERRIDE_SPINDLE_FINE_MINUS:
case CMD_OVERRIDE_SPINDLE_STOP:
case CMD_OVERRIDE_COOLANT_FLOOD_TOGGLE:
case CMD_OVERRIDE_COOLANT_MIST_TOGGLE:
case CMD_OVERRIDE_FAN0_TOGGLE:
drop = true;
enqueue_accessory_override((uint8_t)c);
break;
case CMD_REBOOT:
if(esc && hal.reboot)
hal.reboot(); // Force MCU reboot. This call should never return.
break;
default:
if(c < ' ' || (c >= 0x7F && c <= 0xBF))
drop = grbl.on_unknown_realtime_cmd == NULL || grbl.on_unknown_realtime_cmd(c);
break;
}
// 2. Process printable ASCII characters and top-bit set characters
// If legacy realtime commands are disabled they are returned to the input stream
// when appearing in settings ($ commands) or comments
if(!drop) switch ((unsigned char)c) {
case CMD_STATUS_REPORT_LEGACY:
if(!keep_rt_commands || settings.flags.legacy_rt_commands) {
system_set_exec_state_flag(EXEC_STATUS_REPORT);
drop = true;
}
break;
case CMD_CYCLE_START_LEGACY:
if(!keep_rt_commands || settings.flags.legacy_rt_commands) {
system_set_exec_state_flag(EXEC_CYCLE_START);
// Cancel any pending tool change
gc_state.tool_change = false;
drop = true;
}
break;
case CMD_FEED_HOLD_LEGACY:
if(!keep_rt_commands || settings.flags.legacy_rt_commands) {
system_set_exec_state_flag(EXEC_FEED_HOLD);
drop = true;
}
break;
default: // Drop top bit set characters
drop = !(keep_rt_commands || (unsigned char)c < 0x7F);
break;
}
esc = c == ASCII_ESC;
return drop;
}
// Enqueue a function to be called once by the
// foreground process, typically enqueued from an interrupt handler.
ISR_CODE bool protocol_enqueue_rt_command (on_execute_realtime_ptr fn)
{
bool ok;
uint_fast8_t bptr = (realtime_queue.head + 1) & (RT_QUEUE_SIZE - 1); // Get next head pointer
if((ok = bptr != realtime_queue.tail)) { // If not buffer full
realtime_queue.fn[realtime_queue.head] = fn; // add function pointer to buffer,
realtime_queue.head = bptr; // update pointer and
system_set_exec_state_flag(EXEC_RT_COMMAND); // flag it for execute
}
return ok;
}
// Execute enqueued functions.
static void protocol_execute_rt_commands (void)
{
while(realtime_queue.tail != realtime_queue.head) {
uint_fast8_t bptr = realtime_queue.tail;
on_execute_realtime_ptr call;
if((call = realtime_queue.fn[bptr])) {
realtime_queue.fn[bptr] = NULL;
call(state_get());
}
realtime_queue.tail = (bptr + 1) & (RT_QUEUE_SIZE - 1);
}
}
void protocol_execute_noop (sys_state_t state)
{
(void)state;
}