mirror of
https://github.com/grblHAL/core.git
synced 2026-02-05 08:34:01 +08:00
64c35930c7
Added experimental support for G66 (modal macro call) and G67 (end modal macro call). Made axis letter to axis/motor assignment for axes ABCUVW freely changeable at compile time. Fix for some G65 arguments being incorrectly validated for normal use (sign, range). Added repeat support to G65 macro call via the optional L parameter word. Changed default setting for ABC-axes to rotary. Changed defaults for jerk settings to 10x acceleration settings. Disabled jerk for jog, probe and spindle synchronized motion. Added _active_probe system parameter, returns -1 if no probe inputs available. Minor bug fix, G5.1 and G33.1 motion commands were not coverted to the correct string equivalent in $G output.
67 lines
2.4 KiB
C
67 lines
2.4 KiB
C
/*
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protocol.h - controls grblHAL execution protocol and procedures
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Part of grblHAL
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Copyright (c) 2016-2025 Terje Io
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Copyright (c) 2011-2016 Sungeun K. Jeon for Gnea Research LLC
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Copyright (c) 2009-2011 Simen Svale Skogsrud
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grblHAL is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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grblHAL is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with grblHAL. If not, see <http://www.gnu.org/licenses/>.
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*/
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#ifndef _PROTOCOL_H_
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#define _PROTOCOL_H_
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#include "task.h"
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// Line buffer size from the input stream to be executed.
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// NOTE: Not a problem except for extreme cases, but the line buffer size can be too small
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// and g-code blocks can get truncated. Officially, the g-code standards support up to 256
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// characters. In future versions, this will be increased, when we know how much extra
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// memory space we can invest into here or we re-write the g-code parser not to have this
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// buffer.
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#ifndef LINE_BUFFER_SIZE
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#define LINE_BUFFER_SIZE 257 // 256 characters plus terminator
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#endif
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typedef union {
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foreground_task_ptr fn;
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on_execute_realtime_ptr fn_deprecated;
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} fg_task_ptr __attribute__ ((__transparent_union__));
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// Starts grblHAL main loop. It handles all incoming characters from the input stream and executes
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// them as they complete. It is also responsible for finishing the initialization procedures.
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bool protocol_main_loop (void);
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// Checks and executes a realtime command at various stop points in main program
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bool protocol_execute_realtime (void);
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bool protocol_exec_rt_system (void);
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void protocol_execute_noop (uint_fast16_t state);
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// Deprecated, to be deleted
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#define protocol_enqueue_foreground_task(fn, data) task_run_on_startup(fn, data)
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// Executes the auto cycle feature, if enabled.
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void protocol_auto_cycle_start (void);
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// Block until all buffered steps are executed
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bool protocol_buffer_synchronize (void);
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bool protocol_enqueue_realtime_command (uint8_t c);
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bool protocol_enqueue_gcode (char *data);
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void protocol_message (char *message);
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#endif
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