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.
97 lines
3.4 KiB
C
97 lines
3.4 KiB
C
/*
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sleep.c - determines and executes sleep procedures
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Part of grblHAL
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Copyright (c) 2018-2024 Terje Io
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Copyright (c) 2016 Sungeun K. Jeon
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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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#include "hal.h"
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#include "task.h"
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#include "state_machine.h"
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static volatile bool slumber;
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static void fall_asleep (void *data)
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{
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slumber = false;
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}
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// Starts sleep timer if running conditions are satisfied. When elapsed, sleep mode is executed.
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static void sleep_execute (void)
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{
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// Enable sleep timeout
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if(!(slumber = task_add_delayed(fall_asleep, NULL, (uint32_t)(SLEEP_DURATION * 1000.0f * 60.0f))))
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return;
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// Fetch current number of buffered characters in input stream buffer.
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uint16_t rx_initial = hal.stream.get_rx_buffer_free();
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do {
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grbl.on_execute_realtime(state_get());
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// Monitor for any new input stream data or external events (queries, buttons, alarms) to exit.
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if((hal.stream.get_rx_buffer_free() != rx_initial) || sys.rt_exec_state || sys.rt_exec_alarm ) {
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// Disable sleep timeout and return to normal operation.
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slumber = false;
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task_delete(fall_asleep, NULL);
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return;
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}
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} while(slumber);
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// If reached, sleep counter has expired. Execute sleep procedures.
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// Notify user that grblHAL has timed out and will be parking.
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// To exit sleep, resume or reset. Either way, the job will not be recoverable.
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system_set_exec_state_flag(EXEC_SLEEP);
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}
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// Checks running conditions for sleep. If satisfied, enables sleep timeout and executes
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// sleep mode upon elapse.
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// NOTE: Sleep procedures can be blocking, since grblHAL isn't receiving any commands, nor moving.
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// Hence, make sure any valid running state that executes the sleep timer is not one that is moving.
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void sleep_check (void)
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{
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static uint32_t last_check = 0;
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if(hal.get_elapsed_ticks() - last_check < 50)
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return;
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last_check = hal.get_elapsed_ticks();
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// The sleep execution feature will continue only if the machine is in an IDLE or HOLD state and
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// has any powered components enabled.
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// NOTE: With overrides or in laser mode, modal spindle and coolant state are not guaranteed. Need
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// to directly monitor and record running state during parking to ensure proper function.
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if (!(slumber || sys.steppers_deenergize || sys.flags.auto_reporting) && (gc_spindle_get(0)->state.value || gc_state.modal.coolant.value)) {
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switch(state_get()) {
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case STATE_IDLE:
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sleep_execute();
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break;
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case STATE_HOLD:
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if(sys.holding_state == Hold_Complete)
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sleep_execute();
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break;
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case STATE_SAFETY_DOOR:
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if(sys.parking_state == Parking_DoorAjar)
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sleep_execute();
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break;
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}
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}
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}
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