mirror of
https://github.com/grblHAL/core.git
synced 2026-02-06 00:52:35 +08:00
5825b36ef6
Fixed incorrect handling of G65 call parameters, axis words had offsets added. Ref. issue #594. Refactored handling of multiple spindles. There are still some limitations but should work better now. Disabled override delays for now, needs investigation. Ref. issue #598. NOTE: Please report any erratic behaviour after installing this version since it is a rather major change.
97 lines
3.4 KiB
C
97 lines
3.4 KiB
C
/*
|
|
sleep.c - determines and executes sleep procedures
|
|
|
|
Part of grblHAL
|
|
|
|
Copyright (c) 2018-2024 Terje Io
|
|
Copyright (c) 2016 Sungeun K. Jeon
|
|
|
|
grblHAL 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.
|
|
|
|
grblHAL 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 grblHAL. If not, see <http://www.gnu.org/licenses/>.
|
|
*/
|
|
|
|
#include "hal.h"
|
|
#include "task.h"
|
|
#include "state_machine.h"
|
|
|
|
static volatile bool slumber;
|
|
|
|
static void fall_asleep (void *data)
|
|
{
|
|
slumber = false;
|
|
}
|
|
|
|
// Starts sleep timer if running conditions are satisfied. When elapsed, sleep mode is executed.
|
|
static void sleep_execute (void)
|
|
{
|
|
// Enable sleep timeout
|
|
if(!(slumber = task_add_delayed(fall_asleep, NULL, (uint32_t)(SLEEP_DURATION * 1000.0f * 60.0f))))
|
|
return;
|
|
|
|
// Fetch current number of buffered characters in input stream buffer.
|
|
uint16_t rx_initial = hal.stream.get_rx_buffer_free();
|
|
|
|
do {
|
|
grbl.on_execute_realtime(state_get());
|
|
// Monitor for any new input stream data or external events (queries, buttons, alarms) to exit.
|
|
if((hal.stream.get_rx_buffer_free() != rx_initial) || sys.rt_exec_state || sys.rt_exec_alarm ) {
|
|
// Disable sleep timeout and return to normal operation.
|
|
slumber = false;
|
|
task_delete(fall_asleep, NULL);
|
|
return;
|
|
}
|
|
} while(slumber);
|
|
|
|
// If reached, sleep counter has expired. Execute sleep procedures.
|
|
// Notify user that Grbl has timed out and will be parking.
|
|
// To exit sleep, resume or reset. Either way, the job will not be recoverable.
|
|
system_set_exec_state_flag(EXEC_SLEEP);
|
|
}
|
|
|
|
// Checks running conditions for sleep. If satisfied, enables sleep timeout and executes
|
|
// sleep mode upon elapse.
|
|
// NOTE: Sleep procedures can be blocking, since grblHAL isn't receiving any commands, nor moving.
|
|
// Hence, make sure any valid running state that executes the sleep timer is not one that is moving.
|
|
void sleep_check (void)
|
|
{
|
|
static uint32_t last_check = 0;
|
|
|
|
if(hal.get_elapsed_ticks() - last_check < 50)
|
|
return;
|
|
|
|
last_check = hal.get_elapsed_ticks();
|
|
|
|
// The sleep execution feature will continue only if the machine is in an IDLE or HOLD state and
|
|
// has any powered components enabled.
|
|
// NOTE: With overrides or in laser mode, modal spindle and coolant state are not guaranteed. Need
|
|
// to directly monitor and record running state during parking to ensure proper function.
|
|
if (!(slumber || sys.steppers_deenergize || sys.flags.auto_reporting) && (gc_spindle_get(0)->state.value || gc_state.modal.coolant.value)) {
|
|
switch(state_get()) {
|
|
|
|
case STATE_IDLE:
|
|
sleep_execute();
|
|
break;
|
|
|
|
case STATE_HOLD:
|
|
if(sys.holding_state == Hold_Complete)
|
|
sleep_execute();
|
|
break;
|
|
|
|
case STATE_SAFETY_DOOR:
|
|
if(sys.parking_state == Parking_DoorAjar)
|
|
sleep_execute();
|
|
break;
|
|
}
|
|
}
|
|
}
|