mirror of
https://github.com/grblHAL/core.git
synced 2026-02-05 16:50:16 +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.
111 lines
3.3 KiB
C
111 lines
3.3 KiB
C
/*
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override.c - An embedded CNC Controller with rs274/ngc (g-code) support
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Buffer handlers for real-time override commands
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Part of grblHAL
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Copyright (c) 2017-2023 Terje Io
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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 "grbl.h"
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#include "override.h"
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typedef struct {
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volatile uint_fast8_t head;
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volatile uint_fast8_t tail;
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uint8_t buf[OVERRIDE_BUFSIZE];
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} override_queue_t;
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static override_queue_t feed = {0}, spindle = {0}, coolant = {0};
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ISR_CODE void ISR_FUNC(enqueue_feed_override)(uint8_t cmd)
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{
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uint_fast8_t bptr = (feed.head + 1) & (OVERRIDE_BUFSIZE - 1); // Get next head pointer
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if(bptr != feed.tail) { // If not buffer full
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feed.buf[feed.head] = cmd; // add data to buffer
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feed.head = bptr; // and update pointer
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}
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}
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// Returns 0 if no commands enqueued
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uint8_t get_feed_override (void)
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{
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uint8_t data = 0;
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uint_fast8_t bptr = feed.tail;
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if(bptr != feed.head) {
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data = feed.buf[bptr++]; // Get next character, increment tmp pointer
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feed.tail = bptr & (OVERRIDE_BUFSIZE - 1); // and update pointer
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}
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return data;
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}
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ISR_CODE void ISR_FUNC(enqueue_spindle_override)(uint8_t cmd)
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{
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uint_fast8_t bptr = (spindle.head + 1) & (OVERRIDE_BUFSIZE - 1); // Get next head pointer
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if(bptr != spindle.tail) { // If not buffer full
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spindle.buf[spindle.head] = cmd; // add data to buffer
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spindle.head = bptr; // and update pointer
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}
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}
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// Returns 0 if no commands enqueued
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uint8_t get_spindle_override (void)
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{
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uint8_t data = 0;
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uint_fast8_t bptr = spindle.tail;
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if(bptr != spindle.head) {
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data = spindle.buf[bptr++]; // Get next character, increment tmp pointer
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spindle.tail = bptr & (OVERRIDE_BUFSIZE - 1); // and update pointer
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}
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return data;
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}
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ISR_CODE void ISR_FUNC(enqueue_coolant_override)(uint8_t cmd)
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{
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uint_fast8_t bptr = (coolant.head + 1) & (OVERRIDE_BUFSIZE - 1); // Get next head pointer
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if(bptr != coolant.tail) { // If not buffer full
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coolant.buf[coolant.head] = cmd; // add data to buffer
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coolant.head = bptr; // and update pointer
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}
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}
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// Returns 0 if no commands enqueued
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uint8_t get_coolant_override (void)
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{
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uint8_t data = 0;
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uint_fast8_t bptr = coolant.tail;
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if(bptr != coolant.head) {
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data = coolant.buf[bptr++]; // Get next character, increment tmp pointer
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coolant.tail = bptr & (OVERRIDE_BUFSIZE - 1); // and update pointer
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}
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return data;
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}
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void flush_override_buffers (void)
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{
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feed.head = feed.tail = spindle.head = spindle.tail = coolant.head = coolant.tail = 0;
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}
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