mirror of
https://github.com/grblHAL/core.git
synced 2026-03-23 11:32:44 +08:00
16e5df9d93
Improved alarm handling, if a critical alarm is active when a non-critical alarm is raised the non-critical alarm will be delayed until after reset for the critical alarm. Improved Modbus exception handling and added high level API call for creating and sending Modbus messages. Added G65P7 inbuilt macro for interacting with Modbus devices from gcode. See the Wiki for details.
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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FLASHMEM 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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FLASHMEM 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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FLASHMEM 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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FLASHMEM 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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