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report.c
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report.c
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/*
report.c - reporting and messaging methods
Part of grblHAL
Copyright (c) 2017-2023 Terje Io
Copyright (c) 2012-2016 Sungeun K. Jeon for Gnea Research LLC
Grbl 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.
Grbl 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 Grbl. If not, see <http://www.gnu.org/licenses/>.
*/
/*
This file functions as the primary feedback interface for Grbl. Any outgoing data, such
as the protocol status messages, feedback messages, and status reports, are stored here.
For the most part, these functions primarily are called from protocol.c methods. If a
different style feedback is desired (i.e. JSON), then a user can change these following
methods to accommodate their needs.
*/
#include <math.h>
#include <stdarg.h>
#include <stdlib.h>
#include <string.h>
#include "hal.h"
#include "report.h"
#include "nvs_buffer.h"
#include "machine_limits.h"
#include "state_machine.h"
#include "regex.h"
#if ENABLE_SPINDLE_LINEARIZATION
#include <stdio.h>
#endif
static char buf[(STRLEN_COORDVALUE + 1) * N_AXIS];
static char *(*get_axis_values)(float *axis_values);
static char *(*get_axis_value)(float value);
static char *(*get_rate_value)(float value);
static uint8_t override_counter = 0; // Tracks when to add override data to status reports.
static uint8_t wco_counter = 0; // Tracks when to add work coordinate offset data to status reports.
static const char vbar[2] = { '|', '\0' };
// Append a number of strings to the static buffer
// NOTE: do NOT use for several int/float conversions as these share the same underlying buffer!
static char *appendbuf (int argc, ...)
{
char c, *s = buf, *arg;
va_list list;
va_start(list, argc);
while(argc--) {
arg = va_arg(list, char *);
do {
c = *s++ = *arg++;
} while(c);
s--;
}
va_end(list);
return buf;
}
static char *map_coord_system (coord_system_id_t id)
{
uint8_t g5x = id + 54;
strcpy(buf, uitoa((uint32_t)(g5x > 59 ? 59 : g5x)));
if(g5x > 59) {
strcat(buf, ".");
strcat(buf, uitoa((uint32_t)(g5x - 59)));
}
return buf;
}
// Convert axis position values to null terminated string (mm).
static char *get_axis_values_mm (float *axis_values)
{
uint_fast32_t idx;
buf[0] = '\0';
for (idx = 0; idx < N_AXIS; idx++) {
if(idx == X_AXIS && gc_state.modal.diameter_mode)
strcat(buf, ftoa(axis_values[idx] * 2.0f, N_DECIMAL_COORDVALUE_MM));
else
strcat(buf, ftoa(axis_values[idx], N_DECIMAL_COORDVALUE_MM));
if (idx < (N_AXIS - 1))
strcat(buf, ",");
}
return buf;
}
// Convert axis position values to null terminated string (inch).
static char *get_axis_values_inches (float *axis_values)
{
uint_fast32_t idx;
buf[0] = '\0';
for (idx = 0; idx < N_AXIS; idx++) {
if(idx == X_AXIS && gc_state.modal.diameter_mode)
strcat(buf, ftoa(axis_values[idx] * INCH_PER_MM * 2.0f, N_DECIMAL_COORDVALUE_INCH));
#if N_AXIS > 3
else if(idx > Z_AXIS && bit_istrue(settings.steppers.is_rotational.mask, bit(idx)))
strcat(buf, ftoa(axis_values[idx], N_DECIMAL_COORDVALUE_MM));
#endif
else
strcat(buf, ftoa(axis_values[idx] * INCH_PER_MM, N_DECIMAL_COORDVALUE_INCH));
if (idx < (N_AXIS - 1))
strcat(buf, ",");
}
return buf;
}
// Convert rate value to null terminated string (mm).
static char *get_axis_value_mm (float value)
{
return strcpy(buf, ftoa(value, N_DECIMAL_COORDVALUE_MM));
}
// Convert rate value to null terminated string (mm).
static char *get_axis_value_inches (float value)
{
return strcpy(buf, ftoa(value * INCH_PER_MM, N_DECIMAL_COORDVALUE_INCH));
}
// Convert rate value to null terminated string (mm).
static char *get_rate_value_mm (float value)
{
return uitoa((uint32_t)value);
}
// Convert rate value to null terminated string (mm).
static char *get_rate_value_inch (float value)
{
return uitoa((uint32_t)(value * INCH_PER_MM));
}
// Convert axes signals bits to string representation.
// NOTE: returns pointer to null terminator!
inline static char *axis_signals_tostring (char *buf, axes_signals_t signals)
{
uint_fast16_t idx = 0;
signals.mask &= AXES_BITMASK;
while(signals.mask) {
if(signals.mask & 0x01)
*buf++ = *axis_letter[idx];
idx++;
signals.mask >>= 1;
};
*buf = '\0';
return buf;
}
// Convert control signals bits to string representation.
// NOTE: returns pointer to null terminator!
inline static char *control_signals_tostring (char *buf, control_signals_t signals)
{
static const char signals_map[] = "RHSDLTE FM P ";
char *map = (char *)signals_map;
if(!hal.signals_cap.stop_disable)
signals.stop_disable = sys.flags.optional_stop_disable;
if(!signals.deasserted)
while(signals.mask) {
if(signals.mask & 0x01) {
switch(*map) {
case ' ':
break;
case 'D':
if(hal.signals_cap.safety_door_ajar)
*buf++ = *map;
break;
case 'L':
if(sys.flags.block_delete_enabled)
*buf++ = *map;
break;
default:
*buf++ = *map;
break;
}
}
map++;
signals.mask >>= 1;
}
*buf = '\0';
return buf;
}
void report_init (void)
{
get_axis_value = settings.flags.report_inches ? get_axis_value_inches : get_axis_value_mm;
get_axis_values = settings.flags.report_inches ? get_axis_values_inches : get_axis_values_mm;
get_rate_value = settings.flags.report_inches ? get_rate_value_inch : get_rate_value_mm;
}
// Handles the primary confirmation protocol response for streaming interfaces and human-feedback.
// For every incoming line, this method responds with an 'ok' for a successful command or an
// 'error:' to indicate some error event with the line or some critical system error during
// operation. Errors events can originate from the g-code parser, settings module, or asynchronously
// from a critical error, such as a triggered hard limit. Interface should always monitor for these
// responses.
static status_code_t report_status_message (status_code_t status_code)
{
switch(status_code) {
case Status_OK: // STATUS_OK
hal.stream.write("ok" ASCII_EOL);
break;
default:
hal.stream.write(appendbuf(3, "error:", uitoa((uint32_t)status_code), ASCII_EOL));
break;
}
return status_code;
}
// Prints alarm messages.
static alarm_code_t report_alarm_message (alarm_code_t alarm_code)
{
hal.stream.write_all(appendbuf(3, "ALARM:", uitoa((uint32_t)alarm_code), ASCII_EOL));
hal.delay_ms(100, NULL); // Force delay to ensure message clears output stream buffer.
return alarm_code;
}
// Prints feedback message, typically from gcode.
void report_message (const char *msg, message_type_t type)
{
hal.stream.write("[MSG:");
switch(type) {
case Message_Info:
hal.stream.write("Info: ");
break;
case Message_Warning:
hal.stream.write("Warning: ");
break;
default:
break;
}
hal.stream.write(msg);
hal.stream.write("]" ASCII_EOL);
}
// Prints feedback messages. This serves as a centralized method to provide additional
// user feedback for things that are not of the status/alarm message protocol. These are
// messages such as setup warnings, switch toggling, and how to exit alarms.
// NOTE: For interfaces, messages are always placed within brackets. And if silent mode
// is installed, the message number codes are less than zero.
static message_code_t report_feedback_message (message_code_t id)
{
const message_t *msg = message_get(id);
report_message(msg ? msg->text : "", msg ? msg->type : Message_Plain);
if(id == Message_None && grbl.on_gcode_message)
grbl.on_gcode_message("");
return id;
}
// Welcome message
static void report_init_message (void)
{
override_counter = wco_counter = 0;
#if COMPATIBILITY_LEVEL == 0
hal.stream.write_all(ASCII_EOL "GrblHAL " GRBL_VERSION " ['$' or '$HELP' for help]" ASCII_EOL);
#else
hal.stream.write_all(ASCII_EOL "Grbl " GRBL_VERSION " ['$' for help]" ASCII_EOL);
#endif
}
// grblHAL help message
static void report_help_message (void)
{
hal.stream.write("[HLP:$$ $# $G $I $N $x=val $Nx=line $J=line $SLP $C $X $H $B ~ ! ? ctrl-x]" ASCII_EOL);
}
static bool report_group_settings (const setting_group_detail_t *groups, const uint_fast8_t n_groups, char *args)
{
bool found = false;
uint_fast8_t idx;
char c, *s, group[26];
for(idx = 0; idx < n_groups; idx++) {
s = group;
strncpy(group, groups[idx].name, sizeof(group) - 1);
// Uppercase group name
while((c = *s))
*s++ = CAPS(c);
if((found = matchhere(args, group))) {
hal.stream.write(ASCII_EOL "---- ");
hal.stream.write(groups[idx].name);
hal.stream.write(":" ASCII_EOL);
report_settings_details(SettingsFormat_HumanReadable, Setting_SettingsAll, groups[idx].id);
break;
}
}
return found;
}
status_code_t report_help (char *args)
{
// Strip leading spaces
while(*args == ' ')
args++;
if(*args == '\0') {
hal.stream.write("Help topics:" ASCII_EOL);
hal.stream.write(" Commands" ASCII_EOL);
hal.stream.write(" Settings" ASCII_EOL);
report_setting_group_details(false, " ");
} else {
char c, *s = args;
// Upper case argument
while((c = *s))
*s++ = CAPS(c);
if(matchhere(args, "COMMANDS")) {
if(grbl.on_report_command_help)
grbl.on_report_command_help();
} else if(matchhere(args, "SETTINGS"))
report_settings_details(SettingsFormat_HumanReadable, Setting_SettingsAll, Group_All);
else {
bool found = false;
setting_details_t *settings_info = settings_get_details();
found = report_group_settings(settings_info->groups, settings_info->n_groups, args);
if(!found && (settings_info = settings_info->next)) do {
if(settings_info->groups && (found = report_group_settings(settings_info->groups, settings_info->n_groups, args)))
break;
} while((settings_info = settings_info->next));
if(!found)
hal.stream.write( ASCII_EOL "N/A" ASCII_EOL);
}
}
return Status_OK;
}
// Grbl settings print out.
static int cmp_settings (const void *a, const void *b)
{
return (*(setting_detail_t **)(a))->id - (*(setting_detail_t **)(b))->id;
}
static bool report_setting (const setting_detail_t *setting, uint_fast16_t offset, void *data)
{
appendbuf(3, "$", uitoa(setting->id + offset), "=");
char *value = setting_get_value(setting, offset);
if(value) {
hal.stream.write(buf);
hal.stream.write(value);
hal.stream.write(ASCII_EOL);
}
return true;
}
status_code_t report_grbl_setting (setting_id_t id, void *data)
{
status_code_t status = Status_OK;
const setting_detail_t *setting = setting_get_details(id, NULL);
if(setting)
grbl.report.setting(setting, id - setting->id, data);
else
status = Status_SettingDisabled;
return status;
}
static bool print_setting (const setting_detail_t *setting, uint_fast16_t offset, void *data)
{
if(setting->value != NULL)
grbl.report.setting(setting, offset, data);
else {
hal.stream.write("$");
hal.stream.write(uitoa(setting->id));
hal.stream.write("=N/A" ASCII_EOL);
}
return true;
}
void report_grbl_settings (bool all, void *data)
{
uint_fast16_t idx, n_settings = 0;
const setting_detail_t *setting;
setting_detail_t **all_settings, **psetting;
setting_details_t *details = settings_get_details();
do {
n_settings += details->n_settings;
} while((details = details->next));
details = settings_get_details();
if((all_settings = psetting = calloc(n_settings, sizeof(setting_detail_t *)))) {
n_settings = 0;
// Report core settings
for(idx = 0; idx < details->n_settings; idx++) {
setting = &details->settings[idx];
if((all || setting->type == Setting_IsLegacy || setting->type == Setting_IsLegacyFn) &&
(setting->is_available == NULL ||setting->is_available(setting))) {
*psetting++ = (setting_detail_t *)setting;
n_settings++;
}
}
// Report driver and plugin settings
if(all && (details = details->next)) do {
for(idx = 0; idx < details->n_settings; idx++) {
setting = &details->settings[idx];
if(setting->is_available == NULL ||setting->is_available(setting)) {
*psetting++ = (setting_detail_t *)setting;
n_settings++;
}
}
} while((details = details->next));
qsort(all_settings, n_settings, sizeof(setting_detail_t *), cmp_settings);
for(idx = 0; idx < n_settings; idx++)
settings_iterator(all_settings[idx], print_setting, data);
free(all_settings);
} else do {
for(idx = 0; idx < n_settings; idx++)
settings_iterator(&details->settings[idx], print_setting, data);
} while((details = details->next));
}
// Prints current probe parameters. Upon a probe command, these parameters are updated upon a
// successful probe or upon a failed probe with the G38.3 without errors command (if supported).
// These values are retained until Grbl is power-cycled, whereby they will be re-zeroed.
void report_probe_parameters (void)
{
// Report in terms of machine position.
float print_position[N_AXIS];
system_convert_array_steps_to_mpos(print_position, sys.probe_position);
hal.stream.write("[PRB:");
hal.stream.write(get_axis_values(print_position));
hal.stream.write(sys.flags.probe_succeeded ? ":1" : ":0");
hal.stream.write("]" ASCII_EOL);
}
// Prints current home position in terms of machine position.
// Bitmask for homed axes attached.
void report_home_position (void)
{
hal.stream.write("[HOME:");
hal.stream.write(get_axis_values(sys.home_position));
hal.stream.write(":");
hal.stream.write(uitoa(sys.homed.mask));
hal.stream.write("]" ASCII_EOL);
}
// Prints current tool offsets.
void report_tool_offsets (void)
{
hal.stream.write("[TLO:");
#if TOOL_LENGTH_OFFSET_AXIS >= 0
hal.stream.write(get_axis_value(gc_state.tool_length_offset[TOOL_LENGTH_OFFSET_AXIS]));
#else
hal.stream.write(get_axis_values(gc_state.tool_length_offset));
#endif
hal.stream.write("]" ASCII_EOL);
}
// Prints NIST/LinuxCNC NGC parameter value
status_code_t report_ngc_parameter (ngc_param_id_t id)
{
float value;
hal.stream.write("[PARAM:");
hal.stream.write(uitoa(id));
if(ngc_param_get(id, &value)) {
hal.stream.write("=");
hal.stream.write(ftoa(value, 3));
} else
hal.stream.write("=N/A");
hal.stream.write("]" ASCII_EOL);
return Status_OK;
}
// Prints named LinuxCNC NGC parameter value
status_code_t report_named_ngc_parameter (char *arg)
{
float value;
hal.stream.write("[PARAM:");
hal.stream.write(arg);
if(ngc_named_param_get(arg, &value)) {
hal.stream.write("=");
hal.stream.write(ftoa(value, 3));
} else
hal.stream.write("=N/A");
hal.stream.write("]" ASCII_EOL);
return Status_OK;
}
// Prints Grbl NGC parameters (coordinate offsets, probing, tool table)
void report_ngc_parameters (void)
{
uint_fast8_t idx;
float coord_data[N_AXIS];
if(gc_state.modal.scaling_active) {
hal.stream.write("[G51:");
hal.stream.write(get_axis_values(gc_get_scaling()));
hal.stream.write("]" ASCII_EOL);
}
for (idx = 0; idx < N_CoordinateSystems; idx++) {
if (!(settings_read_coord_data((coord_system_id_t)idx, &coord_data))) {
grbl.report.status_message(Status_SettingReadFail);
return;
}
hal.stream.write("[G");
switch (idx) {
case CoordinateSystem_G28:
hal.stream.write("28");
break;
case CoordinateSystem_G30:
hal.stream.write("30");
break;
case CoordinateSystem_G92:
break;
default: // G54-G59
hal.stream.write(map_coord_system((coord_system_id_t)idx));
break;
}
if(idx != CoordinateSystem_G92) {
hal.stream.write(":");
hal.stream.write(get_axis_values(coord_data));
hal.stream.write("]" ASCII_EOL);
}
}
// Print G92, G92.1 which are not persistent in memory
hal.stream.write("92:");
hal.stream.write(get_axis_values(gc_state.g92_coord_offset));
hal.stream.write("]" ASCII_EOL);
#if N_TOOLS
for (idx = 1; idx <= N_TOOLS; idx++) {
hal.stream.write("[T:");
hal.stream.write(uitoa((uint32_t)idx));
hal.stream.write("|");
hal.stream.write(get_axis_values(tool_table[idx].offset));
hal.stream.write("|");
hal.stream.write(get_axis_value(tool_table[idx].radius));
hal.stream.write("]" ASCII_EOL);
}
#endif
#if COMPATIBILITY_LEVEL < 10
if(settings.homing.flags.enabled)
report_home_position();
#endif
report_tool_offsets(); // Print tool length offset value.
report_probe_parameters(); // Print probe parameters. Not persistent in memory.
if(sys.tlo_reference_set.mask) { // Print tool length reference offset. Not persistent in memory.
plane_t plane;
gc_get_plane_data(&plane, gc_state.modal.plane_select);
hal.stream.write("[TLR:");
hal.stream.write(get_axis_value(sys.tlo_reference[plane.axis_linear] / settings.axis[plane.axis_linear].steps_per_mm));
hal.stream.write("]" ASCII_EOL);
}
}
static inline bool is_g92_active (void)
{
bool active = false;
uint_fast32_t idx = N_AXIS;
do {
idx--;
active = !(gc_state.g92_coord_offset[idx] == 0.0f || gc_state.g92_coord_offset[idx] == -0.0f);
} while(idx && !active);
return active;
}
// Print current gcode parser mode state
void report_gcode_modes (void)
{
hal.stream.write("[GC:G");
if (gc_state.modal.motion >= MotionMode_ProbeToward) {
hal.stream.write("38.");
hal.stream.write(uitoa((uint32_t)(gc_state.modal.motion - (MotionMode_ProbeToward - 2))));
} else
hal.stream.write(uitoa((uint32_t)gc_state.modal.motion));
hal.stream.write(" G");
hal.stream.write(map_coord_system(gc_state.modal.coord_system.id));
#if COMPATIBILITY_LEVEL < 10
if(is_g92_active())
hal.stream.write(" G92");
#endif
if(settings.mode == Mode_Lathe)
hal.stream.write(gc_state.modal.diameter_mode ? " G7" : " G8");
hal.stream.write(" G");
hal.stream.write(uitoa((uint32_t)(gc_state.modal.plane_select + 17)));
hal.stream.write(gc_state.modal.units_imperial ? " G20" : " G21");
hal.stream.write(gc_state.modal.distance_incremental ? " G91" : " G90");
hal.stream.write(" G");
hal.stream.write(uitoa((uint32_t)(94 - gc_state.modal.feed_mode)));
if(settings.mode == Mode_Lathe && gc_spindle_get()->cap.variable)
hal.stream.write(gc_state.modal.spindle.rpm_mode == SpindleSpeedMode_RPM ? " G97" : " G96");
#if COMPATIBILITY_LEVEL < 10
if(gc_state.modal.tool_offset_mode == ToolLengthOffset_Cancel)
hal.stream.write(" G49");
else {
hal.stream.write(" G43");
if(gc_state.modal.tool_offset_mode != ToolLengthOffset_Enable)
hal.stream.write(gc_state.modal.tool_offset_mode == ToolLengthOffset_EnableDynamic ? ".1" : ".2");
}
hal.stream.write(gc_state.canned.retract_mode == CCRetractMode_RPos ? " G99" : " G98");
if(gc_state.modal.scaling_active) {
hal.stream.write(" G51:");
axis_signals_tostring(buf, gc_get_g51_state());
hal.stream.write(buf);
} else
hal.stream.write(" G50");
#endif
if (gc_state.modal.program_flow) {
switch (gc_state.modal.program_flow) {
case ProgramFlow_Paused:
hal.stream.write(" M0");
break;
case ProgramFlow_OptionalStop:
hal.stream.write(" M1");
break;
case ProgramFlow_CompletedM2:
hal.stream.write(" M2");
break;
case ProgramFlow_CompletedM30:
hal.stream.write(" M30");
break;
case ProgramFlow_CompletedM60:
hal.stream.write(" M60");
break;
default:
break;
}
}
hal.stream.write(gc_state.modal.spindle.state.on ? (gc_state.modal.spindle.state.ccw ? " M4" : " M3") : " M5");
if(gc_state.tool_change)
hal.stream.write(" M6");
if (gc_state.modal.coolant.value) {
if (gc_state.modal.coolant.mist)
hal.stream.write(" M7");
if (gc_state.modal.coolant.flood)
hal.stream.write(" M8");
} else
hal.stream.write(" M9");
if (sys.override.control.feed_rate_disable)
hal.stream.write(" M50");
if (sys.override.control.spindle_rpm_disable)
hal.stream.write(" M51");
if (sys.override.control.feed_hold_disable)
hal.stream.write(" M53");
if (settings.parking.flags.enable_override_control && sys.override.control.parking_disable)
hal.stream.write(" M56");
hal.stream.write(appendbuf(2, " T", uitoa((uint32_t)gc_state.tool->tool)));
hal.stream.write(appendbuf(2, " F", get_rate_value(gc_state.feed_rate)));
if(gc_spindle_get()->cap.variable)
hal.stream.write(appendbuf(2, " S", ftoa(gc_state.spindle.rpm, N_DECIMAL_RPMVALUE)));
hal.stream.write("]" ASCII_EOL);
}
// Prints specified startup line
void report_startup_line (uint8_t n, char *line)
{
hal.stream.write(appendbuf(3, "$N", uitoa((uint32_t)n), "="));
hal.stream.write(line);
hal.stream.write(ASCII_EOL);
}
void report_execute_startup_message (char *line, status_code_t status_code)
{
hal.stream.write(">");
hal.stream.write(line);
hal.stream.write(":");
grbl.report.status_message(status_code);
}
// Prints build info line
void report_build_info (char *line, bool extended)
{
char buf[100];
hal.stream.write("[VER:" GRBL_VERSION ".");
hal.stream.write(uitoa(GRBL_BUILD));
hal.stream.write(":");
hal.stream.write(line);
hal.stream.write("]" ASCII_EOL);
#if COMPATIBILITY_LEVEL == 0
extended = true;
#endif
// Generate compile-time build option list
char *append = &buf[5];
strcpy(buf, "[OPT:");
if(spindle_get_caps().variable)
*append++ = 'V';
*append++ = 'N';
if(hal.driver_cap.mist_control)
*append++ = 'M';
#if COREXY
*append++ = 'C';
#endif
if(settings.parking.flags.enabled)
*append++ = 'P';
if(settings.homing.flags.force_set_origin)
*append++ = 'Z';
if(settings.homing.flags.single_axis_commands)
*append++ = 'H';
if(settings.limits.flags.two_switches)
*append++ = 'T';
if(settings.probe.allow_feed_override)
*append++ = 'A';
if(settings.spindle.flags.enable_rpm_controlled)
*append++ = '0';
if(hal.driver_cap.software_debounce)
*append++ = 'S';
if(settings.parking.flags.enable_override_control)
*append++ = 'R';
if(!settings.homing.flags.init_lock)
*append++ = 'L';
if(hal.signals_cap.safety_door_ajar)
*append++ = '+';
#if !ENABLE_RESTORE_NVS_WIPE_ALL // NOTE: Shown when disabled.
*append++ = '*';
#endif
#if !ENABLE_RESTORE_NVS_DEFAULT_SETTINGS // NOTE: Shown when disabled.
*append++ = '$';
#endif
#if !ENABLE_RESTORE_NVS_CLEAR_PARAMETERS // NOTE: Shown when disabled.
*append++ = '#';
#endif
#if DISABLE_BUILD_INFO_WRITE_COMMAND // NOTE: Shown when disabled.
*append++ = 'I';
#endif
if(!settings.status_report.sync_on_wco_change) // NOTE: Shown when disabled.
*append++ = 'W';
if(hal.stepper.get_ganged)
*append++ = '2';
*append++ = ',';
*append = '\0';
hal.stream.write(buf);
// NOTE: Compiled values, like override increments/max/min values, may be added at some point later.
hal.stream.write(uitoa((uint32_t)plan_get_buffer_size()));
hal.stream.write(",");
hal.stream.write(uitoa(hal.rx_buffer_size));
if(extended) {
hal.stream.write(",");
hal.stream.write(uitoa((uint32_t)N_AXIS));
hal.stream.write(",");
#if N_TOOLS
hal.stream.write(uitoa((uint32_t)N_TOOLS));
#else
hal.stream.write("0");
#endif
}
hal.stream.write("]" ASCII_EOL);
if(extended) {
uint_fast8_t idx;
nvs_io_t *nvs = nvs_buffer_get_physical();
strcat(strcpy(buf, "[AXS:"), uitoa(N_AXIS));
append = &buf[6];
*append++ = ':';
for(idx = 0; idx < N_AXIS; idx++)
*append++ = *axis_letter[idx];
*append = '\0';
hal.stream.write(strcat(buf, "]" ASCII_EOL));
strcpy(buf, "[NEWOPT:ENUMS,RT");
strcat(buf, settings.flags.legacy_rt_commands ? "+," : "-,");
if(settings.homing.flags.enabled)
strcat(buf, "HOME,");
if(!hal.probe.get_state)
strcat(buf, "NOPROBE,");
else if(hal.signals_cap.probe_disconnected)
strcat(buf, "PC,");
if(hal.signals_cap.stop_disable)
strcat(buf, "OS,");
if(hal.signals_cap.block_delete)
strcat(buf, "BD,");
if(hal.signals_cap.e_stop)
strcat(buf, "ES,");
if(hal.driver_cap.mpg_mode)
strcat(buf, "MPG,");
if(settings.mode == Mode_Lathe)
strcat(buf, "LATHE,");
if(hal.driver_cap.laser_ppi_mode)
strcat(buf, "PPI,");
if(hal.reboot)
strcat(buf, "REBOOT,");
#if NGC_EXPRESSIONS_ENABLE
strcat(buf, "EXPR,");
#endif
#if N_TOOLS
if(hal.driver_cap.atc && hal.tool.change)
strcat(buf, "ATC,");
else
#endif
if(hal.stream.suspend_read)
strcat(buf, "TC,"); // Manual tool change supported (M6)
if(hal.driver_cap.spindle_sync)
strcat(buf, "SS,");
#ifndef NO_SETTINGS_DESCRIPTIONS
strcat(buf, "SED,");
#endif
if(hal.rtc.get_datetime)
strcat(buf, "RTC,");
#ifdef PID_LOG
strcat(buf, "PID,");
#endif
append = &buf[strlen(buf) - 1];
if(*append == ',')
*append = '\0';
hal.stream.write(buf);
grbl.on_report_options(true);
hal.stream.write("]" ASCII_EOL);
hal.stream.write("[FIRMWARE:grblHAL]" ASCII_EOL);
if(!(nvs->type == NVS_None || nvs->type == NVS_Emulated)) {
hal.stream.write("[NVS STORAGE:");
*buf = '\0';
if(hal.nvs.type == NVS_Emulated)
strcat(buf, "*");
strcat(buf, nvs->type == NVS_Flash ? "FLASH" : (nvs->type == NVS_FRAM ? "FRAM" : "EEPROM"));
hal.stream.write(buf);
hal.stream.write("]" ASCII_EOL);
}
if(hal.info) {
hal.stream.write("[DRIVER:");
hal.stream.write(hal.info);