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protocol.c
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/*
protocol.c - controls grblHAL execution protocol and procedures
Part of grblHAL
Copyright (c) 2017-2024 Terje Io
Copyright (c) 2011-2016 Sungeun K. Jeon for Gnea Research LLC
Copyright (c) 2009-2011 Simen Svale Skogsrud
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 <stdlib.h>
#include <string.h>
#include "hal.h"
#include "nuts_bolts.h"
#include "nvs_buffer.h"
#include "override.h"
#include "state_machine.h"
#include "motion_control.h"
#include "sleep.h"
#include "protocol.h"
#include "machine_limits.h"
#ifndef RT_QUEUE_SIZE
#define RT_QUEUE_SIZE 16 // must be a power of 2
#endif
// Define line flags. Includes comment type tracking and line overflow detection.
typedef union {
uint8_t value;
struct {
uint8_t overflow :1,
comment_parentheses :1,
comment_semicolon :1,
unassigned :5;
};
} line_flags_t;
typedef struct {
void *data;
fg_task_ptr task;
} delayed_task_t;
typedef struct {
volatile uint_fast8_t head;
volatile uint_fast8_t tail;
delayed_task_t task[RT_QUEUE_SIZE];
} realtime_queue_t;
static uint_fast16_t char_counter = 0;
static char line[LINE_BUFFER_SIZE]; // Line to be executed. Zero-terminated.
static char xcommand[LINE_BUFFER_SIZE];
static bool keep_rt_commands = false;
static realtime_queue_t realtime_queue = {0};
static on_execute_realtime_ptr on_execute_delay;
static void protocol_execute_rt_commands (sys_state_t state);
static void protocol_exec_rt_suspend (sys_state_t state);
// add gcode to execute not originating from normal input stream
bool protocol_enqueue_gcode (char *gcode)
{
bool ok = xcommand[0] == '\0' &&
(state_get() == STATE_IDLE || (state_get() & (STATE_ALARM|STATE_JOG|STATE_TOOL_CHANGE))) &&
bit_isfalse(sys.rt_exec_state, EXEC_MOTION_CANCEL);
if(ok && gc_state.file_run)
ok = gc_state.modal.program_flow != ProgramFlow_Running || strncmp((char *)gcode, "$J=", 3);
if(ok)
strcpy(xcommand, gcode);
return ok;
}
static void protocol_on_execute_delay (sys_state_t state)
{
if(sys.rt_exec_state & EXEC_RT_COMMAND) {
system_clear_exec_state_flag(EXEC_RT_COMMAND);
protocol_execute_rt_commands(0);
}
on_execute_delay(state);
}
static bool recheck_line (char *line, line_flags_t *flags)
{
bool keep_rt_commands = false, first_char = true;
flags->value = 0;
if(*line != '\0') do {
switch(*line) {
case '$':
case '[':
if(first_char)
keep_rt_commands = true;
break;
case '(':
if(!keep_rt_commands && (flags->comment_parentheses = !flags->comment_semicolon))
keep_rt_commands = !hal.driver_cap.no_gcode_message_handling; // Suspend real-time processing of printable command characters.
break;
case ')':
if(!flags->comment_semicolon)
flags->comment_parentheses = keep_rt_commands = false;
break;
case ';':
if(!flags->comment_parentheses) {
keep_rt_commands = false;
flags->comment_semicolon = On;
}
break;
}
first_char = false;
} while(*++line != '\0');
return keep_rt_commands;
}
/*
GRBL PRIMARY LOOP:
*/
bool protocol_main_loop (void)
{
if(sys.alarm == Alarm_SelftestFailed) {
sys.alarm = Alarm_None;
system_raise_alarm(Alarm_SelftestFailed);
} else if (hal.control.get_state().e_stop) {
// Check for e-stop active. Blocks everything until cleared.
system_raise_alarm(Alarm_EStop);
grbl.report.feedback_message(Message_EStop);
} else if(hal.control.get_state().motor_fault) {
// Check for motor fault active. Blocks everything until cleared.
system_raise_alarm(Alarm_MotorFault);
grbl.report.feedback_message(Message_MotorFault);
} else if(settings.probe.enable_protection && hal.control.get_state().probe_triggered) {
system_raise_alarm(Alarm_ProbeProtect);
grbl.report.feedback_message(Message_ProbeProtected);
} else if (limits_homing_required()) {
// Check for power-up and set system alarm if homing is enabled to force homing cycle
// by setting grblHAL's alarm state. Alarm locks out all g-code commands, including the
// startup scripts, but allows access to settings and internal commands.
// Only a successful homing cycle '$H' will disable the alarm.
// NOTE: The startup script will run after successful completion of the homing cycle. Prevents motion startup
// blocks from crashing into things uncontrollably. Very bad.
system_raise_alarm(Alarm_HomingRequired);
grbl.report.feedback_message(Message_HomingCycleRequired);
} else if (settings.limits.flags.hard_enabled &&
settings.limits.flags.check_at_init &&
(limit_signals_merge(hal.limits.get_state()).value & sys.hard_limits.mask)) {
if(sys.alarm == Alarm_LimitsEngaged && hal.control.get_state().limits_override)
state_set(STATE_IDLE); // Clear alarm state to enable limit switch pulloff.
else {
// Check that no limit switches are engaged to make sure everything is good to go.
system_raise_alarm(Alarm_LimitsEngaged);
grbl.report.feedback_message(Message_CheckLimits);
}
} else if(sys.cold_start && (settings.flags.force_initialization_alarm || hal.control.get_state().reset)) {
state_set(STATE_ALARM); // Ensure alarm state is set.
grbl.report.feedback_message(Message_AlarmLock);
} else if (state_get() & (STATE_ALARM|STATE_SLEEP)) {
// Check for and report alarm state after a reset, error, or an initial power up.
// NOTE: Sleep mode disables the stepper drivers and position can't be guaranteed.
// Re-initialize the sleep state as an ALARM mode to ensure user homes or acknowledges.
if(sys.alarm == Alarm_HomingRequired)
sys.alarm = Alarm_None; // Clear Alarm_HomingRequired as the lock has been overridden by a soft reset.
state_set(STATE_ALARM); // Ensure alarm state is set.
grbl.report.feedback_message(Message_AlarmLock);
} else {
state_set(STATE_IDLE);
#ifndef NO_SAFETY_DOOR_SUPPORT
// Check if the safety door is open.
if (hal.signals_cap.safety_door_ajar && !settings.safety_door.flags.ignore_when_idle && hal.control.get_state().safety_door_ajar) {
system_set_exec_state_flag(EXEC_SAFETY_DOOR);
protocol_execute_realtime(); // Enter safety door mode. Should return as IDLE state.
}
#endif
// All systems go!
protocol_enqueue_foreground_task(system_execute_startup, NULL); // Schedule startup script for execution.
}
// Ensure spindle and coolant is switched off on a cold start
if(sys.cold_start) {
spindle_all_off();
hal.coolant.set_state((coolant_state_t){0});
if(realtime_queue.head != realtime_queue.tail)
system_set_exec_state_flag(EXEC_RT_COMMAND); // execute any boot up commands
on_execute_delay = grbl.on_execute_delay;
grbl.on_execute_delay = protocol_on_execute_delay;
sys.cold_start = false;
} else // TODO: if flushing entries from the queue that has allocated data associated then these will be orphaned/leaked.
memset(&realtime_queue, 0, sizeof(realtime_queue_t));
// ---------------------------------------------------------------------------------
// Primary loop! Upon a system abort, this exits back to main() to reset the system.
// This is also where grblHAL idles while waiting for something to do.
// ---------------------------------------------------------------------------------
int16_t c;
char eol = '\0';
line_flags_t line_flags = {0};
xcommand[0] = '\0';
char_counter = 0;
keep_rt_commands = false;
while(true) {
// Process one line of incoming stream data, as the data becomes available. Performs an
// initial filtering by removing leading spaces and control characters.
while((c = hal.stream.read()) != SERIAL_NO_DATA) {
if(c == ASCII_CAN) {
eol = xcommand[0] = '\0';
keep_rt_commands = false;
char_counter = line_flags.value = 0;
gc_state.last_error = Status_OK;
if (state_get() == STATE_JOG) // Block all other states from invoking motion cancel.
system_set_exec_state_flag(EXEC_MOTION_CANCEL);
} else if(c == ASCII_EOF) {
if(grbl.on_file_end)
grbl.on_file_end(hal.stream.file, gc_state.last_error);
} else if ((c == '\n') || (c == '\r')) { // End of line reached
// Check for possible secondary end of line character, do not process as empty line
// if part of crlf (or lfcr pair) as this produces a possibly unwanted double response
if(char_counter == 0 && eol && eol != c) {
eol = '\0';
continue;
} else
eol = (char)c;
if(!protocol_execute_realtime()) // Runtime command check point.
return !sys.flags.exit; // Bail to calling function upon system abort
line[char_counter] = '\0'; // Set string termination character.
#if REPORT_ECHO_LINE_RECEIVED
report_echo_line_received(line);
#endif
// Direct and execute one line of formatted input, and report status of execution.
if (line_flags.overflow) // Report line overflow error.
gc_state.last_error = Status_Overflow;
else if(*line == '\0') // Empty line. For syncing purposes.
gc_state.last_error = Status_OK;
else if(*line == '$') {// grblHAL '$' system command
if((gc_state.last_error = system_execute_line(line)) == Status_LimitsEngaged) {
system_raise_alarm(Alarm_LimitsEngaged);
grbl.report.feedback_message(Message_CheckLimits);
}
} else if(*line == '[' && grbl.on_user_command)
gc_state.last_error = grbl.on_user_command(line);
else if (state_get() & (STATE_ALARM|STATE_ESTOP|STATE_JOG)) // Everything else is gcode. Block if in alarm, eStop or jog mode.
gc_state.last_error = Status_SystemGClock;
#if COMPATIBILITY_LEVEL == 0
else if(gc_state.last_error == Status_OK || gc_state.last_error == Status_GcodeToolChangePending) { // Parse and execute g-code block.
#else
else { // Parse and execute g-code block.
#endif
if((gc_state.last_error = gc_execute_block(line)) != Status_OK)
eol = '\0';
}
// Add a short delay for each block processed in Check Mode to
// avoid overwhelming the sender with fast reply messages.
// This is likely to happen when streaming is done via a protocol where
// the speed is not limited to 115200 baud. An example is native USB streaming.
#if CHECK_MODE_DELAY
if(state_get() == STATE_CHECK_MODE)
hal.delay_ms(CHECK_MODE_DELAY, NULL);
#endif
if(ABORTED)
break;
else
grbl.report.status_message(gc_state.last_error);
// Reset tracking data for next line.
keep_rt_commands = false;
char_counter = line_flags.value = 0;
} else if (c != ASCII_BS && c <= (char_counter > 0 ? ' ' - 1 : ' '))
continue; // Strip control characters and leading whitespace.
else {
switch(c) {
case '$':
case '[':
if(char_counter == 0)
keep_rt_commands = true;
break;
case '(':
if(!keep_rt_commands && (line_flags.comment_parentheses = !line_flags.comment_semicolon))
keep_rt_commands = !hal.driver_cap.no_gcode_message_handling; // Suspend real-time processing of printable command characters.
break;
case ')':
if(!line_flags.comment_semicolon)
line_flags.comment_parentheses = keep_rt_commands = false;
break;
case ';':
if(!line_flags.comment_parentheses) {
keep_rt_commands = false;
line_flags.comment_semicolon = On;
}
break;
case ASCII_BS:
case ASCII_DEL:
if(char_counter) {
line[--char_counter] = '\0';
keep_rt_commands = recheck_line(line, &line_flags);
}
continue;
}
if(!(line_flags.overflow = char_counter >= (LINE_BUFFER_SIZE - 1)))
line[char_counter++] = c;
}
}
// Handle extra command (internal stream)
if(xcommand[0] != '\0') {
if (xcommand[0] == '$') // grblHAL '$' system command
system_execute_line(xcommand);
else if (state_get() & (STATE_ALARM|STATE_ESTOP|STATE_JOG)) // Everything else is gcode. Block if in alarm, eStop or jog state.
grbl.report.status_message(Status_SystemGClock);
else // Parse and execute g-code block.
gc_execute_block(xcommand);
xcommand[0] = '\0';
}
// If there are no more characters in the input stream buffer to be processed and executed,
// this indicates that g-code streaming has either filled the planner buffer or has
// completed. In either case, auto-cycle start, if enabled, any queued moves.
protocol_auto_cycle_start();
if(sys.abort || !protocol_execute_realtime()) // Runtime command check point.
return !sys.flags.exit; // Bail to main() program loop to reset system.
sys.cancel = false;
// Check for sleep conditions and execute auto-park, if timeout duration elapses.
if(settings.flags.sleep_enable)
sleep_check();
}
}
// Block until all buffered steps are executed or in a cycle state. Works with feed hold
// during a synchronize call, if it should happen. Also, waits for clean cycle end.
bool protocol_buffer_synchronize (void)
{
bool ok = true;
// If system is queued, ensure cycle resumes if the auto start flag is present.
protocol_auto_cycle_start();
sys.flags.synchronizing = On;
while ((ok = protocol_execute_realtime()) && (plan_get_current_block() || state_get() == STATE_CYCLE));
sys.flags.synchronizing = Off;
return ok;
}
// Auto-cycle start triggers when there is a motion ready to execute and if the main program is not
// actively parsing commands.
// NOTE: This function is called from the main loop, buffer sync, and mc_line() only and executes
// when one of these conditions exist respectively: There are no more blocks sent (i.e. streaming
// is finished, single commands), a command that needs to wait for the motions in the buffer to
// execute calls a buffer sync, or the planner buffer is full and ready to go.
void protocol_auto_cycle_start (void)
{
if (plan_get_current_block() != NULL) // Check if there are any blocks in the buffer.
system_set_exec_state_flag(EXEC_CYCLE_START); // If so, execute them!
}
// This function is the general interface to grblHAL's real-time command execution system. It is called
// from various check points in the main program, primarily where there may be a while loop waiting
// for a buffer to clear space or any point where the execution time from the last check point may
// be more than a fraction of a second. This is a way to execute realtime commands asynchronously
// (aka multitasking) with grbl's g-code parsing and planning functions. This function also serves
// as an interface for the interrupts to set the system realtime flags, where only the main program
// handles them, removing the need to define more computationally-expensive volatile variables. This
// also provides a controlled way to execute certain tasks without having two or more instances of
// the same task, such as the planner recalculating the buffer upon a feedhold or overrides.
// NOTE: The sys_rt_exec_state variable flags are set by any process, step or input stream events, pinouts,
// limit switches, or the main program.
// Returns false if aborted
bool protocol_execute_realtime (void)
{
if(protocol_exec_rt_system()) {
sys_state_t state = state_get();
if(sys.suspend)
protocol_exec_rt_suspend(state);
#if NVSDATA_BUFFER_ENABLE
if((state == STATE_IDLE || (state & (STATE_ALARM|STATE_ESTOP))) && settings_dirty.is_dirty && !gc_state.file_run)
nvs_buffer_sync_physical();
#endif
}
return !ABORTED;
}
static void protocol_poll_cmd (void)
{
int16_t c;
if((c = hal.stream.read()) != SERIAL_NO_DATA) {
if ((c == '\n') || (c == '\r')) { // End of line reached
line[char_counter] = '\0';
gc_state.last_error = *line == '\0' ? Status_OK : (*line == '$' ? system_execute_line(line) : Status_SystemGClock);
char_counter = 0;
*line = '\0';
grbl.report.status_message(gc_state.last_error);
} else if(c == ASCII_DEL || c == ASCII_BS) {
if(char_counter)
line[--char_counter] = '\0';
} else if(char_counter == 0 ? c != ' ' : char_counter < (LINE_BUFFER_SIZE - 1))
line[char_counter++] = c;
keep_rt_commands = char_counter > 0 && *line == '$';
}
}
// Executes run-time commands, when required. This function primarily operates as grblHAL's state
// machine and controls the various real-time features grblHAL has to offer.
// NOTE: Do not alter this unless you know exactly what you are doing!
bool protocol_exec_rt_system (void)
{
rt_exec_t rt_exec;
bool killed = false;
if (sys.rt_exec_alarm && (rt_exec = system_clear_exec_alarm())) { // Enter only if any bit flag is true
if((sys.reset_pending = !!(sys.rt_exec_state & EXEC_RESET))) {
// Kill spindle and coolant.
killed = true;
spindle_all_off();
hal.coolant.set_state((coolant_state_t){0});
}
// System alarm. Everything has shutdown by something that has gone severely wrong. Report
// the source of the error to the user. If critical, grblHAL disables by entering an infinite
// loop until system reset/abort.
system_raise_alarm((alarm_code_t)rt_exec);
if(killed) // Tell driver/plugins about reset.
hal.driver_reset();
// Halt everything upon a critical event flag. Currently hard and soft limits flag this.
if((sys.blocking_event = (alarm_code_t)rt_exec == Alarm_HardLimit ||
(alarm_code_t)rt_exec == Alarm_SoftLimit ||
(alarm_code_t)rt_exec == Alarm_EStop ||
(alarm_code_t)rt_exec == Alarm_MotorFault)) {
system_set_exec_alarm(rt_exec);
switch((alarm_code_t)rt_exec) {
case Alarm_EStop:
grbl.report.feedback_message(Message_EStop);
break;
case Alarm_MotorFault:
grbl.report.feedback_message(Message_MotorFault);
break;
default:
grbl.report.feedback_message(Message_CriticalEvent);
break;
}
system_clear_exec_state_flag(EXEC_RESET); // Disable any existing reset
*line = '\0';
char_counter = 0;
hal.stream.reset_read_buffer();
while (bit_isfalse(sys.rt_exec_state, EXEC_RESET)) {
// Block everything, except reset and status reports, until user issues reset or power
// cycles. Hard limits typically occur while unattended or not paying attention. Gives
// the user and a GUI time to do what is needed before resetting, like killing the
// incoming stream. The same could be said about soft limits. While the position is not
// lost, continued streaming could cause a serious crash if by chance it gets executed.
if(bit_istrue(sys.rt_exec_state, EXEC_STATUS_REPORT)) {
system_clear_exec_state_flag(EXEC_STATUS_REPORT);
report_realtime_status();
}
protocol_poll_cmd();
grbl.on_execute_realtime(STATE_ESTOP);
}
system_clear_exec_alarm(); // Clear alarm
}
}
if (sys.rt_exec_state && (rt_exec = system_clear_exec_states())) { // Get and clear volatile sys.rt_exec_state atomically.
// Execute system abort.
if((sys.reset_pending = !!(rt_exec & EXEC_RESET))) {
if(!killed) {
// Kill spindle and coolant.
spindle_all_off();
hal.coolant.set_state((coolant_state_t){0});
}
// Only place sys.abort is set true, when E-stop is not asserted.
if(!(sys.abort = !hal.control.get_state().e_stop)) {
hal.stream.reset_read_buffer();
system_raise_alarm(Alarm_EStop);
grbl.report.feedback_message(Message_EStop);
} else if(hal.control.get_state().motor_fault) {
sys.abort = false;
hal.stream.reset_read_buffer();
system_raise_alarm(Alarm_MotorFault);
grbl.report.feedback_message(Message_MotorFault);
}
if(!killed) // Tell driver/plugins about reset.
hal.driver_reset();
return !sys.abort; // Nothing else to do but exit.
}
if(rt_exec & EXEC_STOP) { // Experimental for now, must be verified. Do NOT move to interrupt context!
sys.cancel = true;
sys.step_control.flags = 0;
sys.flags.feed_hold_pending = Off;
sys.override_delay.flags = 0;
if(sys.override.control.sync)
sys.override.control = gc_state.modal.override_ctrl;
gc_state.tool_change = false;
// Tell driver/plugins about reset.
hal.driver_reset();
if(!sys.flags.keep_input && hal.stream.suspend_read && hal.stream.suspend_read(false))
hal.stream.cancel_read_buffer(); // flush pending blocks (after M6)
sys.flags.keep_input = Off;
gc_init(true);
plan_reset();
if(sys.alarm_pending == Alarm_ProbeProtect) {
st_go_idle();
system_set_exec_alarm(sys.alarm_pending);
sys.alarm_pending = Alarm_None;
} else
st_reset();
sync_position();
// Kill spindle and coolant. TODO: Check Mach3 behaviour?
gc_spindle_off();
gc_coolant((coolant_state_t){0});
flush_override_buffers();
if(!((state_get() == STATE_ALARM) && (sys.alarm == Alarm_LimitsEngaged || sys.alarm == Alarm_HomingRequired))) {
state_set(hal.control.get_state().safety_door_ajar ? STATE_SAFETY_DOOR : STATE_IDLE);
grbl.report.feedback_message(Message_Stop);
}
}
// Execute and print status to output stream
if (rt_exec & EXEC_STATUS_REPORT)
report_realtime_status();
if(rt_exec & EXEC_GCODE_REPORT)
report_gcode_modes();
if(rt_exec & EXEC_TLO_REPORT)
report_tool_offsets();
// Execute and print PID log to output stream
if (rt_exec & EXEC_PID_REPORT)
report_pid_log();
if(rt_exec & EXEC_RT_COMMAND)
protocol_execute_rt_commands(0);
rt_exec &= ~(EXEC_STOP|EXEC_STATUS_REPORT|EXEC_GCODE_REPORT|EXEC_PID_REPORT|EXEC_TLO_REPORT|EXEC_RT_COMMAND); // clear requests already processed
if(sys.flags.feed_hold_pending) {
if(rt_exec & EXEC_CYCLE_START)
sys.flags.feed_hold_pending = Off;
else if(!sys.override.control.feed_hold_disable)
rt_exec |= EXEC_FEED_HOLD;
}
// Let state machine handle any remaining requests
if(rt_exec)
state_update(rt_exec);
}
grbl.on_execute_realtime(state_get());
// Execute overrides.
if(!sys.override_delay.feedrate && (rt_exec = get_feed_override())) {
override_t new_f_override = sys.override.feed_rate;
override_t new_r_override = sys.override.rapid_rate;
do {
switch(rt_exec) {
case CMD_OVERRIDE_FEED_RESET:
new_f_override = DEFAULT_FEED_OVERRIDE;
break;
case CMD_OVERRIDE_FEED_COARSE_PLUS:
new_f_override += FEED_OVERRIDE_COARSE_INCREMENT;
break;
case CMD_OVERRIDE_FEED_COARSE_MINUS:
new_f_override -= FEED_OVERRIDE_COARSE_INCREMENT;
break;
case CMD_OVERRIDE_FEED_FINE_PLUS:
new_f_override += FEED_OVERRIDE_FINE_INCREMENT;
break;
case CMD_OVERRIDE_FEED_FINE_MINUS:
new_f_override -= FEED_OVERRIDE_FINE_INCREMENT;
break;
case CMD_OVERRIDE_RAPID_RESET:
new_r_override = DEFAULT_RAPID_OVERRIDE;
break;
case CMD_OVERRIDE_RAPID_MEDIUM:
new_r_override = RAPID_OVERRIDE_MEDIUM;
break;
case CMD_OVERRIDE_RAPID_LOW:
new_r_override = RAPID_OVERRIDE_LOW;
break;
}
new_f_override = constrain(new_f_override, MIN_FEED_RATE_OVERRIDE, MAX_FEED_RATE_OVERRIDE);
} while((rt_exec = get_feed_override()));
plan_feed_override(new_f_override, new_r_override);
}
if(!sys.override_delay.spindle && (rt_exec = get_spindle_override())) {
bool spindle_stop = false;
spindle_ptrs_t *spindle = gc_spindle_get(-1)->hal;
override_t last_s_override = spindle->param->override_pct;
do {
switch(rt_exec) {
case CMD_OVERRIDE_SPINDLE_RESET:
last_s_override = DEFAULT_SPINDLE_RPM_OVERRIDE;
break;
case CMD_OVERRIDE_SPINDLE_COARSE_PLUS:
last_s_override += SPINDLE_OVERRIDE_COARSE_INCREMENT;
break;
case CMD_OVERRIDE_SPINDLE_COARSE_MINUS:
last_s_override -= SPINDLE_OVERRIDE_COARSE_INCREMENT;
break;
case CMD_OVERRIDE_SPINDLE_FINE_PLUS:
last_s_override += SPINDLE_OVERRIDE_FINE_INCREMENT;
break;
case CMD_OVERRIDE_SPINDLE_FINE_MINUS:
last_s_override -= SPINDLE_OVERRIDE_FINE_INCREMENT;
break;
case CMD_OVERRIDE_SPINDLE_STOP:
spindle_stop = !spindle_stop;
break;
default:
if(grbl.on_unknown_accessory_override)
grbl.on_unknown_accessory_override(rt_exec);
break;
}
last_s_override = constrain(last_s_override, MIN_SPINDLE_RPM_OVERRIDE, MAX_SPINDLE_RPM_OVERRIDE);
} while((rt_exec = get_spindle_override()));
spindle_set_override(spindle, last_s_override);
if (spindle_stop && state_get() == STATE_HOLD && gc_spindle_get(-1)->state.on) {
// Spindle stop override allowed only while in HOLD state.
// NOTE: Report flag is set in spindle_set_state() when spindle stop is executed.
if (!sys.override.spindle_stop.value)
sys.override.spindle_stop.initiate = On;
else if (sys.override.spindle_stop.enabled)
sys.override.spindle_stop.restore = On;
}
}
if(!sys.override_delay.coolant && (rt_exec = get_coolant_override())) {
coolant_state_t coolant_state = gc_state.modal.coolant;
do {
switch(rt_exec) {
case CMD_OVERRIDE_COOLANT_MIST_TOGGLE:
if(hal.coolant_cap.mist && ((state_get() == STATE_IDLE) || (state_get() & (STATE_CYCLE | STATE_HOLD))))
coolant_state.mist = !coolant_state.mist;
break;
case CMD_OVERRIDE_COOLANT_FLOOD_TOGGLE:
if(hal.coolant_cap.flood && ((state_get() == STATE_IDLE) || (state_get() & (STATE_CYCLE | STATE_HOLD))))
coolant_state.flood = !coolant_state.flood;
break;
default:
if(grbl.on_unknown_accessory_override)
grbl.on_unknown_accessory_override(rt_exec);
break;
}
} while((rt_exec = get_coolant_override()));
// NOTE: Since coolant state always performs a planner sync whenever it changes, the current
// run state can be determined by checking the parser state.
if(coolant_state.value != gc_state.modal.coolant.value) {
gc_coolant(coolant_state); // Report flag set in gc_coolant().
if(grbl.on_override_changed)
grbl.on_override_changed(OverrideChanged_CoolantState);
}
}
// End execute overrides.
// Reload step segment buffer
if (state_get() & (STATE_CYCLE | STATE_HOLD | STATE_SAFETY_DOOR | STATE_HOMING | STATE_SLEEP| STATE_JOG))
st_prep_buffer();
return !ABORTED;
}
// Handles grblHAL system suspend procedures, such as feed hold, safety door, and parking motion.
// The system will enter this loop, create local variables for suspend tasks, and return to
// whatever function that invoked the suspend, such that grblHAL resumes normal operation.
// This function is written in a way to promote custom parking motions. Simply use this as a
// template.
static void protocol_exec_rt_suspend (sys_state_t state)
{
if((sys.blocking_event = state == STATE_SLEEP)) {
*line = '\0';
char_counter = 0;
hal.stream.reset_read_buffer();
}
while(sys.suspend) {
if(sys.abort)
return;
if(sys.blocking_event)
protocol_poll_cmd();
// Handle spindle overrides during suspend
state_suspend_manager();
// If door closed keep issuing door closed requests until resumed
if(state_get() == STATE_SAFETY_DOOR && !hal.control.get_state().safety_door_ajar)
system_set_exec_state_flag(EXEC_DOOR_CLOSED);
// Check for sleep conditions and execute auto-park, if timeout duration elapses.
// Sleep is valid for both hold and door states, if the spindle or coolant are on or
// set to be re-enabled.
if(settings.flags.sleep_enable)
sleep_check();
protocol_exec_rt_system();
}
}
// Pick off (drop) real-time command characters from input stream.
// These characters are not passed into the main buffer,
// but rather sets system state flag bits for later execution by protocol_exec_rt_system().
// Called from input stream interrupt handler.
ISR_CODE bool ISR_FUNC(protocol_enqueue_realtime_command)(char c)
{
static bool esc = false;
bool drop = false;
// 1. Process characters in the ranges 0x - 1x and 8x-Ax
// Characters with functions assigned are always acted upon even when the input stream
// is redirected to a non-interactive stream such as from a SD card.
switch ((unsigned char)c) {
case '\n':
case '\r':
break;
case '$':
if(char_counter == 0)
keep_rt_commands = !settings.flags.legacy_rt_commands;
break;
case CMD_STOP:
system_set_exec_state_flag(EXEC_STOP);
char_counter = 0;
hal.stream.cancel_read_buffer();
drop = true;
break;
case CMD_RESET: // Call motion control reset routine.
if(!hal.control.get_state().e_stop)
mc_reset();
drop = true;
break;
#if COMPATIBILITY_LEVEL == 0
case CMD_EXIT: // Call motion control reset routine.
mc_reset();
sys.flags.exit = On;
drop = true;
break;
#endif
case CMD_STATUS_REPORT_ALL: // Add all statuses to report
{
report_tracking_flags_t report;
report.value = (uint32_t)Report_All;
report.tool_offset = sys.report.tool_offset;
report.m66result = sys.var5399 > -2;
system_add_rt_report((report_tracking_t)report.value);
}
system_set_exec_state_flag(EXEC_STATUS_REPORT);
drop = true;
break;
case CMD_STATUS_REPORT:
case 0x05:
if(!sys.flags.auto_reporting)
system_set_exec_state_flag(EXEC_STATUS_REPORT);
drop = true;
break;
case CMD_CYCLE_START:
system_set_exec_state_flag(EXEC_CYCLE_START);
// Cancel any pending tool change
gc_state.tool_change = false;
drop = true;
break;
case CMD_FEED_HOLD:
system_set_exec_state_flag(EXEC_FEED_HOLD);
drop = true;
break;
case CMD_SAFETY_DOOR:
if(state_get() != STATE_SAFETY_DOOR) {
system_set_exec_state_flag(EXEC_SAFETY_DOOR);
drop = true;
}
break;
case CMD_JOG_CANCEL:
char_counter = 0;
drop = true;
hal.stream.cancel_read_buffer();
#ifdef KINEMATICS_API // needed when kinematics algorithm segments long jog distances (as it blocks reading from input stream)
if (state_get() & STATE_JOG) // Block all other states from invoking motion cancel.
system_set_exec_state_flag(EXEC_MOTION_CANCEL);
#endif
if(grbl.on_jog_cancel)
grbl.on_jog_cancel(state_get());
break;
case CMD_GCODE_REPORT:
system_set_exec_state_flag(EXEC_GCODE_REPORT);
drop = true;
break;
case CMD_PROBE_CONNECTED_TOGGLE:
if(hal.probe.connected_toggle)
hal.probe.connected_toggle();
break;
case CMD_OPTIONAL_STOP_TOGGLE:
if(!hal.signals_cap.stop_disable) // Not available as realtime command if HAL supports physical switch
sys.flags.optional_stop_disable = !sys.flags.optional_stop_disable;
break;
case CMD_SINGLE_BLOCK_TOGGLE:
if(!hal.signals_cap.single_block) // Not available as realtime command if HAL supports physical switch
sys.flags.single_block = !sys.flags.single_block;
break;
case CMD_PID_REPORT:
system_set_exec_state_flag(EXEC_PID_REPORT);
drop = true;
break;
case CMD_MPG_MODE_TOGGLE: // Switch off MPG mode
if((drop = hal.stream.type == StreamType_MPG))
protocol_enqueue_foreground_task(stream_mpg_set_mode, NULL);
break;
case CMD_AUTO_REPORTING_TOGGLE:
if((drop = settings.report_interval != 0))
sys.flags.auto_reporting = !sys.flags.auto_reporting;
break;
case CMD_OVERRIDE_FEED_RESET:
case CMD_OVERRIDE_FEED_COARSE_PLUS:
case CMD_OVERRIDE_FEED_COARSE_MINUS:
case CMD_OVERRIDE_FEED_FINE_PLUS:
case CMD_OVERRIDE_FEED_FINE_MINUS:
case CMD_OVERRIDE_RAPID_RESET:
case CMD_OVERRIDE_RAPID_MEDIUM:
case CMD_OVERRIDE_RAPID_LOW:
drop = true;
enqueue_feed_override(c);
break;
case CMD_OVERRIDE_SPINDLE_RESET:
case CMD_OVERRIDE_SPINDLE_COARSE_PLUS:
case CMD_OVERRIDE_SPINDLE_COARSE_MINUS:
case CMD_OVERRIDE_SPINDLE_FINE_PLUS:
case CMD_OVERRIDE_SPINDLE_FINE_MINUS:
case CMD_OVERRIDE_SPINDLE_STOP:
drop = true;
enqueue_spindle_override((uint8_t)c);
break;
case CMD_OVERRIDE_COOLANT_FLOOD_TOGGLE:
case CMD_OVERRIDE_COOLANT_MIST_TOGGLE:
case CMD_OVERRIDE_FAN0_TOGGLE:
drop = true;
enqueue_coolant_override((uint8_t)c);
break;
case CMD_REBOOT:
if(esc && hal.reboot)
hal.reboot(); // Force MCU reboot. This call should never return.
break;
default:
if((c < ' ' && c != ASCII_BS) || (c > ASCII_DEL && c <= 0xBF))
drop = grbl.on_unknown_realtime_cmd == NULL || grbl.on_unknown_realtime_cmd(c);
break;
}
// 2. Process printable ASCII characters and top-bit set characters
// If legacy realtime commands are disabled they are returned to the input stream
// when appearing in settings ($ commands) or comments