Ejemplo n.º 1
0
// Initialize the config subsystem
void settings_init() {
  if(!read_global_settings()) {
    report_status_message(STATUS_SETTING_READ_FAIL);

    settings_restore_global_settings();
    
    // Force clear startup lines and build info user data. Parameters should be ok.
    // TODO: For next version, remove these clears. Only here because line buffer increased.
    settings_clear_startup_lines();
    settings_clear_build_info();
    
    report_grbl_settings();
  }

  // Check all parameter data into a dummy variable. If error, reset to zero, otherwise do nothing.
  float coord_data[N_AXIS];
  uint8_t i;
  for (i=0; i<=SETTING_INDEX_NCOORD; i++) {
    if (!settings_read_coord_data(i, coord_data)) {
      report_status_message(STATUS_SETTING_READ_FAIL);
    }
  }
  // NOTE: Startup lines are checked and executed by protocol_main_loop at the end of initialization.
  // TODO: Build info should be checked here, but will wait until v1.0 to address this. Ok for now.
}
Ejemplo n.º 2
0
// Initialize the config subsystem
void settings_init() {
  if(!read_global_settings()) {
    report_status_message(STATUS_SETTING_READ_FAIL);
    settings_restore(SETTINGS_RESTORE_ALL); // Force restore all EEPROM data.
    report_grbl_settings();
  }
}
Ejemplo n.º 3
0
// Initialize the config subsystem
void settings_init() {
  if(!read_global_settings()) {
    report_status_message(STATUS_SETTING_READ_FAIL);
    settings_reset();
    report_grbl_settings();
  }
  // Read all parameter data into a dummy variable. If error, reset to zero, otherwise do nothing.
  float coord_data[N_AXIS];
  uint8_t i;
  for (i=0; i<=SETTING_INDEX_NCOORD; i++) {
    if (!settings_read_coord_data(i, coord_data)) {
      report_status_message(STATUS_SETTING_READ_FAIL);
    }
  }
  // NOTE: Startup lines are handled and called by main.c at the end of initialization.
}
Ejemplo n.º 4
0
// Initialize the config subsystem
void settings_init() {
  if(!read_global_settings()) {
    report_status_message(STATUS_SETTING_READ_FAIL);
    settings_restore(SETTINGS_RESTORE_ALL); // Force restore all EEPROM data.
    report_grbl_settings();
  }

  // NOTE: Checking paramater data, startup lines, and build info string should be done here, 
  // but it seems fairly redundant. Each of these can be manually checked and reset or restored.
  // Check all parameter data into a dummy variable. If error, reset to zero, otherwise do nothing.
  // float coord_data[N_AXIS];
  // uint8_t i;
  // for (i=0; i<=SETTING_INDEX_NCOORD; i++) {
  //   if (!settings_read_coord_data(i, coord_data)) {
  // 	report_status_message(STATUS_SETTING_READ_FAIL);
  //   }
  // }
  // NOTE: Startup lines are checked and executed by protocol_main_loop at the end of initialization.
}
Ejemplo n.º 5
0
// Directs and executes one line of formatted input from protocol_process. While mostly
// incoming streaming g-code blocks, this also executes Grbl internal commands, such as 
// settings, initiating the homing cycle, and toggling switch states. This differs from
// the realtime command module by being susceptible to when Grbl is ready to execute the 
// next line during a cycle, so for switches like block delete, the switch only effects
// the lines that are processed afterward, not necessarily real-time during a cycle, 
// since there are motions already stored in the buffer. However, this 'lag' should not
// be an issue, since these commands are not typically used during a cycle.
uint8_t system_execute_line(char *line) 
{   
  uint8_t char_counter = 1; 
  uint8_t helper_var = 0; // Helper variable
  float parameter, value;
  switch( line[char_counter] ) {
    case 0 : report_grbl_help(); break;
    case '$': case 'G': case 'C': case 'X':
      if ( line[(char_counter+1)] != 0 ) { return(STATUS_INVALID_STATEMENT); }
      switch( line[char_counter] ) {
        case '$' : // Prints Grbl settings
          if ( sys.state & (STATE_CYCLE | STATE_HOLD) ) { return(STATUS_IDLE_ERROR); } // Block during cycle. Takes too long to print.
          else { report_grbl_settings(); }
          break;
        case 'G' : // Prints gcode parser state
          // TODO: Move this to realtime commands for GUIs to request this data during suspend-state.
          report_gcode_modes();
          break;   
        case 'C' : // Set check g-code mode [IDLE/CHECK]
          // Perform reset when toggling off. Check g-code mode should only work if Grbl
          // is idle and ready, regardless of alarm locks. This is mainly to keep things
          // simple and consistent.
          if ( sys.state == STATE_CHECK_MODE ) { 
            mc_reset(); 
            report_feedback_message(MESSAGE_DISABLED);
          } else {
            if (sys.state) { return(STATUS_IDLE_ERROR); } // Requires no alarm mode.
            sys.state = STATE_CHECK_MODE;
            report_feedback_message(MESSAGE_ENABLED);
          }
          break; 
        case 'X' : // Disable alarm lock [ALARM]
          if (sys.state == STATE_ALARM) { 
            report_feedback_message(MESSAGE_ALARM_UNLOCK);
            sys.state = STATE_IDLE;
            // Don't run startup script. Prevents stored moves in startup from causing accidents.
          #ifndef DEFAULTS_TRINAMIC
          if (system_check_safety_door_ajar()) { // Check safety door switch before returning.
              bit_true(sys_rt_exec_state, EXEC_SAFETY_DOOR);
              protocol_execute_realtime(); // Enter safety door mode.
            }
	  #endif
          } // Otherwise, no effect.
          break;                   
    //  case 'J' : break;  // Jogging methods
          // TODO: Here jogging can be placed for execution as a seperate subprogram. It does not need to be 
          // susceptible to other realtime commands except for e-stop. The jogging function is intended to
          // be a basic toggle on/off with controlled acceleration and deceleration to prevent skipped 
          // steps. The user would supply the desired feedrate, axis to move, and direction. Toggle on would
          // start motion and toggle off would initiate a deceleration to stop. One could 'feather' the
          // motion by repeatedly toggling to slow the motion to the desired location. Location data would 
          // need to be updated real-time and supplied to the user through status queries.
          //   More controlled exact motions can be taken care of by inputting G0 or G1 commands, which are 
          // handled by the planner. It would be possible for the jog subprogram to insert blocks into the
          // block buffer without having the planner plan them. It would need to manage de/ac-celerations 
          // on its own carefully. This approach could be effective and possibly size/memory efficient.  
//       }
//       break;
      }
      break;
    default : 
      // Block any system command that requires the state as IDLE/ALARM. (i.e. EEPROM, homing)
      if ( !(sys.state == STATE_IDLE || sys.state == STATE_ALARM) ) { return(STATUS_IDLE_ERROR); }
      switch( line[char_counter] ) {
        case '#' : // Print Grbl NGC parameters
          if ( line[++char_counter] != 0 ) { return(STATUS_INVALID_STATEMENT); }
          else { report_ngc_parameters(); }
          break;          
        case 'H' : // Perform homing cycle [IDLE/ALARM]
          if (bit_istrue(settings.flags,BITFLAG_HOMING_ENABLE)) { 
            sys.state = STATE_HOMING; // Set system state variable
            // Only perform homing if Grbl is idle or lost.
            
            // TODO: Likely not required.
	#ifndef DEFAULTS_TRINAMIC
            if (system_check_safety_door_ajar()) { // Check safety door switch before homing.
              bit_true(sys_rt_exec_state, EXEC_SAFETY_DOOR);
              protocol_execute_realtime(); // Enter safety door mode.
            }
        #endif
            
            mc_homing_cycle(); 
            if (!sys.abort) {  // Execute startup scripts after successful homing.
              sys.state = STATE_IDLE; // Set to IDLE when complete.
              st_go_idle(); // Set steppers to the settings idle state before returning.
              system_execute_startup(line); 
            }
          } else { return(STATUS_SETTING_DISABLED); }
          break;
        case 'I' : // Print or store build info. [IDLE/ALARM]
          if ( line[++char_counter] == 0 ) { 
            settings_read_build_info(line);
            report_build_info(line);
          } else { // Store startup line [IDLE/ALARM]
            if(line[char_counter++] != '=') { return(STATUS_INVALID_STATEMENT); }
            helper_var = char_counter; // Set helper variable as counter to start of user info line.
            do {
              line[char_counter-helper_var] = line[char_counter];
            } while (line[char_counter++] != 0);
            settings_store_build_info(line);
          }
          break; 
        case 'R' : // Restore defaults [IDLE/ALARM]
          if (line[++char_counter] != 'S') { return(STATUS_INVALID_STATEMENT); }
          if (line[++char_counter] != 'T') { return(STATUS_INVALID_STATEMENT); }
          if (line[++char_counter] != '=') { return(STATUS_INVALID_STATEMENT); }
          if (line[char_counter+2] != 0) { return(STATUS_INVALID_STATEMENT); }                        
          switch (line[++char_counter]) {
            case '$': settings_restore(SETTINGS_RESTORE_DEFAULTS); break;
            case '#': settings_restore(SETTINGS_RESTORE_PARAMETERS); break;
            case '*': settings_restore(SETTINGS_RESTORE_ALL); break;
            default: return(STATUS_INVALID_STATEMENT);
          }
          report_feedback_message(MESSAGE_RESTORE_DEFAULTS);
          mc_reset(); // Force reset to ensure settings are initialized correctly.
          break;
        case 'N' : // Startup lines. [IDLE/ALARM]
          if ( line[++char_counter] == 0 ) { // Print startup lines
            for (helper_var=0; helper_var < N_STARTUP_LINE; helper_var++) {
              if (!(settings_read_startup_line(helper_var, line))) {
                report_status_message(STATUS_SETTING_READ_FAIL);
              } else {
                report_startup_line(helper_var,line);
              }
            }
            break;
          } else { // Store startup line [IDLE Only] Prevents motion during ALARM.
            if (sys.state != STATE_IDLE) { return(STATUS_IDLE_ERROR); } // Store only when idle.
            helper_var = true;  // Set helper_var to flag storing method. 
            // No break. Continues into default: to read remaining command characters.
          }
        default :  // Storing setting methods [IDLE/ALARM]
          if(!read_float(line, &char_counter, &parameter)) { return(STATUS_BAD_NUMBER_FORMAT); }
          if(line[char_counter++] != '=') { return(STATUS_INVALID_STATEMENT); }
          if (helper_var) { // Store startup line
            // Prepare sending gcode block to gcode parser by shifting all characters
            helper_var = char_counter; // Set helper variable as counter to start of gcode block
            do {
              line[char_counter-helper_var] = line[char_counter];
            } while (line[char_counter++] != 0);
            // Execute gcode block to ensure block is valid.
            helper_var = gc_execute_line(line); // Set helper_var to returned status code.
            if (helper_var) { return(helper_var); }
            else { 
              helper_var = trunc(parameter); // Set helper_var to int value of parameter
              settings_store_startup_line(helper_var,line);
            }
          } else { // Store global setting.
            if(!read_float(line, &char_counter, &value)) { return(STATUS_BAD_NUMBER_FORMAT); }
            if((line[char_counter] != 0) || (parameter > 255)) { return(STATUS_INVALID_STATEMENT); }
            return(settings_store_global_setting((uint8_t)parameter, value));
          }
      }    
  }
  return(STATUS_OK); // If '$' command makes it to here, then everything's ok.
}
Ejemplo n.º 6
0
Archivo: protocol.c Proyecto: koo5/grbl
// Directs and executes one line of formatted input from protocol_process. While mostly
// incoming streaming g-code blocks, this also executes Grbl internal commands, such as 
// settings, initiating the homing cycle, and toggling switch states. This differs from
// the runtime command module by being susceptible to when Grbl is ready to execute the 
// next line during a cycle, so for switches like block delete, the switch only effects
// the lines that are processed afterward, not necessarily real-time during a cycle, 
// since there are motions already stored in the buffer. However, this 'lag' should not
// be an issue, since these commands are not typically used during a cycle.
uint8_t protocol_execute_line(char *line) 
{   
  // Grbl internal command and parameter lines are of the form '$4=374.3' or '$' for help  
  if(line[0] == '$') {
    
    uint8_t char_counter = 1; 
    uint8_t helper_var = 0; // Helper variable
    float parameter, value;
    switch( line[char_counter] ) {
      case 0 : report_grbl_help(); break;
      case '$' : // Prints Grbl settings
        if ( line[++char_counter] != 0 ) { return(STATUS_UNSUPPORTED_STATEMENT); }
        else { report_grbl_settings(); }
        break;
      case '#' : // Print gcode parameters
        if ( line[++char_counter] != 0 ) { return(STATUS_UNSUPPORTED_STATEMENT); }
        else { report_gcode_parameters(); }
        break;
      case 'G' : // Prints gcode parser state
        if ( line[++char_counter] != 0 ) { return(STATUS_UNSUPPORTED_STATEMENT); }
        else { report_gcode_modes(); }
        break;
      case 'C' : // Set check g-code mode
        if ( line[++char_counter] != 0 ) { return(STATUS_UNSUPPORTED_STATEMENT); }
        // Perform reset when toggling off. Check g-code mode should only work if Grbl
        // is idle and ready, regardless of alarm locks. This is mainly to keep things
        // simple and consistent.
        if ( sys.state == STATE_CHECK_MODE ) { 
          mc_reset(); 
          report_feedback_message(MESSAGE_DISABLED);
        } else {
          if (sys.state) { return(STATUS_IDLE_ERROR); }
          sys.state = STATE_CHECK_MODE;
          report_feedback_message(MESSAGE_ENABLED);
        }
        break; 
      case 'X' : // Disable alarm lock
        if ( line[++char_counter] != 0 ) { return(STATUS_UNSUPPORTED_STATEMENT); }
        if (sys.state == STATE_ALARM) { 
          report_feedback_message(MESSAGE_ALARM_UNLOCK);
          sys.state = STATE_IDLE;
          // Don't run startup script. Prevents stored moves in startup from causing accidents.
        }
        break;               
      case 'H' : // Perform homing cycle
        if (bit_istrue(settings.flags,BITFLAG_HOMING_ENABLE)) { 
          // Only perform homing if Grbl is idle or lost.
          if ( sys.state==STATE_IDLE || sys.state==STATE_ALARM ) { 
            mc_go_home(); 
            if (!sys.abort) { protocol_execute_startup(); } // Execute startup scripts after successful homing.
          } else { return(STATUS_IDLE_ERROR); }
        } else { return(STATUS_SETTING_DISABLED); }
        break;
//    case 'J' : break;  // Jogging methods
      // TODO: Here jogging can be placed for execution as a seperate subprogram. It does not need to be 
      // susceptible to other runtime commands except for e-stop. The jogging function is intended to
      // be a basic toggle on/off with controlled acceleration and deceleration to prevent skipped 
      // steps. The user would supply the desired feedrate, axis to move, and direction. Toggle on would
      // start motion and toggle off would initiate a deceleration to stop. One could 'feather' the
      // motion by repeatedly toggling to slow the motion to the desired location. Location data would 
      // need to be updated real-time and supplied to the user through status queries.
      //   More controlled exact motions can be taken care of by inputting G0 or G1 commands, which are 
      // handled by the planner. It would be possible for the jog subprogram to insert blocks into the
      // block buffer without having the planner plan them. It would need to manage de/ac-celerations 
      // on its own carefully. This approach could be effective and possibly size/memory efficient.
      case 'N' : // Startup lines. 
        if ( line[++char_counter] == 0 ) { // Print startup lines
          for (helper_var=0; helper_var < N_STARTUP_LINE; helper_var++) {
            if (!(settings_read_startup_line(helper_var, line))) {
              report_status_message(STATUS_SETTING_READ_FAIL);
            } else {
              report_startup_line(helper_var,line);
            }
          }
          break;
        } else { // Store startup line
          helper_var = true;  // Set helper_var to flag storing method. 
          // No break. Continues into default: to read remaining command characters.
        }
      default :  // Storing setting methods
        if(!read_float(line, &char_counter, &parameter)) { return(STATUS_BAD_NUMBER_FORMAT); }
        if(line[char_counter++] != '=') { return(STATUS_UNSUPPORTED_STATEMENT); }
        if (helper_var) { // Store startup line
          // Prepare sending gcode block to gcode parser by shifting all characters
          helper_var = char_counter; // Set helper variable as counter to start of gcode block
          do {
            line[char_counter-helper_var] = line[char_counter];
          } while (line[char_counter++] != 0);
          // Execute gcode block to ensure block is valid.
          helper_var = gc_execute_line(line); // Set helper_var to returned status code.
          if (helper_var) { return(helper_var); }
          else { 
            helper_var = trunc(parameter); // Set helper_var to int value of parameter
            settings_store_startup_line(helper_var,line);
          }
        } else { // Store global setting.
          if(!read_float(line, &char_counter, &value)) { return(STATUS_BAD_NUMBER_FORMAT); }
          if(line[char_counter] != 0) { return(STATUS_UNSUPPORTED_STATEMENT); }
          return(settings_store_global_setting(parameter, value));
        }
    }
    return(STATUS_OK); // If '$' command makes it to here, then everything's ok.

  } else {
    return(gc_execute_line(line));    // Everything else is gcode
  }
}