// Print current gcode parser mode state void report_gcode_modes() { switch (gc_state.modal.motion) { case MOTION_MODE_SEEK : printPgmString(PSTR("[G0")); break; case MOTION_MODE_LINEAR : printPgmString(PSTR("[G1")); break; case MOTION_MODE_CW_ARC : printPgmString(PSTR("[G2")); break; case MOTION_MODE_CCW_ARC : printPgmString(PSTR("[G3")); break; case MOTION_MODE_NONE : printPgmString(PSTR("[G80")); break; } printPgmString(PSTR(" G")); print_uint8_base10(gc_state.modal.coord_select+54); switch (gc_state.modal.plane_select) { case PLANE_SELECT_XY : printPgmString(PSTR(" G17")); break; case PLANE_SELECT_ZX : printPgmString(PSTR(" G18")); break; case PLANE_SELECT_YZ : printPgmString(PSTR(" G19")); break; } if (gc_state.modal.units == UNITS_MODE_MM) { printPgmString(PSTR(" G21")); } else { printPgmString(PSTR(" G20")); } if (gc_state.modal.distance == DISTANCE_MODE_ABSOLUTE) { printPgmString(PSTR(" G90")); } else { printPgmString(PSTR(" G91")); } if (gc_state.modal.feed_rate == FEED_RATE_MODE_INVERSE_TIME) { printPgmString(PSTR(" G93")); } else { printPgmString(PSTR(" G94")); } switch (gc_state.modal.program_flow) { case PROGRAM_FLOW_RUNNING : printPgmString(PSTR(" M0")); break; case PROGRAM_FLOW_PAUSED : printPgmString(PSTR(" M1")); break; case PROGRAM_FLOW_COMPLETED : printPgmString(PSTR(" M2")); break; } switch (gc_state.modal.spindle) { case SPINDLE_ENABLE_CW : printPgmString(PSTR(" M3")); break; case SPINDLE_ENABLE_CCW : printPgmString(PSTR(" M4")); break; case SPINDLE_DISABLE : printPgmString(PSTR(" M5")); break; } switch (gc_state.modal.coolant) { case COOLANT_DISABLE : printPgmString(PSTR(" M9")); break; case COOLANT_FLOOD_ENABLE : printPgmString(PSTR(" M8")); break; #ifdef ENABLE_M7 case COOLANT_MIST_ENABLE : printPgmString(PSTR(" M7")); break; #endif } printPgmString(PSTR(" T")); print_uint8_base10(gc_state.tool); printPgmString(PSTR(" F")); printFloat_RateValue(gc_state.feed_rate); printPgmString(PSTR("]\r\n")); }
// Prints real-time data. This function grabs a real-time snapshot of the stepper subprogram // and the actual location of the CNC machine. Users may change the following function to their // specific needs, but the desired real-time data report must be as short as possible. This is // requires as it minimizes the computational overhead and allows grbl to keep running smoothly, // especially during g-code programs with fast, short line segments and high frequency reports (5-20Hz). void report_realtime_status() { // **Under construction** Bare-bones status report. Provides real-time machine position relative to // the system power on location (0,0,0) and work coordinate position (G54 and G92 applied). Eventually // to be added are distance to go on block, processed block id, and feed rate. Also a settings bitmask // for a user to select the desired real-time data. uint8_t idx; int32_t current_position[N_AXIS]; // Copy current state of the system position variable memcpy(current_position,sys.position,sizeof(sys.position)); float print_position[N_AXIS]; // Report current machine state switch (sys.state) { case STATE_IDLE: printPgmString(PSTR("<Idle")); break; case STATE_MOTION_CANCEL: // Report run state. case STATE_CYCLE: printPgmString(PSTR("<Run")); break; case STATE_HOLD: printPgmString(PSTR("<Hold")); break; case STATE_HOMING: printPgmString(PSTR("<Home")); break; case STATE_ALARM: printPgmString(PSTR("<Alarm")); break; case STATE_CHECK_MODE: printPgmString(PSTR("<Check")); break; case STATE_SAFETY_DOOR: printPgmString(PSTR("<Door")); break; } // If reporting a position, convert the current step count (current_position) to millimeters. if (bit_istrue(settings.status_report_mask,(BITFLAG_RT_STATUS_MACHINE_POSITION | BITFLAG_RT_STATUS_WORK_POSITION))) { system_convert_array_steps_to_mpos(print_position,current_position); } // Report machine position if (bit_istrue(settings.status_report_mask,BITFLAG_RT_STATUS_MACHINE_POSITION)) { printPgmString(PSTR(",MPos:")); for (idx=0; idx< N_AXIS; idx++) { printFloat_CoordValue(print_position[idx]); if (idx < (N_AXIS-1)) { printPgmString(PSTR(",")); } } } // Report work position if (bit_istrue(settings.status_report_mask,BITFLAG_RT_STATUS_WORK_POSITION)) { printPgmString(PSTR(",WPos:")); for (idx=0; idx< N_AXIS; idx++) { // Apply work coordinate offsets and tool length offset to current position. print_position[idx] -= gc_state.coord_system[idx]+gc_state.coord_offset[idx]; if (idx == TOOL_LENGTH_OFFSET_AXIS) { print_position[idx] -= gc_state.tool_length_offset; } printFloat_CoordValue(print_position[idx]); if (idx < (N_AXIS-1)) { printPgmString(PSTR(",")); } } } // Returns the number of active blocks are in the planner buffer. if (bit_istrue(settings.status_report_mask,BITFLAG_RT_STATUS_PLANNER_BUFFER)) { printPgmString(PSTR(",Buf:")); print_uint8_base10(plan_get_block_buffer_count()); } // Report serial read buffer status if (bit_istrue(settings.status_report_mask,BITFLAG_RT_STATUS_SERIAL_RX)) { printPgmString(PSTR(",RX:")); print_uint8_base10(serial_get_rx_buffer_count()); } #ifdef USE_LINE_NUMBERS // Report current line number printPgmString(PSTR(",Ln:")); int32_t ln=0; plan_block_t * pb = plan_get_current_block(); if(pb != NULL) { ln = pb->line_number; } printInteger(ln); #endif #ifdef REPORT_REALTIME_RATE // Report realtime rate printPgmString(PSTR(",F:")); printFloat_RateValue(st_get_realtime_rate()); #endif if (bit_istrue(settings.status_report_mask,BITFLAG_RT_STATUS_LIMIT_PINS)) { printPgmString(PSTR(",Lim:")); print_unsigned_int8(limits_get_state(),2,N_AXIS); } #ifdef REPORT_CONTROL_PIN_STATE printPgmString(PSTR(",Ctl:")); print_uint8_base2(CONTROL_PIN & CONTROL_MASK); #endif printPgmString(PSTR(">\r\n")); }
// Prints real-time data. This function grabs a real-time snapshot of the stepper subprogram // and the actual location of the CNC machine. Users may change the following function to their // specific needs, but the desired real-time data report must be as short as possible. This is // requires as it minimizes the computational overhead and allows grbl to keep running smoothly, // especially during g-code programs with fast, short line segments and high frequency reports (5-20Hz). void report_realtime_status() { // **Under construction** Bare-bones status report. Provides real-time machine position relative to // the system power on location (0,0,0) and work coordinate position (G54 and G92 applied). Eventually // to be added are distance to go on block, processed block id, and feed rate. Also a settings bitmask // for a user to select the desired real-time data. uint8_t i; int32_t current_position[N_AXIS]; // Copy current state of the system position variable memcpy(current_position,sys.position,sizeof(sys.position)); float print_position[N_AXIS]; // Report current machine state switch (sys.state) { case STATE_IDLE: printPgmString(PSTR("<Idle")); break; case STATE_QUEUED: printPgmString(PSTR("<Queue")); break; case STATE_CYCLE: printPgmString(PSTR("<Run")); break; case STATE_HOLD: printPgmString(PSTR("<Hold")); break; case STATE_HOMING: printPgmString(PSTR("<Home")); break; case STATE_ALARM: printPgmString(PSTR("<Alarm")); break; case STATE_CHECK_MODE: printPgmString(PSTR("<Check")); break; } // Report machine position if (bit_istrue(settings.status_report_mask,BITFLAG_RT_STATUS_MACHINE_POSITION)) { printPgmString(PSTR(",MPos:")); // print_position[X_AXIS] = 0.5*current_position[X_AXIS]/settings.steps_per_mm[X_AXIS]; // print_position[Z_AXIS] = 0.5*current_position[Y_AXIS]/settings.steps_per_mm[Y_AXIS]; // print_position[Y_AXIS] = print_position[X_AXIS]-print_position[Z_AXIS]); // print_position[X_AXIS] -= print_position[Z_AXIS]; // print_position[Z_AXIS] = current_position[Z_AXIS]/settings.steps_per_mm[Z_AXIS]; for (i=0; i< N_AXIS; i++) { print_position[i] = current_position[i]/settings.steps_per_mm[i]; printFloat_CoordValue(print_position[i]); if (i < (N_AXIS-1)) { printPgmString(PSTR(",")); } } } // Report work position if (bit_istrue(settings.status_report_mask,BITFLAG_RT_STATUS_WORK_POSITION)) { printPgmString(PSTR(",WPos:")); for (i=0; i< N_AXIS; i++) { print_position[i] -= gc_state.coord_system[i]+gc_state.coord_offset[i]; if (i == TOOL_LENGTH_OFFSET_AXIS) { print_position[i] -= gc_state.tool_length_offset; } printFloat_CoordValue(print_position[i]); if (i < (N_AXIS-1)) { printPgmString(PSTR(",")); } } } // Returns the number of active blocks are in the planner buffer. if (bit_istrue(settings.status_report_mask,BITFLAG_RT_STATUS_PLANNER_BUFFER)) { printPgmString(PSTR(",Buf:")); print_uint8_base10(plan_get_block_buffer_count()); } // Report serial read buffer status if (bit_istrue(settings.status_report_mask,BITFLAG_RT_STATUS_SERIAL_RX)) { printPgmString(PSTR(",RX:")); print_uint8_base10(serial_get_rx_buffer_count()); } #ifdef USE_LINE_NUMBERS // Report current line number printPgmString(PSTR(",Ln:")); int32_t ln=0; plan_block_t * pb = plan_get_current_block(); if(pb != NULL) { ln = pb->line_number; } printInteger(ln); #endif #ifdef REPORT_REALTIME_RATE // Report realtime rate printPgmString(PSTR(",F:")); printFloat_RateValue(st_get_realtime_rate()); #endif printPgmString(PSTR(">\r\n")); }