// Block until all buffered steps are executed. void plan_synchronize() { while (plan_get_current_block() || sys.cycle_start) { protocol_execute_runtime(); // Check and execute run-time commands if (sys.abort) { return; } // Check for system abort } }
// 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. void protocol_buffer_synchronize() { // If system is queued, ensure cycle resumes if the auto start flag is present. protocol_auto_cycle_start(); do { protocol_execute_realtime(); // Check and execute run-time commands if (sys.abort) { return; } // Check for system abort } while (plan_get_current_block() || (sys.state == STATE_CYCLE)); }
// 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 printPgmString(PSTR(",MPos:")); for (i=0; i< N_AXIS; i++) { print_position[i] = current_position[i]/settings.steps_per_mm[i]; if (bit_istrue(settings.flags,BITFLAG_REPORT_INCHES)) { print_position[i] *= INCH_PER_MM; } printFloat(print_position[i]); printPgmString(PSTR(",")); } // Report work position printPgmString(PSTR("WPos:")); for (i=0; i< N_AXIS; i++) { if (bit_istrue(settings.flags,BITFLAG_REPORT_INCHES)) { print_position[i] -= (gc.coord_system[i]+gc.coord_offset[i])*INCH_PER_MM; } else { print_position[i] -= gc.coord_system[i]+gc.coord_offset[i]; } printFloat(print_position[i]); if (i < (N_AXIS-1)) { printPgmString(PSTR(",")); } } #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 printPgmString(PSTR(">\r\n")); }
// Call the stepper interrupt until one block is finished void sim_stepper() { //printf("sim_stepper()\n"); block_t *current_block= plan_get_current_block(); // If the block buffer is empty, call the stepper interrupt one last time // to let it handle sys.cycle_start etc. if(current_block==NULL) { interrupt_TIMER2_COMPA_vect(); sim_time+= ISR_INTERVAL; return; } sys.state = STATE_CYCLE; while(current_block==plan_get_current_block()) { interrupt_TIMER2_COMPA_vect(); sim_time+= ISR_INTERVAL; // Check to see if we should print some info if(step_time>0.0) { if(sim_time>=next_print_time) { if(end_of_block) { end_of_block= 0; fprintf(step_out_file, "# block number %d\n", block_number); } fprintf(step_out_file, "%20.15f, %d, %d, %d\n", sim_time, sys.position[X_AXIS], sys.position[Y_AXIS], sys.position[Z_AXIS]); // Make sure the simulation time doesn't get ahead of next_print_time while(next_print_time<sim_time) next_print_time+= step_time; } } } // always print stepper values at the end of a block if(step_time>0.0) { fprintf(step_out_file, "%20.15f, %d, %d, %d\n", sim_time, sys.position[X_AXIS], sys.position[Y_AXIS], sys.position[Z_AXIS]); end_of_block= 1; block_number++; } }
// 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")); }
//Main Timer for total movement time and block handling void __ISR(_TIMER_1_VECTOR, ipl3) _InterruptHandler_TMR1(void) { // clear the interrupt flag mT1ClearIntFlag(); if(current_block == Null) { current_block = plan_get_current_block(); if(current_block != Null) { if(current_block->activeAxisCount == 3) { if(current_block->minStepAxis < N_AXIS) // If they are not all equal // TODO: If any of the step counts are equal we dont need Timer4 { switch(current_block->minStepAxis) // Need to configure OC Module to be Single Pulse Output and other two OC modules to be continuous pulse { case X_AXIS: BSP_Timer4Start((uint16_t)current_block->steppingFreq[X_AXIS]);// Use Timer4 Interrupt to trigger single output pulse OpenOC2((OC_ON|OC_IDLE_STOP|OC_TIMER_MODE16 \ |OC_TIMER3_SRC|OC_SINGLE_PULSE), (ReadPeriod3()>>1), ReadPeriod3()); // X_AXIS = Single Pulse BSP_Timer2Start((uint16_t)current_block->steppingFreq[Y_AXIS]); OpenOC1((OC_ON|OC_IDLE_STOP|OC_TIMER_MODE16 \ |OC_TIMER2_SRC|OC_CONTINUE_PULSE), (ReadPeriod2()>>1), ReadPeriod2()); // Y_AXIS = Continuous Pulse BSP_Timer3Start((uint16_t)current_block->steppingFreq[Z_AXIS]); OpenOC3((OC_ON|OC_IDLE_STOP|OC_TIMER_MODE16 \ |OC_TIMER3_SRC|OC_CONTINUE_PULSE), (ReadPeriod3()>>1), ReadPeriod3()); // Z_AXIS = Continuous Pulse break; case Y_AXIS: BSP_Timer4Start((uint16_t)current_block->steppingFreq[Y_AXIS]);// Use Timer4 Interrupt to trigger single output pulse OpenOC1((OC_ON|OC_IDLE_STOP|OC_TIMER_MODE16 \ |OC_TIMER3_SRC|OC_SINGLE_PULSE), (ReadPeriod3()>>1), ReadPeriod3()); // Y_AXIS = Single Pulse BSP_Timer2Start((uint16_t)current_block->steppingFreq[X_AXIS]); OpenOC2((OC_ON|OC_IDLE_STOP|OC_TIMER_MODE16 \ |OC_TIMER2_SRC|OC_CONTINUE_PULSE), (ReadPeriod2()>>1), ReadPeriod2()); // X_AXIS = Continuous Pulse BSP_Timer3Start((uint16_t)current_block->steppingFreq[Z_AXIS]); OpenOC3((OC_ON|OC_IDLE_STOP|OC_TIMER_MODE16 \ |OC_TIMER3_SRC|OC_CONTINUE_PULSE), (ReadPeriod3()>>1), ReadPeriod3()); // Z_AXIS = Continuous Pulse break; case Z_AXIS: BSP_Timer4Start((uint16_t)current_block->steppingFreq[Z_AXIS]);// Use Timer4 Interrupt to trigger single output pulse OpenOC3((OC_ON|OC_IDLE_STOP|OC_TIMER_MODE16 \ |OC_TIMER3_SRC|OC_SINGLE_PULSE), (ReadPeriod3()>>1), ReadPeriod3()); // Z_AXIS = Single Pulse BSP_Timer3Start((uint16_t)current_block->steppingFreq[X_AXIS]); OpenOC2((OC_ON|OC_IDLE_STOP|OC_TIMER_MODE16 \ |OC_TIMER3_SRC|OC_CONTINUE_PULSE), (ReadPeriod3()>>1), ReadPeriod3()); // X_AXIS = Continuous Pulse BSP_Timer2Start((uint16_t)current_block->steppingFreq[Y_AXIS]); OpenOC1((OC_ON|OC_IDLE_STOP|OC_TIMER_MODE16 \ |OC_TIMER2_SRC|OC_CONTINUE_PULSE), (ReadPeriod2()>>1), ReadPeriod2()); // Y_AXIS = Continuous Pulse break; default: // error break; } } else { BSP_Timer2Start((uint16_t)current_block->steppingFreq[X_AXIS]); // All Steps Counts are equal so just use on timer OpenOC1((OC_ON|OC_IDLE_STOP|OC_TIMER_MODE16 \ |OC_TIMER2_SRC|OC_CONTINUE_PULSE), (ReadPeriod2()>>1), ReadPeriod2()); // Y_AXIS = Continuous Pulse OpenOC2((OC_ON|OC_IDLE_STOP|OC_TIMER_MODE16 \ |OC_TIMER2_SRC|OC_CONTINUE_PULSE), (ReadPeriod2()>>1), ReadPeriod2()); // X_AXIS = Continuous Pulse OpenOC3((OC_ON|OC_IDLE_STOP|OC_TIMER_MODE16 \ |OC_TIMER2_SRC|OC_CONTINUE_PULSE), (ReadPeriod2()>>1), ReadPeriod2()); // Z_AXIS = Continuous Pulse } BSP_AxisEnable(Y_AXIS, current_block->direction_bits[Y_AXIS]); BSP_AxisEnable(X_AXIS, current_block->direction_bits[X_AXIS]); BSP_AxisEnable(Z_AXIS, current_block->direction_bits[Z_AXIS]); } else if (current_block->activeAxisCount == 2) // 2 Axis Enabled
// Executes run-time commands, when required. This 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 override. // NOTE: The sys_rt_exec_state variable flags are set by any process, step or serial interrupts, pinouts, // limit switches, or the main program. void protocol_execute_realtime() { uint8_t rt_exec; // Temp variable to avoid calling volatile multiple times. do { // If system is suspended, suspend loop restarts here. // Check and execute alarms. rt_exec = sys_rt_exec_alarm; // Copy volatile sys_rt_exec_alarm. if (rt_exec) { // Enter only if any bit flag is true // System alarm. Everything has shutdown by something that has gone severely wrong. Report // the source of the error to the user. If critical, Grbl disables by entering an infinite // loop until system reset/abort. sys.state = STATE_ALARM; // Set system alarm state if (rt_exec & EXEC_ALARM_HARD_LIMIT) { report_alarm_message(ALARM_HARD_LIMIT_ERROR); } else if (rt_exec & EXEC_ALARM_SOFT_LIMIT) { report_alarm_message(ALARM_SOFT_LIMIT_ERROR); } else if (rt_exec & EXEC_ALARM_ABORT_CYCLE) { report_alarm_message(ALARM_ABORT_CYCLE); } else if (rt_exec & EXEC_ALARM_PROBE_FAIL) { report_alarm_message(ALARM_PROBE_FAIL); } else if (rt_exec & EXEC_ALARM_HOMING_FAIL) { report_alarm_message(ALARM_HOMING_FAIL); } // Halt everything upon a critical event flag. Currently hard and soft limits flag this. if (rt_exec & EXEC_CRITICAL_EVENT) { report_feedback_message(MESSAGE_CRITICAL_EVENT); bit_false_atomic(sys_rt_exec_state,EXEC_RESET); // Disable any existing reset do { // Nothing. Block EVERYTHING until user issues reset or power cycles. Hard limits // typically occur while unattended or not paying attention. Gives the user 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, the incoming // stream could be still engaged and cause a serious crash if it continues afterwards. // TODO: Allow status reports during a critical alarm. Still need to think about implications of this. // if (sys_rt_exec_state & EXEC_STATUS_REPORT) { // report_realtime_status(); // bit_false_atomic(sys_rt_exec_state,EXEC_STATUS_REPORT); // } } while (bit_isfalse(sys_rt_exec_state,EXEC_RESET)); } bit_false_atomic(sys_rt_exec_alarm,0xFF); // Clear all alarm flags } // Check amd execute realtime commands rt_exec = sys_rt_exec_state; // Copy volatile sys_rt_exec_state. if (rt_exec) { // Enter only if any bit flag is true // Execute system abort. if (rt_exec & EXEC_RESET) { sys.abort = true; // Only place this is set true. return; // Nothing else to do but exit. } // Execute and serial print status if (rt_exec & EXEC_STATUS_REPORT) { report_realtime_status(); bit_false_atomic(sys_rt_exec_state,EXEC_STATUS_REPORT); } // Execute hold states. // NOTE: The math involved to calculate the hold should be low enough for most, if not all, // operational scenarios. Once hold is initiated, the system enters a suspend state to block // all main program processes until either reset or resumed. if (rt_exec & (EXEC_MOTION_CANCEL | EXEC_FEED_HOLD | EXEC_SAFETY_DOOR)) { // TODO: CHECK MODE? How to handle this? Likely nothing, since it only works when IDLE and then resets Grbl. // State check for allowable states for hold methods. if ((sys.state == STATE_IDLE) || (sys.state & (STATE_CYCLE | STATE_HOMING | STATE_MOTION_CANCEL | STATE_HOLD | STATE_SAFETY_DOOR))) { // If in CYCLE state, all hold states immediately initiate a motion HOLD. if (sys.state == STATE_CYCLE) { st_update_plan_block_parameters(); // Notify stepper module to recompute for hold deceleration. sys.suspend = SUSPEND_ENABLE_HOLD; // Initiate holding cycle with flag. } // If IDLE, Grbl is not in motion. Simply indicate suspend ready state. if (sys.state == STATE_IDLE) { sys.suspend = SUSPEND_ENABLE_READY; } // Execute and flag a motion cancel with deceleration and return to idle. Used primarily by probing cycle // to halt and cancel the remainder of the motion. if (rt_exec & EXEC_MOTION_CANCEL) { // MOTION_CANCEL only occurs during a CYCLE, but a HOLD and SAFETY_DOOR may been initiated beforehand // to hold the CYCLE. If so, only flag that motion cancel is complete. if (sys.state == STATE_CYCLE) { sys.state = STATE_MOTION_CANCEL; } sys.suspend |= SUSPEND_MOTION_CANCEL; // Indicate motion cancel when resuming. Special motion complete. } // Execute a feed hold with deceleration, only during cycle. if (rt_exec & EXEC_FEED_HOLD) { // Block SAFETY_DOOR state from prematurely changing back to HOLD. if (bit_isfalse(sys.state,STATE_SAFETY_DOOR)) { sys.state = STATE_HOLD; } } // Execute a safety door stop with a feed hold, only during a cycle, and disable spindle/coolant. // NOTE: Safety door differs from feed holds by stopping everything no matter state, disables powered // devices (spindle/coolant), and blocks resuming until switch is re-engaged. The power-down is // executed here, if IDLE, or when the CYCLE completes via the EXEC_CYCLE_STOP flag. if (rt_exec & EXEC_SAFETY_DOOR) { report_feedback_message(MESSAGE_SAFETY_DOOR_AJAR); // If already in active, ready-to-resume HOLD, set CYCLE_STOP flag to force de-energize. // NOTE: Only temporarily sets the 'rt_exec' variable, not the volatile 'rt_exec_state' variable. if (sys.suspend & SUSPEND_ENABLE_READY) { bit_true(rt_exec,EXEC_CYCLE_STOP); } sys.suspend |= SUSPEND_ENERGIZE; sys.state = STATE_SAFETY_DOOR; } } bit_false_atomic(sys_rt_exec_state,(EXEC_MOTION_CANCEL | EXEC_FEED_HOLD | EXEC_SAFETY_DOOR)); } // Execute a cycle start by starting the stepper interrupt to begin executing the blocks in queue. if (rt_exec & EXEC_CYCLE_START) { // Block if called at same time as the hold commands: feed hold, motion cancel, and safety door. // Ensures auto-cycle-start doesn't resume a hold without an explicit user-input. if (!(rt_exec & (EXEC_FEED_HOLD | EXEC_MOTION_CANCEL | EXEC_SAFETY_DOOR))) { // Cycle start only when IDLE or when a hold is complete and ready to resume. // NOTE: SAFETY_DOOR is implicitly blocked. It reverts to HOLD when the door is closed. if ((sys.state == STATE_IDLE) || ((sys.state & (STATE_HOLD | STATE_MOTION_CANCEL)) && (sys.suspend & SUSPEND_ENABLE_READY))) { // Re-energize powered components, if disabled by SAFETY_DOOR. if (sys.suspend & SUSPEND_ENERGIZE) { // Delayed Tasks: Restart spindle and coolant, delay to power-up, then resume cycle. if (gc_state.modal.spindle != SPINDLE_DISABLE) { spindle_set_state(gc_state.modal.spindle, gc_state.spindle_speed); delay_ms(SAFETY_DOOR_SPINDLE_DELAY); // TODO: Blocking function call. Need a non-blocking one eventually. } if (gc_state.modal.coolant != COOLANT_DISABLE) { coolant_set_state(gc_state.modal.coolant); delay_ms(SAFETY_DOOR_COOLANT_DELAY); // TODO: Blocking function call. Need a non-blocking one eventually. } // TODO: Install return to pre-park position. } // Start cycle only if queued motions exist in planner buffer and the motion is not canceled. if (plan_get_current_block() && bit_isfalse(sys.suspend,SUSPEND_MOTION_CANCEL)) { sys.state = STATE_CYCLE; st_prep_buffer(); // Initialize step segment buffer before beginning cycle. st_wake_up(); } else { // Otherwise, do nothing. Set and resume IDLE state. sys.state = STATE_IDLE; } sys.suspend = SUSPEND_DISABLE; // Break suspend state. } } bit_false_atomic(sys_rt_exec_state,EXEC_CYCLE_START); } // Reinitializes the cycle plan and stepper system after a feed hold for a resume. Called by // realtime command execution in the main program, ensuring that the planner re-plans safely. // NOTE: Bresenham algorithm variables are still maintained through both the planner and stepper // cycle reinitializations. The stepper path should continue exactly as if nothing has happened. // NOTE: EXEC_CYCLE_STOP is set by the stepper subsystem when a cycle or feed hold completes. if (rt_exec & EXEC_CYCLE_STOP) { if (sys.state & (STATE_HOLD | STATE_SAFETY_DOOR)) { // Hold complete. Set to indicate ready to resume. Remain in HOLD or DOOR states until user // has issued a resume command or reset. if (sys.suspend & SUSPEND_ENERGIZE) { // De-energize system if safety door has been opened. spindle_stop(); coolant_stop(); // TODO: Install parking motion here. } bit_true(sys.suspend,SUSPEND_ENABLE_READY); } else { // Motion is complete. Includes CYCLE, HOMING, and MOTION_CANCEL states. sys.suspend = SUSPEND_DISABLE; sys.state = STATE_IDLE; } bit_false_atomic(sys_rt_exec_state,EXEC_CYCLE_STOP); } } // Overrides flag byte (sys.override) and execution should be installed here, since they // are realtime and require a direct and controlled interface to the main stepper program. // Reload step segment buffer if (sys.state & (STATE_CYCLE | STATE_HOLD | STATE_MOTION_CANCEL | STATE_SAFETY_DOOR | STATE_HOMING)) { st_prep_buffer(); } // If safety door was opened, actively check when safety door is closed and ready to resume. // NOTE: This unlocks the SAFETY_DOOR state to a HOLD state, such that CYCLE_START can activate a resume. if (sys.state == STATE_SAFETY_DOOR) { if (bit_istrue(sys.suspend,SUSPEND_ENABLE_READY)) { #ifndef DEFAULTS_TRINAMIC if (!(system_check_safety_door_ajar())) { sys.state = STATE_HOLD; // Update to HOLD state to indicate door is closed and ready to resume. } #endif } } } while(sys.suspend); // Check for system suspend state before exiting. }
// 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")); }
void st_prep_buffer() { if (segment_buffer_tail != segment_next_head) // Check if we need to fill the buffer. { // Determine if we need to load a new planner block or if the block has been replanned. if (pl_block == NULL) { if( !(pl_block = plan_get_current_block()) ) // Query planner for a queued block return; // No planner blocks. Exit. // Check if the segment buffer completed the last planner block. If so, load the Bresenham // data for the block. If not, we are still mid-block and the velocity profile was updated. // Increment stepper common data index to store new planner block data. if ( ++prep.st_block_index == (SEGMENT_BUFFER_SIZE-1) ) { prep.st_block_index = 0; } // Initialize segment buffer data for generating the segments. prep.current_speed = sqrt(pl_block->entry_speed_sqr); //--------------------------------------------------------------------------------------- // Compute the velocity profile of a new planner block based on its entry and exit speeds double inv_2_accel = 0.5/pl_block->acceleration; // Compute or recompute velocity profile parameters of the prepped planner block. prep.accelerate_until = pl_block->millimeters; prep.exit_speed = plan_get_exec_block_exit_speed(); double exit_speed_sqr = prep.exit_speed*prep.exit_speed; double intersect_distance = 0.5*(pl_block->millimeters+inv_2_accel*(pl_block->entry_speed_sqr-exit_speed_sqr)); if (intersect_distance > 0.0) { if (intersect_distance < pl_block->millimeters) // Either trapezoid or triangle types { // NOTE: For acceleration-cruise and cruise-only types, following calculation will be 0.0. prep.decelerate_after = inv_2_accel*(pl_block->nominal_speed_sqr-exit_speed_sqr); if (prep.decelerate_after < intersect_distance) // Trapezoid type { prep.maximum_speed = sqrt(pl_block->nominal_speed_sqr); if (pl_block->entry_speed_sqr == pl_block->nominal_speed_sqr) { // Cruise-deceleration or cruise-only type. } else { // Full-trapezoid or acceleration-cruise types prep.accelerate_until -= inv_2_accel*(pl_block->nominal_speed_sqr-pl_block->entry_speed_sqr); } } else { // Triangle type prep.accelerate_until = intersect_distance; prep.decelerate_after = intersect_distance; prep.maximum_speed = sqrt(2.0*pl_block->acceleration*intersect_distance+exit_speed_sqr); } } else { // Deceleration-only type prep.decelerate_after = pl_block->millimeters; prep.maximum_speed = prep.current_speed; } } else { // Acceleration-only type prep.accelerate_until = 0.0; prep.decelerate_after = 0.0; prep.maximum_speed = prep.exit_speed; } } if( pl_block->millimeters-prep.accelerate_until ) { //calc A segment_up3d_t a_seg; // Acceleration-cruise, acceleration-deceleration ramp junction, or end of block. double time_var = 2.0*(pl_block->millimeters-prep.accelerate_until)/(prep.current_speed+prep.maximum_speed); _st_create_up3d_seg_a( &a_seg, time_var, prep.current_speed, prep.maximum_speed); //subtract A block distance _st_subtract_plsteps( &a_seg ); //emit A block _st_store_up3d_seg( &a_seg ); } segment_up3d_t d_seg = {0}; if( prep.decelerate_after ) { //calc D double time_var = 2.0*(prep.decelerate_after)/(prep.maximum_speed+prep.exit_speed); _st_create_up3d_seg_a( &d_seg, time_var, prep.maximum_speed, prep.exit_speed); //subtract D block distance _st_subtract_plsteps( &d_seg ); } if( pl_block->steps[0] || pl_block->steps[1] || pl_block->steps[2] ) { //calc C segment_up3d_t c_seg; _st_create_up3d_seg_c( &c_seg, prep.maximum_speed ); //emit C _st_store_up3d_seg( &c_seg ); } //emit D block _st_store_up3d_seg( &d_seg ); pl_block = NULL; // Set pointer to indicate check and load next planner block. plan_discard_current_block(); } }