void coolant_run(uint8_t mode)
{
if (sys.state == STATE_CHECK_MODE) { return; }
protocol_buffer_synchronize(); // Ensure coolant turns on when specified in program.
coolant_set_state(mode);
}
// 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.
}
