// Prints Grbl NGC parameters (coordinate offsets, probing)
void report_ngc_parameters()
{
float coord_data[N_AXIS];
uint8_t coord_select, i;
for (coord_select = 0; coord_select <= SETTING_INDEX_NCOORD; coord_select++) {
if (!(settings_read_coord_data(coord_select,coord_data))) {
report_status_message(STATUS_SETTING_READ_FAIL);
return;
}
printPgmString(PSTR("[G"));
switch (coord_select) {
case 6: printPgmString(PSTR("28")); break;
case 7: printPgmString(PSTR("30")); break;
default: print_uint8_base10(coord_select+54); break; // G54-G59
}
printPgmString(PSTR(":"));
for (i=0; i<N_AXIS; i++) {
printFloat_CoordValue(coord_data[i]);
if (i < (N_AXIS-1)) { printPgmString(PSTR(",")); }
else { printPgmString(PSTR("]\r\n")); }
}
}
printPgmString(PSTR("[G92:")); // Print G92,G92.1 which are not persistent in memory
for (i=0; i<N_AXIS; i++) {
printFloat_CoordValue(gc_state.coord_offset[i]);
if (i < (N_AXIS-1)) { printPgmString(PSTR(",")); }
else { printPgmString(PSTR("]\r\n")); }
}
printPgmString(PSTR("[TLO:")); // Print tool length offset value
printFloat_CoordValue(gc_state.tool_length_offset);
printPgmString(PSTR("]\r\n"));
report_probe_parameters(); // Print probe parameters. Not persistent in memory.
}
// Prints Grbl NGC parameters (coordinate offsets, probing)
void report_ngc_parameters()
{
float coord_data[N_AXIS];
uint8_t coord_select, i;
for (coord_select = 0; coord_select <= SETTING_INDEX_NCOORD; coord_select++) {
if (!(settings_read_coord_data(coord_select,coord_data))) {
report_status_message(STATUS_SETTING_READ_FAIL);
return;
}
printPgmString(PSTR("[G"));
switch (coord_select) {
case 0: printPgmString(PSTR("54:")); break;
case 1: printPgmString(PSTR("55:")); break;
case 2: printPgmString(PSTR("56:")); break;
case 3: printPgmString(PSTR("57:")); break;
case 4: printPgmString(PSTR("58:")); break;
case 5: printPgmString(PSTR("59:")); break;
case 6: printPgmString(PSTR("28:")); break;
case 7: printPgmString(PSTR("30:")); break;
// case 8: printPgmString(PSTR("92:")); break; // G92.2, G92.3 not supported. Hence not stored.
}
for (i=0; i<N_AXIS; i++) {
if (bit_istrue(settings.flags,BITFLAG_REPORT_INCHES)) { printFloat(coord_data[i]*INCH_PER_MM); }
else { printFloat(coord_data[i]); }
if (i < (N_AXIS-1)) { printPgmString(PSTR(",")); }
else { printPgmString(PSTR("]\r\n")); }
}
}
printPgmString(PSTR("[G92:")); // Print G92,G92.1 which are not persistent in memory
for (i=0; i<N_AXIS; i++) {
if (bit_istrue(settings.flags,BITFLAG_REPORT_INCHES)) { printFloat(gc.coord_offset[i]*INCH_PER_MM); }
else { printFloat(gc.coord_offset[i]); }
if (i < (N_AXIS-1)) { printPgmString(PSTR(",")); }
else { printPgmString(PSTR("]\r\n")); }
}
report_probe_parameters(); // Print probe parameters. Not persistent in memory.
}
void mc_probe_cycle(float *target, float feed_rate, uint8_t invert_feed_rate, uint8_t is_probe_away,
uint8_t is_no_error)
#endif
{
// TODO: Need to update this cycle so it obeys a non-auto cycle start.
if (sys.state == STATE_CHECK_MODE) { return; }
// Finish all queued commands and empty planner buffer before starting probe cycle.
protocol_buffer_synchronize();
// Initialize probing control variables
sys.probe_succeeded = false; // Re-initialize probe history before beginning cycle.
probe_configure_invert_mask(is_probe_away);
// After syncing, check if probe is already triggered. If so, halt and issue alarm.
// NOTE: This probe initialization error applies to all probing cycles.
if ( probe_get_state() ) { // Check probe pin state.
bit_true_atomic(sys_rt_exec_alarm, EXEC_ALARM_PROBE_FAIL);
protocol_execute_realtime();
}
if (sys.abort) { return; } // Return if system reset has been issued.
// Setup and queue probing motion. Auto cycle-start should not start the cycle.
#ifdef USE_LINE_NUMBERS
mc_line(target, feed_rate, invert_feed_rate, line_number);
#else
mc_line(target, feed_rate, invert_feed_rate);
#endif
// Activate the probing state monitor in the stepper module.
sys_probe_state = PROBE_ACTIVE;
// Perform probing cycle. Wait here until probe is triggered or motion completes.
bit_true_atomic(sys_rt_exec_state, EXEC_CYCLE_START);
do {
protocol_execute_realtime();
if (sys.abort) { return; } // Check for system abort
} while (sys.state != STATE_IDLE);
// Probing cycle complete!
// Set state variables and error out, if the probe failed and cycle with error is enabled.
if (sys_probe_state == PROBE_ACTIVE) {
if (is_no_error) { memcpy(sys.probe_position, sys.position, sizeof(float)*N_AXIS); }
else { bit_true_atomic(sys_rt_exec_alarm, EXEC_ALARM_PROBE_FAIL); }
} else {
sys.probe_succeeded = true; // Indicate to system the probing cycle completed successfully.
}
sys_probe_state = PROBE_OFF; // Ensure probe state monitor is disabled.
protocol_execute_realtime(); // Check and execute run-time commands
if (sys.abort) { return; } // Check for system abort
// Reset the stepper and planner buffers to remove the remainder of the probe motion.
st_reset(); // Reest step segment buffer.
plan_reset(); // Reset planner buffer. Zero planner positions. Ensure probing motion is cleared.
plan_sync_position(); // Sync planner position to current machine position.
// TODO: Update the g-code parser code to not require this target calculation but uses a gc_sync_position() call.
// NOTE: The target[] variable updated here will be sent back and synced with the g-code parser.
system_convert_array_steps_to_mpos(target, sys.position);
#ifdef MESSAGE_PROBE_COORDINATES
// All done! Output the probe position as message.
report_probe_parameters();
#endif
}
// Perform tool length probe cycle. Requires probe switch.
// NOTE: Upon probe failure, the program will be stopped and placed into ALARM state.
uint8_t mc_probe_cycle(float *target, plan_line_data_t *pl_data, uint8_t parser_flags)
{
// TODO: Need to update this cycle so it obeys a non-auto cycle start.
if (sys.state == STATE_CHECK_MODE) { return(GC_PROBE_CHECK_MODE); }
// Finish all queued commands and empty planner buffer before starting probe cycle.
protocol_buffer_synchronize();
if (sys.abort) { return(GC_PROBE_ABORT); } // Return if system reset has been issued.
// Initialize probing control variables
uint8_t is_probe_away = bit_istrue(parser_flags,GC_PARSER_PROBE_IS_AWAY);
uint8_t is_no_error = bit_istrue(parser_flags,GC_PARSER_PROBE_IS_NO_ERROR);
sys.probe_succeeded = false; // Re-initialize probe history before beginning cycle.
probe_configure_invert_mask(is_probe_away);
// After syncing, check if probe is already triggered. If so, halt and issue alarm.
// NOTE: This probe initialization error applies to all probing cycles.
if ( probe_get_state() ) { // Check probe pin state.
system_set_exec_alarm(EXEC_ALARM_PROBE_FAIL_INITIAL);
protocol_execute_realtime();
probe_configure_invert_mask(false); // Re-initialize invert mask before returning.
return(GC_PROBE_FAIL_INIT); // Nothing else to do but bail.
}
// Setup and queue probing motion. Auto cycle-start should not start the cycle.
mc_line(target, pl_data);
// Activate the probing state monitor in the stepper module.
sys_probe_state = PROBE_ACTIVE;
// Perform probing cycle. Wait here until probe is triggered or motion completes.
system_set_exec_state_flag(EXEC_CYCLE_START);
do {
protocol_execute_realtime();
if (sys.abort) { return(GC_PROBE_ABORT); } // Check for system abort
} while (sys.state != STATE_IDLE);
// Probing cycle complete!
// Set state variables and error out, if the probe failed and cycle with error is enabled.
if (sys_probe_state == PROBE_ACTIVE) {
if (is_no_error) { memcpy(sys_probe_position, sys_position, sizeof(sys_position)); }
else { system_set_exec_alarm(EXEC_ALARM_PROBE_FAIL_CONTACT); }
} else {
sys.probe_succeeded = true; // Indicate to system the probing cycle completed successfully.
}
sys_probe_state = PROBE_OFF; // Ensure probe state monitor is disabled.
probe_configure_invert_mask(false); // Re-initialize invert mask.
protocol_execute_realtime(); // Check and execute run-time commands
// Reset the stepper and planner buffers to remove the remainder of the probe motion.
st_reset(); // Reset step segment buffer.
plan_reset(); // Reset planner buffer. Zero planner positions. Ensure probing motion is cleared.
plan_sync_position(); // Sync planner position to current machine position.
#ifdef MESSAGE_PROBE_COORDINATES
// All done! Output the probe position as message.
report_probe_parameters();
#endif
if (sys.probe_succeeded) { return(GC_PROBE_FOUND); } // Successful probe cycle.
else { return(GC_PROBE_FAIL_END); } // Failed to trigger probe within travel. With or without error.
}
void mc_probe_cycle(float *target, float feed_rate, uint8_t invert_feed_rate)
#endif
{
// TODO: Need to update this cycle so it obeys a non-auto cycle start.
if (sys.state == STATE_CHECK_MODE) { return; }
// Finish all queued commands and empty planner buffer before starting probe cycle.
protocol_buffer_synchronize();
uint8_t auto_start_state = sys.auto_start; // Store run state
// After syncing, check if probe is already triggered. If so, halt and issue alarm.
if (probe_get_state()) {
bit_true_atomic(sys.execute, EXEC_CRIT_EVENT);
protocol_execute_runtime();
}
if (sys.abort) { return; } // Return if system reset has been issued.
// Setup and queue probing motion. Auto cycle-start should not start the cycle.
#ifdef USE_LINE_NUMBERS
mc_line(target, feed_rate, invert_feed_rate, line_number);
#else
mc_line(target, feed_rate, invert_feed_rate);
#endif
// Activate the probing monitor in the stepper module.
sys.probe_state = PROBE_ACTIVE;
// Perform probing cycle. Wait here until probe is triggered or motion completes.
bit_true_atomic(sys.execute, EXEC_CYCLE_START);
do {
protocol_execute_runtime();
if (sys.abort) { return; } // Check for system abort
} while ((sys.state != STATE_IDLE) && (sys.state != STATE_QUEUED));
// Probing motion complete. If the probe has not been triggered, error out.
if (sys.probe_state == PROBE_ACTIVE) { bit_true_atomic(sys.execute, EXEC_CRIT_EVENT); }
protocol_execute_runtime(); // Check and execute run-time commands
if (sys.abort) { return; } // Check for system abort
// Reset the stepper and planner buffers to remove the remainder of the probe motion.
st_reset(); // Reest step segment buffer.
plan_reset(); // Reset planner buffer. Zero planner positions. Ensure probing motion is cleared.
plan_sync_position(); // Sync planner position to current machine position.
// Pull-off triggered probe to the trigger location since we had to decelerate a little beyond
// it to stop the machine in a controlled manner.
uint8_t idx;
for(idx=0; idx<N_AXIS; idx++){
// NOTE: The target[] variable updated here will be sent back and synced with the g-code parser.
target[idx] = (float)sys.probe_position[idx]/settings.steps_per_deg[idx];
}
#ifdef USE_LINE_NUMBERS
mc_line(target, feed_rate, invert_feed_rate, line_number);
#else
mc_line(target, feed_rate, invert_feed_rate);
#endif
// Execute pull-off motion and wait until it completes.
bit_true_atomic(sys.execute, EXEC_CYCLE_START);
protocol_buffer_synchronize();
if (sys.abort) { return; } // Return if system reset has been issued.
sys.auto_start = auto_start_state; // Restore run state before returning
#ifdef MESSAGE_PROBE_COORDINATES
// All done! Output the probe position as message.
report_probe_parameters();
#endif
}
