Пример #1
0
// Prints an uint8 variable in base 10.
void print_uint8_base10(uint8_t n)
{
  uint8_t digits;
  if (n < 10) { digits = 1; }
  else if (n < 100) { digits = 2; }
  else { digits = 3; }
  print_unsigned_int8(n,10,digits);
}
Пример #2
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 // 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"));
}
Пример #3
0
// Prints an uint8 variable in base 2.
void print_uint8_base2(uint8_t n) {
  print_unsigned_int8(n,2,8);
}