// 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 current probe parameters. Upon a probe command, these parameters are updated upon a // successful probe or upon a failed probe with the G38.3 without errors command (if supported). // These values are retained until Grbl is power-cycled, whereby they will be re-zeroed. void report_probe_parameters() { uint8_t i; float print_position[N_AXIS]; // Report in terms of machine position. printPgmString(PSTR("[PRB:")); for (i=0; i< N_AXIS; i++) { print_position[i] = sys.probe_position[i]/settings.steps_per_mm[i]; printFloat_CoordValue(print_position[i]); if (i < (N_AXIS-1)) { printPgmString(PSTR(",")); } } printPgmString(PSTR("]\r\n")); }
// Prints current probe parameters. Upon a probe command, these parameters are updated upon a // successful probe or upon a failed probe with the G38.3 without errors command (if supported). // These values are retained until Grbl is power-cycled, whereby they will be re-zeroed. void report_probe_parameters() { uint8_t i; float print_position[N_AXIS]; // Report in terms of machine position. printPgmString(PSTR("[PRB:")); for (i=0; i< N_AXIS; i++) { print_position[i] = system_convert_axis_steps_to_mpos(sys.probe_position,i); printFloat_CoordValue(print_position[i]); if (i < (N_AXIS-1)) { printPgmString(PSTR(",")); } } printPgmString(PSTR(":")); print_uint8_base10(sys.probe_succeeded); 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")); }