Merge pull request #170 from Paciente8159/implement-report-status-mask

implemented report status mask

.vscode/launch.json

@@ -25,30 +25,30 @@
             "type": "platformio-debug",
             "request": "launch",
             "name": "PIO Debug",
-            "executable": "c:/Users/JCEM/Documents/GitHub/uCNC/.pio/build/x_controller/firmware.elf",
-            "projectEnvName": "x_controller",
+            "executable": "c:/Users/JCEM/Documents/GitHub/uCNC/.pio/build/uno/firmware.elf",
+            "projectEnvName": "uno",
             "toolchainBinDir": "C:/gcc-avr8/bin",
             "internalConsoleOptions": "openOnSessionStart",
             "preLaunchTask": {
                 "type": "PlatformIO",
-                "task": "Pre-Debug (x_controller)"
+                "task": "Pre-Debug (uno)"
             }
         },
         {
             "type": "platformio-debug",
             "request": "launch",
             "name": "PIO Debug (skip Pre-Debug)",
-            "executable": "c:/Users/JCEM/Documents/GitHub/uCNC/.pio/build/x_controller/firmware.elf",
-            "projectEnvName": "x_controller",
+            "executable": "c:/Users/JCEM/Documents/GitHub/uCNC/.pio/build/uno/firmware.elf",
+            "projectEnvName": "uno",
             "toolchainBinDir": "C:/gcc-avr8/bin",
             "internalConsoleOptions": "openOnSessionStart"
         },
         {
             "type": "platformio-debug",
             "request": "launch",
             "name": "PIO Debug (without uploading)",
-            "executable": "c:/Users/JCEM/Documents/GitHub/uCNC/.pio/build/x_controller/firmware.elf",
-            "projectEnvName": "x_controller",
+            "executable": "c:/Users/JCEM/Documents/GitHub/uCNC/.pio/build/uno/firmware.elf",
+            "projectEnvName": "uno",
             "toolchainBinDir": "C:/gcc-avr8/bin",
             "internalConsoleOptions": "openOnSessionStart",
             "loadMode": "manual"

CHANGELOG.md

@@ -16,9 +16,15 @@
 ### Changed
 
 - added option to accept G0 and G1 without explicit axis words to target (#169)
+- implemented Grbl report status mask (#170)
+- full Grbl welcome message emulation to fix recognition by PC softwares (#170)
+- modified startup blocks execution to match Grbl behavior (#170)
 
 ### Fixed
 
+- fixed parser wrong coordinates after coordinate offset command changes axis followed by a motion command with implicit target coordinates modified by the previous command, resulting in unexpected motion path (#170)
+- forces run state flag during dwell (reported idle state) (#170)
+
 
 ## [1.4.1] - 2022-04-17
 

uCNC/src/cnc.c

@@ -23,13 +23,12 @@
 #include "cnc.h"
 
 #define LOOP_STARTUP_RESET 0
-#define LOOP_RUNNING_FIRST_RUN 1
-#define LOOP_RUNNING 2
-#define LOOP_ERROR_RESET 3
+#define LOOP_RUNNING 1
+#define LOOP_ERROR_RESET 2
 
-#define UNLOCK_ERROR 0
+#define UNLOCK_OK 0
 #define UNLOCK_LOCKED 1
-#define UNLOCK_OK 2
+#define UNLOCK_ERROR 2
 
 #define RTCMD_NORMAL_MASK (RT_CMD_FEED_100 | RT_CMD_FEED_INC_COARSE | RT_CMD_FEED_DEC_COARSE | RT_CMD_FEED_INC_FINE | RT_CMD_FEED_DEC_FINE)
 #define RTCMD_RAPID_MASK (RT_CMD_RAPIDFEED_100 | RT_CMD_RAPIDFEED_OVR1 | RT_CMD_RAPIDFEED_OVR2)
@@ -47,19 +46,22 @@ typedef struct
 } cnc_state_t;
 
 static cnc_state_t cnc_state;
+bool cnc_status_report_lock;
 
 static void cnc_check_fault_systems(void);
 static bool cnc_check_interlocking(void);
 static void cnc_exec_rt_commands(void);
 static void cnc_io_dotasks(void);
 static void cnc_reset(void);
 static bool cnc_exec_cmd(void);
+static void cnc_run_startup_blocks(void);
 
 void cnc_init(void)
 {
     // initializes cnc state
 #ifdef FORCE_GLOBALS_TO_0
     memset(&cnc_state, 0, sizeof(cnc_state_t));
+    cnc_status_report_lock = false;
 #endif
     cnc_state.loop_state = LOOP_STARTUP_RESET;
     // initializes all systems
@@ -78,14 +80,15 @@ void cnc_init(void)
 
 void cnc_run(void)
 {
+    // enters loop reset
     cnc_reset();
 
-    cnc_state.loop_state = LOOP_RUNNING_FIRST_RUN;
-    serial_select(SERIAL_UART);
-
     // tries to reset. If fails jumps to error
-    while (cnc_unlock(false))
+    while (cnc_unlock(false) != UNLOCK_ERROR)
     {
+        serial_select(SERIAL_UART);
+        cnc_state.loop_state = LOOP_RUNNING;
+
         do
         {
         } while (cnc_exec_cmd());
@@ -115,7 +118,15 @@ void cnc_run(void)
             }
         }
         cnc_dotasks();
-    } while (io_get_controls() & ESTOP_MASK);
+        if (io_get_controls() & ESTOP_MASK)
+        {
+            cnc_state.loop_state = LOOP_STARTUP_RESET;
+        }
+        else
+        {
+            break;
+        }
+    } while (1);
 }
 
 bool cnc_exec_cmd(void)
@@ -143,8 +154,6 @@ bool cnc_exec_cmd(void)
         {
             protocol_send_error(error);
         }
-
-        cnc_state.loop_state = LOOP_RUNNING;
     }
 
     return cnc_dotasks();
@@ -267,6 +276,7 @@ void cnc_home(void)
 
     // sync's the motion control with the real time position
     mc_sync_position();
+    cnc_run_startup_blocks();
 }
 
 void cnc_alarm(int8_t code)
@@ -333,19 +343,11 @@ uint8_t cnc_unlock(bool force)
         io_enable_steppers(g_settings.step_enable_invert);
         parser_reset();
 
-        if (cnc_state.loop_state < LOOP_RUNNING)
+        // hard reset
+        // if homing not enabled run startup blocks
+        if (cnc_state.loop_state == LOOP_STARTUP_RESET && !g_settings.homing_enabled)
         {
-            serial_select(SERIAL_N0);
-            if (!cnc_exec_cmd())
-            {
-                return UNLOCK_ERROR;
-            }
-            serial_select(SERIAL_N1);
-            if (!cnc_exec_cmd())
-            {
-                return UNLOCK_ERROR;
-            }
-            serial_select(SERIAL_UART);
+            cnc_run_startup_blocks();
         }
     }
 
@@ -451,7 +453,6 @@ void cnc_delay_ms(uint32_t miliseconds)
 
 void cnc_reset(void)
 {
-    cnc_state.loop_state = LOOP_STARTUP_RESET;
     // resets all realtime command flags
     cnc_state.rt_cmd = RT_CMD_CLEAR;
     cnc_state.feed_ovr_cmd = RT_CMD_CLEAR;
@@ -802,10 +803,24 @@ static void cnc_io_dotasks(void)
 #endif
     mcu_controls_changed_cb();
 
-    if (cnc_state.loop_state > LOOP_STARTUP_RESET && CHECKFLAG(cnc_state.rt_cmd, RT_CMD_REPORT))
+    if (cnc_status_report_lock)
+    {
+        return;
+    }
+
+    if (CHECKFLAG(cnc_state.rt_cmd, RT_CMD_REPORT))
     {
         // if a report request is sent, clear the respective flag
         CLEARFLAG(cnc_state.rt_cmd, RT_CMD_REPORT);
         protocol_send_status();
     }
 }
+
+void cnc_run_startup_blocks(void)
+{
+    serial_select(SERIAL_N0);
+    cnc_exec_cmd();
+    serial_select(SERIAL_N1);
+    cnc_exec_cmd();
+    serial_select(SERIAL_UART);
+}

uCNC/src/cnc.h

@@ -222,6 +222,8 @@ extern "C"
 #include <stdbool.h>
 #include <stdint.h>
 
+	extern bool cnc_status_report_lock;
+
 	void cnc_init(void);
 	void cnc_run(void);
 	// do events returns true if all OK and false if an ABORT alarm is reached

uCNC/src/core/motion_control.c

@@ -465,7 +465,11 @@ uint8_t mc_dwell(motion_data_t *block_data)
     if (!mc_checkmode) // check mode (gcode simulation) doesn't send code to planner
     {
         mc_update_tools(block_data);
+        // restores/forces run flag
+        cnc_set_exec_state(EXEC_RUN);
         cnc_delay_ms(block_data->dwell);
+        // clear forced run flag to allow next motions
+        cnc_clear_exec_state(EXEC_RUN);
     }
 
     return STATUS_OK;
@@ -599,7 +603,7 @@ uint8_t mc_home_axis(uint8_t axis, uint8_t axis_limit)
     // flags homing clear by the unlock
     cnc_set_exec_state(EXEC_HOMING);
     mc_line(target, &block_data);
-    
+
     if (itp_sync() != STATUS_OK)
     {
         return STATUS_CRITICAL_FAIL;

uCNC/src/core/parser.c

@@ -1466,16 +1466,16 @@ uint8_t parser_exec_command(parser_state_t *new_state, parser_words_t *words, pa
 
             return error;
         }
+
+        // saves position
+        memcpy(parser_last_pos, target, sizeof(parser_last_pos));
     }
 
     if (error)
     {
         return error;
     }
 
-    // saves position
-    memcpy(parser_last_pos, target, sizeof(parser_last_pos));
-
     // stop (M0, M1, M2, M30, M60) (not implemented yet).
     bool hold = false;
     bool resetparser = false;
@@ -2682,3 +2682,18 @@ uint8_t parser_exec_command_block(parser_state_t *new_state, parser_words_t *wor
     return error;
 }
 #endif
+
+void parser_machine_to_work(float *axis)
+{
+    for (uint8_t i = 0; i < AXIS_COUNT; i++)
+    {
+        axis[i] -= (parser_parameters.g92_offset[i] + parser_parameters.coord_system_offset[i]);
+    }
+
+#ifdef AXIS_TOOL
+    if (parser_state.groups.tlo_mode != G49)
+    {
+        axis[AXIS_TOOL] -= parser_parameters.tool_length_offset;
+    }
+#endif
+}

uCNC/src/core/parser.h

@@ -184,6 +184,7 @@ extern "C"
 	void parser_parameters_save(void);
 	void parser_sync_position(void);
 	void parser_reset(void);
+	void parser_machine_to_work(float *axis);
 	uint8_t parser_exec_command(parser_state_t *new_state, parser_words_t *words, parser_cmd_explicit_t *cmd);
 
 #ifdef __cplusplus

uCNC/src/core/planner.c

@@ -659,3 +659,8 @@ bool planner_get_overflows(uint8_t *overflows)
     planner_ovr_counter--;
     return false;
 }
+
+uint8_t planner_get_buffer_freeblocks()
+{
+    return PLANNER_BUFFER_SIZE - planner_data_blocks;
+}

uCNC/src/core/planner.h

@@ -105,6 +105,8 @@ extern "C"
 
     bool planner_get_overflows(uint8_t *overflows);
 
+    uint8_t planner_get_buffer_freeblocks();
+
 #ifdef __cplusplus
 }
 #endif

uCNC/src/interface/grbl_interface.h

@@ -149,11 +149,11 @@ extern "C"
 #ifndef EMULATE_GRBL_STARTUP
 #define MSG_STARTUP_START "uCNC "
 #define MSG_STARTUP_END " ['$' for help]"
+#define MSG_STARTUP __romstr__(STR_EOL MSG_STARTUP_START CNC_VERSION MSG_STARTUP_END STR_EOL)
 #else
-#define MSG_STARTUP_START "Grbl "
-#define MSG_STARTUP_END " ['$' for uCNC help]"
+#define MSG_STARTUP __romstr__(STR_EOL "Grbl 1.1h ['$' for help]" STR_EOL)
 #endif
-#define MSG_STARTUP __romstr__(MSG_STARTUP_START CNC_VERSION MSG_STARTUP_END STR_EOL)
+
 #define MSG_HELP __romstr__("[HLP:$$ $# $G $I $N $x=val $Nx=line $J=line $C $X $H ~ ! ? ctrl-x]" STR_EOL)
 
 // Non query feedback messages
@@ -186,13 +186,15 @@ extern "C"
 #define MSG_STATUS_CHECK __romstr__("Check")
 
 #define MSG_STATUS_MPOS __romstr__("|MPos:")
+#define MSG_STATUS_WPOS __romstr__("|WPos:")
 #define MSG_STATUS_FS __romstr__("|FS:")
 #define MSG_STATUS_F __romstr__("|F:")
 #define MSG_STATUS_WCO __romstr__("|WCO:")
 #define MSG_STATUS_OVR __romstr__("|Ov:")
 #define MSG_STATUS_TOOL __romstr__("|A:")
 #define MSG_STATUS_LINE __romstr__("|Ln:")
 #define MSG_STATUS_PIN __romstr__("|Pn:")
+#define MSG_STATUS_BUF __romstr__("|Buf:")
 
 	//#define MSG_INT "%d"
 	//#define MSG_FLT "%0.3f"

uCNC/src/interface/protocol.c

@@ -1,15 +1,13 @@
 /*
-    Name: protocol.h
+    Name: protocol.c
     Description: µCNC implementation of a Grbl compatible send-response protocol
     Copyright: Copyright (c) João Martins
     Author: João Martins
     Date: 19/09/2019
-
     µCNC is free software: you can redistribute it and/or modify
     it under the terms of the GNU General Public License as published by
     the Free Software Foundation, either version 3 of the License, or
     (at your option) any later version. Please see <http://www.gnu.org/licenses/>
-
     µCNC is distributed WITHOUT ANY WARRANTY;
     Also without the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
     See the	GNU General Public License for more details.
@@ -254,7 +252,16 @@ void protocol_send_status(void)
         }
     }
 
-    serial_print_str(MSG_STATUS_MPOS);
+    if ((g_settings.status_report_mask & 1))
+    {
+        serial_print_str(MSG_STATUS_MPOS);
+    }
+    else
+    {
+        serial_print_str(MSG_STATUS_WPOS);
+        parser_machine_to_work(axis);
+    }
+
     serial_print_fltarr(axis, AXIS_COUNT);
 
 #if TOOL_COUNT > 0
@@ -330,6 +337,14 @@ void protocol_send_status(void)
 
     protocol_send_status_tail();
 
+    if ((g_settings.status_report_mask & 2))
+    {
+        serial_print_str(MSG_STATUS_BUF);
+        serial_print_int((uint32_t)planner_get_buffer_freeblocks());
+        serial_putc(',');
+        serial_print_int((uint32_t)serial_get_rx_freebytes());
+    }
+
     serial_putc('>');
     procotol_send_newline();
 #ifdef ECHO_CMD
@@ -824,4 +839,4 @@ void protocol_send_cnc_info(void)
     protocol_busy = false;
 #endif
 }
-#endif
+#endif