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system.c
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system.c
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/*
system.c - Handles system level commands and real-time processes
Part of grblHAL
Copyright (c) 2017-2023 Terje Io
Copyright (c) 2014-2016 Sungeun K. Jeon for Gnea Research LLC
Grbl 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.
Grbl is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with Grbl. If not, see <http://www.gnu.org/licenses/>.
*/
#include <math.h>
#include <string.h>
#include "hal.h"
#include "motion_control.h"
#include "protocol.h"
#include "tool_change.h"
#include "state_machine.h"
#include "machine_limits.h"
#ifdef KINEMATICS_API
#include "kinematics.h"
#endif
static status_code_t jog (sys_state_t state, char *args);
static status_code_t enumerate_alarms (sys_state_t state, char *args);
static status_code_t enumerate_alarms_grblformatted (sys_state_t state, char *args);
static status_code_t enumerate_errors (sys_state_t state, char *args);
static status_code_t enumerate_errors_grblformatted (sys_state_t state, char *args);
static status_code_t enumerate_groups (sys_state_t state, char *args);
static status_code_t enumerate_settings (sys_state_t state, char *args);
static status_code_t enumerate_all (sys_state_t state, char *args);
static status_code_t enumerate_settings_grblformatted (sys_state_t state, char *args);
static status_code_t enumerate_settings_halformatted (sys_state_t state, char *args);
static status_code_t enumerate_pins (sys_state_t state, char *args);
static status_code_t output_settings (sys_state_t state, char *args);
static status_code_t output_all_settings (sys_state_t state, char *args);
#ifndef NO_SETTINGS_DESCRIPTIONS
static status_code_t output_setting_description (sys_state_t state, char *args);
#endif
static status_code_t output_parser_state (sys_state_t state, char *args);
static status_code_t toggle_block_delete (sys_state_t state, char *args);
static status_code_t toggle_single_block (sys_state_t state, char *args);
static status_code_t toggle_optional_stop (sys_state_t state, char *args);
static status_code_t check_mode (sys_state_t state, char *args);
static status_code_t disable_lock (sys_state_t state, char *args);
static status_code_t output_help (sys_state_t state, char *args);
static status_code_t output_spindles (sys_state_t state, char *args);
static status_code_t home (sys_state_t state, char *args);
static status_code_t home_x (sys_state_t state, char *args);
static status_code_t home_y (sys_state_t state, char *args);
static status_code_t home_z (sys_state_t state, char *args);
#ifdef A_AXIS
static status_code_t home_a (sys_state_t state, char *args);
#endif
#ifdef B_AXIS
static status_code_t home_b (sys_state_t state, char *args);
#endif
#ifdef C_AXIS
static status_code_t home_c (sys_state_t state, char *args);
#endif
#ifdef U_AXIS
static status_code_t home_u (sys_state_t state, char *args);
#endif
#ifdef V_AXIS
static status_code_t home_v (sys_state_t state, char *args);
#endif
static status_code_t enter_sleep (sys_state_t state, char *args);
static status_code_t set_tool_reference (sys_state_t state, char *args);
static status_code_t tool_probe_workpiece (sys_state_t state, char *args);
static status_code_t output_ngc_parameters (sys_state_t state, char *args);
static status_code_t build_info (sys_state_t state, char *args);
static status_code_t output_all_build_info (sys_state_t state, char *args);
static status_code_t settings_reset (sys_state_t state, char *args);
static status_code_t output_startup_lines (sys_state_t state, char *args);
static status_code_t set_startup_line0 (sys_state_t state, char *args);
static status_code_t set_startup_line1 (sys_state_t state, char *args);
static status_code_t rtc_action (sys_state_t state, char *args);
#ifdef DEBUGOUT
static status_code_t output_memmap (sys_state_t state, char *args);
#endif
// Simple hypotenuse computation function.
inline static float hypot_f (float x, float y)
{
return sqrtf(x*x + y*y);
}
// Pin change interrupt for pin-out commands, i.e. cycle start, feed hold, and reset. Sets
// only the realtime command execute variable to have the main program execute these when
// its ready. This works exactly like the character-based realtime commands when picked off
// directly from the incoming data stream.
ISR_CODE void ISR_FUNC(control_interrupt_handler)(control_signals_t signals)
{
if(signals.deasserted)
return; // for now...
if (signals.value) {
sys.last_event.control.value = signals.value;
if ((signals.reset || signals.e_stop || signals.motor_fault) && state_get() != STATE_ESTOP)
mc_reset();
else {
#ifndef NO_SAFETY_DOOR_SUPPORT
if (signals.safety_door_ajar && hal.signals_cap.safety_door_ajar) {
if(settings.safety_door.flags.ignore_when_idle) {
// Only stop the spindle (laser off) when idle or jogging,
// this to allow positioning the controlled point (spindle) when door is open.
// NOTE: at least for lasers there should be an external interlock blocking laser power.
if(state_get() != STATE_IDLE && state_get() != STATE_JOG)
system_set_exec_state_flag(EXEC_SAFETY_DOOR);
if(settings.mode == Mode_Laser) // Turn off spindle immediately (laser) when in laser mode
spindle_all_off();
} else
system_set_exec_state_flag(EXEC_SAFETY_DOOR);
}
#endif
if(signals.probe_overtravel) {
limit_signals_t overtravel = { .min.z = On};
hal.limits.interrupt_callback(overtravel);
// TODO: add message?
} else if (signals.probe_triggered) {
if(sys.probing_state == Probing_Off && (state_get() & (STATE_CYCLE|STATE_JOG))) {
system_set_exec_state_flag(EXEC_STOP);
sys.alarm_pending = Alarm_ProbeProtect;
} else
hal.probe.configure(false, false);
} else if (signals.probe_disconnected) {
if(sys.probing_state == Probing_Active && state_get() == STATE_CYCLE) {
system_set_exec_state_flag(EXEC_FEED_HOLD);
sys.alarm_pending = Alarm_ProbeProtect;
}
} else if (signals.feed_hold)
system_set_exec_state_flag(EXEC_FEED_HOLD);
else if (signals.cycle_start) {
system_set_exec_state_flag(EXEC_CYCLE_START);
sys.report.cycle_start = settings.status_report.pin_state;
}
}
}
}
// Executes user startup script, if stored.
void system_execute_startup (void)
{
if(hal.nvs.type != NVS_None) {
char line[sizeof(stored_line_t)];
uint_fast8_t n;
for (n = 0; n < N_STARTUP_LINE; n++) {
if (!settings_read_startup_line(n, line))
report_execute_startup_message(line, Status_SettingReadFail);
else if (*line != '\0')
report_execute_startup_message(line, gc_execute_block(line));
}
}
}
// Reset spindle encoder data
status_code_t spindle_reset_data (sys_state_t state, char *args)
{
spindle_ptrs_t *spindle = gc_spindle_get();
if(spindle->reset_data)
spindle->reset_data();
return spindle->reset_data ? Status_OK : Status_InvalidStatement;
}
status_code_t read_int (char *s, int32_t *value)
{
uint_fast8_t counter = 0;
float parameter;
if(!read_float(s, &counter, ¶meter))
return Status_BadNumberFormat;
if(parameter - truncf(parameter) != 0.0f)
return Status_InvalidStatement;
*value = (int32_t)parameter;
return Status_OK;
}
PROGMEM static const sys_command_t sys_commands[] = {
{ "G", output_parser_state, { .noargs = On, .allow_blocking = On } },
{ "J", jog },
{ "#", output_ngc_parameters, { .allow_blocking = On } },
{ "$", output_settings, { .allow_blocking = On } },
{ "+", output_all_settings, { .allow_blocking = On } },
#ifndef NO_SETTINGS_DESCRIPTIONS
{ "SED", output_setting_description, { .allow_blocking = On } },
#endif
{ "B", toggle_block_delete, { .noargs = On } },
{ "S", toggle_single_block, { .noargs = On } },
{ "O", toggle_optional_stop, { .noargs = On } },
{ "C", check_mode, { .noargs = On } },
{ "X", disable_lock },
{ "H", home },
{ "HX", home_x },
{ "HY", home_y },
{ "HZ", home_z },
#if AXIS_REMAP_ABC2UVW
#ifdef A_AXIS
{ "HU", home_a },
#endif
#ifdef B_AXIS
{ "HV", home_b },
#endif
#ifdef C_AXIS
{ "HW", home_c },
#endif
#else
#ifdef A_AXIS
{ "HA", home_a },
#endif
#ifdef B_AXIS
{ "HB", home_b },
#endif
#ifdef C_AXIS
{ "HC", home_c },
#endif
#endif
#ifdef U_AXIS
{ "HU", home_u },
#endif
#ifdef V_AXIS
{ "HV", home_v },
#endif
{ "HSS", report_current_home_signal_state, { .noargs = On, .allow_blocking = On } },
{ "HELP", output_help, { .allow_blocking = On } },
{ "SPINDLES", output_spindles },
{ "SLP", enter_sleep, { .noargs = On } },
{ "TLR", set_tool_reference, { .noargs = On } },
{ "TPW", tool_probe_workpiece, { .noargs = On } },
{ "I", build_info, { .allow_blocking = On } },
{ "I+", output_all_build_info, { .noargs = On, .allow_blocking = On } },
{ "RST", settings_reset, { .allow_blocking = On } },
{ "N", output_startup_lines, { .noargs = On, .allow_blocking = On } },
{ "N0", set_startup_line0 },
{ "N1", set_startup_line1 },
{ "EA", enumerate_alarms, { .noargs = On, .allow_blocking = On } },
{ "EAG", enumerate_alarms_grblformatted, { .noargs = On, .allow_blocking = On } },
{ "EE", enumerate_errors, { .noargs = On, .allow_blocking = On } },
{ "EEG", enumerate_errors_grblformatted, { .noargs = On, .allow_blocking = On } },
{ "EG", enumerate_groups, { .noargs = On, .allow_blocking = On } },
{ "ES", enumerate_settings, { .noargs = On, .allow_blocking = On } },
{ "ESG", enumerate_settings_grblformatted, { .noargs = On, .allow_blocking = On } },
{ "ESH", enumerate_settings_halformatted, { .noargs = On, .allow_blocking = On } },
{ "E*", enumerate_all, { .noargs = On, .allow_blocking = On } },
{ "PINS", enumerate_pins, { .noargs = On, .allow_blocking = On } },
{ "RST", settings_reset, { .allow_blocking = On } },
{ "LEV", report_last_signals_event, { .noargs = On, .allow_blocking = On } },
{ "LIM", report_current_limit_state, { .noargs = On, .allow_blocking = On } },
{ "SD", report_spindle_data },
{ "SR", spindle_reset_data },
{ "RTC", rtc_action, { .allow_blocking = On } },
#ifdef DEBUGOUT
{ "Q", output_memmap, { .noargs = On } },
#endif
};
void system_command_help (void)
{
hal.stream.write("$I - output system information" ASCII_EOL);
hal.stream.write("$I+ - output extended system information" ASCII_EOL);
#if !DISABLE_BUILD_INFO_WRITE_COMMAND
hal.stream.write("$I=<string> set build info string" ASCII_EOL);
#endif
hal.stream.write("$<n> - output setting <n> value" ASCII_EOL);
hal.stream.write("$<n>=<value> - assign <value> to settings <n>" ASCII_EOL);
hal.stream.write("$$ - output all setting values" ASCII_EOL);
hal.stream.write("$+ - output all setting values" ASCII_EOL);
hal.stream.write("$$=<n> - output setting details for setting <n>" ASCII_EOL);
hal.stream.write("$# - output offsets, tool table, probing and home position" ASCII_EOL);
hal.stream.write("$#=<n> - output value for parameter <n>" ASCII_EOL);
hal.stream.write("$G - output parser state" ASCII_EOL);
hal.stream.write("$N - output startup lines" ASCII_EOL);
if(settings.homing.flags.enabled)
hal.stream.write("$H - home configured axes" ASCII_EOL);
if(settings.homing.flags.single_axis_commands)
hal.stream.write("$H<axisletter> - home single axis" ASCII_EOL);
hal.stream.write("$HSS - report homing switches status" ASCII_EOL);
hal.stream.write("$X - unlock machine" ASCII_EOL);
hal.stream.write("$SLP - enter sleep mode" ASCII_EOL);
hal.stream.write("$HELP - output help topics" ASCII_EOL);
hal.stream.write("$HELP <topic> - output help for <topic>" ASCII_EOL);
hal.stream.write("$SPINDLES - output spindle list" ASCII_EOL);
#if ENABLE_RESTORE_NVS_WIPE_ALL
hal.stream.write("$RST=* - restore/reset all settings" ASCII_EOL);
#endif
#if ENABLE_RESTORE_NVS_DEFAULT_SETTINGS
hal.stream.write("$RST=$ - restore default settings" ASCII_EOL);
#endif
#if ENABLE_RESTORE_NVS_DRIVER_PARAMETERS
if(settings_get_details()->next)
hal.stream.write("$RST=& - restore driver and plugin default settings" ASCII_EOL);
#endif
#if ENABLE_RESTORE_NVS_CLEAR_PARAMETERS
#if N_TOOLS
hal.stream.write("$RST=# - reset offsets and tool data" ASCII_EOL);
#else
hal.stream.write("$RST=# - reset offsets" ASCII_EOL);
#endif
#endif
spindle_ptrs_t *spindle = gc_spindle_get();
if(spindle->reset_data)
hal.stream.write("$SR - reset spindle encoder data" ASCII_EOL);
if(spindle->get_data)
hal.stream.write("$SD - output spindle encoder data" ASCII_EOL);
hal.stream.write("$TLR - set tool offset reference" ASCII_EOL);
hal.stream.write("$TPW - probe tool plate" ASCII_EOL);
hal.stream.write("$EA - enumerate alarms" ASCII_EOL);
hal.stream.write("$EAG - enumerate alarms, Grbl formatted" ASCII_EOL);
hal.stream.write("$EE - enumerate status codes" ASCII_EOL);
hal.stream.write("$EEG - enumerate status codes, Grbl formatted" ASCII_EOL);
hal.stream.write("$ES - enumerate settings" ASCII_EOL);
hal.stream.write("$ESG - enumerate settings, Grbl formatted" ASCII_EOL);
hal.stream.write("$ESH- enumerate settings, grblHAL formatted" ASCII_EOL);
hal.stream.write("$E* - enumerate alarms, status codes and settings" ASCII_EOL);
if(hal.enumerate_pins)
hal.stream.write("$PINS - enumerate pin bindings" ASCII_EOL);
hal.stream.write("$LEV - output last control signal events" ASCII_EOL);
hal.stream.write("$LIM - output current limit pins state" ASCII_EOL);
if(hal.rtc.get_datetime) {
hal.stream.write("$RTC - output current time" ASCII_EOL);
hal.stream.write("$RTC=<ISO8601 datetime> - set current time" ASCII_EOL);
}
#ifndef NO_SETTINGS_DESCRIPTIONS
hal.stream.write("$SED=<n> - output settings description for setting <n>" ASCII_EOL);
#endif
}
// Directs and executes one line of formatted input from protocol_process. While mostly
// incoming streaming g-code blocks, this also executes Grbl internal commands, such as
// settings, initiating the homing cycle, and toggling switch states. This differs from
// the realtime command module by being susceptible to when Grbl is ready to execute the
// next line during a cycle, so for switches like block delete, the switch only effects
// the lines that are processed afterward, not necessarily real-time during a cycle,
// since there are motions already stored in the buffer. However, this 'lag' should not
// be an issue, since these commands are not typically used during a cycle.
// NOTE: Code calling system_execute_line() needs to provide a line buffer of at least LINE_BUFFER_SIZE
status_code_t system_execute_line (char *line)
{
if(line[1] == '\0') {
grbl.report.help_message();
return Status_OK;
}
sys_commands_t base = {
.n_commands = sizeof(sys_commands) / sizeof(sys_command_t),
.commands = sys_commands,
.on_get_commands = grbl.on_get_commands
};
status_code_t retval = Status_Unhandled;
char c, *s1, *s2;
s1 = s2 = ++line;
c = *s1;
while(c && c != '=') {
if(c != ' ')
*s2++ = CAPS(c);
c = *++s1;
}
while((c = *s1++))
*s2++ = c;
*s2 = '\0';
if(!strncmp(line, "HELP", 4))
return report_help(&line[4]);
char *args = strchr(line, '=');
if(args)
*args++ = '\0';
uint_fast8_t idx;
sys_commands_t *cmd = &base;
do {
for(idx = 0; idx < cmd->n_commands; idx++) {
if(!strcmp(line, cmd->commands[idx].command)) {
if(sys.blocking_event && !cmd->commands[idx].flags.allow_blocking) {
retval = Status_NotAllowedCriticalEvent;
break;
} else if(!cmd->commands[idx].flags.noargs || args == NULL) {
if((retval = cmd->commands[idx].execute(state_get(), args)) != Status_Unhandled)
break;
}
}
}
cmd = retval == Status_Unhandled && cmd->on_get_commands ? cmd->on_get_commands() : NULL;
} while(cmd);
// Let user code have a peek at system commands before check for global setting
if(retval == Status_Unhandled && grbl.on_unknown_sys_command) {
if(args)
*(--args) = '=';
retval = grbl.on_unknown_sys_command(state_get(), line);
if(args)
*args++ = '\0';
}
if (retval == Status_Unhandled) {
// Check for global setting, store if so
if(state_get() == STATE_IDLE || (state_get() & (STATE_ALARM|STATE_ESTOP|STATE_CHECK_MODE))) {
uint_fast8_t counter = 0;
float parameter;
if(!read_float(line, &counter, ¶meter))
retval = Status_BadNumberFormat;
else if(!isintf(parameter))
retval = Status_InvalidStatement;
else if(args)
retval = settings_store_setting((setting_id_t)parameter, args);
else
retval = report_grbl_setting((setting_id_t)parameter, NULL);
} else
retval = Status_IdleError;
}
return retval;
}
// System commands
static status_code_t jog (sys_state_t state, char *args)
{
if(!(state == STATE_IDLE || (state & (STATE_JOG|STATE_TOOL_CHANGE))))
return Status_IdleError;
if(args != NULL) {
*(--args) = '=';
args -= 2;
}
return args == NULL ? Status_InvalidStatement : gc_execute_block(args); // NOTE: $J= is ignored inside g-code parser and used to detect jog motions.
}
static status_code_t enumerate_alarms (sys_state_t state, char *args)
{
return report_alarm_details(false);
}
static status_code_t enumerate_alarms_grblformatted (sys_state_t state, char *args)
{
return report_alarm_details(true);
}
static status_code_t enumerate_errors (sys_state_t state, char *args)
{
return report_error_details(false);
}
static status_code_t enumerate_errors_grblformatted (sys_state_t state, char *args)
{
return report_error_details(true);
}
static status_code_t enumerate_groups (sys_state_t state, char *args)
{
return report_setting_group_details(true, NULL);
}
static status_code_t enumerate_settings (sys_state_t state, char *args)
{
return report_settings_details(SettingsFormat_MachineReadable, Setting_SettingsAll, Group_All);
}
static status_code_t enumerate_settings_grblformatted (sys_state_t state, char *args)
{
return report_settings_details(SettingsFormat_Grbl, Setting_SettingsAll, Group_All);
}
static status_code_t enumerate_settings_halformatted (sys_state_t state, char *args)
{
return report_settings_details(SettingsFormat_grblHAL, Setting_SettingsAll, Group_All);
}
static status_code_t enumerate_all (sys_state_t state, char *args)
{
report_alarm_details(false);
report_error_details(false);
report_setting_group_details(true, NULL);
return report_settings_details(SettingsFormat_MachineReadable, Setting_SettingsAll, Group_All);
}
static status_code_t enumerate_pins (sys_state_t state, char *args)
{
return report_pins(state, args);
}
static status_code_t output_settings (sys_state_t state, char *args)
{
status_code_t retval = Status_OK;
if(args) {
int32_t id;
retval = read_int(args, &id);
if(retval == Status_OK && id >= 0)
retval = report_settings_details(SettingsFormat_HumanReadable, (setting_id_t)id, Group_All);
} else if (state & (STATE_CYCLE|STATE_HOLD))
retval = Status_IdleError; // Block during cycle. Takes too long to print.
else
#if COMPATIBILITY_LEVEL <= 1
report_grbl_settings(true, NULL);
#else
report_grbl_settings(false, NULL);
#endif
return retval;
}
#ifndef NO_SETTINGS_DESCRIPTIONS
static status_code_t output_setting_description (sys_state_t state, char *args)
{
status_code_t retval = Status_BadNumberFormat;
if(args) {
int32_t id;
retval = read_int(args, &id);
if(retval == Status_OK && id >= 0)
retval = report_setting_description(SettingsFormat_MachineReadable, (setting_id_t)id);
}
return retval;
}
#endif
static status_code_t output_all_settings (sys_state_t state, char *args)
{
status_code_t retval = Status_OK;
if(args) {
int32_t id;
retval = read_int(args, &id);
if(retval == Status_OK && id >= 0)
retval = report_settings_details(SettingsFormat_HumanReadable, (setting_id_t)id, Group_All);
} else if (state & (STATE_CYCLE|STATE_HOLD))
retval = Status_IdleError; // Block during cycle. Takes too long to print.
else
report_grbl_settings(true, NULL);
return retval;
}
static status_code_t output_parser_state (sys_state_t state, char *args)
{
report_gcode_modes();
system_add_rt_report(Report_Homed); // Report homed state on next realtime report
return Status_OK;
}
static status_code_t toggle_single_block (sys_state_t state, char *args)
{
sys.flags.single_block = !sys.flags.single_block;
grbl.report.feedback_message(sys.flags.single_block ? Message_Enabled : Message_Disabled);
return Status_OK;
}
static status_code_t toggle_block_delete (sys_state_t state, char *args)
{
sys.flags.block_delete_enabled = !sys.flags.block_delete_enabled;
grbl.report.feedback_message(sys.flags.block_delete_enabled ? Message_Enabled : Message_Disabled);
return Status_OK;
}
static status_code_t toggle_optional_stop (sys_state_t state, char *args)
{
sys.flags.optional_stop_disable = !sys.flags.optional_stop_disable;
grbl.report.feedback_message(sys.flags.block_delete_enabled ? Message_Enabled : Message_Disabled);
return Status_OK;
}
static status_code_t check_mode (sys_state_t state, char *args)
{
if (state == STATE_CHECK_MODE) {
// Perform reset when toggling off. Check g-code mode should only work if Grbl
// is idle and ready, regardless of alarm locks. This is mainly to keep things
// simple and consistent.
mc_reset();
grbl.report.feedback_message(Message_Disabled);
} else if (state == STATE_IDLE) { // Requires idle mode.
state_set(STATE_CHECK_MODE);
grbl.report.feedback_message(Message_Enabled);
} else
return Status_IdleError;
return Status_OK;
}
static status_code_t disable_lock (sys_state_t state, char *args)
{
status_code_t retval = Status_OK;
if(state & (STATE_ALARM|STATE_ESTOP)) {
control_signals_t control_signals = hal.control.get_state();
// Block if self-test failed
if(sys.alarm == Alarm_SelftestFailed)
retval = Status_SelfTestFailed;
// Block if e-stop is active.
else if (control_signals.e_stop)
retval = Status_EStop;
// Block if safety door is ajar.
else if (control_signals.safety_door_ajar)
retval = Status_CheckDoor;
// Block if safety reset is active.
else if(control_signals.reset)
retval = Status_Reset;
else if(settings.limits.flags.hard_enabled && settings.limits.flags.check_at_init && limit_signals_merge(hal.limits.get_state()).value)
retval = Status_LimitsEngaged;
else if(limits_homing_required())
retval = Status_HomingRequired;
else {
grbl.report.feedback_message(Message_AlarmUnlock);
state_set(STATE_IDLE);
}
// Don't run startup script. Prevents stored moves in startup from causing accidents.
} // Otherwise, no effect.
return retval;
}
static status_code_t output_help (sys_state_t state, char *args)
{
return report_help(args);
}
static status_code_t output_spindles (sys_state_t state, char *args)
{
return report_spindles();
}
static status_code_t go_home (sys_state_t state, axes_signals_t axes)
{
if(axes.mask && !settings.homing.flags.single_axis_commands)
return Status_HomingDisabled;
if(!(state_get() == STATE_IDLE || (state_get() & (STATE_ALARM|STATE_ESTOP))))
return Status_IdleError;
status_code_t retval = Status_OK;
control_signals_t control_signals = hal.control.get_state();
// Block if self-test failed
if(sys.alarm == Alarm_SelftestFailed)
retval = Status_SelfTestFailed;
// Block if e-stop is active.
else if (control_signals.e_stop)
retval = Status_EStop;
else if(control_signals.motor_fault)
retval = Status_MotorFault;
else if (!(settings.homing.flags.enabled && (sys.homing.mask || settings.homing.flags.single_axis_commands || settings.homing.flags.manual)))
retval = Status_HomingDisabled;
// Block if safety door is ajar.
else if (control_signals.safety_door_ajar && !settings.safety_door.flags.ignore_when_idle)
retval = Status_CheckDoor;
// Block if safety reset is active.
else if(control_signals.reset)
retval = Status_Reset;
if(retval == Status_OK)
retval = mc_homing_cycle(axes); // Home axes according to configuration
if (retval == Status_OK && !sys.abort) {
state_set(STATE_IDLE); // Set to IDLE when complete.
st_go_idle(); // Set steppers to the settings idle state before returning.
grbl.report.feedback_message(Message_None);
// Execute startup scripts after successful homing.
if (sys.homing.mask && (sys.homing.mask & sys.homed.mask) == sys.homing.mask)
system_execute_startup();
else if(limits_homing_required()) { // Keep alarm state active if homing is required and not all axes homed.
sys.alarm = Alarm_HomingRequired;
state_set(STATE_ALARM);
}
}
return retval == Status_Unhandled ? Status_OK : retval;
}
static status_code_t home (sys_state_t state, char *args)
{
return go_home(state, (axes_signals_t){0});
}
static status_code_t home_x (sys_state_t state, char *args)
{
return go_home(state, (axes_signals_t){X_AXIS_BIT});
}
static status_code_t home_y (sys_state_t state, char *args)
{
return go_home(state, (axes_signals_t){Y_AXIS_BIT});
}
static status_code_t home_z (sys_state_t state, char *args)
{
return go_home(state, (axes_signals_t){Z_AXIS_BIT});
}
#ifdef A_AXIS
static status_code_t home_a (sys_state_t state, char *args)
{
return go_home(state, (axes_signals_t){A_AXIS_BIT});
}
#endif
#ifdef B_AXIS
static status_code_t home_b (sys_state_t state, char *args)
{
return go_home(state, (axes_signals_t){B_AXIS_BIT});
}
#endif
#ifdef C_AXIS
static status_code_t home_c (sys_state_t state, char *args)
{
return go_home(state, (axes_signals_t){C_AXIS_BIT});
}
#endif
#ifdef U_AXIS
static status_code_t home_u (sys_state_t state, char *args)
{
return go_home(state, (axes_signals_t){U_AXIS_BIT});
}
#endif
#ifdef V_AXIS
static status_code_t home_v (sys_state_t state, char *args)
{
return go_home(state, (axes_signals_t){V_AXIS_BIT});
}
#endif
static status_code_t enter_sleep (sys_state_t state, char *args)
{
if(!settings.flags.sleep_enable)
return Status_InvalidStatement;
else if(!(state == STATE_IDLE || state == STATE_ALARM))
return Status_IdleError;
else
system_set_exec_state_flag(EXEC_SLEEP); // Set to execute enter_sleep mode immediately
return Status_OK;
}
static status_code_t set_tool_reference (sys_state_t state, char *args)
{
#if TOOL_LENGTH_OFFSET_AXIS >= 0
if(sys.flags.probe_succeeded) {
sys.tlo_reference_set.mask = bit(TOOL_LENGTH_OFFSET_AXIS);
sys.tlo_reference[TOOL_LENGTH_OFFSET_AXIS] = sys.probe_position[TOOL_LENGTH_OFFSET_AXIS]; // - gc_state.tool_length_offset[Z_AXIS]));
} else
sys.tlo_reference_set.mask = 0;
#else
plane_t plane;
gc_get_plane_data(&plane, gc_state.modal.plane_select);
if(sys.flags.probe_succeeded) {
sys.tlo_reference_set.mask |= bit(plane.axis_linear);
sys.tlo_reference[plane.axis_linear] = sys.probe_position[plane.axis_linear];
// - lroundf(gc_state.tool_length_offset[plane.axis_linear] * settings.axis[plane.axis_linear].steps_per_mm);
} else
sys.tlo_reference_set.mask = 0;
#endif
system_add_rt_report(Report_TLOReference);
return Status_OK;
}
static status_code_t tool_probe_workpiece (sys_state_t state, char *args)
{
return tc_probe_workpiece();
}
static status_code_t output_ngc_parameters (sys_state_t state, char *args)
{
status_code_t retval = Status_OK;
if(args) {
int32_t id;
retval = read_int(args, &id);
if(retval == Status_OK && id >= 0)
retval = report_ngc_parameter((ngc_param_id_t)id);
else
retval = report_named_ngc_parameter(args);
} else
report_ngc_parameters();
return retval;
}
static status_code_t build_info (sys_state_t state, char *args)
{
if (!(state == STATE_IDLE || (state & (STATE_ALARM|STATE_ESTOP|STATE_SLEEP|STATE_CHECK_MODE))))
return Status_IdleError;
if (args == NULL) {
char info[sizeof(stored_line_t)];
settings_read_build_info(info);
report_build_info(info, false);
}
#if !DISABLE_BUILD_INFO_WRITE_COMMAND
else if (strlen(args) < (sizeof(stored_line_t) - 1))
settings_write_build_info(args);
#endif
else
return Status_InvalidStatement;
return Status_OK;
}
static status_code_t output_all_build_info (sys_state_t state, char *args)
{
char info[sizeof(stored_line_t)];
settings_read_build_info(info);
report_build_info(info, true);
return Status_OK;
}
static status_code_t settings_reset (sys_state_t state, char *args)
{
settings_restore_t restore = {0};
status_code_t retval = Status_OK;
if (!(state == STATE_IDLE || (state & (STATE_ALARM|STATE_ESTOP))))
retval = Status_IdleError;
else switch (*args) {
#if ENABLE_RESTORE_NVS_DEFAULT_SETTINGS
case '$':
restore.defaults = On;
break;
#endif
#if ENABLE_RESTORE_NVS_CLEAR_PARAMETERS
case '#':
restore.parameters = On;
break;
#endif
#if ENABLE_RESTORE_NVS_WIPE_ALL
case '*':
restore.mask = settings_all.mask;
break;
#endif
#if ENABLE_RESTORE_NVS_DRIVER_PARAMETERS
case '&':
restore.driver_parameters = On;
break;
#endif
default:
retval = Status_InvalidStatement;
break;
}
if(retval == Status_OK && restore.mask) {
settings_restore(restore);
grbl.report.feedback_message(Message_RestoreDefaults);
mc_reset(); // Force reset to ensure settings are initialized correctly.
}
return retval;
}
static status_code_t output_startup_lines (sys_state_t state, char *args)
{
if (!(state == STATE_IDLE || (state & (STATE_ALARM|STATE_ESTOP|STATE_CHECK_MODE))))
return Status_IdleError;
// Print startup lines
uint_fast8_t counter;
char line[sizeof(stored_line_t)];
for (counter = 0; counter < N_STARTUP_LINE; counter++) {
if (!(settings_read_startup_line(counter, line)))
grbl.report.status_message(Status_SettingReadFail);
else
report_startup_line(counter, line);
}
return Status_OK;
}
static status_code_t set_startup_line (sys_state_t state, char *args, uint_fast8_t lnr)
{
// Store startup line [IDLE Only] Prevents motion during ALARM.
if (!(state == STATE_IDLE || (state & (STATE_ALARM|STATE_ESTOP|STATE_CHECK_MODE))))
return Status_IdleError;
if(args == NULL)
return Status_InvalidStatement;
status_code_t retval = Status_OK;
args = gc_normalize_block(args, NULL);
if(strlen(args) >= (sizeof(stored_line_t) - 1))
retval = Status_Overflow;
else if ((retval = gc_execute_block(args)) == Status_OK) // Execute gcode block to ensure block is valid.
settings_write_startup_line(lnr, args);
return retval;
}
static status_code_t set_startup_line0 (sys_state_t state, char *args)
{
return set_startup_line(state, args, 0);
}
static status_code_t set_startup_line1 (sys_state_t state, char *args)
{
return set_startup_line(state, args, 1);
}
static status_code_t rtc_action (sys_state_t state, char *args)
{
status_code_t retval = Status_OK;
if(args) {
struct tm *time = get_datetime(args);
if(time)
hal.rtc.set_datetime(time);
else
retval = Status_BadNumberFormat;
} else
retval = report_time();
return retval;
}
#ifdef DEBUGOUT
#include "nvs_buffer.h"
static status_code_t output_memmap (sys_state_t state, char *args)
{
nvs_memmap();
return Status_OK;
}
#endif
// End system commands
void system_flag_wco_change (void)
{
if(!settings.status_report.sync_on_wco_change)
protocol_buffer_synchronize();
if(grbl.on_wco_changed)
grbl.on_wco_changed();
system_add_rt_report(Report_WCO);
}
// Sets machine position. Must be sent a 'step' array.
// NOTE: If motor steps and machine position are not in the same coordinate frame, this function
// serves as a central place to compute the transformation.
void system_convert_array_steps_to_mpos (float *position, int32_t *steps)
{