Macros
#define	LINE_BUFFER_SIZE 256
	Line buffer size from the serial input stream to be executed. More...

Functions
void	protocol_main_loop ()
	Starts Grbl main loop. It handles all incoming characters from the serial port and executes. More...

void	protocol_execute_realtime ()
	Checks and executes a realtime command at various stop points in main program. More...

void	protocol_exec_rt_system ()
	Executes run-time commands, when required. This function primarily operates as Grbl's state. More...

void	protocol_auto_cycle_start ()
	Executes the auto cycle feature, if enabled. More...

void	protocol_buffer_synchronize ()
	Block until all buffered steps are executed. More...

Macro Definition Documentation

#define LINE_BUFFER_SIZE 256

Line buffer size from the serial input stream to be executed.

Definition at line 26 of file protocol.h.

Function Documentation

void protocol_auto_cycle_start ( )

Executes the auto cycle feature, if enabled.

NOTE: This function is called from the main loop, buffer sync, and mc_line() only and executes

< Check if there are any blocks in the buffer.

< If so, execute them!

Definition at line 194 of file protocol.c.

void protocol_buffer_synchronize ( )

Block until all buffered steps are executed.

< Check and execute run-time commands

Definition at line 177 of file protocol.c.

void protocol_exec_rt_system ( )

Executes run-time commands, when required. This function primarily operates as Grbl's state.

NOTE: Do not alter this unless you know exactly what you are doing!

< Temp variable to avoid calling volatile multiple times.

< Copy volatile sys_rt_exec_alarm.

< Enter only if any bit flag is true

< Set system alarm state

< Disable any existing reset

< Clear alarm

< Copy volatile sys_rt_exec_state.

< Only place this is set true.

< Nothing else to do but exit.

NOTE: Once hold is initiated, the system immediately enters a suspend state to block all

< Block, if already holding.

< Notify stepper module to recompute for hold deceleration.

< Initiate suspend state with active flag.

< Jog cancelled upon any hold event, except for sleeping.

NOTE: State is STATE_CYCLE.

NOTE: Safety door differs from feed holds by stopping everything no matter state, disables powered

< Actively restoring

NOTE: This flag doesn't change when the door closes, unlike sys.state. Ensures any parking motions

< Set to IDLE to immediately resume the cycle.

NOTE: For a safety door to resume, the switch must be closed, as indicated by HOLD state, and

< Set to restore in suspend routine and cycle start after.

< Restore step control to normal operation

< Break suspend state.

< Initialize step segment buffer before beginning cycle.

< Otherwise, do nothing. Set and resume IDLE state.

< Break suspend state.

NOTE: Bresenham algorithm variables are still maintained through both the planner and stepper

NOTE: EXEC_CYCLE_STOP is set by the stepper subsystem when a cycle or feed hold completes.

NOTE: Motion and jog cancel both immediately return to idle after the hold completes.

< For jog cancel, flush buffers and sync positions.

< Only occurs when safety door opens during jog.

< Copy volatile sys_rt_exec_motion_override

< Clear all motion override flags.

< Set to report change immediately

< Clear all accessory override flags.

NOTE: Unlike motion overrides, spindle overrides do not require a planner reinitialization.

< Set to report change immediately

NOTE: Report counters are set in spindle_set_state() when spindle stop is executed.

NOTE: Since coolant state always performs a planner sync whenever it changes, the current

< Report counter set in coolant_set_state().

Definition at line 223 of file protocol.c.

void protocol_execute_realtime ( )

Checks and executes a realtime command at various stop points in main program.

NOTE: The sys_rt_exec_state variable flags are set by any process, step or serial interrupts, pinouts,

Definition at line 213 of file protocol.c.

void protocol_main_loop ( )

Starts Grbl main loop. It handles all incoming characters from the serial port and executes.

< Ensure alarm state is active.

NOTE: Sleep mode disables the stepper drivers and position can't be guaranteed.

< Ensure alarm state is set.

< Enter safety door mode. Should return as IDLE state.

< Execute startup script.

< End of line reached

< Runtime command check point.

< Set string termination character.

NOTE: If supported, would simply need to check the system if block delete is enabled.

NOTE: This doesn't follow the NIST definition exactly, but is good enough for now.

NOTE: ';' comment to EOL is a LinuxCNC definition. Not NIST.

Todo:: Install '' feature

NOTE: This maybe installed to tell Grbl when a program is running vs manual input,

< Upcase lowercase

< Runtime command check point.

Never reached

Definition at line 37 of file protocol.c.

Macros

Functions

Macro Definition Documentation

Function Documentation