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gnea\grbl-Mega
1.0f
Source Code Documentation ( Internal Workings )
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gnea\grbl-Mega
1.0f
Source Code Documentation ( Internal Workings )
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#include "grbl.h"Go to the source code of this file.
Data Structures | |
| struct | system_t |
| Define global system variables. More... | |
Macros | |
| #define | EXEC_STATUS_REPORT bit(0) |
| Define system executor bit map. Used internally by realtime protocol as realtime command flags,. More... | |
| #define | EXEC_CYCLE_START bit(1) |
| bitmask 00000010 More... | |
| #define | EXEC_CYCLE_STOP bit(2) |
| bitmask 00000100 More... | |
| #define | EXEC_FEED_HOLD bit(3) |
| bitmask 00001000 More... | |
| #define | EXEC_RESET bit(4) |
| bitmask 00010000 More... | |
| #define | EXEC_SAFETY_DOOR bit(5) |
| bitmask 00100000 More... | |
| #define | EXEC_MOTION_CANCEL bit(6) |
| bitmask 01000000 More... | |
| #define | EXEC_SLEEP bit(7) |
| bitmask 10000000 More... | |
| #define | EXEC_ALARM_HARD_LIMIT 1 |
| Alarm executor codes. Valid values (1-255). Zero is reserved. More... | |
| #define | EXEC_ALARM_SOFT_LIMIT 2 |
| #define | EXEC_ALARM_ABORT_CYCLE 3 |
| #define | EXEC_ALARM_PROBE_FAIL_INITIAL 4 |
| #define | EXEC_ALARM_PROBE_FAIL_CONTACT 5 |
| #define | EXEC_ALARM_HOMING_FAIL_RESET 6 |
| #define | EXEC_ALARM_HOMING_FAIL_DOOR 7 |
| #define | EXEC_ALARM_HOMING_FAIL_PULLOFF 8 |
| #define | EXEC_ALARM_HOMING_FAIL_APPROACH 9 |
| #define | EXEC_FEED_OVR_RESET bit(0) |
| Override bit maps. Realtime bitflags to control feed, rapid, spindle, and coolant overrides. More... | |
| #define | EXEC_FEED_OVR_COARSE_PLUS bit(1) |
| #define | EXEC_FEED_OVR_COARSE_MINUS bit(2) |
| #define | EXEC_FEED_OVR_FINE_PLUS bit(3) |
| #define | EXEC_FEED_OVR_FINE_MINUS bit(4) |
| #define | EXEC_RAPID_OVR_RESET bit(5) |
| #define | EXEC_RAPID_OVR_MEDIUM bit(6) |
| #define | EXEC_RAPID_OVR_LOW bit(7) |
| #define | EXEC_SPINDLE_OVR_RESET bit(0) |
| #define | EXEC_SPINDLE_OVR_COARSE_PLUS bit(1) |
| #define | EXEC_SPINDLE_OVR_COARSE_MINUS bit(2) |
| #define | EXEC_SPINDLE_OVR_FINE_PLUS bit(3) |
| #define | EXEC_SPINDLE_OVR_FINE_MINUS bit(4) |
| #define | EXEC_SPINDLE_OVR_STOP bit(5) |
| #define | EXEC_COOLANT_FLOOD_OVR_TOGGLE bit(6) |
| #define | EXEC_COOLANT_MIST_OVR_TOGGLE bit(7) |
| #define | STATE_IDLE 0 |
| Define system state bit map. The state variable primarily tracks the individual functions. More... | |
| #define | STATE_ALARM bit(0) |
| In alarm state. Locks out all g-code processes. Allows settings access. More... | |
| #define | STATE_CHECK_MODE bit(1) |
| G-code check mode. Locks out planner and motion only. More... | |
| #define | STATE_HOMING bit(2) |
| Performing homing cycle. More... | |
| #define | STATE_CYCLE bit(3) |
| Cycle is running or motions are being executed. More... | |
| #define | STATE_HOLD bit(4) |
| Active feed hold. More... | |
| #define | STATE_JOG bit(5) |
| Jogging mode. More... | |
| #define | STATE_SAFETY_DOOR bit(6) |
| Safety door is ajar. Feed holds and de-energizes system. More... | |
| #define | STATE_SLEEP bit(7) |
| Sleep state. More... | |
| #define | SUSPEND_DISABLE 0 |
| Define system suspend flags. Used in various ways to manage suspend states and procedures. More... | |
| #define | SUSPEND_HOLD_COMPLETE bit(0) |
| Indicates initial feed hold is complete. More... | |
| #define | SUSPEND_RESTART_RETRACT bit(1) |
| Flag to indicate a retract from a restore parking motion. More... | |
| #define | SUSPEND_RETRACT_COMPLETE bit(2) |
| (Safety door only) Indicates retraction and de-energizing is complete. More... | |
| #define | SUSPEND_INITIATE_RESTORE bit(3) |
| (Safety door only) Flag to initiate resume procedures from a cycle start. More... | |
| #define | SUSPEND_RESTORE_COMPLETE bit(4) |
| (Safety door only) Indicates ready to resume normal operation. More... | |
| #define | SUSPEND_SAFETY_DOOR_AJAR bit(5) |
| Tracks safety door state for resuming. More... | |
| #define | SUSPEND_MOTION_CANCEL bit(6) |
| Indicates a canceled resume motion. Currently used by probing routine. More... | |
| #define | SUSPEND_JOG_CANCEL bit(7) |
| Indicates a jog cancel in process and to reset buffers when complete. More... | |
| #define | STEP_CONTROL_NORMAL_OP 0 |
| Define step segment generator state flags. More... | |
| #define | STEP_CONTROL_END_MOTION bit(0) |
| #define | STEP_CONTROL_EXECUTE_HOLD bit(1) |
| #define | STEP_CONTROL_EXECUTE_SYS_MOTION bit(2) |
| #define | STEP_CONTROL_UPDATE_SPINDLE_PWM bit(3) |
| #define | N_CONTROL_PIN 4 |
| Define control pin index for Grbl internal use. Pin maps may change, but these values don't. More... | |
| #define | CONTROL_PIN_INDEX_SAFETY_DOOR bit(0) |
| #define | CONTROL_PIN_INDEX_RESET bit(1) |
| #define | CONTROL_PIN_INDEX_FEED_HOLD bit(2) |
| #define | CONTROL_PIN_INDEX_CYCLE_START bit(3) |
| #define | SPINDLE_STOP_OVR_DISABLED 0 |
| Define spindle stop override control states. More... | |
| #define | SPINDLE_STOP_OVR_ENABLED bit(0) |
| #define | SPINDLE_STOP_OVR_INITIATE bit(1) |
| #define | SPINDLE_STOP_OVR_RESTORE bit(2) |
| #define | SPINDLE_STOP_OVR_RESTORE_CYCLE bit(3) |
Functions | |
| void | system_init () |
| Initialize the serial protocol. More... | |
| uint8_t | system_control_get_state () |
| Returns bitfield of control pin states, organized by CONTROL_PIN_INDEX. (1=triggered, 0=not triggered). More... | |
| uint8_t | system_check_safety_door_ajar () |
| Returns if safety door is open or closed, based on pin state. More... | |
| uint8_t | system_execute_line (char *line) |
| Executes an internal system command, defined as a string starting with a '$'. More... | |
| void | system_execute_startup (char *line) |
| Execute the startup script lines stored in EEPROM upon initialization. More... | |
| void | system_flag_wco_change () |
| float | system_convert_axis_steps_to_mpos (int32_t *steps, uint8_t idx) |
| Returns machine position of axis 'idx'. Must be sent a 'step' array. More... | |
| void | system_convert_array_steps_to_mpos (float *position, int32_t *steps) |
| Updates a machine 'position' array based on the 'step' array sent. More... | |
| uint8_t | system_check_travel_limits (float *target) |
| CoreXY calculation only. Returns x or y-axis "steps" based on CoreXY motor steps. More... | |
| void | system_set_exec_state_flag (uint8_t mask) |
| Special handlers for setting and clearing Grbl's real-time execution flags. More... | |
| void | system_clear_exec_state_flag (uint8_t mask) |
| void | system_set_exec_alarm (uint8_t code) |
| void | system_clear_exec_alarm () |
| void | system_set_exec_motion_override_flag (uint8_t mask) |
| void | system_set_exec_accessory_override_flag (uint8_t mask) |
| void | system_clear_exec_motion_overrides () |
| void | system_clear_exec_accessory_overrides () |
Variables | |
| system_t | sys |
| Declare system global variable structure. More... | |
| int32_t | sys_position [N_AXIS] |
| NOTE: These position variables may need to be declared as volatiles, if problems arise. More... | |
| int32_t | sys_probe_position [N_AXIS] |
| Last probe position in machine coordinates and steps. More... | |
| volatile uint8_t | sys_probe_state |
| Probing state value. Used to coordinate the probing cycle with stepper ISR. More... | |
| volatile uint8_t | sys_rt_exec_state |
| Global realtime executor bitflag variable for state management. See EXEC bitmasks. More... | |
| volatile uint8_t | sys_rt_exec_alarm |
| Global realtime executor bitflag variable for setting various alarms. More... | |
| volatile uint8_t | sys_rt_exec_motion_override |
| Global realtime executor bitflag variable for motion-based overrides. More... | |
| volatile uint8_t | sys_rt_exec_accessory_override |
| Global realtime executor bitflag variable for spindle/coolant overrides. More... | |
| struct system_t |
| #define EXEC_ALARM_HARD_LIMIT 1 |
| #define EXEC_FEED_OVR_RESET bit(0) |
| #define EXEC_STATUS_REPORT bit(0) |
| #define N_CONTROL_PIN 4 |
| #define SPINDLE_STOP_OVR_DISABLED 0 |
| #define STATE_ALARM bit(0) |
| #define STATE_CHECK_MODE bit(1) |
| #define STATE_CYCLE bit(3) |
| #define STATE_IDLE 0 |
| #define STATE_SAFETY_DOOR bit(6) |
| #define STEP_CONTROL_NORMAL_OP 0 |
| #define SUSPEND_DISABLE 0 |
| #define SUSPEND_HOLD_COMPLETE bit(0) |
| #define SUSPEND_INITIATE_RESTORE bit(3) |
| #define SUSPEND_JOG_CANCEL bit(7) |
| #define SUSPEND_MOTION_CANCEL bit(6) |
| #define SUSPEND_RESTART_RETRACT bit(1) |
| #define SUSPEND_RESTORE_COMPLETE bit(4) |
| #define SUSPEND_RETRACT_COMPLETE bit(2) |
| #define SUSPEND_SAFETY_DOOR_AJAR bit(5) |
| uint8_t system_check_safety_door_ajar | ( | ) |
| uint8_t system_check_travel_limits | ( | float * | target | ) |
| uint8_t system_control_get_state | ( | ) |
| void system_convert_array_steps_to_mpos | ( | float * | position, |
| int32_t * | steps | ||
| ) |
| float system_convert_axis_steps_to_mpos | ( | int32_t * | steps, |
| uint8_t | idx | ||
| ) |
| uint8_t system_execute_line | ( | char * | line | ) |
Executes an internal system command, defined as a string starting with a '$'.
Executes an internal system command, defined as a string starting with a '$'.
< Helper variable
< Jogging
<
NOTE: $J= is ignored inside g-code parser and used to detect jog motions.
< Prints Grbl settings
< Prints gcode parser state
< Set check g-code mode [IDLE/CHECK]
< Disable alarm lock [ALARM]
< Print Grbl NGC parameters
< Perform homing cycle [IDLE/ALARM]
< Set system state variable
< Execute startup scripts after successful homing.
< Set to IDLE when complete.
< Set steppers to the settings idle state before returning.
< Puts Grbl to sleep [IDLE/ALARM]
< Set to execute sleep mode immediately
< Print or store build info. [IDLE/ALARM]
< Store startup line [IDLE/ALARM]
< Set helper variable as counter to start of user info line.
< Restore defaults [IDLE/ALARM]
< Force reset to ensure settings are initialized correctly.
< Startup lines. [IDLE/ALARM]
< Print startup lines
< Store startup line [IDLE Only] Prevents motion during ALARM.
< Set helper_var to flag storing method.
< Storing setting methods [IDLE/ALARM]
< Store startup line
< Set helper variable as counter to start of gcode block
< Set helper_var to returned status code.
< Set helper_var to int value of parameter
< Store global setting.
< If '$' command makes it to here, then everything's ok.
| void system_execute_startup | ( | char * | line | ) |
| void system_init | ( | ) |
| void system_set_exec_accessory_override_flag | ( | uint8_t | mask | ) |
| void system_set_exec_state_flag | ( | uint8_t | mask | ) |
| int32_t sys_position[N_AXIS] |
| int32_t sys_probe_position[N_AXIS] |
| volatile uint8_t sys_probe_state |
| volatile uint8_t sys_rt_exec_accessory_override |
| volatile uint8_t sys_rt_exec_alarm |
| volatile uint8_t sys_rt_exec_motion_override |
1.8.10