system.h

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/*
  system.h - Header for system level commands and real-time processes
  Part of Grbl

  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/>.
*/

#ifndef system_h
#define system_h

#include "grbl.h"
// which notifies the main program to execute the specified realtime command asynchronously.
// 
// flags are always false, so the realtime protocol only needs to check for a non-zero value to
// know when there is a realtime command to execute.
#define EXEC_STATUS_REPORT  bit(0) 
#define EXEC_CYCLE_START    bit(1) 
#define EXEC_CYCLE_STOP     bit(2) 
#define EXEC_FEED_HOLD      bit(3) 
#define EXEC_RESET          bit(4) 
#define EXEC_SAFETY_DOOR    bit(5) 
#define EXEC_MOTION_CANCEL  bit(6) 
#define EXEC_SLEEP          bit(7) 
#define EXEC_ALARM_HARD_LIMIT           1
#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
// Spindle/coolant and feed/rapids are separated into two controlling flag variables.
#define EXEC_FEED_OVR_RESET         bit(0)
#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_RAPID_OVR_EXTRA_LOW   bit(*) //!< *NOT SUPPORTED*

#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)
// of Grbl to manage each without overlapping. It is also used as a messaging flag for
// critical events.
#define STATE_IDLE          0      
#define STATE_ALARM         bit(0) 
#define STATE_CHECK_MODE    bit(1) 
#define STATE_HOMING        bit(2) 
#define STATE_CYCLE         bit(3) 
#define STATE_HOLD          bit(4) 
#define STATE_JOG           bit(5) 
#define STATE_SAFETY_DOOR   bit(6) 
#define STATE_SLEEP         bit(7) 
#define SUSPEND_DISABLE           0      
#define SUSPEND_HOLD_COMPLETE     bit(0) 
#define SUSPEND_RESTART_RETRACT   bit(1) 
#define SUSPEND_RETRACT_COMPLETE  bit(2) 
#define SUSPEND_INITIATE_RESTORE  bit(3) 
#define SUSPEND_RESTORE_COMPLETE  bit(4) 
#define SUSPEND_SAFETY_DOOR_AJAR  bit(5) 
#define SUSPEND_MOTION_CANCEL     bit(6) 
#define SUSPEND_JOG_CANCEL        bit(7) 
#define STEP_CONTROL_NORMAL_OP            0  
#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_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_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)

typedef struct {
  uint8_t state;               
  uint8_t abort;               
  uint8_t suspend;             
  uint8_t soft_limit;          
  uint8_t step_control;        
  uint8_t probe_succeeded;     
  uint8_t homing_axis_lock;    
  uint8_t f_override;          
  uint8_t r_override;          
  uint8_t spindle_speed_ovr;   
  uint8_t spindle_stop_ovr;    
  uint8_t report_ovr_counter;  
  uint8_t report_wco_counter;  
  float spindle_speed;
} system_t;
extern system_t sys;
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_state;   
volatile uint8_t sys_rt_exec_alarm;   
volatile uint8_t sys_rt_exec_motion_override; 
volatile uint8_t sys_rt_exec_accessory_override; 

#ifdef DEBUG
  #define EXEC_DEBUG_REPORT  bit(0)
  volatile uint8_t sys_rt_exec_debug;
#endif
void system_init();
uint8_t system_control_get_state();
uint8_t system_check_safety_door_ajar();
uint8_t system_execute_line(char *line);
void system_execute_startup(char *line);


void system_flag_wco_change();
float system_convert_axis_steps_to_mpos(int32_t *steps, uint8_t idx);
void system_convert_array_steps_to_mpos(float *position, int32_t *steps);
#ifdef COREXY
  int32_t system_convert_corexy_to_x_axis_steps(int32_t *steps);
  int32_t system_convert_corexy_to_y_axis_steps(int32_t *steps);
#endif
uint8_t system_check_travel_limits(float *target);
void system_set_exec_state_flag(uint8_t mask);
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();


#endif