30 #if NGC_EXPRESSIONS_ENABLE
45 #define EXEC_STATUS_REPORT bit(0)
46 #define EXEC_CYCLE_START bit(1)
47 #define EXEC_CYCLE_COMPLETE bit(2)
48 #define EXEC_FEED_HOLD bit(3)
49 #define EXEC_STOP bit(4)
50 #define EXEC_RESET bit(5)
51 #define EXEC_SAFETY_DOOR bit(6)
52 #define EXEC_MOTION_CANCEL bit(7)
53 #define EXEC_MOTION_CANCEL_FAST bit(7)
54 #define EXEC_SLEEP bit(8)
55 #define EXEC_TOOL_CHANGE bit(9)
56 #define EXEC_PID_REPORT bit(10)
57 #define EXEC_GCODE_REPORT bit(11)
58 #define EXEC_TLO_REPORT bit(12)
59 #define EXEC_RT_COMMAND bit(13)
60 #define EXEC_DOOR_CLOSED bit(14)
76 #define STATE_ALARM bit(0)
77 #define STATE_CHECK_MODE bit(1)
78 #define STATE_HOMING bit(2)
79 #define STATE_CYCLE bit(3)
80 #define STATE_HOLD bit(4)
81 #define STATE_JOG bit(5)
82 #define STATE_SAFETY_DOOR bit(6)
83 #define STATE_SLEEP bit(7)
84 #define STATE_ESTOP bit(8)
85 #define STATE_TOOL_CHANGE bit(9)
204 float target[PID_LOG];
205 float actual[PID_LOG];
361 typedef const char *(*sys_help_ptr)(
const char *command);
409 #define system_set_exec_state_flag(mask) hal.set_bits_atomic(&sys.rt_exec_state, (mask))
410 #define system_clear_exec_state_flag(mask) hal.clear_bits_atomic(&sys.rt_exec_state, (mask))
411 #define system_clear_exec_states() hal.set_value_atomic(&sys.rt_exec_state, 0)
412 #define system_set_exec_alarm(code) hal.set_value_atomic(&sys.rt_exec_alarm, (uint_fast16_t)(code))
413 #define system_clear_exec_alarm() hal.set_value_atomic(&sys.rt_exec_alarm, 0)
alarm_code_t
Definition: alarms.h:28
#define N_AXIS
Defines number of axes supported - minimum 3, maximum 8. If more than 3 axes are configured a complia...
Definition: config.h:42
status_code_t
Definition: errors.h:30
coord_system_id_t
Definition: gcode.h:160
uint_fast16_t override_t
Definition: grbl.h:245
probing_state_t
Definition: probe.h:27
override_t rapid_rate
Rapids override value in percent.
Definition: system.h:265
override_t spindle_rpm
NOTE: Not used by the core, it maintain per spindle override in spindle_param_t
Definition: system.h:266
gc_override_flags_t control
Tracks override control states.
Definition: system.h:268
override_t feed_rate
Feed rate override value in percent.
Definition: system.h:264
spindle_stop_t spindle_stop
Tracks spindle stop override states.
Definition: system.h:267
limit_signals_t limits
Definition: system.h:302
control_signals_t control
Definition: system.h:301
sys_command_flags_t flags
Definition: system.h:377
sys_command_ptr execute
Definition: system.h:376
const char * command
Definition: system.h:375
sys_help_ptr fn
Definition: system.h:380
const char * str
Definition: system.h:379
const uint8_t n_commands
Definition: system.h:385
struct sys_commands_str * next
Definition: system.h:387
const sys_command_t * commands
Definition: system.h:386
Global system variables struct.
Definition: system.h:312
axes_signals_t tlo_reference_set
Axes with tool length reference offset set.
Definition: system.h:344
axes_signals_t homed
Indicates which axes has been homed.
Definition: system.h:341
float home_position[N_AXIS]
Home position for homed axes.
Definition: system.h:342
int32_t probe_position[N_AXIS]
Last probe position in machine coordinates and steps.
Definition: system.h:331
int32_t var5399
Last result from M66 - wait on input.
Definition: system.h:335
parking_state_t parking_state
Tracks parking state.
Definition: system.h:328
system_override_delay_t override_delay
Flags for delayed overrides.
Definition: system.h:326
volatile probing_state_t probing_state
Probing state value. Used to coordinate the probing cycle with stepper ISR.
Definition: system.h:332
bool blocking_event
Set when a blocking event that requires reset to clear is active.
Definition: system.h:318
system_flags_t flags
Assorted state flags.
Definition: system.h:321
bool position_lost
Set when mc_reset is called when machine is moving.
Definition: system.h:316
bool reset_pending
Set when reset processing is underway.
Definition: system.h:317
volatile bool steppers_deenergize
Set to true to deenergize stepperes.
Definition: system.h:319
hold_state_t holding_state
Tracks holding state.
Definition: system.h:329
axes_signals_t hard_limits
temporary?, will be removed when available in settings.
Definition: system.h:355
alarm_code_t alarm_pending
Delayed alarm, currently used for probe protection.
Definition: system.h:320
axes_signals_t homing_axis_lock
Locks axes when limits engage. Used as an axis motion mask in the stepper ISR.
Definition: system.h:323
bool suspend
System suspend state flag.
Definition: system.h:315
volatile rt_exec_t rt_exec_state
Realtime executor bitflag variable for state management. See EXEC bitmasks.
Definition: system.h:333
bool abort
System abort flag. Forces exit back to main loop for reset.
Definition: system.h:313
bool driver_started
Set to true when driver initialization is completed.
Definition: system.h:351
axes_signals_t homing
Axes with homing enabled.
Definition: system.h:324
int32_t tlo_reference[N_AXIS]
Tool length reference offset.
Definition: system.h:345
int32_t position[N_AXIS]
Real-time machine (aka home) position vector in steps.
Definition: system.h:354
bool cold_start
Set to true on boot, is false on subsequent soft resets.
Definition: system.h:350
volatile uint_fast16_t rt_exec_alarm
Realtime executor bitflag variable for setting various alarms.
Definition: system.h:334
bool mpg_mode
To be moved to system_flags_t.
Definition: system.h:352
work_envelope_t work_envelope
Work envelope, only valid for homed axes.
Definition: system.h:343
report_tracking_flags_t report
Tracks when to add data to status reports.
Definition: system.h:327
signal_event_t last_event
Last signal events (control and limits signal).
Definition: system.h:353
step_control_t step_control
Governs the step segment generator depending on system state.
Definition: system.h:322
axes_signals_t soft_limits
temporary, will be removed when available in settings.
Definition: system.h:356
alarm_code_t alarm
Current alarm, only valid if system state is STATE_ALARM.
Definition: system.h:349
bool cancel
System cancel flag.
Definition: system.h:314
coord_system_id_t probe_coordsys_id
Coordinate system in which last probe took place.
Definition: system.h:330
coord_data_t max
Definition: system.h:307
coord_data_t min
Definition: system.h:306
report_tracking_flags_t system_get_rt_report_flags(void)
Get the active realtime report addon flags for the next report.
Definition: system.c:1247
void system_clear_tlo_reference(axes_signals_t homing_cycle)
Called on homing state changes.
Definition: system.c:1150
void system_execute_startup(void *data)
Executes user startup scripts, if stored.
Definition: system.c:134
void control_interrupt_handler(control_signals_t signals)
Pin change interrupt handler for pin-out commands, i.e. cycle start, feed hold, reset etc....
Definition: system.c:61
hold_state_t
Definition: system.h:140
@ Hold_Pending
2
Definition: system.h:143
@ Hold_Complete
1
Definition: system.h:142
@ Hold_NotHolding
0
Definition: system.h:141
const char *(* sys_help_ptr)(const char *command)
Definition: system.h:361
status_code_t(* sys_command_ptr)(sys_state_t state, char *args)
Definition: system.h:360
void system_output_help(const sys_command_t *commands, uint32_t num_commands)
Definition: system.c:1005
void system_command_help(void)
Definition: system.c:1015
void system_register_commands(sys_commands_t *commands)
Definition: system.c:968
void system_init_switches(void)
Definition: system.c:46
void system_flag_wco_change(void)
Called on a work coordinate (WCO) changes.
Definition: system.c:1173
system_t sys
System global variable structure.
Definition: grbllib.c:89
struct system system_t
Global system variables struct.
machine_mode_t
Definition: system.h:124
@ Mode_Standard
0
Definition: system.h:125
@ Mode_Lathe
2
Definition: system.h:127
@ Mode_Laser
1
Definition: system.h:126
parking_state_t
Definition: system.h:132
@ Parking_Retracting
2
Definition: system.h:135
@ Parking_Cancel
3
Definition: system.h:136
@ Parking_DoorClosed
0
Definition: system.h:133
@ Parking_DoorAjar
1
Definition: system.h:134
@ Parking_Resuming
4
Definition: system.h:137
bool system_xy_at_fixture(coord_system_id_t id, float tolerance)
Checks if XY position is within coordinate system XY with given tolerance.
Definition: system.c:1209
uint_fast16_t rt_exec_t
See rt_exec.
Definition: system.h:146
report_tracking_t
Definition: system.h:210
@ Report_PWM
Definition: system.h:224
@ Report_Scaling
Definition: system.h:213
@ Report_Homed
Definition: system.h:214
@ Report_ClearAll
Definition: system.h:211
@ Report_GWCO
Definition: system.h:221
@ Report_WCO
Definition: system.h:220
@ Report_Overrides
Definition: system.h:218
@ Report_CycleStart
Definition: system.h:231
@ Report_Motor
Definition: system.h:225
@ Report_All
Definition: system.h:232
@ Report_MPGMode
Definition: system.h:212
@ Report_LatheXMode
Definition: system.h:215
@ Report_TLOReference
Definition: system.h:227
@ Report_SpindleId
Definition: system.h:229
@ Report_ForceWCO
Definition: system.h:230
@ Report_Encoder
Definition: system.h:226
@ Report_Fan
Definition: system.h:228
@ Report_Coolant
Definition: system.h:217
@ Report_Spindle
Definition: system.h:216
@ Report_ToolOffset
Definition: system.h:222
@ Report_Tool
Definition: system.h:219
@ Report_M66Result
Definition: system.h:223
void system_convert_array_steps_to_mpos(float *position, int32_t *steps)
Sets machine position. Must be sent a 'step' array.
Definition: system.c:1191
status_code_t system_execute_line(char *line)
Directs and executes one line of input from protocol_process.
Definition: system.c:1041
void system_add_rt_report(report_tracking_t report)
Set(s) or clear all active realtime report addon flag(s) for the next report.
Definition: system.c:1257
void system_raise_alarm(alarm_code_t alarm)
Raise and report a system alarm.
Definition: system.c:1226
system_state_t
Definition: system.h:96
@ SystemState_DoorOpen
Definition: system.h:104
@ SystemState_CheckMode
Definition: system.h:99
@ SystemState_Jog
Definition: system.h:103
@ SystemState_Undefined
Definition: system.h:108
@ SystemState_Cycle
Definition: system.h:101
@ SystemState_EStop
Definition: system.h:106
@ SystemState_Hold
Definition: system.h:102
@ SystemState_ToolChange
Definition: system.h:107
@ SystemState_Sleep
Definition: system.h:105
@ SystemState_Homing
Definition: system.h:100
@ SystemState_Alarm
Definition: system.h:98
@ SystemState_Idle
Definition: system.h:97
struct sys_commands_str sys_commands_t
uint_fast16_t sys_state_t
See sys_state.
Definition: system.h:147
Definition: nuts_bolts.h:125
uint16_t probe_overtravel
used for probe (toolsetter) protection
Definition: system.h:180
uint16_t bits
Definition: system.h:163
uint16_t stop_disable
Definition: system.h:172
uint16_t limits_override
Definition: system.h:177
uint16_t cycle_start
Definition: system.h:169
uint16_t feed_hold
Definition: system.h:168
uint16_t probe_disconnected
Definition: system.h:174
uint16_t reset
Definition: system.h:167
uint16_t safety_door_ajar
Definition: system.h:170
uint16_t motor_fault
Definition: system.h:175
uint16_t motor_warning
Definition: system.h:176
uint16_t deasserted
used for probe protection
Definition: system.h:182
uint16_t mask
Definition: system.h:164
uint16_t e_stop
M1.
Definition: system.h:173
uint16_t block_delete
Definition: system.h:171
uint16_t value
Definition: system.h:165
uint16_t probe_triggered
used for probe protection
Definition: system.h:181
uint16_t tls_overtravel
Definition: system.h:179
uint16_t single_block
Definition: system.h:178
Coordinate data.
Definition: gcode.h:350
Override flags.
Definition: gcode.h:337
Limit switches struct, consists of four packed axes_signals_t structs in 32 bits.
Definition: nuts_bolts.h:152
uint32_t tlo_reference
Tool length offset reference changed.
Definition: system.h:253
uint32_t force_wco
Add work coordinates (due to WCO changed during motion).
Definition: system.h:257
uint32_t tool
Tool changed.
Definition: system.h:245
uint32_t wco
Add work coordinates.
Definition: system.h:246
uint32_t cycle_start
Cycle start signal triggered. NOTE: do NOT add to Report_All enum above!
Definition: system.h:258
uint32_t unassigned
Definition: system.h:256
uint32_t gwco
Add work coordinate.
Definition: system.h:247
uint32_t fan
Fan on/off changed.
Definition: system.h:254
uint32_t mpg_mode
MPG mode changed.
Definition: system.h:238
uint32_t all
Set when CMD_STATUS_REPORT_ALL is requested, may be used by user code.
Definition: system.h:259
uint32_t motor
Add motor information (optional: to be added by driver).
Definition: system.h:251
uint32_t spindle_id
Spindle changed.
Definition: system.h:255
uint32_t tool_offset
Tool offsets changed.
Definition: system.h:248
uint32_t m66result
M66 result updated.
Definition: system.h:249
uint32_t spindle
Spindle state changed.
Definition: system.h:242
uint32_t homed
Homed state changed.
Definition: system.h:240
uint32_t scaling
Scaling (G50/G51) changed.
Definition: system.h:239
uint32_t pwm
Add PWM information (optional: to be added by driver).
Definition: system.h:250
uint32_t encoder
Add encoder information (optional: to be added by driver).
Definition: system.h:252
uint32_t value
Definition: system.h:236
uint32_t coolant
Coolant state changed.
Definition: system.h:243
uint32_t overrides
Overrides changed.
Definition: system.h:244
uint32_t xmode
Lathe radius/diameter mode changed.
Definition: system.h:241
uint8_t enabled
Definition: system.h:190
uint8_t restore_cycle
Definition: system.h:193
uint8_t unassigned
Definition: system.h:194
uint8_t value
Definition: system.h:188
uint8_t initiate
Definition: system.h:191
uint8_t restore
Definition: system.h:192
uint8_t end_motion
Definition: system.h:153
uint8_t unassigned
Definition: system.h:157
uint8_t execute_sys_motion
Definition: system.h:155
uint8_t flags
Definition: system.h:151
uint8_t update_spindle_rpm
Definition: system.h:156
uint8_t execute_hold
Definition: system.h:154
uint8_t help_fn
Definition: system.h:368
uint8_t flags
Definition: system.h:364
uint8_t allow_blocking
System command can be used when blocking event is active.
Definition: system.h:367
uint8_t noargs
System command does not handle arguments.
Definition: system.h:366
uint8_t unused
Definition: system.h:369
uint16_t exit
System exit flag. Used in combination with abort to terminate main loop.
Definition: system.h:287
uint16_t feed_hold_pending
Definition: system.h:289
uint16_t keep_input
Set to true to not flush stream input buffer on executing STOP.
Definition: system.h:292
uint16_t optional_stop_disable
Definition: system.h:290
uint16_t unused
Definition: system.h:296
uint16_t synchronizing
Set to true when protocol_buffer_synchronize() is running.
Definition: system.h:294
uint16_t soft_limit
Tracks soft limit errors for the state machine.
Definition: system.h:286
uint16_t value
Definition: system.h:282
uint16_t probe_succeeded
Tracks if last probing cycle was successful.
Definition: system.h:285
uint16_t auto_reporting
Set to true when auto real time reporting is enabled.
Definition: system.h:293
uint16_t travel_changed
Set to true when maximum travel settings has changed.
Definition: system.h:295
uint16_t mpg_mode
MPG mode flag. Set when switched to secondary input stream. (unused for now).
Definition: system.h:284
uint16_t block_delete_enabled
Set to true to enable block delete.
Definition: system.h:288
uint16_t single_block
Set to true to disable M1 (optional stop), via realtime command.
Definition: system.h:291
uint8_t spindle
Definition: system.h:276
uint8_t feedrate
Definition: system.h:274
uint8_t coolant
Definition: system.h:275
uint8_t flags
Definition: system.h:272
uint8_t unused
Definition: system.h:277