663 lines
24 KiB
C
663 lines
24 KiB
C
/*
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report.c - reporting and messaging methods
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Part of Grbl
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Copyright (c) 2012-2016 Sungeun K. Jeon for Gnea Research LLC
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Grbl is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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Grbl is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with Grbl. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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This file functions as the primary feedback interface for Grbl. Any outgoing data, such
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as the protocol status messages, feedback messages, and status reports, are stored here.
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For the most part, these functions primarily are called from protocol.c methods. If a
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different style feedback is desired (i.e. JSON), then a user can change these following
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methods to accomodate their needs.
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*/
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#include "grbl.h"
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// Internal report utilities to reduce flash with repetitive tasks turned into functions.
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void report_util_setting_prefix(uint8_t n) { serial_write('$'); print_uint8_base10(n); serial_write('='); }
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static void report_util_line_feed() { printPgmString(("\r\n")); }
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static void report_util_feedback_line_feed() { serial_write(']'); report_util_line_feed(); }
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static void report_util_gcode_modes_G() { printPgmString((" G")); }
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static void report_util_gcode_modes_M() { printPgmString((" M")); }
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// static void report_util_comment_line_feed() { serial_write(')'); report_util_line_feed(); }
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static void report_util_axis_values(float *axis_value) {
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uint8_t idx;
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for (idx=0; idx<N_AXIS; idx++) {
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printFloat_CoordValue(axis_value[idx]);
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if (idx < (N_AXIS-1)) { serial_write(','); }
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}
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}
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/*
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static void report_util_setting_string(uint8_t n) {
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serial_write(' ');
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serial_write('(');
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switch(n) {
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case 0: printPgmString(("stp pulse")); break;
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case 1: printPgmString(("idl delay")); break;
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case 2: printPgmString(("stp inv")); break;
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case 3: printPgmString(("dir inv")); break;
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case 4: printPgmString(("stp en inv")); break;
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case 5: printPgmString(("lim inv")); break;
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case 6: printPgmString(("prb inv")); break;
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case 10: printPgmString(("rpt")); break;
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case 11: printPgmString(("jnc dev")); break;
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case 12: printPgmString(("arc tol")); break;
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case 13: printPgmString(("rpt inch")); break;
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case 20: printPgmString(("sft lim")); break;
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case 21: printPgmString(("hrd lim")); break;
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case 22: printPgmString(("hm cyc")); break;
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case 23: printPgmString(("hm dir inv")); break;
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case 24: printPgmString(("hm feed")); break;
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case 25: printPgmString(("hm seek")); break;
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case 26: printPgmString(("hm delay")); break;
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case 27: printPgmString(("hm pulloff")); break;
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case 30: printPgmString(("rpm max")); break;
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case 31: printPgmString(("rpm min")); break;
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case 32: printPgmString(("laser")); break;
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default:
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n -= AXIS_SETTINGS_START_VAL;
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uint8_t idx = 0;
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while (n >= AXIS_SETTINGS_INCREMENT) {
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n -= AXIS_SETTINGS_INCREMENT;
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idx++;
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}
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serial_write(n+'x');
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switch (idx) {
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case 0: printPgmString((":stp/mm")); break;
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case 1: printPgmString((":mm/min")); break;
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case 2: printPgmString((":mm/s^2")); break;
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case 3: printPgmString((":mm max")); break;
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}
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break;
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}
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report_util_comment_line_feed();
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}
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*/
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static void report_util_uint8_setting(uint8_t n, int val) {
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report_util_setting_prefix(n);
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print_uint8_base10(val);
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report_util_line_feed(); // report_util_setting_string(n);
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}
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static void report_util_float_setting(uint8_t n, float val, uint8_t n_decimal) {
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report_util_setting_prefix(n);
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printFloat(val,n_decimal);
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report_util_line_feed(); // report_util_setting_string(n);
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}
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// Handles the primary confirmation protocol response for streaming interfaces and human-feedback.
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// For every incoming line, this method responds with an 'ok' for a successful command or an
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// 'error:' to indicate some error event with the line or some critical system error during
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// operation. Errors events can originate from the g-code parser, settings module, or asynchronously
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// from a critical error, such as a triggered hard limit. Interface should always monitor for these
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// responses.
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void report_status_message(uint8_t status_code)
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{
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switch(status_code) {
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case STATUS_OK: // STATUS_OK
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printPgmString(("ok\r\n")); break;
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default:
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printPgmString(("error:"));
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print_uint8_base10(status_code);
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report_util_line_feed();
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}
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}
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// Prints alarm messages.
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void report_alarm_message(uint8_t alarm_code)
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{
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printPgmString(("ALARM:"));
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print_uint8_base10(alarm_code);
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report_util_line_feed();
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delay_ms(500); // Force delay to ensure message clears serial write buffer.
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}
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// Prints feedback messages. This serves as a centralized method to provide additional
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// user feedback for things that are not of the status/alarm message protocol. These are
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// messages such as setup warnings, switch toggling, and how to exit alarms.
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// NOTE: For interfaces, messages are always placed within brackets. And if silent mode
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// is installed, the message number codes are less than zero.
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void report_feedback_message(uint8_t message_code)
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{
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printPgmString(("[MSG:"));
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switch(message_code) {
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case MESSAGE_CRITICAL_EVENT:
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printPgmString(("Reset to continue")); break;
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case MESSAGE_ALARM_LOCK:
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printPgmString(("'$H'|'$X' to unlock")); break;
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case MESSAGE_ALARM_UNLOCK:
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printPgmString(("Caution: Unlocked")); break;
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case MESSAGE_ENABLED:
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printPgmString(("Enabled")); break;
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case MESSAGE_DISABLED:
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printPgmString(("Disabled")); break;
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case MESSAGE_SAFETY_DOOR_AJAR:
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printPgmString(("Check Door")); break;
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case MESSAGE_CHECK_LIMITS:
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printPgmString(("Check Limits")); break;
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case MESSAGE_PROGRAM_END:
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printPgmString(("Pgm End")); break;
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case MESSAGE_RESTORE_DEFAULTS:
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printPgmString(("Restoring defaults")); break;
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case MESSAGE_SPINDLE_RESTORE:
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printPgmString(("Restoring spindle")); break;
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case MESSAGE_SLEEP_MODE:
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printPgmString(("Sleeping")); break;
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}
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report_util_feedback_line_feed();
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}
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// Welcome message
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void report_init_message()
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{
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printPgmString(("\r\nGrbl " GRBL_VERSION " ['$' for help]\r\n"));
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}
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// Grbl help message
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void report_grbl_help() {
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printPgmString(("[HLP:$$ $# $G $I $N $x=val $Nx=line $J=line $SLP $C $X $H ~ ! ? ctrl-x]\r\n"));
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}
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// Grbl global settings print out.
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// NOTE: The numbering scheme here must correlate to storing in settings.c
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void report_grbl_settings() {
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// Print Grbl settings.
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report_util_uint8_setting(0,settings.pulse_microseconds);
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report_util_uint8_setting(1,settings.stepper_idle_lock_time);
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report_util_uint8_setting(2,settings.step_invert_mask);
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report_util_uint8_setting(3,settings.dir_invert_mask);
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report_util_uint8_setting(4,bit_istrue(settings.flags,BITFLAG_INVERT_ST_ENABLE));
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report_util_uint8_setting(5,bit_istrue(settings.flags,BITFLAG_INVERT_LIMIT_PINS));
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report_util_uint8_setting(6,bit_istrue(settings.flags,BITFLAG_INVERT_PROBE_PIN));
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report_util_uint8_setting(10,settings.status_report_mask);
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report_util_float_setting(11,settings.junction_deviation,N_DECIMAL_SETTINGVALUE);
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report_util_float_setting(12,settings.arc_tolerance,N_DECIMAL_SETTINGVALUE);
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report_util_uint8_setting(13,bit_istrue(settings.flags,BITFLAG_REPORT_INCHES));
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report_util_uint8_setting(20,bit_istrue(settings.flags,BITFLAG_SOFT_LIMIT_ENABLE));
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report_util_uint8_setting(21,bit_istrue(settings.flags,BITFLAG_HARD_LIMIT_ENABLE));
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report_util_uint8_setting(22,bit_istrue(settings.flags,BITFLAG_HOMING_ENABLE));
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report_util_uint8_setting(23,settings.homing_dir_mask);
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report_util_float_setting(24,settings.homing_feed_rate,N_DECIMAL_SETTINGVALUE);
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report_util_float_setting(25,settings.homing_seek_rate,N_DECIMAL_SETTINGVALUE);
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report_util_uint8_setting(26,settings.homing_debounce_delay);
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report_util_float_setting(27,settings.homing_pulloff,N_DECIMAL_SETTINGVALUE);
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report_util_float_setting(30,settings.rpm_max,N_DECIMAL_RPMVALUE);
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report_util_float_setting(31,settings.rpm_min,N_DECIMAL_RPMVALUE);
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#ifdef VARIABLE_SPINDLE
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report_util_uint8_setting(32,bit_istrue(settings.flags,BITFLAG_LASER_MODE));
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#else
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report_util_uint8_setting(32,0);
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#endif
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// Print axis settings
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uint8_t idx, set_idx;
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uint8_t val = AXIS_SETTINGS_START_VAL;
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for (set_idx=0; set_idx<AXIS_N_SETTINGS; set_idx++) {
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for (idx=0; idx<N_AXIS; idx++) {
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switch (set_idx) {
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case 0: report_util_float_setting(val+idx,settings.steps_per_mm[idx],N_DECIMAL_SETTINGVALUE); break;
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case 1: report_util_float_setting(val+idx,settings.max_rate[idx],N_DECIMAL_SETTINGVALUE); break;
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case 2: report_util_float_setting(val+idx,settings.acceleration[idx]/(60*60),N_DECIMAL_SETTINGVALUE); break;
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case 3: report_util_float_setting(val+idx,-settings.max_travel[idx],N_DECIMAL_SETTINGVALUE); break;
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}
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}
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val += AXIS_SETTINGS_INCREMENT;
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}
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}
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// Prints current probe parameters. Upon a probe command, these parameters are updated upon a
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// successful probe or upon a failed probe with the G38.3 without errors command (if supported).
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// These values are retained until Grbl is power-cycled, whereby they will be re-zeroed.
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void report_probe_parameters()
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{
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// Report in terms of machine position.
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printPgmString(("[PRB:"));
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float print_position[N_AXIS];
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system_convert_array_steps_to_mpos(print_position,sys_probe_position);
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report_util_axis_values(print_position);
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serial_write(':');
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print_uint8_base10(sys.probe_succeeded);
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report_util_feedback_line_feed();
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}
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// Prints Grbl NGC parameters (coordinate offsets, probing)
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void report_ngc_parameters()
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{
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float coord_data[N_AXIS];
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uint8_t coord_select;
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for (coord_select = 0; coord_select <= SETTING_INDEX_NCOORD; coord_select++) {
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if (!(settings_read_coord_data(coord_select,coord_data))) {
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report_status_message(STATUS_SETTING_READ_FAIL);
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return;
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}
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printPgmString(("[G"));
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switch (coord_select) {
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case 6: printPgmString(("28")); break;
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case 7: printPgmString(("30")); break;
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default: print_uint8_base10(coord_select+54); break; // G54-G59
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}
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serial_write(':');
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report_util_axis_values(coord_data);
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report_util_feedback_line_feed();
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}
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printPgmString(("[G92:")); // Print G92,G92.1 which are not persistent in memory
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report_util_axis_values(gc_state.coord_offset);
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report_util_feedback_line_feed();
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printPgmString(("[TLO:")); // Print tool length offset value
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printFloat_CoordValue(gc_state.tool_length_offset);
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report_util_feedback_line_feed();
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report_probe_parameters(); // Print probe parameters. Not persistent in memory.
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}
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// Print current gcode parser mode state
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void report_gcode_modes()
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{
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printPgmString(("[GC:G"));
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if (gc_state.modal.motion >= MOTION_MODE_PROBE_TOWARD) {
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printPgmString(("38."));
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print_uint8_base10(gc_state.modal.motion - (MOTION_MODE_PROBE_TOWARD-2));
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} else {
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print_uint8_base10(gc_state.modal.motion);
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}
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report_util_gcode_modes_G();
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print_uint8_base10(gc_state.modal.coord_select+54);
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report_util_gcode_modes_G();
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print_uint8_base10(gc_state.modal.plane_select+17);
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report_util_gcode_modes_G();
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print_uint8_base10(21-gc_state.modal.units);
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report_util_gcode_modes_G();
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print_uint8_base10(gc_state.modal.distance+90);
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report_util_gcode_modes_G();
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print_uint8_base10(94-gc_state.modal.feed_rate);
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if (gc_state.modal.program_flow) {
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report_util_gcode_modes_M();
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switch (gc_state.modal.program_flow) {
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case PROGRAM_FLOW_PAUSED : serial_write('0'); break;
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// case PROGRAM_FLOW_OPTIONAL_STOP : serial_write('1'); break; // M1 is ignored and not supported.
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case PROGRAM_FLOW_COMPLETED_M2 :
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case PROGRAM_FLOW_COMPLETED_M30 :
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print_uint8_base10(gc_state.modal.program_flow);
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break;
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}
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}
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report_util_gcode_modes_M();
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switch (gc_state.modal.spindle) {
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case SPINDLE_ENABLE_CW : serial_write('3'); break;
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case SPINDLE_ENABLE_CCW : serial_write('4'); break;
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case SPINDLE_DISABLE : serial_write('5'); break;
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}
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#ifdef ENABLE_M7
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if (gc_state.modal.coolant) { // Note: Multiple coolant states may be active at the same time.
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if (gc_state.modal.coolant & PL_COND_FLAG_COOLANT_MIST) { report_util_gcode_modes_M(); serial_write('7'); }
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if (gc_state.modal.coolant & PL_COND_FLAG_COOLANT_FLOOD) { report_util_gcode_modes_M(); serial_write('8'); }
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} else { report_util_gcode_modes_M(); serial_write('9'); }
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#else
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report_util_gcode_modes_M();
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if (gc_state.modal.coolant) { serial_write('8'); }
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else { serial_write('9'); }
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#endif
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#ifdef ENABLE_PARKING_OVERRIDE_CONTROL
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if (sys.override_ctrl == OVERRIDE_PARKING_MOTION) {
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report_util_gcode_modes_M();
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print_uint8_base10(56);
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}
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#endif
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printPgmString((" T"));
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print_uint8_base10(gc_state.tool);
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printPgmString((" F"));
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printFloat_RateValue(gc_state.feed_rate);
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#ifdef VARIABLE_SPINDLE
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printPgmString((" S"));
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printFloat(gc_state.spindle_speed,N_DECIMAL_RPMVALUE);
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#endif
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report_util_feedback_line_feed();
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}
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// Prints specified startup line
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void report_startup_line(uint8_t n, char *line)
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{
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printPgmString(("$N"));
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print_uint8_base10(n);
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serial_write('=');
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printString(line);
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report_util_line_feed();
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}
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void report_execute_startup_message(char *line, uint8_t status_code)
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{
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serial_write('>');
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printString(line);
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serial_write(':');
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report_status_message(status_code);
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}
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// Prints build info line
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void report_build_info(char *line)
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{
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printPgmString(("[VER:" GRBL_VERSION "." GRBL_VERSION_BUILD ":"));
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printString(line);
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report_util_feedback_line_feed();
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printPgmString(("[OPT:")); // Generate compile-time build option list
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#ifdef VARIABLE_SPINDLE
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serial_write('V');
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#endif
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#ifdef USE_LINE_NUMBERS
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serial_write('N');
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#endif
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#ifdef ENABLE_M7
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serial_write('M');
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#endif
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#ifdef COREXY
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serial_write('C');
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#endif
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#ifdef PARKING_ENABLE
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serial_write('P');
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#endif
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#ifdef HOMING_FORCE_SET_ORIGIN
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serial_write('Z');
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#endif
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#ifdef HOMING_SINGLE_AXIS_COMMANDS
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serial_write('H');
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#endif
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#ifdef LIMITS_TWO_SWITCHES_ON_AXES
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serial_write('T');
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#endif
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#ifdef ALLOW_FEED_OVERRIDE_DURING_PROBE_CYCLES
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serial_write('A');
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#endif
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#ifdef USE_SPINDLE_DIR_AS_ENABLE_PIN
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serial_write('D');
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#endif
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#ifdef SPINDLE_ENABLE_OFF_WITH_ZERO_SPEED
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serial_write('0');
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#endif
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#ifdef ENABLE_SOFTWARE_DEBOUNCE
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serial_write('S');
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#endif
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#ifdef ENABLE_PARKING_OVERRIDE_CONTROL
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serial_write('R');
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#endif
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#ifndef HOMING_INIT_LOCK
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serial_write('L');
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#endif
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#ifdef ENABLE_SAFETY_DOOR_INPUT_PIN
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serial_write('+');
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#endif
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#ifndef ENABLE_RESTORE_EEPROM_WIPE_ALL // NOTE: Shown when disabled.
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serial_write('*');
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#endif
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#ifndef ENABLE_RESTORE_EEPROM_DEFAULT_SETTINGS // NOTE: Shown when disabled.
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serial_write('$');
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#endif
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#ifndef ENABLE_RESTORE_EEPROM_CLEAR_PARAMETERS // NOTE: Shown when disabled.
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serial_write('#');
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#endif
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#ifndef ENABLE_BUILD_INFO_WRITE_COMMAND // NOTE: Shown when disabled.
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serial_write('I');
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#endif
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#ifndef FORCE_BUFFER_SYNC_DURING_EEPROM_WRITE // NOTE: Shown when disabled.
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serial_write('E');
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#endif
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#ifndef FORCE_BUFFER_SYNC_DURING_WCO_CHANGE // NOTE: Shown when disabled.
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serial_write('W');
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#endif
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#ifdef ENABLE_DUAL_AXIS
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serial_write('2');
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#endif
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// NOTE: Compiled values, like override increments/max/min values, may be added at some point later.
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serial_write(',');
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print_uint8_base10(BLOCK_BUFFER_SIZE-1);
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serial_write(',');
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print_uint8_base10(RX_BUFFER_SIZE);
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|
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report_util_feedback_line_feed();
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}
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|
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|
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// Prints the character string line Grbl has received from the user, which has been pre-parsed,
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// and has been sent into protocol_execute_line() routine to be executed by Grbl.
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|
void report_echo_line_received(char *line)
|
|
{
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printPgmString(("[echo: ")); printString(line);
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report_util_feedback_line_feed();
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}
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|
|
|
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// Prints real-time data. This function grabs a real-time snapshot of the stepper subprogram
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|
// and the actual location of the CNC machine. Users may change the following function to their
|
|
// specific needs, but the desired real-time data report must be as short as possible. This is
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// requires as it minimizes the computational overhead and allows grbl to keep running smoothly,
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// especially during g-code programs with fast, short line segments and high frequency reports (5-20Hz).
|
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void report_realtime_status()
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|
{
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uint8_t idx;
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int32_t current_position[N_AXIS]; // Copy current state of the system position variable
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|
memcpy(current_position,sys_position,sizeof(sys_position));
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|
float print_position[N_AXIS];
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system_convert_array_steps_to_mpos(print_position,current_position);
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|
|
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// Report current machine state and sub-states
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|
serial_write('<');
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|
switch (sys.state) {
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case STATE_IDLE: printPgmString(("Idle")); break;
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|
case STATE_CYCLE: printPgmString(("Run")); break;
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|
case STATE_HOLD:
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|
if (!(sys.suspend & SUSPEND_JOG_CANCEL)) {
|
|
printPgmString(("Hold:"));
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|
if (sys.suspend & SUSPEND_HOLD_COMPLETE) { serial_write('0'); } // Ready to resume
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else { serial_write('1'); } // Actively holding
|
|
break;
|
|
} // Continues to print jog state during jog cancel.
|
|
case STATE_JOG: printPgmString(("Jog")); break;
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|
case STATE_HOMING: printPgmString(("Home")); break;
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|
case STATE_ALARM: printPgmString(("Alarm")); break;
|
|
case STATE_CHECK_MODE: printPgmString(("Check")); break;
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|
case STATE_SAFETY_DOOR:
|
|
printPgmString(("Door:"));
|
|
if (sys.suspend & SUSPEND_INITIATE_RESTORE) {
|
|
serial_write('3'); // Restoring
|
|
} else {
|
|
if (sys.suspend & SUSPEND_RETRACT_COMPLETE) {
|
|
if (sys.suspend & SUSPEND_SAFETY_DOOR_AJAR) {
|
|
serial_write('1'); // Door ajar
|
|
} else {
|
|
serial_write('0');
|
|
} // Door closed and ready to resume
|
|
} else {
|
|
serial_write('2'); // Retracting
|
|
}
|
|
}
|
|
break;
|
|
case STATE_SLEEP: printPgmString(("Sleep")); break;
|
|
}
|
|
|
|
float wco[N_AXIS];
|
|
if (bit_isfalse(settings.status_report_mask,BITFLAG_RT_STATUS_POSITION_TYPE) ||
|
|
(sys.report_wco_counter == 0) ) {
|
|
for (idx=0; idx< N_AXIS; idx++) {
|
|
// Apply work coordinate offsets and tool length offset to current position.
|
|
wco[idx] = gc_state.coord_system[idx]+gc_state.coord_offset[idx];
|
|
if (idx == TOOL_LENGTH_OFFSET_AXIS) { wco[idx] += gc_state.tool_length_offset; }
|
|
if (bit_isfalse(settings.status_report_mask,BITFLAG_RT_STATUS_POSITION_TYPE)) {
|
|
print_position[idx] -= wco[idx];
|
|
}
|
|
}
|
|
}
|
|
|
|
// Report machine position
|
|
if (bit_istrue(settings.status_report_mask,BITFLAG_RT_STATUS_POSITION_TYPE)) {
|
|
printPgmString(("|MPos:"));
|
|
} else {
|
|
printPgmString(("|WPos:"));
|
|
}
|
|
report_util_axis_values(print_position);
|
|
|
|
// Returns planner and serial read buffer states.
|
|
#ifdef REPORT_FIELD_BUFFER_STATE
|
|
if (bit_istrue(settings.status_report_mask,BITFLAG_RT_STATUS_BUFFER_STATE)) {
|
|
printPgmString(("|Bf:"));
|
|
print_uint8_base10(plan_get_block_buffer_available());
|
|
serial_write(',');
|
|
print_uint8_base10(serial_get_rx_buffer_available());
|
|
}
|
|
#endif
|
|
|
|
#ifdef USE_LINE_NUMBERS
|
|
#ifdef REPORT_FIELD_LINE_NUMBERS
|
|
// Report current line number
|
|
plan_block_t * cur_block = plan_get_current_block();
|
|
if (cur_block != NULL) {
|
|
uint32_t ln = cur_block->line_number;
|
|
if (ln > 0) {
|
|
printPgmString(("|Ln:"));
|
|
printInteger(ln);
|
|
}
|
|
}
|
|
#endif
|
|
#endif
|
|
|
|
// Report realtime feed speed
|
|
#ifdef REPORT_FIELD_CURRENT_FEED_SPEED
|
|
#ifdef VARIABLE_SPINDLE
|
|
printPgmString(("|FS:"));
|
|
printFloat_RateValue(st_get_realtime_rate());
|
|
serial_write(',');
|
|
printFloat(sys.spindle_speed,N_DECIMAL_RPMVALUE);
|
|
#else
|
|
printPgmString(("|F:"));
|
|
printFloat_RateValue(st_get_realtime_rate());
|
|
#endif
|
|
#endif
|
|
|
|
#ifdef REPORT_FIELD_PIN_STATE
|
|
uint8_t lim_pin_state = limits_get_state();
|
|
uint8_t ctrl_pin_state = system_control_get_state();
|
|
uint8_t prb_pin_state = probe_get_state();
|
|
if (lim_pin_state | ctrl_pin_state | prb_pin_state) {
|
|
printPgmString(("|Pn:"));
|
|
if (prb_pin_state) { serial_write('P'); }
|
|
if (lim_pin_state) {
|
|
#ifdef ENABLE_DUAL_AXIS
|
|
#if (DUAL_AXIS_SELECT == X_AXIS)
|
|
if (bit_istrue(lim_pin_state,(bit(X_AXIS)|bit(N_AXIS)))) { serial_write('X'); }
|
|
if (bit_istrue(lim_pin_state,bit(Y_AXIS))) { serial_write('Y'); }
|
|
#endif
|
|
#if (DUAL_AXIS_SELECT == Y_AXIS)
|
|
if (bit_istrue(lim_pin_state,bit(X_AXIS))) { serial_write('X'); }
|
|
if (bit_istrue(lim_pin_state,(bit(Y_AXIS)|bit(N_AXIS)))) { serial_write('Y'); }
|
|
#endif
|
|
if (bit_istrue(lim_pin_state,bit(Z_AXIS))) { serial_write('Z'); }
|
|
#else
|
|
if (bit_istrue(lim_pin_state,bit(X_AXIS))) { serial_write('X'); }
|
|
if (bit_istrue(lim_pin_state,bit(Y_AXIS))) { serial_write('Y'); }
|
|
if (bit_istrue(lim_pin_state,bit(Z_AXIS))) { serial_write('Z'); }
|
|
#endif
|
|
}
|
|
if (ctrl_pin_state) {
|
|
#ifdef ENABLE_SAFETY_DOOR_INPUT_PIN
|
|
if (bit_istrue(ctrl_pin_state,CONTROL_PIN_INDEX_SAFETY_DOOR)) { serial_write('D'); }
|
|
#endif
|
|
if (bit_istrue(ctrl_pin_state,CONTROL_PIN_INDEX_RESET)) { serial_write('R'); }
|
|
if (bit_istrue(ctrl_pin_state,CONTROL_PIN_INDEX_FEED_HOLD)) { serial_write('H'); }
|
|
if (bit_istrue(ctrl_pin_state,CONTROL_PIN_INDEX_CYCLE_START)) { serial_write('S'); }
|
|
}
|
|
}
|
|
#endif
|
|
|
|
#ifdef REPORT_FIELD_WORK_COORD_OFFSET
|
|
if (sys.report_wco_counter > 0) { sys.report_wco_counter--; }
|
|
else {
|
|
if (sys.state & (STATE_HOMING | STATE_CYCLE | STATE_HOLD | STATE_JOG | STATE_SAFETY_DOOR)) {
|
|
sys.report_wco_counter = (REPORT_WCO_REFRESH_BUSY_COUNT-1); // Reset counter for slow refresh
|
|
} else { sys.report_wco_counter = (REPORT_WCO_REFRESH_IDLE_COUNT-1); }
|
|
if (sys.report_ovr_counter == 0) { sys.report_ovr_counter = 1; } // Set override on next report.
|
|
printPgmString(("|WCO:"));
|
|
report_util_axis_values(wco);
|
|
}
|
|
#endif
|
|
|
|
#ifdef REPORT_FIELD_OVERRIDES
|
|
if (sys.report_ovr_counter > 0) { sys.report_ovr_counter--; }
|
|
else {
|
|
if (sys.state & (STATE_HOMING | STATE_CYCLE | STATE_HOLD | STATE_JOG | STATE_SAFETY_DOOR)) {
|
|
sys.report_ovr_counter = (REPORT_OVR_REFRESH_BUSY_COUNT-1); // Reset counter for slow refresh
|
|
} else { sys.report_ovr_counter = (REPORT_OVR_REFRESH_IDLE_COUNT-1); }
|
|
printPgmString(("|Ov:"));
|
|
print_uint8_base10(sys.f_override);
|
|
serial_write(',');
|
|
print_uint8_base10(sys.r_override);
|
|
serial_write(',');
|
|
print_uint8_base10(sys.spindle_speed_ovr);
|
|
|
|
uint8_t sp_state = spindle_get_state();
|
|
uint8_t cl_state = coolant_get_state();
|
|
if (sp_state || cl_state) {
|
|
printPgmString(("|A:"));
|
|
if (sp_state) { // != SPINDLE_STATE_DISABLE
|
|
#ifdef VARIABLE_SPINDLE
|
|
#ifdef USE_SPINDLE_DIR_AS_ENABLE_PIN
|
|
serial_write('S'); // CW
|
|
#else
|
|
if (sp_state == SPINDLE_STATE_CW) { serial_write('S'); } // CW
|
|
else { serial_write('C'); } // CCW
|
|
#endif
|
|
#else
|
|
if (sp_state & SPINDLE_STATE_CW) { serial_write('S'); } // CW
|
|
else { serial_write('C'); } // CCW
|
|
#endif
|
|
}
|
|
if (cl_state & COOLANT_STATE_FLOOD) { serial_write('F'); }
|
|
#ifdef ENABLE_M7
|
|
if (cl_state & COOLANT_STATE_MIST) { serial_write('M'); }
|
|
#endif
|
|
}
|
|
}
|
|
#endif
|
|
|
|
serial_write('>');
|
|
report_util_line_feed();
|
|
}
|
|
|
|
|
|
#ifdef DEBUG
|
|
void report_realtime_debug()
|
|
{
|
|
|
|
}
|
|
#endif
|