#include "grbl.h"

Include dependency graph for system.h:

This graph shows which files directly or indirectly include this file:

Classes
struct	system_t

Macros
#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

#define	EXEC_ALARM_HOMING_FAIL_DUAL_APPROACH 10

#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_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	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 3

#define	CONTROL_PIN_INDEX_RESET bit(0)

#define	CONTROL_PIN_INDEX_FEED_HOLD bit(1)

#define	CONTROL_PIN_INDEX_CYCLE_START bit(2)

#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)

Functions
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)

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 ()

Variables
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

Macro Definition Documentation

◆ CONTROL_PIN_INDEX_CYCLE_START

#define CONTROL_PIN_INDEX_CYCLE_START bit(2)

Definition at line 115 of file system.h.

◆ CONTROL_PIN_INDEX_FEED_HOLD

#define CONTROL_PIN_INDEX_FEED_HOLD bit(1)

Definition at line 114 of file system.h.

◆ CONTROL_PIN_INDEX_RESET

#define CONTROL_PIN_INDEX_RESET bit(0)

Definition at line 113 of file system.h.

◆ EXEC_ALARM_ABORT_CYCLE

#define EXEC_ALARM_ABORT_CYCLE 3

Definition at line 43 of file system.h.

◆ EXEC_ALARM_HARD_LIMIT

#define EXEC_ALARM_HARD_LIMIT 1

Definition at line 41 of file system.h.

◆ EXEC_ALARM_HOMING_FAIL_APPROACH

#define EXEC_ALARM_HOMING_FAIL_APPROACH 9

Definition at line 49 of file system.h.

◆ EXEC_ALARM_HOMING_FAIL_DOOR

#define EXEC_ALARM_HOMING_FAIL_DOOR 7

Definition at line 47 of file system.h.

◆ EXEC_ALARM_HOMING_FAIL_DUAL_APPROACH

#define EXEC_ALARM_HOMING_FAIL_DUAL_APPROACH 10

Definition at line 50 of file system.h.

◆ EXEC_ALARM_HOMING_FAIL_PULLOFF

#define EXEC_ALARM_HOMING_FAIL_PULLOFF 8

Definition at line 48 of file system.h.

◆ EXEC_ALARM_HOMING_FAIL_RESET

#define EXEC_ALARM_HOMING_FAIL_RESET 6

Definition at line 46 of file system.h.

◆ EXEC_ALARM_PROBE_FAIL_CONTACT

#define EXEC_ALARM_PROBE_FAIL_CONTACT 5

Definition at line 45 of file system.h.

◆ EXEC_ALARM_PROBE_FAIL_INITIAL

#define EXEC_ALARM_PROBE_FAIL_INITIAL 4

Definition at line 44 of file system.h.

◆ EXEC_ALARM_SOFT_LIMIT

#define EXEC_ALARM_SOFT_LIMIT 2

Definition at line 42 of file system.h.

◆ EXEC_COOLANT_FLOOD_OVR_TOGGLE

#define EXEC_COOLANT_FLOOD_OVR_TOGGLE bit(6)

Definition at line 70 of file system.h.

◆ EXEC_COOLANT_MIST_OVR_TOGGLE

#define EXEC_COOLANT_MIST_OVR_TOGGLE bit(7)

Definition at line 71 of file system.h.

◆ EXEC_CYCLE_START

#define EXEC_CYCLE_START bit(1)

Definition at line 32 of file system.h.

◆ EXEC_CYCLE_STOP

#define EXEC_CYCLE_STOP bit(2)

Definition at line 33 of file system.h.

◆ EXEC_FEED_HOLD

#define EXEC_FEED_HOLD bit(3)

Definition at line 34 of file system.h.

◆ EXEC_FEED_OVR_COARSE_MINUS

#define EXEC_FEED_OVR_COARSE_MINUS bit(2)

Definition at line 56 of file system.h.

◆ EXEC_FEED_OVR_COARSE_PLUS

#define EXEC_FEED_OVR_COARSE_PLUS bit(1)

Definition at line 55 of file system.h.

◆ EXEC_FEED_OVR_FINE_MINUS

#define EXEC_FEED_OVR_FINE_MINUS bit(4)

Definition at line 58 of file system.h.

◆ EXEC_FEED_OVR_FINE_PLUS

#define EXEC_FEED_OVR_FINE_PLUS bit(3)

Definition at line 57 of file system.h.

◆ EXEC_FEED_OVR_RESET

#define EXEC_FEED_OVR_RESET bit(0)

Definition at line 54 of file system.h.

◆ EXEC_MOTION_CANCEL

#define EXEC_MOTION_CANCEL bit(6)

Definition at line 37 of file system.h.

◆ EXEC_RAPID_OVR_LOW

#define EXEC_RAPID_OVR_LOW bit(7)

Definition at line 61 of file system.h.

◆ EXEC_RAPID_OVR_MEDIUM

#define EXEC_RAPID_OVR_MEDIUM bit(6)

Definition at line 60 of file system.h.

◆ EXEC_RAPID_OVR_RESET

#define EXEC_RAPID_OVR_RESET bit(5)

Definition at line 59 of file system.h.

◆ EXEC_RESET

#define EXEC_RESET bit(4)

Definition at line 35 of file system.h.

◆ EXEC_SAFETY_DOOR

#define EXEC_SAFETY_DOOR bit(5)

Definition at line 36 of file system.h.

◆ EXEC_SLEEP

#define EXEC_SLEEP bit(7)

Definition at line 38 of file system.h.

◆ EXEC_SPINDLE_OVR_COARSE_MINUS

#define EXEC_SPINDLE_OVR_COARSE_MINUS bit(2)

Definition at line 66 of file system.h.

◆ EXEC_SPINDLE_OVR_COARSE_PLUS

#define EXEC_SPINDLE_OVR_COARSE_PLUS bit(1)

Definition at line 65 of file system.h.

◆ EXEC_SPINDLE_OVR_FINE_MINUS

#define EXEC_SPINDLE_OVR_FINE_MINUS bit(4)

Definition at line 68 of file system.h.

◆ EXEC_SPINDLE_OVR_FINE_PLUS

#define EXEC_SPINDLE_OVR_FINE_PLUS bit(3)

Definition at line 67 of file system.h.

◆ EXEC_SPINDLE_OVR_RESET

#define EXEC_SPINDLE_OVR_RESET bit(0)

Definition at line 64 of file system.h.

◆ EXEC_SPINDLE_OVR_STOP

#define EXEC_SPINDLE_OVR_STOP bit(5)

Definition at line 69 of file system.h.

◆ EXEC_STATUS_REPORT

#define EXEC_STATUS_REPORT bit(0)

Definition at line 31 of file system.h.

◆ N_CONTROL_PIN

#define N_CONTROL_PIN 3

Definition at line 112 of file system.h.

◆ SPINDLE_STOP_OVR_DISABLED

#define SPINDLE_STOP_OVR_DISABLED 0

Definition at line 119 of file system.h.

◆ SPINDLE_STOP_OVR_ENABLED

#define SPINDLE_STOP_OVR_ENABLED bit(0)

Definition at line 120 of file system.h.

◆ SPINDLE_STOP_OVR_INITIATE

#define SPINDLE_STOP_OVR_INITIATE bit(1)

Definition at line 121 of file system.h.

◆ SPINDLE_STOP_OVR_RESTORE

#define SPINDLE_STOP_OVR_RESTORE bit(2)

Definition at line 122 of file system.h.

◆ SPINDLE_STOP_OVR_RESTORE_CYCLE

#define SPINDLE_STOP_OVR_RESTORE_CYCLE bit(3)

Definition at line 123 of file system.h.

◆ STATE_ALARM

#define STATE_ALARM bit(0)

Definition at line 77 of file system.h.

◆ STATE_CHECK_MODE

#define STATE_CHECK_MODE bit(1)

Definition at line 78 of file system.h.

◆ STATE_CYCLE

#define STATE_CYCLE bit(3)

Definition at line 80 of file system.h.

◆ STATE_HOLD

#define STATE_HOLD bit(4)

Definition at line 81 of file system.h.

◆ STATE_HOMING

#define STATE_HOMING bit(2)

Definition at line 79 of file system.h.

◆ STATE_IDLE

#define STATE_IDLE 0

Definition at line 76 of file system.h.

◆ STATE_JOG

#define STATE_JOG bit(5)

Definition at line 82 of file system.h.

◆ STATE_SAFETY_DOOR

#define STATE_SAFETY_DOOR bit(6)

Definition at line 83 of file system.h.

◆ STATE_SLEEP

#define STATE_SLEEP bit(7)

Definition at line 84 of file system.h.

◆ STEP_CONTROL_END_MOTION

#define STEP_CONTROL_END_MOTION bit(0)

Definition at line 99 of file system.h.

◆ STEP_CONTROL_EXECUTE_HOLD

#define STEP_CONTROL_EXECUTE_HOLD bit(1)

Definition at line 100 of file system.h.

◆ STEP_CONTROL_EXECUTE_SYS_MOTION

#define STEP_CONTROL_EXECUTE_SYS_MOTION bit(2)

Definition at line 101 of file system.h.

◆ STEP_CONTROL_NORMAL_OP

#define STEP_CONTROL_NORMAL_OP 0

Definition at line 98 of file system.h.

◆ STEP_CONTROL_UPDATE_SPINDLE_PWM

#define STEP_CONTROL_UPDATE_SPINDLE_PWM bit(3)

Definition at line 102 of file system.h.

◆ SUSPEND_DISABLE

#define SUSPEND_DISABLE 0

Definition at line 87 of file system.h.

◆ SUSPEND_HOLD_COMPLETE

#define SUSPEND_HOLD_COMPLETE bit(0)

Definition at line 88 of file system.h.

◆ SUSPEND_INITIATE_RESTORE

#define SUSPEND_INITIATE_RESTORE bit(3)

Definition at line 91 of file system.h.

◆ SUSPEND_JOG_CANCEL

#define SUSPEND_JOG_CANCEL bit(7)

Definition at line 95 of file system.h.

◆ SUSPEND_MOTION_CANCEL

#define SUSPEND_MOTION_CANCEL bit(6)

Definition at line 94 of file system.h.

◆ SUSPEND_RESTART_RETRACT

#define SUSPEND_RESTART_RETRACT bit(1)

Definition at line 89 of file system.h.

◆ SUSPEND_RESTORE_COMPLETE

#define SUSPEND_RESTORE_COMPLETE bit(4)

Definition at line 92 of file system.h.

◆ SUSPEND_RETRACT_COMPLETE

#define SUSPEND_RETRACT_COMPLETE bit(2)

Definition at line 90 of file system.h.

◆ SUSPEND_SAFETY_DOOR_AJAR

#define SUSPEND_SAFETY_DOOR_AJAR bit(5)

Definition at line 93 of file system.h.

Function Documentation

◆ system_check_safety_door_ajar()

uint8_t system_check_safety_door_ajar ( )

Definition at line 87 of file system.c.

◆ system_check_travel_limits()

uint8_t system_check_travel_limits ( float * target )

Definition at line 334 of file system.c.

◆ system_clear_exec_accessory_overrides()

void system_clear_exec_accessory_overrides ( )

Definition at line 405 of file system.c.

◆ system_clear_exec_alarm()

void system_clear_exec_alarm ( )

Definition at line 377 of file system.c.

◆ system_clear_exec_motion_overrides()

void system_clear_exec_motion_overrides ( )

Definition at line 398 of file system.c.

◆ system_clear_exec_state_flag()

void system_clear_exec_state_flag ( uint8_t mask )

Definition at line 363 of file system.c.

◆ system_control_get_state()

uint8_t system_control_get_state ( )

Definition at line 40 of file system.c.

◆ system_convert_array_steps_to_mpos()

void system_convert_array_steps_to_mpos	(	float *	position,
		int32_t *	steps
	)

Definition at line 310 of file system.c.

◆ system_convert_axis_steps_to_mpos()

float system_convert_axis_steps_to_mpos	(	int32_t *	steps,
		uint8_t	idx
	)

Definition at line 292 of file system.c.

◆ system_execute_line()

uint8_t system_execute_line ( char * line )

Definition at line 123 of file system.c.

◆ system_execute_startup()

void system_execute_startup ( char * line )

Definition at line 98 of file system.c.

◆ system_flag_wco_change()

void system_flag_wco_change ( )

Definition at line 280 of file system.c.

◆ system_init()

void system_init ( )

Definition at line 24 of file system.c.

◆ system_set_exec_accessory_override_flag()

void system_set_exec_accessory_override_flag ( uint8_t mask )

Definition at line 391 of file system.c.

◆ system_set_exec_alarm()

void system_set_exec_alarm ( uint8_t code )

Definition at line 370 of file system.c.

◆ system_set_exec_motion_override_flag()

void system_set_exec_motion_override_flag ( uint8_t mask )

Definition at line 384 of file system.c.

◆ system_set_exec_state_flag()

void system_set_exec_state_flag ( uint8_t mask )

Definition at line 356 of file system.c.

Variable Documentation

◆ sys

system_t sys

extern

Definition at line 26 of file main.c.

◆ sys_position

int32_t sys_position[N_AXIS]

extern

Definition at line 27 of file main.c.

◆ sys_probe_position

int32_t sys_probe_position[N_AXIS]

extern

Definition at line 28 of file main.c.

◆ sys_probe_state

volatile uint8_t sys_probe_state

extern

Definition at line 29 of file main.c.

◆ sys_rt_exec_accessory_override

volatile uint8_t sys_rt_exec_accessory_override

extern

Definition at line 33 of file main.c.

◆ sys_rt_exec_alarm

volatile uint8_t sys_rt_exec_alarm

extern

Definition at line 31 of file main.c.

◆ sys_rt_exec_motion_override

volatile uint8_t sys_rt_exec_motion_override

extern

Definition at line 32 of file main.c.

◆ sys_rt_exec_state

volatile uint8_t sys_rt_exec_state

extern

Definition at line 30 of file main.c.

Classes

Macros

Functions

Variables

Macro Definition Documentation

◆ CONTROL_PIN_INDEX_CYCLE_START

◆ CONTROL_PIN_INDEX_FEED_HOLD

◆ CONTROL_PIN_INDEX_RESET

◆ EXEC_ALARM_ABORT_CYCLE

◆ EXEC_ALARM_HARD_LIMIT

◆ EXEC_ALARM_HOMING_FAIL_APPROACH

◆ EXEC_ALARM_HOMING_FAIL_DOOR

◆ EXEC_ALARM_HOMING_FAIL_DUAL_APPROACH

◆ EXEC_ALARM_HOMING_FAIL_PULLOFF

◆ EXEC_ALARM_HOMING_FAIL_RESET

◆ EXEC_ALARM_PROBE_FAIL_CONTACT

◆ EXEC_ALARM_PROBE_FAIL_INITIAL

◆ EXEC_ALARM_SOFT_LIMIT

◆ EXEC_COOLANT_FLOOD_OVR_TOGGLE

◆ EXEC_COOLANT_MIST_OVR_TOGGLE

◆ EXEC_CYCLE_START

◆ EXEC_CYCLE_STOP

◆ EXEC_FEED_HOLD

◆ EXEC_FEED_OVR_COARSE_MINUS

◆ EXEC_FEED_OVR_COARSE_PLUS

◆ EXEC_FEED_OVR_FINE_MINUS

◆ EXEC_FEED_OVR_FINE_PLUS

◆ EXEC_FEED_OVR_RESET

◆ EXEC_MOTION_CANCEL

◆ EXEC_RAPID_OVR_LOW

◆ EXEC_RAPID_OVR_MEDIUM

◆ EXEC_RAPID_OVR_RESET

◆ EXEC_RESET

◆ EXEC_SAFETY_DOOR

◆ EXEC_SLEEP

◆ EXEC_SPINDLE_OVR_COARSE_MINUS

◆ EXEC_SPINDLE_OVR_COARSE_PLUS

◆ EXEC_SPINDLE_OVR_FINE_MINUS

◆ EXEC_SPINDLE_OVR_FINE_PLUS

◆ EXEC_SPINDLE_OVR_RESET

◆ EXEC_SPINDLE_OVR_STOP

◆ EXEC_STATUS_REPORT

◆ N_CONTROL_PIN

◆ SPINDLE_STOP_OVR_DISABLED

◆ SPINDLE_STOP_OVR_ENABLED

◆ SPINDLE_STOP_OVR_INITIATE

◆ SPINDLE_STOP_OVR_RESTORE

◆ SPINDLE_STOP_OVR_RESTORE_CYCLE

◆ STATE_ALARM

◆ STATE_CHECK_MODE

◆ STATE_CYCLE

◆ STATE_HOLD

◆ STATE_HOMING

◆ STATE_IDLE

◆ STATE_JOG

◆ STATE_SAFETY_DOOR

◆ STATE_SLEEP

◆ STEP_CONTROL_END_MOTION

◆ STEP_CONTROL_EXECUTE_HOLD

◆ STEP_CONTROL_EXECUTE_SYS_MOTION

◆ STEP_CONTROL_NORMAL_OP

◆ STEP_CONTROL_UPDATE_SPINDLE_PWM

◆ SUSPEND_DISABLE

◆ SUSPEND_HOLD_COMPLETE

◆ SUSPEND_INITIATE_RESTORE

◆ SUSPEND_JOG_CANCEL

◆ SUSPEND_MOTION_CANCEL

◆ SUSPEND_RESTART_RETRACT

◆ SUSPEND_RESTORE_COMPLETE

◆ SUSPEND_RETRACT_COMPLETE

◆ SUSPEND_SAFETY_DOOR_AJAR

Function Documentation

◆ system_check_safety_door_ajar()

◆ system_check_travel_limits()

◆ system_clear_exec_accessory_overrides()

◆ system_clear_exec_alarm()

◆ system_clear_exec_motion_overrides()

◆ system_clear_exec_state_flag()

◆ system_control_get_state()

◆ system_convert_array_steps_to_mpos()