Alarm handling bug fix.

- Applied an alarm handling bug fix that would not show the correct alarm code, nor clear the alarm. It would occasionally go into an infinite loop and would usually happen during a homing cycle fail.
grbl · ondabeach · Aug 28, 2015 · Aug 28, 2015 · Aug 29, 2015 · Sep 5, 2015
commit c912b8271013b2932d5c6734090fddbe9280bca7
diff --git a/doc/log/commit_log_v1.1.txt b/doc/log/commit_log_v1.1.txt
@@ -1,3 +1,12 @@
+----------------
+Date: 2016-12-19
+Author: Sonny Jeon
+Subject: Spindle PWM update for Mega2560
+
+- Spindle PWM is set with a 16-bit value, rather than 8-bit on a 328p.
+Updated stepper.c to reflect this change.
+
+
 ----------------
 Date: 2016-12-19
 Author: Sonny Jeon

diff --git a/grbl/config.h b/grbl/config.h
@@ -18,7 +18,7 @@
   You should have received a copy of the GNU General Public License
   along with Grbl.  If not, see <http://www.gnu.org/licenses/>.
 */
-  
+
 // This file contains compile-time configurations for Grbl's internal system. For the most part,
 // users will not need to directly modify these, but they are here for specific needs, i.e.
 // performance tuning or adjusting to non-typical machines.

diff --git a/grbl/grbl.h b/grbl/grbl.h
@@ -23,7 +23,7 @@
 
 // Grbl versioning system
 #define GRBL_VERSION "1.1e"
-#define GRBL_VERSION_BUILD "20161219.2"
+#define GRBL_VERSION_BUILD "20161219.3"
 
 // Define standard libraries used by Grbl.
 #include <avr/io.h>

diff --git a/grbl/motion_control.c b/grbl/motion_control.c
@@ -43,19 +43,19 @@ void mc_line(float *target, plan_line_data_t *pl_data)
 
   // NOTE: Backlash compensation may be installed here. It will need direction info to track when
   // to insert a backlash line motion(s) before the intended line motion and will require its own
-  // plan_check_full_buffer() and check for system abort loop. Also for position reporting 
+  // plan_check_full_buffer() and check for system abort loop. Also for position reporting
   // backlash steps will need to be also tracked, which will need to be kept at a system level.
   // There are likely some other things that will need to be tracked as well. However, we feel
   // that backlash compensation should NOT be handled by Grbl itself, because there are a myriad
   // of ways to implement it and can be effective or ineffective for different CNC machines. This
   // would be better handled by the interface as a post-processor task, where the original g-code
-  // is translated and inserts backlash motions that best suits the machine. 
+  // is translated and inserts backlash motions that best suits the machine.
   // NOTE: Perhaps as a middle-ground, all that needs to be sent is a flag or special command that
   // indicates to Grbl what is a backlash compensation motion, so that Grbl executes the move but
   // doesn't update the machine position values. Since the position values used by the g-code
   // parser and planner are separate from the system machine positions, this is doable.
 
-  // If the buffer is full: good! That means we are well ahead of the robot. 
+  // If the buffer is full: good! That means we are well ahead of the robot.
   // Remain in this loop until there is room in the buffer.
   do {
     protocol_execute_realtime(); // Check for any run-time commands
@@ -70,7 +70,7 @@ void mc_line(float *target, plan_line_data_t *pl_data)
 }
 
 
-// Execute an arc in offset mode format. position == current xyz, target == target xyz, 
+// Execute an arc in offset mode format. position == current xyz, target == target xyz,
 // offset == offset from current xyz, axis_X defines circle plane in tool space, axis_linear is
 // the direction of helical travel, radius == circle radius, isclockwise boolean. Used
 // for vector transformation direction.
@@ -86,7 +86,7 @@ void mc_arc(float *target, plan_line_data_t *pl_data, float *position, float *of
   float r_axis1 = -offset[axis_1];
   float rt_axis0 = target[axis_0] - center_axis0;
   float rt_axis1 = target[axis_1] - center_axis1;
-  
+
   // CCW angle between position and target from circle center. Only one atan2() trig computation required.
   float angular_travel = atan2(r_axis0*rt_axis1-r_axis1*rt_axis0, r_axis0*rt_axis0+r_axis1*rt_axis1);
   if (is_clockwise_arc) { // Correct atan2 output per direction
@@ -104,7 +104,7 @@ void mc_arc(float *target, plan_line_data_t *pl_data, float *position, float *of
 
   if (segments) {
     // Multiply inverse feed_rate to compensate for the fact that this movement is approximated
-    // by a number of discrete segments. The inverse feed_rate should be correct for the sum of 
+    // by a number of discrete segments. The inverse feed_rate should be correct for the sum of
     // all segments.
     if (pl_data->condition & PL_COND_FLAG_INVERSE_TIME) { 
       pl_data->feed_rate *= segments; 
@@ -359,8 +359,9 @@ void mc_reset()
     // violated, by which, all bets are off.
     if ((sys.state & (STATE_CYCLE | STATE_HOMING | STATE_JOG)) ||
     		(sys.step_control & (STEP_CONTROL_EXECUTE_HOLD | STEP_CONTROL_EXECUTE_SYS_MOTION))) {
-      if (sys.state == STATE_HOMING) { system_set_exec_alarm(EXEC_ALARM_HOMING_FAIL_RESET); }
-      else { system_set_exec_alarm(EXEC_ALARM_ABORT_CYCLE); }
+      if (sys.state == STATE_HOMING) { 
+        if (!sys_rt_exec_alarm) {system_set_exec_alarm(EXEC_ALARM_HOMING_FAIL_RESET); }
+      } else { system_set_exec_alarm(EXEC_ALARM_ABORT_CYCLE); }
       st_go_idle(); // Force kill steppers. Position has likely been lost.
     }
   }

diff --git a/grbl/planner.c b/grbl/planner.c
@@ -327,7 +327,7 @@ uint8_t plan_buffer_line(float *target, plan_line_data_t *pl_data)
   uint8_t idx;
 
   // Copy position data based on type of motion being planned.
-    if (block->condition & PL_COND_FLAG_SYSTEM_MOTION) { 
+  if (block->condition & PL_COND_FLAG_SYSTEM_MOTION) { 
     #ifdef COREXY
       position_steps[X_AXIS] = system_convert_corexy_to_x_axis_steps(sys_position);
       position_steps[Y_AXIS] = system_convert_corexy_to_y_axis_steps(sys_position);
@@ -383,8 +383,8 @@ uint8_t plan_buffer_line(float *target, plan_line_data_t *pl_data)
   block->millimeters = convert_delta_vector_to_unit_vector(unit_vec);
   block->acceleration = limit_value_by_axis_maximum(settings.acceleration, unit_vec);
   block->rapid_rate = limit_value_by_axis_maximum(settings.max_rate, unit_vec);
-  
-    // Store programmed rate.
+
+  // Store programmed rate.
   if (block->condition & PL_COND_FLAG_RAPID_MOTION) { block->programmed_rate = block->rapid_rate; }
   else { 
     block->programmed_rate = pl_data->feed_rate;

diff --git a/grbl/protocol.c b/grbl/protocol.c
@@ -32,7 +32,7 @@ static char line[LINE_BUFFER_SIZE]; // Line to be executed. Zero-terminated.
 static void protocol_exec_rt_suspend();
 
 
-/* 
+/*
   GRBL PRIMARY LOOP:
 */
 void protocol_main_loop()
@@ -197,13 +197,13 @@ void protocol_auto_cycle_start()
 
 
 // This function is the general interface to Grbl's real-time command execution system. It is called
-// from various check points in the main program, primarily where there may be a while loop waiting 
-// for a buffer to clear space or any point where the execution time from the last check point may 
-// be more than a fraction of a second. This is a way to execute realtime commands asynchronously 
+// from various check points in the main program, primarily where there may be a while loop waiting
+// for a buffer to clear space or any point where the execution time from the last check point may
+// be more than a fraction of a second. This is a way to execute realtime commands asynchronously
 // (aka multitasking) with grbl's g-code parsing and planning functions. This function also serves
 // as an interface for the interrupts to set the system realtime flags, where only the main program
 // handles them, removing the need to define more computationally-expensive volatile variables. This
-// also provides a controlled way to execute certain tasks without having two or more instances of 
+// also provides a controlled way to execute certain tasks without having two or more instances of
 // the same task, such as the planner recalculating the buffer upon a feedhold or overrides.
 // NOTE: The sys_rt_exec_state variable flags are set by any process, step or serial interrupts, pinouts,
 // limit switches, or the main program.
@@ -239,7 +239,7 @@ void protocol_exec_rt_system()
         // lost, continued streaming could cause a serious crash if by chance it gets executed.
       } while (bit_isfalse(sys_rt_exec_state,EXEC_RESET));
     }
-    system_clear_exec_alarm_flag(0xFF); // Clear all alarm flags
+    system_clear_exec_alarm(); // Clear alarm
   }
 
   rt_exec = sys_rt_exec_state; // Copy volatile sys_rt_exec_state.

diff --git a/grbl/report.c b/grbl/report.c
@@ -18,11 +18,11 @@
   along with Grbl.  If not, see <http://www.gnu.org/licenses/>.
 */
 
-/* 
-  This file functions as the primary feedback interface for Grbl. Any outgoing data, such 
+/*
+  This file functions as the primary feedback interface for Grbl. Any outgoing data, such
   as the protocol status messages, feedback messages, and status reports, are stored here.
-  For the most part, these functions primarily are called from protocol.c methods. If a 
-  different style feedback is desired (i.e. JSON), then a user can change these following 
+  For the most part, these functions primarily are called from protocol.c methods. If a
+  different style feedback is desired (i.e. JSON), then a user can change these following
   methods to accomodate their needs.
 */
 
@@ -104,8 +104,8 @@ static void report_util_float_setting(uint8_t n, float val, uint8_t n_decimal) {
 
 
 // Handles the primary confirmation protocol response for streaming interfaces and human-feedback.
-// For every incoming line, this method responds with an 'ok' for a successful command or an 
-// 'error:'  to indicate some error event with the line or some critical system error during 
+// For every incoming line, this method responds with an 'ok' for a successful command or an
+// 'error:'  to indicate some error event with the line or some critical system error during
 // operation. Errors events can originate from the g-code parser, settings module, or asynchronously
 // from a critical error, such as a triggered hard limit. Interface should always monitor for these
 // responses.
@@ -122,7 +122,7 @@ void report_status_message(uint8_t status_code)
 }
 
 // Prints alarm messages.
-void report_alarm_message(int8_t alarm_code)
+void report_alarm_message(uint8_t alarm_code)
 {
   printPgmString(PSTR("ALARM:"));
   print_uint8_base10(alarm_code);

diff --git a/grbl/report.h b/grbl/report.h
@@ -86,7 +86,7 @@
 void report_status_message(uint8_t status_code);
 
 // Prints system alarm messages.
-void report_alarm_message(int8_t alarm_code);
+void report_alarm_message(uint8_t alarm_code);
 
 // Prints miscellaneous feedback messages.
 void report_feedback_message(uint8_t message_code);