added grbl state function to cnc

uCNC/src/cnc.c

@@ -1052,3 +1052,59 @@ void cnc_run_startup_blocks(void)
 	// reset streams
 	serial_stream_change(NULL);
 }
+
+uint8_t cnc_get_state(void)
+{
+	// state check must obay this order
+	if (cnc_has_alarm())
+	{
+		return GRBL_STATE_ALARM;
+	}
+	else if (mc_get_checkmode())
+	{
+		return GRBL_STATE_CHECKMODE;
+	}
+	else
+	{
+		uint8_t state = cnc_get_exec_state(EXEC_ALLACTIVE);
+
+		if (state & (EXEC_UNHOMED | EXEC_LIMITS))
+		{
+			return (!cnc_get_exec_state(EXEC_HOMING)) ? GRBL_STATE_ALARM : GRBL_STATE_HOMING;
+		}
+
+#if ASSERT_PIN(SAFETY_DOOR)
+		if (state & EXEC_DOOR)
+		{
+			if (CHECKFLAG(io_get_controls(), SAFETY_DOOR_MASK))
+			{
+				return (cnc_get_exec_state(EXEC_RUN)) ? GRBL_STATE_DOOR_2 : GRBL_STATE_DOOR_1;
+			}
+
+			return (cnc_get_exec_state(EXEC_RUN)) ? GRBL_STATE_DOOR_3 : GRBL_STATE_DOOR_0;
+		}
+#endif
+
+		if (state & EXEC_HOMING)
+		{
+			return GRBL_STATE_HOMING;
+		}
+
+		if (state & EXEC_HOLD)
+		{
+			return (cnc_get_exec_state(EXEC_RUN)) ? GRBL_STATE_HOLD_1 : GRBL_STATE_HOLD_0;
+		}
+
+		if (state & EXEC_JOG)
+		{
+			return GRBL_STATE_JOG;
+		}
+
+		if (state & EXEC_RUN)
+		{
+			return GRBL_STATE_RUN;
+		}
+	}
+
+	return GRBL_STATE_IDLE;
+}

uCNC/src/cnc.h

@@ -52,23 +52,23 @@ extern "C"
 
 /**
  * Flags and state changes
- * 
+ *
  * EXEC_KILL
  * Set by cnc_alarm.
- * Cleared by reset or unlock depending on the the alarm priority. Cannot be cleared if ESTOP is pressed. 
- * 
+ * Cleared by reset or unlock depending on the the alarm priority. Cannot be cleared if ESTOP is pressed.
+ *
  * EXEC_LIMITS
- * Set when at a transition of a limit switch from inactive to the active state. 
+ * Set when at a transition of a limit switch from inactive to the active state.
  * Cleared by reset or unlock. Not affected by the limit switch state.
- * 
+ *
  * EXEC_UNHOMED
  * Set when the interpolator is abruptly stopped causing the position to be lost.
  * Cleared by homing or unlock.
- * 
+ *
  * EXEC_DOOR
  * Set with when the safety door pin is active or the safety door command is called.
  * Cleared by cycle resume, unlock or reset. If the door is opened it will remain active
- * 
+ *
  */
 // current cnc states (multiple can be active/overlapped at the same time)
 #define EXEC_IDLE 0															// All flags cleared
@@ -87,6 +87,23 @@ extern "C"
 #define EXEC_GCODE_LOCKED (EXEC_ALARM | EXEC_DOOR | EXEC_HOMING | EXEC_JOG) // Gcode is locked by an alarm or any special motion state
 #define EXEC_ALLACTIVE 255													// All states
 
+// this is a new list of states that can be used more easilly to get the current "Grbl" state
+#define GRBL_STATE_CODE(C, M) ((C << 3) | M)
+#define GRBL_STATE_CODE_BASE(C) (C & ~0x07)
+#define GRBL_STATE_CODE_MANTISSA(C) (C & 0x07)
+#define GRBL_STATE_ALARM GRBL_STATE_CODE(7, 0)
+#define GRBL_STATE_CHECKMODE GRBL_STATE_CODE(6, 0)
+#define GRBL_STATE_DOOR_0 GRBL_STATE_CODE(5, 0)
+#define GRBL_STATE_DOOR_1 GRBL_STATE_CODE(5, 1)
+#define GRBL_STATE_DOOR_2 GRBL_STATE_CODE(5, 2)
+#define GRBL_STATE_DOOR_3 GRBL_STATE_CODE(5, 3)
+#define GRBL_STATE_HOMING GRBL_STATE_CODE(4, 0)
+#define GRBL_STATE_HOLD_0 GRBL_STATE_CODE(3, 0)
+#define GRBL_STATE_HOLD_1 GRBL_STATE_CODE(3, 1)
+#define GRBL_STATE_JOG GRBL_STATE_CODE(2, 0)
+#define GRBL_STATE_RUN GRBL_STATE_CODE(1, 0)
+#define GRBL_STATE_IDLE GRBL_STATE_CODE(0, 0)
+
 // creates a set of helper masks used to configure the controller
 #define ESTOP_MASK 1
 #define SAFETY_DOOR_MASK 2
@@ -98,14 +115,14 @@ extern "C"
 /**
  * Basic step and dir IO masks
  * STEPS DIRS and LIMITS can be combined to form MULTI AXIS/LIMITS combinations
- * 
+ *
  * Usually (depends on the kinematic) STEP0 is assigned to AXIS X, STEP1 is assigned to AXIS Y, etc..
  * But STEP0 can be formed by multiple STEPPERS (for example STEPPER0, STEPPER5, STEPPER6 and STEPPER7)
- * 
+ *
  * STEP0_MASK can then be formed by a combinations of stepper IO masks like this
- * 
+ *
  * #define STEP0_MASK (STEPPER0_IO_MASK | STEPPER5_IO_MASK | STEPPER6_IO_MASK | STEPPER7_IO_MASK)
- * 
+ *
  * For auto-squaring LIMITS should also match this STEPx mask by merging all combined limits to form a multi-switch limit
  * **/
 #define STEP_UNDEF_IO_MASK 0
@@ -161,6 +178,7 @@ extern "C"
 	void cnc_home(void);
 	void cnc_alarm(int8_t code);
 	bool cnc_has_alarm(void);
+	uint8_t cnc_get_state(void);
 	uint8_t cnc_get_alarm(void);
 	void cnc_stop(void);
 	uint8_t cnc_unlock(bool force);

uCNC/src/interface/protocol.c

@@ -221,92 +221,38 @@ void protocol_send_status(void)
 	uint8_t controls = io_get_controls();
 	uint8_t limits = io_get_limits();
 	bool probe = io_get_probe();
-	uint8_t state = cnc_get_exec_state(0xFF);
-	uint8_t filter = 0x80;
-	while (!(state & filter) && filter)
-	{
-		filter >>= 1;
-	}
-
-	state &= filter;
+	uint8_t state = cnc_get_state();
 
 	serial_putc('<');
-	if (cnc_has_alarm())
+
+	switch (GRBL_STATE_CODE_BASE(state))
 	{
+	case GRBL_STATE_ALARM:
 		protocol_send_string(MSG_STATUS_ALARM);
-	}
-	else if (mc_get_checkmode())
-	{
+		break;
+	case GRBL_STATE_CHECKMODE:
 		protocol_send_string(MSG_STATUS_CHECK);
-	}
-	else
-	{
-		switch (state)
-		{
-#if ASSERT_PIN(SAFETY_DOOR)
-		case EXEC_DOOR:
-			protocol_send_string(MSG_STATUS_DOOR);
-			serial_putc(':');
-			if (CHECKFLAG(controls, SAFETY_DOOR_MASK))
-			{
-				if (cnc_get_exec_state(EXEC_RUN))
-				{
-					serial_putc('2');
-				}
-				else
-				{
-					serial_putc('1');
-				}
-			}
-			else
-			{
-				if (cnc_get_exec_state(EXEC_RUN))
-				{
-					serial_putc('3');
-				}
-				else
-				{
-					serial_putc('0');
-				}
-			}
-			break;
-#endif
-		case EXEC_UNHOMED:
-		case EXEC_LIMITS:
-			if (!cnc_get_exec_state(EXEC_HOMING))
-			{
-				protocol_send_string(MSG_STATUS_ALARM);
-			}
-			else
-			{
-				protocol_send_string(MSG_STATUS_HOME);
-			}
-			break;
-		case EXEC_HOLD:
-			protocol_send_string(MSG_STATUS_HOLD);
-			serial_putc(':');
-			if (cnc_get_exec_state(EXEC_RUN))
-			{
-				serial_putc('1');
-			}
-			else
-			{
-				serial_putc('0');
-			}
-			break;
-		case EXEC_HOMING:
-			protocol_send_string(MSG_STATUS_HOME);
-			break;
-		case EXEC_JOG:
-			protocol_send_string(MSG_STATUS_JOG);
-			break;
-		case EXEC_RUN:
-			protocol_send_string(MSG_STATUS_RUN);
-			break;
-		default:
-			protocol_send_string(MSG_STATUS_IDLE);
-			break;
-		}
+		break;
+	case GRBL_STATE_DOOR_0:
+		protocol_send_string(MSG_STATUS_DOOR);
+		serial_putc('0' + GRBL_STATE_CODE_MANTISSA(state));
+		break;
+	case GRBL_STATE_HOMING:
+		protocol_send_string(MSG_STATUS_HOME);
+		break;
+	case GRBL_STATE_HOLD_0:
+		protocol_send_string(MSG_STATUS_HOLD);
+		serial_putc('0' + GRBL_STATE_CODE_MANTISSA(state));
+		break;
+	case GRBL_STATE_JOG:
+		protocol_send_string(MSG_STATUS_JOG);
+		break;
+	case GRBL_STATE_RUN:
+		protocol_send_string(MSG_STATUS_RUN);
+		break;
+	default:
+		protocol_send_string(MSG_STATUS_IDLE);
+		break;
 	}
 
 	if ((g_settings.status_report_mask & 1))