Machine-Fraiseuse_Cnc_CharlyRobot_CRA4/Grbl_Esp32-master/Grbl_Esp32/system.cpp

/*
  system.cpp - Header for system level commands and real-time processes
  Part of Grbl
  Copyright (c) 2014-2016 Sungeun K. Jeon for Gnea Research LLC
	
	2018 -	Bart Dring This file was modified for use on the ESP32
					CPU. Do not use this with Grbl for atMega328P
	
  Grbl is free software: you can redistribute it and/or modify
  it under the terms of the GNU General Public License as published by
  the Free Software Foundation, either version 3 of the License, or
  (at your option) any later version.
  Grbl is distributed in the hope that it will be useful,
  but WITHOUT ANY WARRANTY; without even the implied warranty of
  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  GNU General Public License for more details.
  You should have received a copy of the GNU General Public License
  along with Grbl.  If not, see <http://www.gnu.org/licenses/>.
*/

#include "grbl.h"
#include "config.h"

xQueueHandle control_sw_queue;  // used by control switch debouncing
bool debouncing = false;  // debouncing in process

void system_ini() // Renamed from system_init() due to conflict with esp32 files
{	
	// setup control inputs
	#ifndef IGNORE_CONTROL_PINS
		
		#ifdef CONTROL_SAFETY_DOOR_PIN
			pinMode(CONTROL_SAFETY_DOOR_PIN, INPUT_PULLUP);
			attachInterrupt(digitalPinToInterrupt(CONTROL_SAFETY_DOOR_PIN), isr_control_inputs, CHANGE);
		#endif
		#ifdef CONTROL_RESET_PIN
			pinMode(CONTROL_RESET_PIN, INPUT_PULLUP);
			attachInterrupt(digitalPinToInterrupt(CONTROL_RESET_PIN), isr_control_inputs, CHANGE);
		#endif
		#ifdef CONTROL_FEED_HOLD_PIN
			pinMode(CONTROL_FEED_HOLD_PIN, INPUT_PULLUP);
			attachInterrupt(digitalPinToInterrupt(CONTROL_FEED_HOLD_PIN), isr_control_inputs, CHANGE);
		#endif
		#ifdef CONTROL_CYCLE_START_PIN
			pinMode(CONTROL_CYCLE_START_PIN, INPUT_PULLUP);
			attachInterrupt(digitalPinToInterrupt(CONTROL_CYCLE_START_PIN), isr_control_inputs, CHANGE);
		#endif
		
		#ifdef MACRO_BUTTON_0_PIN
			grbl_send(CLIENT_SERIAL, "[MSG:Macro Pin 0]\r\n");
			pinMode(MACRO_BUTTON_0_PIN, INPUT_PULLUP);
			attachInterrupt(digitalPinToInterrupt(MACRO_BUTTON_0_PIN), isr_control_inputs, CHANGE);
		#endif

		#ifdef MACRO_BUTTON_1_PIN
			grbl_send(CLIENT_SERIAL, "[MSG:Macro Pin 1]\r\n");
			pinMode(MACRO_BUTTON_1_PIN, INPUT_PULLUP);
			attachInterrupt(digitalPinToInterrupt(MACRO_BUTTON_1_PIN), isr_control_inputs, CHANGE);
		#endif

		#ifdef MACRO_BUTTON_2_PIN
			grbl_send(CLIENT_SERIAL, "[MSG:Macro Pin 2]\r\n");
			pinMode(MACRO_BUTTON_2_PIN, INPUT_PULLUP);
			attachInterrupt(digitalPinToInterrupt(MACRO_BUTTON_2_PIN), isr_control_inputs, CHANGE);
		#endif

		#ifdef MACRO_BUTTON_3_PIN
			grbl_send(CLIENT_SERIAL, "[MSG:Macro Pin 3]\r\n");
			pinMode(MACRO_BUTTON_3_PIN, INPUT_PULLUP);
			attachInterrupt(digitalPinToInterrupt(MACRO_BUTTON_3_PIN), isr_control_inputs, CHANGE);
		#endif	
		
		#ifdef ENABLE_CONTROL_SW_DEBOUNCE
			// setup task used for debouncing
			control_sw_queue = xQueueCreate(10, sizeof( int ));
			
			xTaskCreate(controlCheckTask, 
						"controlCheckTask", 
						2048, 
						NULL, 
						5, // priority 
						NULL);
		#endif

	#endif

	//customize pin definition if needed
	#if (GRBL_SPI_SS != -1) || (GRBL_SPI_MISO != -1) || (GRBL_SPI_MOSI != -1) || (GRBL_SPI_SCK != -1)
		SPI.begin(GRBL_SPI_SCK, GRBL_SPI_MISO, GRBL_SPI_MOSI, GRBL_SPI_SS);
	#endif 

	// Setup USER_DIGITAL_PINs controlled by M62 and M63
	#ifdef USER_DIGITAL_PIN_1
		pinMode(USER_DIGITAL_PIN_1, OUTPUT);
		sys_io_control(1<<1, false); // turn off
	#endif

	#ifdef USER_DIGITAL_PIN_2
		pinMode(USER_DIGITAL_PIN_2, OUTPUT);
		sys_io_control(1<<2, false); // turn off
	#endif

	#ifdef USER_DIGITAL_PIN_3
		pinMode(USER_DIGITAL_PIN_3, OUTPUT);
		sys_io_control(1<<3, false); // turn off
	#endif

	#ifdef USER_DIGITAL_PIN_4
		pinMode(USER_DIGITAL_PIN_4, OUTPUT);
		sys_io_control(1<<4, false); // turn off
	#endif	
}

#ifdef ENABLE_CONTROL_SW_DEBOUNCE
// this is the debounce task
void controlCheckTask(void *pvParameters)
{	
	while(true) {
		int evt;
		xQueueReceive(control_sw_queue, &evt, portMAX_DELAY); // block until receive queue
		vTaskDelay(CONTROL_SW_DEBOUNCE_PERIOD); // delay a while
		
		uint8_t pin = system_control_get_state();
		if (pin) {			
			system_exec_control_pin(pin);
		}
		debouncing = false;
	}
}
#endif

void IRAM_ATTR isr_control_inputs()
{  	
	#ifdef ENABLE_CONTROL_SW_DEBOUNCE
		// we will start a task that will recheck the switches after a small delay
		int evt;
		if (!debouncing) { // prevent resending until debounce is done
			debouncing = true;
			xQueueSendFromISR(control_sw_queue, &evt, NULL);
		}		
	#else
		uint8_t pin = system_control_get_state();
		system_exec_control_pin(pin);
	#endif
}

// Executes user startup script, if stored.
void system_execute_startup(char *line)
{
  uint8_t n;
  for (n=0; n < N_STARTUP_LINE; n++) {
    if (!(settings_read_startup_line(n, line))) {
      line[0] = 0;
      report_execute_startup_message(line,STATUS_SETTING_READ_FAIL, CLIENT_SERIAL);
    } else {
      if (line[0] != 0) {
        uint8_t status_code = gc_execute_line(line, CLIENT_SERIAL);
        report_execute_startup_message(line,status_code, CLIENT_SERIAL);
      }
    }
  }
}

// Directs and executes one line of formatted input from protocol_process. While mostly
// incoming streaming g-code blocks, this also executes Grbl internal commands, such as
// settings, initiating the homing cycle, and toggling switch states. This differs from
// the realtime command module by being susceptible to when Grbl is ready to execute the
// next line during a cycle, so for switches like block delete, the switch only effects
// the lines that are processed afterward, not necessarily real-time during a cycle,
// since there are motions already stored in the buffer. However, this 'lag' should not
// be an issue, since these commands are not typically used during a cycle.
uint8_t system_execute_line(char *line, uint8_t client)
{
  uint8_t char_counter = 1;
  uint8_t helper_var = 0; // Helper variable
  float parameter, value;
	
  switch( line[char_counter] ) {
    case 0 : report_grbl_help(client); break;
    case 'J' : // Jogging
      // Execute only if in IDLE or JOG states.
      if (sys.state != STATE_IDLE && sys.state != STATE_JOG) { return(STATUS_IDLE_ERROR); }
      if(line[2] != '=') { return(STATUS_INVALID_STATEMENT); }
      return(gc_execute_line(line, client)); // NOTE: $J= is ignored inside g-code parser and used to detect jog motions.
      break;
    case '$': case 'G': case 'C': case 'X':
      if ( line[2] != 0 ) { return(STATUS_INVALID_STATEMENT); }
      switch( line[1] ) {
        case '$' : // Prints Grbl settings
          if ( sys.state & (STATE_CYCLE | STATE_HOLD) ) { return(STATUS_IDLE_ERROR); } // Block during cycle. Takes too long to print.
          else { report_grbl_settings(client); }
          break;
        case 'G' : // Prints gcode parser state
          // TODO: Move this to realtime commands for GUIs to request this data during suspend-state.
          report_gcode_modes(client);
          break;
        case 'C' : // Set check g-code mode [IDLE/CHECK]
          // Perform reset when toggling off. Check g-code mode should only work if Grbl
          // is idle and ready, regardless of alarm locks. This is mainly to keep things
          // simple and consistent.
          if ( sys.state == STATE_CHECK_MODE ) {
            mc_reset();
            report_feedback_message(MESSAGE_DISABLED);
          } else {
            if (sys.state) { return(STATUS_IDLE_ERROR); } // Requires no alarm mode.
            sys.state = STATE_CHECK_MODE;
            report_feedback_message(MESSAGE_ENABLED);
          }
          break;
        case 'X' : // Disable alarm lock [ALARM]
          if (sys.state == STATE_ALARM) {
            // Block if safety door is ajar.
            if (system_check_safety_door_ajar()) { return(STATUS_CHECK_DOOR); }
            report_feedback_message(MESSAGE_ALARM_UNLOCK);
            sys.state = STATE_IDLE;
            // Don't run startup script. Prevents stored moves in startup from causing accidents.
          } // Otherwise, no effect.
          break;
      }
      break;
    default :
      // Block any system command that requires the state as IDLE/ALARM. (i.e. EEPROM, homing)
      if ( !(sys.state == STATE_IDLE || sys.state == STATE_ALARM) ) { return(STATUS_IDLE_ERROR); }
      switch( line[1] ) {
        case '#' : // Print Grbl NGC parameters
          if ( line[2] != 0 ) { return(STATUS_INVALID_STATEMENT); }
          else { report_ngc_parameters(client); }
          break;
        case 'H' : // Perform homing cycle [IDLE/ALARM]  $H
          if (bit_isfalse(settings.flags,BITFLAG_HOMING_ENABLE)) {return(STATUS_SETTING_DISABLED); }
          if (system_check_safety_door_ajar()) { return(STATUS_CHECK_DOOR); } // Block if safety door is ajar.
          sys.state = STATE_HOMING; // Set system state variable
          if (line[2] == 0) {
            mc_homing_cycle(HOMING_CYCLE_ALL);
          #ifdef HOMING_SINGLE_AXIS_COMMANDS
            } else if (line[3] == 0) {
              switch (line[2]) {
                case 'X': mc_homing_cycle(HOMING_CYCLE_X); break;
                case 'Y': mc_homing_cycle(HOMING_CYCLE_Y); break;
                case 'Z': mc_homing_cycle(HOMING_CYCLE_Z); break;
				case 'A': mc_homing_cycle(HOMING_CYCLE_A); break;
				case 'B': mc_homing_cycle(HOMING_CYCLE_B); break;
				case 'C': mc_homing_cycle(HOMING_CYCLE_C); break;
                default: return(STATUS_INVALID_STATEMENT);
              }
          #endif
          } else { return(STATUS_INVALID_STATEMENT); }
          if (!sys.abort) {  // Execute startup scripts after successful homing.
            sys.state = STATE_IDLE; // Set to IDLE when complete.
            st_go_idle(); // Set steppers to the settings idle state before returning.
            if (line[2] == 0) { system_execute_startup(line); }
          }
          break;
        case 'S' : // Puts Grbl to sleep [IDLE/ALARM]
          if ((line[2] != 'L') || (line[3] != 'P') || (line[4] != 0)) { return(STATUS_INVALID_STATEMENT); }
          system_set_exec_state_flag(EXEC_SLEEP); // Set to execute sleep mode immediately
          break;
        case 'I' : // Print or store build info. [IDLE/ALARM]
          if ( line[++char_counter] == 0 ) {
            settings_read_build_info(line);
            report_build_info(line, client);
          #ifdef ENABLE_BUILD_INFO_WRITE_COMMAND
            } else { // Store startup line [IDLE/ALARM]
              if(line[char_counter++] != '=') { return(STATUS_INVALID_STATEMENT); }
              helper_var = char_counter; // Set helper variable as counter to start of user info line.
              do {
                line[char_counter-helper_var] = line[char_counter];
              } while (line[char_counter++] != 0);
              settings_store_build_info(line);
          #endif
          }
          break;
        case 'R' : // Restore defaults [IDLE/ALARM]
          if ((line[2] != 'S') || (line[3] != 'T') || (line[4] != '=') || (line[6] != 0)) { return(STATUS_INVALID_STATEMENT); }
          switch (line[5]) {
            #ifdef ENABLE_RESTORE_EEPROM_DEFAULT_SETTINGS
              case '$': settings_restore(SETTINGS_RESTORE_DEFAULTS); break;
            #endif
            #ifdef ENABLE_RESTORE_EEPROM_CLEAR_PARAMETERS
              case '#': settings_restore(SETTINGS_RESTORE_PARAMETERS); break;
            #endif
            #ifdef ENABLE_RESTORE_EEPROM_WIPE_ALL
              case '*': settings_restore(SETTINGS_RESTORE_ALL); break;
            #endif
            #if defined(ENABLE_BLUETOOTH) || defined(ENABLE_WIFI)
            case '@': settings_restore(SETTINGS_RESTORE_WIFI_SETTINGS); break;
            #endif
            default: return(STATUS_INVALID_STATEMENT);
          }
          report_feedback_message(MESSAGE_RESTORE_DEFAULTS);
          mc_reset(); // Force reset to ensure settings are initialized correctly.
          break;
        case 'N' : // Startup lines. [IDLE/ALARM]
          if ( line[++char_counter] == 0 ) { // Print startup lines
            for (helper_var=0; helper_var < N_STARTUP_LINE; helper_var++) {
              if (!(settings_read_startup_line(helper_var, line))) {
                report_status_message(STATUS_SETTING_READ_FAIL, CLIENT_SERIAL);
              } else {
                report_startup_line(helper_var,line, client);
              }
            }
            break;
          } else { // Store startup line [IDLE Only] Prevents motion during ALARM.
            if (sys.state != STATE_IDLE) { return(STATUS_IDLE_ERROR); } // Store only when idle.
            helper_var = true;  // Set helper_var to flag storing method.
            // No break. Continues into default: to read remaining command characters.
          }

        default :  // Storing setting methods [IDLE/ALARM]
          if(!read_float(line, &char_counter, &parameter)) { return(STATUS_BAD_NUMBER_FORMAT); }
          if(line[char_counter++] != '=') { return(STATUS_INVALID_STATEMENT); }
          if (helper_var) { // Store startup line
            // Prepare sending gcode block to gcode parser by shifting all characters
            helper_var = char_counter; // Set helper variable as counter to start of gcode block
            do {
              line[char_counter-helper_var] = line[char_counter];
            } while (line[char_counter++] != 0);
            // Execute gcode block to ensure block is valid.
            helper_var = gc_execute_line(line, CLIENT_SERIAL); // Set helper_var to returned status code.
            if (helper_var) { return(helper_var); }
            else {
              helper_var = trunc(parameter); // Set helper_var to int value of parameter
              settings_store_startup_line(helper_var,line);
            }
          } else { // Store global setting.
            if(!read_float(line, &char_counter, &value)) { return(STATUS_BAD_NUMBER_FORMAT); }
            if((line[char_counter] != 0) || (parameter > 255)) { return(STATUS_INVALID_STATEMENT); }
            return(settings_store_global_setting((uint8_t)parameter, value));
          }
      }
  }
  return(STATUS_OK); // If '$' command makes it to here, then everything's ok.
}


// Returns if safety door is ajar(T) or closed(F), based on pin state.
uint8_t system_check_safety_door_ajar()
{
  #ifdef ENABLE_SAFETY_DOOR_INPUT_PIN
    return(system_control_get_state() & CONTROL_PIN_INDEX_SAFETY_DOOR);
  #else
    return(false); // Input pin not enabled, so just return that it's closed.
  #endif
}

// Special handlers for setting and clearing Grbl's real-time execution flags.
void system_set_exec_state_flag(uint8_t mask) {
  // TODO uint8_t sreg = SREG;
  // TODO cli();
  sys_rt_exec_state |= (mask);
  // TODO SREG = sreg;
}

void system_clear_exec_state_flag(uint8_t mask) {
  //uint8_t sreg = SREG;
  //cli();
  sys_rt_exec_state &= ~(mask);
  //SREG = sreg;
}

void system_set_exec_alarm(uint8_t code) {
  //uint8_t sreg = SREG;
  //cli();
  sys_rt_exec_alarm = code;
  //SREG = sreg;
}

void system_clear_exec_alarm() {
  //uint8_t sreg = SREG;
  //cli();
  sys_rt_exec_alarm = 0;
  //SREG = sreg;
}

void system_set_exec_motion_override_flag(uint8_t mask) {
  //uint8_t sreg = SREG;
  //cli();
  sys_rt_exec_motion_override |= (mask);
  //SREG = sreg;
}

void system_set_exec_accessory_override_flag(uint8_t mask) {
  //uint8_t sreg = SREG;
  //cli();
  sys_rt_exec_accessory_override |= (mask);
  //SREG = sreg;
}

void system_clear_exec_motion_overrides() {
  //uint8_t sreg = SREG;
  //cli();
  sys_rt_exec_motion_override = 0;
  //SREG = sreg;
}

void system_clear_exec_accessory_overrides() {
  //uint8_t sreg = SREG;
  //cli();
  sys_rt_exec_accessory_override = 0;
  //SREG = sreg;
}


void system_flag_wco_change()
{
  #ifdef FORCE_BUFFER_SYNC_DURING_WCO_CHANGE
    protocol_buffer_synchronize();
  #endif
  sys.report_wco_counter = 0;
}


// Returns machine position of axis 'idx'. Must be sent a 'step' array.
// NOTE: If motor steps and machine position are not in the same coordinate frame, this function
//   serves as a central place to compute the transformation.
float system_convert_axis_steps_to_mpos(int32_t *steps, uint8_t idx)
{
  float pos;
  #ifdef COREXY
    if (idx==X_AXIS) {
      pos = (float)system_convert_corexy_to_x_axis_steps(steps) / settings.steps_per_mm[idx];
    } else if (idx==Y_AXIS) {
      pos = (float)system_convert_corexy_to_y_axis_steps(steps) / settings.steps_per_mm[idx];
    } else {
      pos = steps[idx]/settings.steps_per_mm[idx];
    }
  #else
    pos = steps[idx]/settings.steps_per_mm[idx];
  #endif
  return(pos);
}

void system_convert_array_steps_to_mpos(float *position, int32_t *steps)
{
  uint8_t idx;
  for (idx=0; idx<N_AXIS; idx++) {
    position[idx] = system_convert_axis_steps_to_mpos(steps, idx);
  }
  return;
}



// Checks and reports if target array exceeds machine travel limits.
uint8_t system_check_travel_limits(float *target)
{
  uint8_t idx;
  for (idx=0; idx<N_AXIS; idx++) {
    #ifdef HOMING_FORCE_SET_ORIGIN
      // When homing forced set origin is enabled, soft limits checks need to account for directionality.
      // NOTE: max_travel is stored as negative
      if (bit_istrue(settings.homing_dir_mask,bit(idx))) {
        if (target[idx] < 0 || target[idx] > -settings.max_travel[idx]) { return(true); }
      } else {
        if (target[idx] > 0 || target[idx] < settings.max_travel[idx]) { return(true); }
      }
    #else
      // NOTE: max_travel is stored as negative
      #ifdef HOMING_FORCE_POSITIVE_SPACE
        if (target[idx] < 0 || target[idx] > -settings.max_travel[idx]) { return(true); }
      #else
        if (target[idx] > 0 || target[idx] < settings.max_travel[idx]) { return(true); }
      #endif
    #endif
  }
  return(false);
}

// Returns control pin state as a uint8 bitfield. Each bit indicates the input pin state, where
// triggered is 1 and not triggered is 0. Invert mask is applied. Bitfield organization is
// defined by the CONTROL_PIN_INDEX in the header file.
uint8_t system_control_get_state()
{
	uint8_t defined_pin_mask = 0; // a mask of defined pins 	
	
	#ifdef IGNORE_CONTROL_PINS
		return 0;
	#endif	
	
  uint8_t control_state = 0;
	#ifdef CONTROL_SAFETY_DOOR_PIN
		defined_pin_mask |= CONTROL_PIN_INDEX_SAFETY_DOOR;
		if (digitalRead(CONTROL_SAFETY_DOOR_PIN)) { control_state |= CONTROL_PIN_INDEX_SAFETY_DOOR; }
	#endif
	#ifdef CONTROL_RESET_PIN
		defined_pin_mask |= CONTROL_PIN_INDEX_RESET;
		if (digitalRead(CONTROL_RESET_PIN)) { control_state |= CONTROL_PIN_INDEX_RESET; }
	#endif
	#ifdef CONTROL_FEED_HOLD_PIN
		defined_pin_mask |= CONTROL_PIN_INDEX_FEED_HOLD;
		if (digitalRead(CONTROL_FEED_HOLD_PIN)) { control_state |= CONTROL_PIN_INDEX_FEED_HOLD; }	
	#endif
	#ifdef CONTROL_CYCLE_START_PIN
		defined_pin_mask |= CONTROL_PIN_INDEX_CYCLE_START;
		if (digitalRead(CONTROL_CYCLE_START_PIN)) { control_state |= CONTROL_PIN_INDEX_CYCLE_START; }   
	#endif
	
	#ifdef MACRO_BUTTON_0_PIN
		defined_pin_mask |= CONTROL_PIN_INDEX_MACRO_0;
		if (digitalRead(MACRO_BUTTON_0_PIN)) { control_state |= CONTROL_PIN_INDEX_MACRO_0; }
	#endif
	
	#ifdef MACRO_BUTTON_1_PIN
		defined_pin_mask |= CONTROL_PIN_INDEX_MACRO_1;
		if (digitalRead(MACRO_BUTTON_1_PIN)) { control_state |= CONTROL_PIN_INDEX_MACRO_1; }
	#endif
	
	#ifdef MACRO_BUTTON_2_PIN
		defined_pin_mask |= CONTROL_PIN_INDEX_MACRO_2;
		if (digitalRead(MACRO_BUTTON_2_PIN)) { control_state |= CONTROL_PIN_INDEX_MACRO_2; }
	#endif
	
	#ifdef MACRO_BUTTON_3_PIN
		defined_pin_mask |= CONTROL_PIN_INDEX_MACRO_3;
		if (digitalRead(MACRO_BUTTON_3_PIN)) { control_state |= CONTROL_PIN_INDEX_MACRO_3; }
	#endif
	
	
  #ifdef INVERT_CONTROL_PIN_MASK
    control_state ^= (INVERT_CONTROL_PIN_MASK & defined_pin_mask);
  #endif  
	  
  return(control_state);  
}

// Returns limit pin mask according to Grbl internal axis indexing.
uint8_t get_limit_pin_mask(uint8_t axis_idx)
{
  if ( axis_idx == X_AXIS ) { return((1<<X_LIMIT_BIT)); }
  if ( axis_idx == Y_AXIS ) { return((1<<Y_LIMIT_BIT)); }
  if ( axis_idx == Z_AXIS ) { return((1<<Z_LIMIT_BIT)); }
  if ( axis_idx == A_AXIS ) { return((1<<A_LIMIT_BIT)); }
  if ( axis_idx == B_AXIS ) { return((1<<B_LIMIT_BIT)); }
  if ( axis_idx == C_AXIS ) { return((1<<C_LIMIT_BIT)); }
  return 0;
}

// execute the function of the control pin
void system_exec_control_pin(uint8_t pin) {
	
	if (bit_istrue(pin,CONTROL_PIN_INDEX_RESET)) {
		grbl_send(CLIENT_SERIAL, "[MSG:Reset via control pin]\r\n"); // help debug reason for reset
		mc_reset();
	} 
	else if (bit_istrue(pin,CONTROL_PIN_INDEX_CYCLE_START)) {
		bit_true(sys_rt_exec_state, EXEC_CYCLE_START);    
	} 		
	else if (bit_istrue(pin,CONTROL_PIN_INDEX_FEED_HOLD)) {
		bit_true(sys_rt_exec_state, EXEC_FEED_HOLD);    
	}		
	else if (bit_istrue(pin,CONTROL_PIN_INDEX_SAFETY_DOOR)) {
		bit_true(sys_rt_exec_state, EXEC_SAFETY_DOOR);  
	}
	#ifdef MACRO_BUTTON_0_PIN
	else if (bit_istrue(pin,CONTROL_PIN_INDEX_MACRO_0)) {	
		user_defined_macro(CONTROL_PIN_INDEX_MACRO_0); // function must be implemented by user 
	}
	#endif
	#ifdef MACRO_BUTTON_1_PIN
	else if (bit_istrue(pin,CONTROL_PIN_INDEX_MACRO_1)) {
		user_defined_macro(CONTROL_PIN_INDEX_MACRO_1); // function must be implemented by user 
	}
	#endif
	#ifdef MACRO_BUTTON_2_PIN
	else if (bit_istrue(pin,CONTROL_PIN_INDEX_MACRO_2)) {
		user_defined_macro(CONTROL_PIN_INDEX_MACRO_2); // function must be implemented by user 
	}
	#endif
	#ifdef MACRO_BUTTON_3_PIN
	else if (bit_istrue(pin,CONTROL_PIN_INDEX_MACRO_3)) {
		user_defined_macro(CONTROL_PIN_INDEX_MACRO_3); // function must be implemented by user 
	}
	#endif 
}

// CoreXY calculation only. Returns x or y-axis "steps" based on CoreXY motor steps.
int32_t system_convert_corexy_to_x_axis_steps(int32_t *steps)
{
	return( (steps[A_MOTOR] + steps[B_MOTOR])/2 );
}
int32_t system_convert_corexy_to_y_axis_steps(int32_t *steps)
{
	return( (steps[A_MOTOR] - steps[B_MOTOR])/2 );
}

// io_num is the virtual pin# and has nothing to do with the actual esp32 GPIO_NUM_xx
// It uses a mask so all can be turned of in ms_reset
void sys_io_control(uint8_t io_num_mask, bool turnOn) {
	protocol_buffer_synchronize();
	#ifdef USER_DIGITAL_PIN_1
		if (io_num_mask & 1<<1) {
			digitalWrite(USER_DIGITAL_PIN_1, turnOn);
			return;
		}
	#endif
	#ifdef USER_DIGITAL_PIN_2
		if (io_num_mask & 1<<2) {
			digitalWrite(USER_DIGITAL_PIN_2, turnOn);
			return;
		}
	#endif
	#ifdef USER_DIGITAL_PIN_3
		if (io_num_mask & 1<<3) {
			digitalWrite(USER_DIGITAL_PIN_3, turnOn);
			return;
		}
	#endif
	#ifdef USER_DIGITAL_PIN_4
		if (io_num_mask & 1<<4) {
			digitalWrite(USER_DIGITAL_PIN_4, turnOn);
			return;
		}
	#endif
}