ManuelW/grbl-LPC-CoreXY
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New startup script setting. New dry run, check gcode switches. New system state variable. Lots of reorganizing.

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(All v0.8 features installed. Still likely buggy, but now thourough
testing will need to start to squash them all. As soon as we're done,
this will be pushed to master and v0.9 development will be started.
Please report ANY issues to us so we can get this rolled out ASAP.)

- User startup script! A user can now save one (up to 5 as compile-time
option) block of g-code in EEPROM memory. This will be run everytime
Grbl resets. Mainly to be used as a way to set your preferences, like
G21, G54, etc.

- New dry run and check g-code switches. Dry run moves ALL motions at
rapids rate ignoring spindle, coolant, and dwell commands. For rapid
physical proofing of your code. The check g-code switch ignores all
motion and provides the user a way to check if there are any errors in
their program that Grbl may not like.

- Program restart! (sort of). Program restart is typically an advanced
feature that allows users to restart a program mid-stream. The check
g-code switch can perform this feature by enabling the switch at the
start of the program, and disabling it at the desired point with some
minimal changes.

- New system state variable. This state variable tracks all of the
different state processes that Grbl performs, i.e. cycle start, feed
hold, homing, etc. This is mainly for making managing of these task
easier and more clear.

- Position lost state variable. Only when homing is enabled, Grbl will
refuse to move until homing is completed and position is known. This is
mainly for safety. Otherwise, it will let users fend for themselves.

- Moved the default settings defines into config.h. The plan is to
eventually create a set of config.h's for particular as-built machines
to help users from doing it themselves.

- Moved around misc defines into .h files. And lots of other little
things.
This commit is contained in:
Sonny Jeon
2012-11-03 11:32:23 -06:00
parent 303cf59f52
commit 4c711a4af7
25 changed files with 453 additions and 370 deletions
Download Patch File Download Diff File Expand all files Collapse all files

58
main.c
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@ -48,56 +48,52 @@ int main(void)
serial_init(BAUD_RATE); // Setup serial baud rate and interrupts
st_init(); // Setup stepper pins and interrupt timers
sei(); // Enable interrupts
memset(&sys, 0, sizeof(sys)); // Clear all system variables
sys.abort = true; // Set abort to complete initialization
// TODO: When Grbl system status is installed, need to set position lost state upon startup.
sys.state = STATE_LOST; // Set state to indicate unknown initial position
for(;;) {
// Execute system reset upon a system abort, where the main program will return to this loop.
// Once here, it is safe to re-initialize the system. At startup, the system will automatically
// reset to finish the initialization process.
if (sys.abort) {
// Retain last known machine position and work coordinate offset(s). If the system abort
// occurred while in motion, machine position is not guaranteed, since a hard stop can cause
// the steppers to lose steps. Always perform a feedhold before an abort, if maintaining
// accurate machine position is required.
// TODO: Report last position and coordinate offset to users to help relocate origins. Future
// releases will auto-reset the machine position back to [0,0,0] if an abort is used while
// grbl is moving the machine.
int32_t last_position[3];
memcpy(last_position, sys.position, sizeof(sys.position)); // last_position[] = sys.position[]
// TODO: Last coordinate system method.
// If a critical event has occurred, set the position lost system state. For example, a
// hard limit event can cause the stepper to lose steps and position due to an immediate
// stop, not with a controlled deceleration. Or, if an abort was issued while a cycle
// was active, the immediate stop can also cause lost steps.
if (sys.state == STATE_ALARM) { sys.state = STATE_LOST; }
// Reset system.
memset(&sys, 0, sizeof(sys)); // Clear all system variables
serial_reset_read_buffer(); // Clear serial read buffer
settings_init(); // Load grbl settings from EEPROM
protocol_init(); // Clear incoming line data
plan_init(); // Clear block buffer and planner variables
gc_init(); // Set g-code parser to default state
protocol_init(); // Clear incoming line data and execute startup lines
spindle_init();
coolant_init();
limits_init();
st_reset(); // Clear stepper subsystem variables.
// Reload last known machine position and work systems. G92 coordinate offsets are reset.
memcpy(sys.position, last_position, sizeof(last_position)); // sys.position[] = last_position[]
gc_set_current_position(last_position[X_AXIS],last_position[Y_AXIS],last_position[Z_AXIS]);
plan_set_current_position(last_position[X_AXIS],last_position[Y_AXIS],last_position[Z_AXIS]);
// Set system runtime defaults
// TODO: Eventual move to EEPROM from config.h when all of the new settings are worked out.
// Mainly to avoid having to maintain several different versions.
if (bit_istrue(settings.flags,BITFLAG_AUTO_START)) {
sys.auto_start = true;
}
// TODO: Install G20/G21 unit default into settings and load appropriate settings.
report_init_message();
// Set cleared gcode and planner positions to current system position, which is only
// cleared upon startup, not a reset/abort. If Grbl does not know or ensure its position,
// a feedback message will be sent back to the user to let them know.
gc_set_current_position(sys.position[X_AXIS],sys.position[Y_AXIS],sys.position[Z_AXIS]);
plan_set_current_position(sys.position[X_AXIS],sys.position[Y_AXIS],sys.position[Z_AXIS]);
// Reset system variables
sys.abort = false;
sys.execute = 0;
if (sys.state == STATE_LOST && bit_istrue(settings.flags,BITFLAG_HOMING_ENABLE)) {
report_feedback_message(MESSAGE_POSITION_LOST);
} else {
sys.state = STATE_IDLE;
}
if (bit_istrue(settings.flags,BITFLAG_AUTO_START)) { sys.auto_start = true; }
// Execute user startup script
protocol_execute_startup();
}
protocol_execute_runtime();