ManuelW/grbl-LPC-CoreXY
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Merge branch 'dev' of https://github.com/grbl/grbl into dev

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Conflicts:
	limits.c
This commit is contained in:
Sonny Jeon
2013-12-29 20:34:51 -07:00
parent 3054b2df77
commit 903b462b2e
14 changed files with 412 additions and 314 deletions
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30
main.c
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@ -24,7 +24,6 @@
as being a consistent sounding board for the future of accessible and free CNC. */
#include <avr/interrupt.h>
#include <avr/pgmspace.h>
#include "config.h"
#include "planner.h"
#include "nuts_bolts.h"
@ -52,7 +51,17 @@ int main(void)
memset(&sys, 0, sizeof(sys)); // Clear all system variables
sys.abort = true; // Set abort to complete initialization
sys.state = STATE_INIT; // Set alarm state to indicate unknown initial position
// Check for power-up and set system alarm if homing is enabled to force homing cycle
// by setting Grbl's alarm state. Alarm locks out all g-code commands, including the
// startup scripts, but allows access to settings and internal commands. Only a homing
// cycle '$H' or kill alarm locks '$X' will disable the alarm.
// NOTE: The startup script will run after successful completion of the homing cycle, but
// not after disabling the alarm locks. Prevents motion startup blocks from crashing into
// things uncontrollably. Very bad.
#ifdef HOMING_INIT_LOCK
if (bit_istrue(settings.flags,BITFLAG_HOMING_ENABLE)) { sys.state = STATE_ALARM; }
#endif
for(;;) {
@ -62,12 +71,12 @@ int main(void)
if (sys.abort) {
// Reset system.
serial_reset_read_buffer(); // Clear serial read buffer
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();
plan_reset(); // Clear block buffer and planner variables
st_reset(); // Clear stepper subsystem variables.
// Sync cleared gcode and planner positions to current system position, which is only
@ -79,24 +88,13 @@ int main(void)
sys.abort = false;
sys.execute = 0;
if (bit_istrue(settings.flags,BITFLAG_AUTO_START)) { sys.auto_start = true; }
// Check for power-up and set system alarm if homing is enabled to force homing cycle
// by setting Grbl's alarm state. Alarm locks out all g-code commands, including the
// startup scripts, but allows access to settings and internal commands. Only a homing
// cycle '$H' or kill alarm locks '$X' will disable the alarm.
// NOTE: The startup script will run after successful completion of the homing cycle, but
// not after disabling the alarm locks. Prevents motion startup blocks from crashing into
// things uncontrollably. Very bad.
#ifdef HOMING_INIT_LOCK
if (sys.state == STATE_INIT && bit_istrue(settings.flags,BITFLAG_HOMING_ENABLE)) { sys.state = STATE_ALARM; }
#endif
// Check for and report alarm state after a reset, error, or an initial power up.
if (sys.state == STATE_ALARM) {
report_feedback_message(MESSAGE_ALARM_LOCK);
} else {
// All systems go. Set system to ready and execute startup script.
sys.state = STATE_IDLE;
sys.state = STATE_IDLE; // Clear all state flags.
protocol_execute_startup();
}
}