ManuelW/grbl-LPC-CoreXY
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Lots of re-organization and cleaning-up. Some bug fixes.

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- Added a new source and header file called system. These files contain
the system commands and variables, as well as all of the system headers
and standard libraries Grbl uses. Centralizing some of the code.

- Re-organized the include headers throughout the source code.

- ENABLE_M7 define was missing from config.h. Now there.

- SPINDLE_MAX_RPM and SPINDLE_MIN_RPM now defined in config.h. No
uncommenting to prevent user issues. Minimum spindle RPM now provides
the lower, near 0V, scale adjustment, i.e. some spindles can go really
slow so why use up our 256 voltage bins for them?

- Remove some persistent variables from coolant and spindle control.
They were redundant.

- Removed a VARIABLE_SPINDLE define in cpu_map.h that shouldn’t have
been there.

- Changed the DEFAULT_ARC_TOLERANCE to 0.002mm to improve arc tracing.
Before we had issues with performance, no longer.

- Fixed a bug with the hard limits and the software debounce feature
enabled. The invert limit pin setting wasn’t honored.

- Fixed a bug with the homing direction mask. Now is like it used to
be. At least for now.

- Re-organized main.c to serve as only as the reset/initialization
routine. Makes things a little bit clearer in terms of execution
procedures.

- Re-organized protocol.c as the overall master control unit for
execution procedures. Not quite there yet, but starting to make a
little more sense in how things are run.

- Removed updating of old settings records. So many new settings have
been added that it’s not worth adding the code to migrate old user
settings.

- Tweaked spindle_control.c a bit and made it more clear and consistent
with other parts of Grbl.

- Tweaked the stepper disable bit code in stepper.c. Requires less
flash memory.
This commit is contained in:
Sonny Jeon
2014-01-10 20:22:10 -07:00
parent 7a85ab896d
commit cc9afdc195
31 changed files with 636 additions and 583 deletions
Download Patch File Download Diff File Expand all files Collapse all files

89
main.c
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@ -19,35 +19,32 @@
along with Grbl. If not, see <http://www.gnu.org/licenses/>.
*/
/* A big thanks to Alden Hart of Synthetos, supplier of grblshield and TinyG, who has
been integral throughout the development of the higher level details of Grbl, as well
as being a consistent sounding board for the future of accessible and free CNC. */
#include <avr/interrupt.h>
#include "config.h"
#include "system.h"
#include "serial.h"
#include "settings.h"
#include "protocol.h"
#include "gcode.h"
#include "planner.h"
#include "nuts_bolts.h"
#include "stepper.h"
#include "spindle_control.h"
#include "coolant_control.h"
#include "motion_control.h"
#include "gcode.h"
#include "protocol.h"
#include "limits.h"
#include "report.h"
#include "settings.h"
#include "serial.h"
// Declare system global variable structure
system_t sys;
int main(void)
{
// Initialize system
serial_init(); // Setup serial baud rate and interrupts
// Initialize system upon power-up.
serial_init(); // Setup serial baud rate and interrupts
settings_init(); // Load grbl settings from EEPROM
st_init(); // Setup stepper pins and interrupt timers
sei(); // Enable interrupts
stepper_init(); // Configure stepper pins and interrupt timers
system_init(); // Configure pinout pins and pin-change interrupt
sei();
memset(&sys, 0, sizeof(sys)); // Clear all system variables
sys.abort = true; // Set abort to complete initialization
@ -65,49 +62,29 @@ int main(void)
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) {
// Reset system.
serial_reset_read_buffer(); // Clear serial read buffer
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.
// Reset the system primary functionality.
serial_reset_read_buffer(); // Clear serial read buffer
gc_init(); // Set g-code parser to default state
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
// cleared upon startup, not a reset/abort.
plan_sync_position();
gc_sync_position();
// Sync cleared gcode and planner positions to current system position.
plan_sync_position();
gc_sync_position();
// Reset system variables.
sys.abort = false;
sys.execute = 0;
if (bit_istrue(settings.flags,BITFLAG_AUTO_START)) { sys.auto_start = true; }
else { sys.auto_start = false; }
// 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; // Clear all state flags.
protocol_execute_startup();
}
}
protocol_execute_runtime();
// When the serial protocol returns, there are no more characters in the serial read buffer to
// be processed and executed. This indicates that individual commands are being issued or
// streaming is finished. In either case, auto-cycle start, if enabled, any queued moves.
mc_auto_cycle_start();
protocol_process(); // ... process the serial protocol
// Reset system variables.
sys.abort = false;
sys.execute = 0;
if (bit_istrue(settings.flags,BITFLAG_AUTO_START)) { sys.auto_start = true; }
else { sys.auto_start = false; }
// Start main loop. Processes inputs and executes them.
// NOTE: Upon a system abort, the main loop returns and re-initializes the system.
protocol_process();
}
return 0; /* never reached */
return 0; /* Never reached */
}