ManuelW/grbl-LPC-CoreXY
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Minor re-factoring. Fix an issue with parking and spindle restore.

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- Altered the report counters to be count down, rather than count up.
Simplified some of the logic.

- Fixed an issue with parking restore. The spindle state would disable
then reenable.

- Clarified some of the config.h descriptions.

- Moved the compile-time checks from config.h to grbl.h. They don’t
belong in the config.h file.

- Refactored the initialization of the system variables in main.c.
System position and probe position were undefined when power cycled,
but were zero anyway. Added clear vector code to make it explicit.
This commit is contained in:
Sonny Jeon
2016-10-24 22:18:13 -06:00
parent 498dd62572
commit f8ca08ad66
10 changed files with 122 additions and 86 deletions
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47
grbl/main.c
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@ -34,10 +34,17 @@ int main(void)
stepper_init(); // Configure stepper pins and interrupt timers
system_init(); // Configure pinout pins and pin-change interrupt
memset(&sys, 0, sizeof(system_t)); // Clear all system variables
sys.abort = true; // Set abort to complete initialization
memset(sys_position,0,sizeof(sys_position)); // Clear machine position.
sei(); // Enable interrupts
// Initialize system state.
#ifdef FORCE_INITIALIZATION_ALARM
// Force Grbl into an ALARM state upon a power-cycle or hard reset.
sys.state = STATE_ALARM;
#else
sys.state = STATE_IDLE;
#endif
// 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
@ -49,17 +56,23 @@ int main(void)
if (bit_istrue(settings.flags,BITFLAG_HOMING_ENABLE)) { sys.state = STATE_ALARM; }
#endif
// Force Grbl into an ALARM state upon a power-cycle or hard reset.
#ifdef FORCE_INITIALIZATION_ALARM
sys.state = STATE_ALARM;
#endif
// Grbl initialization loop upon power-up or a system abort. For the latter, all processes
// will return to this loop to be cleanly re-initialized.
for(;;) {
// TODO: Separate configure task that require interrupts to be disabled, especially upon
// a system abort and ensuring any active interrupts are cleanly reset.
// Reset system variables.
uint8_t prior_state = sys.state;
memset(&sys, 0, sizeof(system_t)); // Clear system struct variable.
sys.state = prior_state;
sys.f_override = DEFAULT_FEED_OVERRIDE; // Set to 100%
sys.r_override = DEFAULT_RAPID_OVERRIDE; // Set to 100%
sys.spindle_speed_ovr = DEFAULT_SPINDLE_SPEED_OVERRIDE; // Set to 100%
memset(sys_probe_position,0,sizeof(sys_probe_position)); // Clear probe position.
sys_probe_state = 0;
sys_rt_exec_state = 0;
sys_rt_exec_alarm = 0;
sys_rt_exec_motion_override = 0;
sys_rt_exec_accessory_override = 0;
// Reset Grbl primary systems.
serial_reset_read_buffer(); // Clear serial read buffer
@ -75,22 +88,6 @@ int main(void)
plan_sync_position();
gc_sync_position();
// Reset system variables.
sys.abort = sys.suspend = sys.soft_limit = false;
sys.step_control = STEP_CONTROL_NORMAL_OP;
sys.f_override = DEFAULT_FEED_OVERRIDE;
sys.r_override = DEFAULT_RAPID_OVERRIDE;
sys.spindle_speed_ovr = DEFAULT_SPINDLE_SPEED_OVERRIDE;
sys.spindle_stop_ovr = 0;
sys.report_wco_counter = REPORT_WCO_REFRESH_BUSY_COUNT; // Set to include in first report.
sys.report_ovr_counter = REPORT_OVR_REFRESH_BUSY_COUNT; // Set to include in first report.
sys_probe_state = 0;
sys_rt_exec_state = 0;
sys_rt_exec_alarm = 0;
sys_rt_exec_motion_override = 0;
sys_rt_exec_accessory_override = 0;
// Print welcome message. Indicates an initialization has occured at power-up or with a reset.
report_init_message();