5e7a4b3ba8
- Removed the dry run switch. It was getting overly complicated for what it needed to do. In practice, single block mode and feed rate overrides (coming in next release) does a much better job with dry runs than 'dry run'. - Trimmed all of Grbl's messages from help, status, feedback to settings. Saved 0.6KB+ of flash space that could be used for v0.9 features. - Removed some settings inits when set. Will depend on user to power cycle to get some of these to reload. - Fixed a bug with settings version not re-writing old settings, when it should. Thanks Alden!
105 lines
3.8 KiB
C
Executable File
105 lines
3.8 KiB
C
Executable File
/*
|
|
main.c - An embedded CNC Controller with rs274/ngc (g-code) support
|
|
Part of Grbl
|
|
|
|
Copyright (c) 2009-2011 Simen Svale Skogsrud
|
|
Copyright (c) 2011-2012 Sungeun K. Jeon
|
|
|
|
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/>.
|
|
*/
|
|
|
|
/* 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 <avr/pgmspace.h>
|
|
#include "config.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(BAUD_RATE); // Setup serial baud rate and interrupts
|
|
settings_init(); // Load grbl settings from EEPROM
|
|
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
|
|
sys.state = STATE_ALARM; // Set alarm 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) {
|
|
|
|
// 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();
|
|
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. If Grbl does not know or can ensure its
|
|
// position, a feedback message will be sent back to the user to let them know. Also,
|
|
// if position is lost and homing is enabled, the axes motions will be locked, and
|
|
// user must either perform the homing cycle '$H' or purge the system locks '$P' to
|
|
// resume.
|
|
sys_sync_current_position();
|
|
|
|
// Reset system variables.
|
|
sys.abort = false;
|
|
sys.execute = 0;
|
|
if (sys.state == STATE_ALARM && bit_istrue(settings.flags,BITFLAG_HOMING_ENABLE)) {
|
|
// Position has either been lost from a critical event or a power cycle reboot. If
|
|
// homing is enabled, force user to home to get machine position. Otherwise, let the
|
|
// user manage position on their own.
|
|
report_feedback_message(MESSAGE_HOMING_ALARM);
|
|
} 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();
|
|
protocol_process(); // ... process the serial protocol
|
|
|
|
}
|
|
return 0; /* never reached */
|
|
}
|