4c711a4af7
(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.
105 lines
4.0 KiB
C
Executable File
105 lines
4.0 KiB
C
Executable File
/*
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main.c - An embedded CNC Controller with rs274/ngc (g-code) support
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Part of Grbl
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Copyright (c) 2009-2011 Simen Svale Skogsrud
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Copyright (c) 2011-2012 Sungeun K. Jeon
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Grbl is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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Grbl is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with Grbl. If not, see <http://www.gnu.org/licenses/>.
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*/
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/* A big thanks to Alden Hart of Synthetos, supplier of grblshield and TinyG, who has
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been integral throughout the development of the higher level details of Grbl, as well
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as being a consistent sounding board for the future of accessible and free CNC. */
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#include <avr/interrupt.h>
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#include <avr/pgmspace.h>
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#include "config.h"
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#include "planner.h"
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#include "nuts_bolts.h"
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#include "stepper.h"
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#include "spindle_control.h"
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#include "coolant_control.h"
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#include "motion_control.h"
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#include "gcode.h"
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#include "protocol.h"
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#include "limits.h"
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#include "report.h"
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#include "settings.h"
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#include "serial.h"
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// Declare system global variable structure
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system_t sys;
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int main(void)
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{
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// Initialize system
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serial_init(BAUD_RATE); // Setup serial baud rate and interrupts
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st_init(); // Setup stepper pins and interrupt timers
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sei(); // Enable interrupts
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memset(&sys, 0, sizeof(sys)); // Clear all system variables
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sys.abort = true; // Set abort to complete initialization
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sys.state = STATE_LOST; // Set state to indicate unknown initial position
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for(;;) {
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// Execute system reset upon a system abort, where the main program will return to this loop.
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// Once here, it is safe to re-initialize the system. At startup, the system will automatically
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// reset to finish the initialization process.
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if (sys.abort) {
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// If a critical event has occurred, set the position lost system state. For example, a
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// hard limit event can cause the stepper to lose steps and position due to an immediate
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// stop, not with a controlled deceleration. Or, if an abort was issued while a cycle
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// was active, the immediate stop can also cause lost steps.
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if (sys.state == STATE_ALARM) { sys.state = STATE_LOST; }
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// Reset system.
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serial_reset_read_buffer(); // Clear serial read buffer
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settings_init(); // Load grbl settings from EEPROM
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plan_init(); // Clear block buffer and planner variables
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gc_init(); // Set g-code parser to default state
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protocol_init(); // Clear incoming line data and execute startup lines
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spindle_init();
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coolant_init();
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limits_init();
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st_reset(); // Clear stepper subsystem variables.
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// Set cleared gcode and planner positions to current system position, which is only
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// cleared upon startup, not a reset/abort. If Grbl does not know or ensure its position,
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// a feedback message will be sent back to the user to let them know.
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gc_set_current_position(sys.position[X_AXIS],sys.position[Y_AXIS],sys.position[Z_AXIS]);
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plan_set_current_position(sys.position[X_AXIS],sys.position[Y_AXIS],sys.position[Z_AXIS]);
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// Reset system variables
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sys.abort = false;
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sys.execute = 0;
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if (sys.state == STATE_LOST && bit_istrue(settings.flags,BITFLAG_HOMING_ENABLE)) {
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report_feedback_message(MESSAGE_POSITION_LOST);
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} else {
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sys.state = STATE_IDLE;
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}
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if (bit_istrue(settings.flags,BITFLAG_AUTO_START)) { sys.auto_start = true; }
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// Execute user startup script
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protocol_execute_startup();
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}
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protocol_execute_runtime();
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protocol_process(); // ... process the serial protocol
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}
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return 0; /* never reached */
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}
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