100 lines
4.1 KiB
C
Executable File
100 lines
4.1 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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#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 "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 "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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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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// Retain last known machine position and work coordinate offset(s). If the system abort
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// occurred while in motion, machine position is not guaranteed, since a hard stop can cause
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// the steppers to lose steps. Always perform a feedhold before an abort, if maintaining
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// accurate machine position is required.
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// TODO: Report last position and coordinate offset to users to help relocate origins. Future
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// releases will auto-reset the machine position back to [0,0,0] if an abort is used while
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// grbl is moving the machine.
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int32_t last_position[3];
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double last_coord_system[N_COORDINATE_SYSTEM][3];
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memcpy(last_position, sys.position, sizeof(sys.position)); // last_position[] = sys.position[]
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memcpy(last_coord_system, sys.coord_system, sizeof(sys.coord_system)); // last_coord_system[] = sys.coord_system[]
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// Reset system.
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memset(&sys, 0, sizeof(sys)); // Clear all system variables
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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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protocol_init(); // Clear incoming line data
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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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spindle_init();
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limits_init();
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st_reset(); // Clear stepper subsystem variables.
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// Reload last known machine position and work systems. G92 coordinate offsets are reset.
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memcpy(sys.position, last_position, sizeof(last_position)); // sys.position[] = last_position[]
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memcpy(sys.coord_system, last_coord_system, sizeof(last_coord_system)); // sys.coord_system[] = last_coord_system[]
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gc_set_current_position(last_position[X_AXIS],last_position[Y_AXIS],last_position[Z_AXIS]);
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plan_set_current_position(last_position[X_AXIS],last_position[Y_AXIS],last_position[Z_AXIS]);
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// Set system runtime defaults
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// TODO: Eventual move to EEPROM from config.h when all of the new settings are worked out.
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// Mainly to avoid having to maintain several different versions.
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#ifdef CYCLE_AUTO_START
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sys.auto_start = true;
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#endif
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// TODO: Install G20/G21 unit default into settings and load appropriate settings.
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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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