559feb97e2
- Refactored system states to be more clear and concise. Alarm locks processes when position is unknown to indicate to user something has gone wrong. - Changed mc_alarm to mc_reset, which now manages the system reset function. Centralizes it. - Renamed '$X' kill homing lock to kill alarm lock. - Created an alarm error reporting method to clear up what is an alarm: message vs a status error: message. For GUIs mainly. Alarm codes are negative. Status codes are positive. - Serial baud support upto 115200. Previous baudrate calc was unstable for 57600 and above. - Alarm state locks out all g-code blocks, including startup scripts, but allows user to access settings and internal commands. For example, to disable hard limits, if they are problematic. - Hard limits do not respond in an alarm state. - Fixed a problem with the hard limit interrupt during the homing cycle. The interrupt register is still active during the homing cycle and still signal the interrupt to trigger when re-enabled. Instead, just disabled the register. - Homing rate adjusted. All axes move at homing seek rate, regardless of how many axes move at the same time. This is unlike how the stepper module does it as a point to point rate. - New config.h settings to disable the homing rate adjustment and the force homing upon powerup. - Reduced the number of startup lines back down to 2 from 3. This discourages users from placing motion block in there, which can be very dangerous. - Startup blocks now run only after an alarm-free reset or after a homing cycle. Does not run when $X kill is called. For satefy reasons
109 lines
4.1 KiB
C
Executable File
109 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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/* 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(); // Setup serial baud rate and interrupts
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settings_init(); // Load grbl settings from EEPROM
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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_INIT; // Set alarm 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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// Reset system.
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serial_reset_read_buffer(); // Clear serial read buffer
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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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// Sync cleared gcode and planner positions to current system position, which is only
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// cleared upon startup, not a reset/abort.
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sys_sync_current_position();
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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 (bit_istrue(settings.flags,BITFLAG_AUTO_START)) { sys.auto_start = true; }
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// Check for power-up and set system alarm if homing is enabled to force homing cycle
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// by setting Grbl's alarm state. Alarm locks out all g-code commands, including the
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// startup scripts, but allows access to settings and internal commands. Only a homing
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// cycle '$H' or kill alarm locks '$X' will disable the alarm.
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// NOTE: The startup script will run after successful completion of the homing cycle, but
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// not after disabling the alarm locks. Prevents motion startup blocks from crashing into
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// things uncontrollably. Very bad.
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#ifdef HOMING_INIT_LOCK
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if (sys.state == STATE_INIT && bit_istrue(settings.flags,BITFLAG_HOMING_ENABLE)) { sys.state = STATE_ALARM; }
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#endif
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// Check for and report alarm state after a reset, error, or an initial power up.
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if (sys.state == STATE_ALARM) {
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report_feedback_message(MESSAGE_ALARM_LOCK);
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} else {
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// All systems go. Set system to ready and execute startup script.
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sys.state = STATE_IDLE;
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protocol_execute_startup();
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}
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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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