150 lines
5.1 KiB
C
150 lines
5.1 KiB
C
/*
|
|
main.c - An embedded CNC Controller with rs274/ngc (g-code) support
|
|
Part of Grbl
|
|
|
|
Copyright (c) 2011-2016 Sungeun K. Jeon for Gnea Research LLC
|
|
Copyright (c) 2009-2011 Simen Svale Skogsrud
|
|
|
|
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/>.
|
|
*/
|
|
|
|
#include "grbl.h"
|
|
#include "current_control.h"
|
|
|
|
void isr_init();
|
|
|
|
/*Holding space for dummy registers*/
|
|
DummyReg DDRA;
|
|
DummyReg DDRB;
|
|
DummyReg DDRC;
|
|
DummyReg DDRD;
|
|
|
|
DummyReg PORTA;
|
|
DummyReg PORTB;
|
|
DummyReg PORTC;
|
|
DummyReg PORTD;
|
|
|
|
DummyReg PINA;
|
|
DummyReg PINB;
|
|
DummyReg PINC;
|
|
DummyReg PIND;
|
|
|
|
DummyReg EEAR;
|
|
DummyReg EECR;
|
|
DummyReg EEDR;
|
|
DummyReg EEMPE;
|
|
DummyReg EEPE;
|
|
DummyReg OCR2A;
|
|
DummyReg PCICR;
|
|
DummyReg PCIE0;
|
|
DummyReg PCIE1;
|
|
DummyReg PCMSK0;
|
|
DummyReg PCMSK1;
|
|
DummyReg TCCR2A;
|
|
DummyReg TCCR2B;
|
|
|
|
DummyReg UCSR0A;
|
|
DummyReg UCSR0B;
|
|
DummyReg U2X0;
|
|
DummyReg UBRR0H;
|
|
DummyReg UBRR0L;
|
|
DummyReg UDR0;
|
|
|
|
// Declare system global variable structure
|
|
system_t sys;
|
|
|
|
int32_t sys_position[N_AXIS]; // Real-time machine (aka home) position vector in steps.
|
|
int32_t sys_probe_position[N_AXIS]; // Last probe position in machine coordinates and steps.
|
|
|
|
volatile uint8_t sys_probe_state; // Probing state value. Used to coordinate the probing cycle with stepper ISR.
|
|
volatile uint8_t sys_rt_exec_state; // Global realtime executor bitflag variable for state management. See EXEC bitmasks.
|
|
volatile uint8_t sys_rt_exec_alarm; // Global realtime executor bitflag variable for setting various alarms.
|
|
volatile uint8_t sys_rt_exec_motion_override; // Global realtime executor bitflag variable for motion-based overrides.
|
|
volatile uint8_t sys_rt_exec_accessory_override; // Global realtime executor bitflag variable for spindle/coolant overrides.
|
|
|
|
int main(void)
|
|
{
|
|
// Initialize system upon power-up.
|
|
isr_init(); // Set ISR priorities
|
|
delay_init(); // Setup delay timer
|
|
serial_init(); // Setup serial baud rate and interrupts
|
|
settings_init(); // Load Grbl settings from EEPROM
|
|
current_init(); // Configure stepper driver current
|
|
stepper_init(); // Configure stepper pins and interrupt timers
|
|
system_init(); // Configure pinout pins and pin-change interrupt
|
|
|
|
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
|
|
// cycle '$H' or kill alarm locks '$X' will disable the alarm.
|
|
// NOTE: The startup script will run after successful completion of the homing cycle, but
|
|
// not after disabling the alarm locks. Prevents motion startup blocks from crashing into
|
|
// things uncontrollably. Very bad.
|
|
#ifdef HOMING_INIT_LOCK
|
|
if (bit_istrue(settings.flags,BITFLAG_HOMING_ENABLE)) { 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(;;) {
|
|
|
|
// 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
|
|
gc_init(); // Set g-code parser to default state
|
|
spindle_init();
|
|
coolant_init();
|
|
limits_init();
|
|
probe_init();
|
|
plan_reset(); // Clear block buffer and planner variables
|
|
st_reset(); // Clear stepper subsystem variables.
|
|
|
|
// Sync cleared gcode and planner positions to current system position.
|
|
plan_sync_position();
|
|
gc_sync_position();
|
|
|
|
// Print welcome message. Indicates an initialization has occured at power-up or with a reset.
|
|
report_init_message();
|
|
|
|
// Start Grbl main loop. Processes program inputs and executes them.
|
|
protocol_main_loop();
|
|
|
|
}
|
|
return 0; /* Never reached */
|
|
}
|