f8ca08ad66
- Altered the report counters to be count down, rather than count up. Simplified some of the logic. - Fixed an issue with parking restore. The spindle state would disable then reenable. - Clarified some of the config.h descriptions. - Moved the compile-time checks from config.h to grbl.h. They don’t belong in the config.h file. - Refactored the initialization of the system variables in main.c. System position and probe position were undefined when power cycled, but were zero anyway. Added clear vector code to make it explicit.
100 lines
3.6 KiB
C
100 lines
3.6 KiB
C
/*
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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) 2011-2016 Sungeun K. Jeon for Gnea Research LLC
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Copyright (c) 2009-2011 Simen Svale Skogsrud
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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 "grbl.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 upon power-up.
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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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stepper_init(); // Configure stepper pins and interrupt timers
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system_init(); // Configure pinout pins and pin-change interrupt
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memset(sys_position,0,sizeof(sys_position)); // Clear machine position.
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sei(); // Enable interrupts
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// Initialize system state.
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#ifdef FORCE_INITIALIZATION_ALARM
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// Force Grbl into an ALARM state upon a power-cycle or hard reset.
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sys.state = STATE_ALARM;
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#else
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sys.state = STATE_IDLE;
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#endif
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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 (bit_istrue(settings.flags,BITFLAG_HOMING_ENABLE)) { sys.state = STATE_ALARM; }
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#endif
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// Grbl initialization loop upon power-up or a system abort. For the latter, all processes
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// will return to this loop to be cleanly re-initialized.
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for(;;) {
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// Reset system variables.
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uint8_t prior_state = sys.state;
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memset(&sys, 0, sizeof(system_t)); // Clear system struct variable.
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sys.state = prior_state;
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sys.f_override = DEFAULT_FEED_OVERRIDE; // Set to 100%
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sys.r_override = DEFAULT_RAPID_OVERRIDE; // Set to 100%
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sys.spindle_speed_ovr = DEFAULT_SPINDLE_SPEED_OVERRIDE; // Set to 100%
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memset(sys_probe_position,0,sizeof(sys_probe_position)); // Clear probe position.
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sys_probe_state = 0;
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sys_rt_exec_state = 0;
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sys_rt_exec_alarm = 0;
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sys_rt_exec_motion_override = 0;
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sys_rt_exec_accessory_override = 0;
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// Reset Grbl primary systems.
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serial_reset_read_buffer(); // Clear serial read buffer
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gc_init(); // Set g-code parser to default state
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spindle_init();
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coolant_init();
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limits_init();
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probe_init();
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plan_reset(); // Clear block buffer and planner variables
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st_reset(); // Clear stepper subsystem variables.
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// Sync cleared gcode and planner positions to current system position.
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plan_sync_position();
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gc_sync_position();
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// Print welcome message. Indicates an initialization has occured at power-up or with a reset.
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report_init_message();
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// Start Grbl main loop. Processes program inputs and executes them.
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protocol_main_loop();
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}
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return 0; /* Never reached */
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}
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