8c0106c247
- Added a purge buffer (and lock) command. This is an advanced option to clear any queued blocks in the buffer in the event of system position being lost or homed. These queued blocks will likely not move correctly if not purged. In typical use, the purging command releases the homing axes lock in case a user need to move the axes off their hard limit switches, but position is not guaranteed. Homing is advised immediately after. - Created a system-wide sync current position function. Cleans up some of the repetitive tasks in various places in the code that do the same thing. - Removed the clear all switches command '$S'. Not really needed and helped clean up a sync call. - Other minor tweaks. Readme updated slightly..
107 lines
4.0 KiB
C
Executable File
107 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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// Sync 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 can ensure its
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// position, a feedback message will be sent back to the user to let them know. Also,
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// if position is lost and homing is enabled, the axes motions will be locked, and
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// user must either perform the homing cycle '$H' or purge the system locks '$P' to
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// resume.
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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 (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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