e455764079
[ver] v1.1f update due to tweaks to interface from new parking override control. [new] Parking motion override control via new `M56 P0` and `M56 P1` command, which disables and enables the parking motion, respectively. Requires ENABLE_PARKING_OVERRIDE_CONTROL and PARKING_ENABLE enabled in config.h. Primarily for OEMs. [new] `M56` appears in the $G report when enabled. [new] Five new build info identification letters. Some were missing and a couple are new. Updated the CSV and documentation to reflect these new items. [new] Spindle enable pin configuration option to alter its behavior based on how certain lasers work. By default, Grbl treats the enable pin separately and leaves it on when S is 0. The new option turns the enable pin on and off with S>0 and S=0. This only is in effect when a user enables the USE_SPINDLE_DIR_AS_ENABLE_PIN option. [fix] M4 is now allowed to work when USE_SPINDLE_DIR_AS_ENABLE_PIN is enabled. Previously this was blocked and was problematic for laser folks using M4. [fix] Properly declared system variables as extern. Not sure how that went unnoticed or why it worked up until now but it has. [fix] EXTREMELY RARE. When AMASS is intentionally disabled and sent a motion command that is _one step_ in length, Grbl would not actuate the step due to numerical round-off. Applied a fix to prevent the round-off issue. [fix] Added a compile-time check for AMASS settings to make sure that the numerical round-off issue doesn’t effect it. This would only happen if someone set AMASS max levels to zero. It does not effect AMASS with its current defaults. [fix] Wrapped the mc_parking_motion() function in an ifdef for porting purposes. [fix] Fixed an issue when in inverse time mode and G0’s would require a F word. This was not correct. [fix] Added a note in the defaults.h file that MAX_TRAVEL values must be positive. Some users were setting this negative and it was causing issues.
107 lines
4.4 KiB
C
107 lines
4.4 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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int32_t sys_position[N_AXIS]; // Real-time machine (aka home) position vector in steps.
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int32_t sys_probe_position[N_AXIS]; // Last probe position in machine coordinates and steps.
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volatile uint8_t sys_probe_state; // Probing state value. Used to coordinate the probing cycle with stepper ISR.
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volatile uint8_t sys_rt_exec_state; // Global realtime executor bitflag variable for state management. See EXEC bitmasks.
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volatile uint8_t sys_rt_exec_alarm; // Global realtime executor bitflag variable for setting various alarms.
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volatile uint8_t sys_rt_exec_motion_override; // Global realtime executor bitflag variable for motion-based overrides.
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volatile uint8_t sys_rt_exec_accessory_override; // Global realtime executor bitflag variable for spindle/coolant overrides.
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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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