f41dd69273
- Increased the number of startup blocks to 3 for no good reason other than it doesn't increase the flash size. - Removed the purge buffer command and replaced with an disable homing lock command. - Homing now blocks all g-code commands (not system commands) until the homing cycle has been performed or the disable homing lock is sent. Homing is required upon startup or if Grbl loses it position. This is for safety reasons. - Cleaned up some of the Grbl states and re-organized it to be little more cohesive. - Cleaned up the feedback and status messages to not use so much flash space, as it's a premium now. - Check g-code and dry run switches how are mutually exclusive and can't be enabled when the other is. And automatically resets Grbl when disabled. - Some bug fixes and other minor tweaks.
106 lines
4.0 KiB
C
Executable File
106 lines
4.0 KiB
C
Executable File
/*
|
|
main.c - An embedded CNC Controller with rs274/ngc (g-code) support
|
|
Part of Grbl
|
|
|
|
Copyright (c) 2009-2011 Simen Svale Skogsrud
|
|
Copyright (c) 2011-2012 Sungeun K. Jeon
|
|
|
|
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/>.
|
|
*/
|
|
|
|
/* A big thanks to Alden Hart of Synthetos, supplier of grblshield and TinyG, who has
|
|
been integral throughout the development of the higher level details of Grbl, as well
|
|
as being a consistent sounding board for the future of accessible and free CNC. */
|
|
|
|
#include <avr/interrupt.h>
|
|
#include <avr/pgmspace.h>
|
|
#include "config.h"
|
|
#include "planner.h"
|
|
#include "nuts_bolts.h"
|
|
#include "stepper.h"
|
|
#include "spindle_control.h"
|
|
#include "coolant_control.h"
|
|
#include "motion_control.h"
|
|
#include "gcode.h"
|
|
#include "protocol.h"
|
|
#include "limits.h"
|
|
#include "report.h"
|
|
#include "settings.h"
|
|
#include "serial.h"
|
|
|
|
// Declare system global variable structure
|
|
system_t sys;
|
|
|
|
int main(void)
|
|
{
|
|
// Initialize system
|
|
serial_init(BAUD_RATE); // Setup serial baud rate and interrupts
|
|
st_init(); // Setup stepper pins and interrupt timers
|
|
sei(); // Enable interrupts
|
|
|
|
memset(&sys, 0, sizeof(sys)); // Clear all system variables
|
|
sys.abort = true; // Set abort to complete initialization
|
|
sys.state = STATE_ALARM; // Set alarm state to indicate unknown initial position
|
|
|
|
for(;;) {
|
|
|
|
// Execute system reset upon a system abort, where the main program will return to this loop.
|
|
// Once here, it is safe to re-initialize the system. At startup, the system will automatically
|
|
// reset to finish the initialization process.
|
|
if (sys.abort) {
|
|
|
|
// Reset system.
|
|
serial_reset_read_buffer(); // Clear serial read buffer
|
|
settings_init(); // Load grbl settings from EEPROM
|
|
plan_init(); // Clear block buffer and planner variables
|
|
gc_init(); // Set g-code parser to default state
|
|
protocol_init(); // Clear incoming line data and execute startup lines
|
|
spindle_init();
|
|
coolant_init();
|
|
limits_init();
|
|
st_reset(); // Clear stepper subsystem variables.
|
|
|
|
// Sync cleared gcode and planner positions to current system position, which is only
|
|
// cleared upon startup, not a reset/abort. If Grbl does not know or can ensure its
|
|
// position, a feedback message will be sent back to the user to let them know. Also,
|
|
// if position is lost and homing is enabled, the axes motions will be locked, and
|
|
// user must either perform the homing cycle '$H' or purge the system locks '$P' to
|
|
// resume.
|
|
sys_sync_current_position();
|
|
|
|
// Reset system variables.
|
|
sys.abort = false;
|
|
sys.execute = 0;
|
|
if (sys.state == STATE_ALARM && bit_istrue(settings.flags,BITFLAG_HOMING_ENABLE)) {
|
|
// If a critical event has occurred, set the position lost system state. For example, a
|
|
// hard limit event can cause the stepper to lose steps and position due to an immediate
|
|
// stop, not with a controlled deceleration. Or, if an abort was issued while a cycle
|
|
// was active, the immediate stop can also cause lost steps.
|
|
report_feedback_message(MESSAGE_HOMING_ALARM);
|
|
} else {
|
|
sys.state = STATE_IDLE;
|
|
}
|
|
if (bit_istrue(settings.flags,BITFLAG_AUTO_START)) { sys.auto_start = true; }
|
|
|
|
// Execute user startup script
|
|
protocol_execute_startup();
|
|
}
|
|
|
|
protocol_execute_runtime();
|
|
protocol_process(); // ... process the serial protocol
|
|
|
|
}
|
|
return 0; /* never reached */
|
|
}
|