kopia lustrzana https://github.com/gnea/grbl
103 wiersze
3.8 KiB
C
103 wiersze
3.8 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, 0, sizeof(system_t)); // Clear all system variables
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sys.abort = true; // Set abort to complete initialization
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sei(); // Enable interrupts
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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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// Force Grbl into an ALARM state upon a power-cycle or hard reset.
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#ifdef FORCE_INITIALIZATION_ALARM
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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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// TODO: Separate configure task that require interrupts to be disabled, especially upon
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// a system abort and ensuring any active interrupts are cleanly reset.
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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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// Reset system variables.
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sys.abort = sys.suspend = sys.soft_limit = false;
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sys.step_control = STEP_CONTROL_NORMAL_OP;
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sys.f_override = DEFAULT_FEED_OVERRIDE;
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sys.r_override = DEFAULT_RAPID_OVERRIDE;
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sys.spindle_speed_ovr = DEFAULT_SPINDLE_SPEED_OVERRIDE;
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sys.spindle_stop_ovr = 0;
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sys.report_wco_counter = REPORT_WCO_REFRESH_BUSY_COUNT; // Set to include in first report.
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sys.report_ovr_counter = REPORT_OVR_REFRESH_BUSY_COUNT; // Set to include in first report.
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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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// 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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