// Reset the planner position vector and planner speed void plan_set_current_position_xyz(double x, double y, double z) { tTarget new_pos = startpoint; new_pos.x = x; new_pos.y = y; new_pos.z = z; plan_set_current_position (&new_pos); }
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 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) { // Retain last known machine position and work coordinate offset(s). If the system abort // occurred while in motion, machine position is not guaranteed, since a hard stop can cause // the steppers to lose steps. Always perform a feedhold before an abort, if maintaining // accurate machine position is required. // TODO: Report last position and coordinate offset to users to help relocate origins. Future // releases will auto-reset the machine position back to [0,0,0] if an abort is used while // grbl is moving the machine. /// by LETARTARE 3-> 4 int32_t last_position[4]; double last_coord_system[N_COORDINATE_SYSTEM][3]; memcpy(last_position, sys.position, sizeof(sys.position)); // last_position[] = sys.position[] memcpy(last_coord_system, sys.coord_system, sizeof(sys.coord_system)); // last_coord_system[] = sys.coord_system[] // Reset system. memset(&sys, 0, sizeof(sys)); // Clear all system variables serial_reset_read_buffer(); // Clear serial read buffer settings_init(); // Load grbl settings from EEPROM protocol_init(); // Clear incoming line data plan_init(); // Clear block buffer and planner variables gc_init(); // Set g-code parser to default state spindle_init(); limits_init(); coolant_init(); st_reset(); // Clear stepper subsystem variables. // Reload last known machine position and work systems. G92 coordinate offsets are reset. memcpy(sys.position, last_position, sizeof(last_position)); // sys.position[] = last_position[] memcpy(sys.coord_system, last_coord_system, sizeof(last_coord_system)); // sys.coord_system[] = last_coord_system[] gc_set_current_position(last_position[X_AXIS],last_position[Y_AXIS],last_position[Z_AXIS],last_position[C_AXIS]); plan_set_current_position(last_position[X_AXIS],last_position[Y_AXIS],last_position[Z_AXIS],last_position[C_AXIS]); // Set system runtime defaults // TODO: Eventual move to EEPROM from config.h when all of the new settings are worked out. // Mainly to avoid having to maintain several different versions. #ifdef CYCLE_AUTO_START sys.auto_start = true; #endif // TODO: Install G20/G21 unit default into settings and load appropriate settings. } protocol_execute_runtime(); protocol_process(); // ... process the serial protocol } return 0; /* never reached */ }
// Syncs all internal position vectors to the current system position. void sys_sync_current_position() { plan_set_current_position(sys.position[X_AXIS],sys.position[Y_AXIS],sys.position[Z_AXIS]); gc_set_current_position(sys.position[X_AXIS],sys.position[Y_AXIS],sys.position[Z_AXIS]); }