int main(void)
{
sei(); // Enable interrupts
serial_init(BAUD_RATE);
protocol_init();
settings_init();
plan_init();
st_init();
spindle_init();
gc_init();
limits_init();
pwm_init();
while (1) {
protocol_process(); // ... process the serial protocol
}
return 0; /* never reached */
}
//*************************************************************************************
int main(void)
{
beginSerial(BAUD_RATE);
i2c_init();
// config_reset(); // This routine forces the eeprom config into its default state
// if something really messes it up. Uncomment to use.
config_init(); // Restore state from eeprom if it is there, else restore default.
st_init(); // initialize the stepper subsystem
mc_init(); // initialize motion control subsystem
spindle_init(); // initialize spindle controller
gc_init(); // initialize gcode-parser
sp_init(); // initialize the serial protocol
DDRD |= (1<<3)|(1<<4)|(1<<5);
for(;;){
i2c_report_position();
_delay_ms(1); // Delay is required, otherwise
// if mc_running and current_mode = SM_RUN then don't get buttons, else do
if (!(mc_running==0 & (st_current_mode!=SM_RUN))){
i2c_get_buttons(); // i2c_get doesn't work. 1ms seems to be enough
if (buttons[0]|buttons[1]|buttons[2]|buttons[3]){
mc_running=1;
STEPPERS_ENABLE_PORT |= (1<<STEPPERS_ENABLE_BIT);
ENABLE_STEPPER_DRIVER_INTERRUPT();
}
}
if (serialAvailable()) sp_process(); // process the serial protocol
if (mc_in_arc()) mc_continue_arc(); // if busy drawing an arc, keep drawing
}
return 0; /* never reached */
}
int startGrbl(void)
{
// Initialize system
serial_init(); // Setup serial baud rate and interrupts
settings_init(); // Load grbl settings from EEPROM
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_INIT; // Set alarm state to indicate unknown initial position
// Wire.begin();
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
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.
syspos(&encdr_x,&encdr_y,&encdr_z);
ofst_x=encdr_x;
ofst_y=encdr_y;
ofst_z=encdr_z;
// Sync cleared gcode and planner positions to current system position, which is only
// cleared upon startup, not a reset/abort.
sys_sync_current_position();
// Reset system variables.
sys.abort = false;
sys.execute = 0;
if (bit_istrue(settings.flags,BITFLAG_AUTO_START)) { sys.auto_start = true; }
// Check for power-up and set system alarm if homing is enabled to force homing cycle
// by setting Grbl's alarm state. Alarm locks out all g-code commands, including the
// startup scripts, but allows access to settings and internal commands. Only a homing
// cycle '$H' or kill alarm locks '$X' will disable the alarm.
// NOTE: The startup script will run after successful completion of the homing cycle, but
// not after disabling the alarm locks. Prevents motion startup blocks from crashing into
// things uncontrollably. Very bad.
#ifdef HOMING_INIT_LOCK
if (sys.state == STATE_INIT && bit_istrue(settings.flags,BITFLAG_HOMING_ENABLE)) { sys.state = STATE_ALARM; }
#endif
// Check for and report alarm state after a reset, error, or an initial power up.
if (sys.state == STATE_ALARM) {
report_feedback_message(MESSAGE_ALARM_LOCK);
} else {
// All systems go. Set system to ready and execute startup script.
sys.state = STATE_IDLE;
protocol_execute_startup();
}
}
protocol_execute_runtime();
// syspos(&encdr_x,&encdr_y);
protocol_process(); // ... process the serial protocol
}
return 0; /* never reached */
}
int main(void)
{
// Initialize system upon power-up.
serial_init(); // Setup serial baud rate and interrupts
settings_init(); // Load Grbl settings from EEPROM
stepper_init(); // Configure stepper pins and interrupt timers
system_init(); // Configure pinout pins and pin-change interrupt
memset(sys_position,0,sizeof(sys_position)); // Clear machine position.
sei(); // Enable interrupts
// Initialize system state.
#ifdef FORCE_INITIALIZATION_ALARM
// Force Grbl into an ALARM state upon a power-cycle or hard reset.
sys.state = STATE_ALARM;
#else
sys.state = STATE_IDLE;
#endif
// Check for power-up and set system alarm if homing is enabled to force homing cycle
// by setting Grbl's alarm state. Alarm locks out all g-code commands, including the
// startup scripts, but allows access to settings and internal commands. Only a homing
// cycle '$H' or kill alarm locks '$X' will disable the alarm.
// NOTE: The startup script will run after successful completion of the homing cycle, but
// not after disabling the alarm locks. Prevents motion startup blocks from crashing into
// things uncontrollably. Very bad.
#ifdef HOMING_INIT_LOCK
if (bit_istrue(settings.flags,BITFLAG_HOMING_ENABLE)) { sys.state = STATE_ALARM; }
#endif
// Grbl initialization loop upon power-up or a system abort. For the latter, all processes
// will return to this loop to be cleanly re-initialized.
for(;;) {
// Reset system variables.
uint8_t prior_state = sys.state;
memset(&sys, 0, sizeof(system_t)); // Clear system struct variable.
sys.state = prior_state;
sys.f_override = DEFAULT_FEED_OVERRIDE; // Set to 100%
sys.r_override = DEFAULT_RAPID_OVERRIDE; // Set to 100%
sys.spindle_speed_ovr = DEFAULT_SPINDLE_SPEED_OVERRIDE; // Set to 100%
memset(sys_probe_position,0,sizeof(sys_probe_position)); // Clear probe position.
sys_probe_state = 0;
sys_rt_exec_state = 0;
sys_rt_exec_alarm = 0;
sys_rt_exec_motion_override = 0;
sys_rt_exec_accessory_override = 0;
// Reset Grbl primary systems.
serial_reset_read_buffer(); // Clear serial read buffer
gc_init(); // Set g-code parser to default state
spindle_init();
coolant_init();
limits_init();
probe_init();
plan_reset(); // Clear block buffer and planner variables
st_reset(); // Clear stepper subsystem variables.
// Sync cleared gcode and planner positions to current system position.
plan_sync_position();
gc_sync_position();
// Print welcome message. Indicates an initialization has occured at power-up or with a reset.
report_init_message();
// Start Grbl main loop. Processes program inputs and executes them.
protocol_main_loop();
}
return 0; /* Never reached */
}
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 */
}
int main(void)
{
// Initialize system upon power-up.
serial_init(); // Setup serial baud rate and interrupts
settings_init(); // Load Grbl settings from EEPROM
stepper_init(); // Configure stepper pins and interrupt timers
system_init(); // Configure pinout pins and pin-change interrupt
memset(&sys, 0, sizeof(sys)); // Clear all system variables
sys.abort = true; // Set abort to complete initialization
sei(); // Enable interrupts
// Check for power-up and set system alarm if homing is enabled to force homing cycle
// by setting Grbl's alarm state. Alarm locks out all g-code commands, including the
// startup scripts, but allows access to settings and internal commands. Only a homing
// cycle '$H' or kill alarm locks '$X' will disable the alarm.
// NOTE: The startup script will run after successful completion of the homing cycle, but
// not after disabling the alarm locks. Prevents motion startup blocks from crashing into
// things uncontrollably. Very bad.
#ifdef HOMING_INIT_LOCK
if (bit_istrue(settings.flags,BITFLAG_HOMING_ENABLE)) { sys.state = STATE_ALARM; }
#endif
// Force Grbl into an ALARM state upon a power-cycle or hard reset.
#ifdef FORCE_INITIALIZATION_ALARM
sys.state = STATE_ALARM;
#endif
// Grbl initialization loop upon power-up or a system abort. For the latter, all processes
// will return to this loop to be cleanly re-initialized.
for(;;) {
// TODO: Separate configure task that require interrupts to be disabled, especially upon
// a system abort and ensuring any active interrupts are cleanly reset.
// Reset Grbl primary systems.
serial_reset_read_buffer(); // Clear serial read buffer
gc_init(); // Set g-code parser to default state
spindle_init();
coolant_init();
limits_init();
jog_init(); // by cm
probe_init();
plan_reset(); // Clear block buffer and planner variables
st_reset(); // Clear stepper subsystem variables.
// Sync cleared gcode and planner positions to current system position.
plan_sync_position();
gc_sync_position();
// Reset system variables.
sys.abort = false;
sys.rt_exec_state = 0;
sys.rt_exec_alarm = 0;
sys.suspend = false;
// Start Grbl main loop. Processes program inputs and executes them.
protocol_main_loop();
}
return 0; /* Never reached */
}
int main(void)
{
#ifdef PART_LM4F120H5QR // ARM code
SysCtlClockSet( SYSCTL_SYSDIV_4 | SYSCTL_USE_PLL | SYSCTL_XTAL_16MHZ | SYSCTL_OSC_MAIN ); //set system clock to 80 MHz
FPUEnable(); //enable the Floating Point Unit
// FPULazyStackingEnable(); // Enable stacking for interrupt handlers
#endif
// Initialize system
serial_init(); // Setup serial baud rate and interrupts
settings_init(); // Load grbl settings from EEPROM
st_init(); // Setup stepper pins and interrupt timers
#ifdef PART_LM4F120H5QR // ARM code
IntMasterEnable();
#else // AVR code
sei(); // Enable interrupts
#endif
memset(&sys, 0, sizeof(sys)); // Clear all system variables
sys.abort = true; // Set abort to complete initialization
sys.state = STATE_INIT; // 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
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.
sys_sync_current_position();
// Reset system variables.
sys.abort = false;
sys.execute = 0;
if (bit_istrue(settings.flags,BITFLAG_AUTO_START)) { sys.auto_start = true; }
// Check for power-up and set system alarm if homing is enabled to force homing cycle
// by setting Grbl's alarm state. Alarm locks out all g-code commands, including the
// startup scripts, but allows access to settings and internal commands. Only a homing
// cycle '$H' or kill alarm locks '$X' will disable the alarm.
// NOTE: The startup script will run after successful completion of the homing cycle, but
// not after disabling the alarm locks. Prevents motion startup blocks from crashing into
// things uncontrollably. Very bad.
#ifdef HOMING_INIT_LOCK
if (sys.state == STATE_INIT && bit_istrue(settings.flags,BITFLAG_HOMING_ENABLE)) { sys.state = STATE_ALARM; }
#endif
// Check for and report alarm state after a reset, error, or an initial power up.
if (sys.state == STATE_ALARM) {
report_feedback_message(MESSAGE_ALARM_LOCK);
} else {
// All systems go. Set system to ready and execute startup script.
sys.state = STATE_IDLE;
protocol_execute_startup();
}
}
protocol_execute_runtime();
protocol_process(); // ... process the serial protocol
// When the serial protocol returns, there are no more characters in the serial read buffer to
// be processed and executed. This indicates that individual commands are being issued or
// streaming is finished. In either case, auto-cycle start, if enabled, any queued moves.
if (sys.auto_start) { st_cycle_start(); }
}
// return 0; /* never reached */
}
// A helper method to set settings from command line
uint8_t settings_store_global_setting(uint8_t parameter, float value) {
if (value < 0.0) { return(STATUS_NEGATIVE_VALUE); }
if (parameter >= AXIS_SETTINGS_START_VAL) {
// Store axis configuration. Axis numbering sequence set by AXIS_SETTING defines.
// NOTE: Ensure the setting index corresponds to the report.c settings printout.
parameter -= AXIS_SETTINGS_START_VAL;
uint8_t set_idx = 0;
while (set_idx < AXIS_N_SETTINGS) {
if (parameter < N_AXIS) {
// Valid axis setting found.
switch (set_idx) {
case 0:
#ifdef MAX_STEP_RATE_HZ
if (value*settings.max_rate[parameter] > (MAX_STEP_RATE_HZ*60.0)) { return(STATUS_MAX_STEP_RATE_EXCEEDED); }
#endif
settings.steps_per_mm[parameter] = value;
break;
case 1:
#ifdef MAX_STEP_RATE_HZ
if (value*settings.steps_per_mm[parameter] > (MAX_STEP_RATE_HZ*60.0)) { return(STATUS_MAX_STEP_RATE_EXCEEDED); }
#endif
settings.max_rate[parameter] = value;
break;
case 2: settings.acceleration[parameter] = value*60*60; break; // Convert to mm/min^2 for grbl internal use.
case 3: settings.max_travel[parameter] = -value; break; // Store as negative for grbl internal use.
}
break; // Exit while-loop after setting has been configured and proceed to the EEPROM write call.
} else {
set_idx++;
// If axis index greater than N_AXIS or setting index greater than number of axis settings, error out.
if ((parameter < AXIS_SETTINGS_INCREMENT) || (set_idx == AXIS_N_SETTINGS)) { return(STATUS_INVALID_STATEMENT); }
parameter -= AXIS_SETTINGS_INCREMENT;
}
}
} else {
// Store non-axis Grbl settings
uint8_t int_value = trunc(value);
switch(parameter) {
case 0:
if (int_value < 3) { return(STATUS_SETTING_STEP_PULSE_MIN); }
settings.pulse_microseconds = int_value; break;
case 1: settings.stepper_idle_lock_time = int_value; break;
case 2:
settings.step_invert_mask = int_value;
st_generate_step_dir_invert_masks(); // Regenerate step and direction port invert masks.
break;
case 3:
settings.dir_invert_mask = int_value;
st_generate_step_dir_invert_masks(); // Regenerate step and direction port invert masks.
break;
case 4: // Reset to ensure change. Immediate re-init may cause problems.
if (int_value) { settings.flags |= BITFLAG_INVERT_ST_ENABLE; }
else { settings.flags &= ~BITFLAG_INVERT_ST_ENABLE; }
break;
case 5: // Reset to ensure change. Immediate re-init may cause problems.
if (int_value) { settings.flags |= BITFLAG_INVERT_LIMIT_PINS; }
else { settings.flags &= ~BITFLAG_INVERT_LIMIT_PINS; }
break;
case 6: // Reset to ensure change. Immediate re-init may cause problems.
if (int_value) { settings.flags |= BITFLAG_INVERT_PROBE_PIN; }
else { settings.flags &= ~BITFLAG_INVERT_PROBE_PIN; }
probe_configure_invert_mask(false);
break;
case 10: settings.status_report_mask = int_value; break;
case 11: settings.junction_deviation = value; break;
case 12: settings.arc_tolerance = value; break;
case 13:
if (int_value) { settings.flags |= BITFLAG_REPORT_INCHES; }
else { settings.flags &= ~BITFLAG_REPORT_INCHES; }
system_flag_wco_change(); // Make sure WCO is immediately updated.
break;
case 20:
if (int_value) {
if (bit_isfalse(settings.flags, BITFLAG_HOMING_ENABLE)) { return(STATUS_SOFT_LIMIT_ERROR); }
settings.flags |= BITFLAG_SOFT_LIMIT_ENABLE;
} else { settings.flags &= ~BITFLAG_SOFT_LIMIT_ENABLE; }
break;
case 21:
if (int_value) { settings.flags |= BITFLAG_HARD_LIMIT_ENABLE; }
else { settings.flags &= ~BITFLAG_HARD_LIMIT_ENABLE; }
limits_init(); // Re-init to immediately change. NOTE: Nice to have but could be problematic later.
break;
case 22:
if (int_value) { settings.flags |= BITFLAG_HOMING_ENABLE; }
else {
settings.flags &= ~BITFLAG_HOMING_ENABLE;
settings.flags &= ~BITFLAG_SOFT_LIMIT_ENABLE; // Force disable soft-limits.
}
break;
case 23: settings.homing_dir_mask = int_value; break;
case 24: settings.homing_feed_rate = value; break;
case 25: settings.homing_seek_rate = value; break;
case 26: settings.homing_debounce_delay = int_value; break;
case 27: settings.homing_pulloff = value; break;
case 30: settings.rpm_max = value; spindle_init(); break; // Re-initialize spindle rpm calibration
case 31: settings.rpm_min = value; spindle_init(); break; // Re-initialize spindle rpm calibration
case 32:
#ifdef VARIABLE_SPINDLE
if (int_value) { settings.flags |= BITFLAG_LASER_MODE; }
else { settings.flags &= ~BITFLAG_LASER_MODE; }
#else
return(STATUS_SETTING_DISABLED_LASER);
#endif
break;
default:
return(STATUS_INVALID_STATEMENT);
}
}
write_global_settings();
return(STATUS_OK);
}
