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) { // 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 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(); jog_init(); // by cm st_reset(); // Clear stepper subsystem variables. st_init(); // reset ports // 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(); } } jogging(); // handle jog buttons protocol_execute_runtime(); protocol_process(); // ... process the serial protocol } return 0; /* never reached */ }