// Perform homing cycle to locate and set machine zero. Only '$H' executes this command.
// NOTE: There should be no motions in the buffer and Grbl must be in an idle state before
// executing the homing cycle. This prevents incorrect buffered plans after homing.
void mc_homing_cycle()
{
sys.state = STATE_HOMING; // Set system state variable
limits_disable(); // Disable hard limits pin change register for cycle duration
// -------------------------------------------------------------------------------------
// Perform homing routine. NOTE: Special motion case. Only system reset works.
// Search to engage all axes limit switches at faster homing seek rate.
limits_go_home(HOMING_CYCLE_0); // Homing cycle 0
#ifdef HOMING_CYCLE_1
limits_go_home(HOMING_CYCLE_1); // Homing cycle 1
#endif
#ifdef HOMING_CYCLE_2
limits_go_home(HOMING_CYCLE_2); // Homing cycle 2
#endif
protocol_execute_runtime(); // Check for reset and set system abort.
if (sys.abort) { return; } // Did not complete. Alarm state set by mc_alarm.
// Homing cycle complete! Setup system for normal operation.
// -------------------------------------------------------------------------------------
// Gcode parser position was circumvented by the limits_go_home() routine, so sync position now.
gc_sync_position();
// Set idle state after homing completes and before returning to main program.
sys.state = STATE_IDLE;
st_go_idle(); // Set idle state after homing completes
// If hard limits feature enabled, re-enable hard limits pin change register after homing cycle.
limits_init();
}
// start
int main(int argc, char *argv[])
{
mhdd_debug_init();
struct fuse_args *args = parse_options(argc, argv);
flist_init();
limits_init();
signal(SIGSEGV, save_backtrace);
return fuse_main(args->argc, args->argv, &mhdd_oper, 0);
}
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
// 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();
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.execute = 0;
if (bit_istrue(settings.flags,BITFLAG_AUTO_START)) { sys.auto_start = true; }
else { sys.auto_start = false; }
// Start Grbl main loop. Processes program inputs and executes them.
protocol_main_loop();
}
return 0; /* Never reached */
}
// A helper method to set settings from command line
uint8_t settings_store_global_setting(int parameter, float value) {
switch(parameter) {
case 0: case 1: case 2:
if (value <= 0.0) { return(STATUS_SETTING_VALUE_NEG); }
settings.steps_per_mm[parameter] = value; break;
case 3:
if (value < 3) { return(STATUS_SETTING_STEP_PULSE_MIN); }
settings.pulse_microseconds = round(value); break;
case 4: settings.default_feed_rate = value; break;
case 5: settings.default_seek_rate = value; break;
case 6: settings.invert_mask = trunc(value); break;
case 7: settings.stepper_idle_lock_time = round(value); break;
case 8: settings.acceleration = value*60*60; break; // Convert to mm/min^2 for grbl internal use.
case 9: settings.junction_deviation = fabs(value); break;
case 10: settings.mm_per_arc_segment = value; break;
case 11: settings.n_arc_correction = round(value); break;
case 12: settings.decimal_places = round(value); break;
case 13:
if (value) { settings.flags |= BITFLAG_REPORT_INCHES; }
else { settings.flags &= ~BITFLAG_REPORT_INCHES; }
break;
case 14: // Reset to ensure change. Immediate re-init may cause problems.
if (value) { settings.flags |= BITFLAG_AUTO_START; }
else { settings.flags &= ~BITFLAG_AUTO_START; }
break;
case 15: // Reset to ensure change. Immediate re-init may cause problems.
if (value) { settings.flags |= BITFLAG_INVERT_ST_ENABLE; }
else { settings.flags &= ~BITFLAG_INVERT_ST_ENABLE; }
break;
case 16:
if (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 17:
if (value) { settings.flags |= BITFLAG_HOMING_ENABLE; }
else { settings.flags &= ~BITFLAG_HOMING_ENABLE; }
break;
case 18: settings.homing_dir_mask = trunc(value); break;
case 19: settings.homing_feed_rate = value; break;
case 20: settings.homing_seek_rate = value; break;
case 21: settings.homing_debounce_delay = round(value); break;
case 22: settings.homing_pulloff = value; break;
default:
return(STATUS_INVALID_STATEMENT);
}
write_global_settings();
return(STATUS_OK);
}
// Perform homing cycle to locate and set machine zero. Only '$H' executes this command.
// NOTE: There should be no motions in the buffer and Grbl must be in an idle state before
// executing the homing cycle. This prevents incorrect buffered plans after homing.
void mc_homing_cycle()
{
// Check and abort homing cycle, if hard limits are already enabled. Helps prevent problems
// with machines with limits wired on both ends of travel to one limit pin.
// TODO: Move the pin-specific LIMIT_PIN call to limits.c as a function.
#ifdef LIMITS_TWO_SWITCHES_ON_AXES
if (limits_get_state()) {
mc_reset(); // Issue system reset and ensure spindle and coolant are shutdown.
bit_true_atomic(sys_rt_exec_alarm, (EXEC_ALARM_HARD_LIMIT|EXEC_CRITICAL_EVENT));
return;
}
#endif
limits_disable(); // Disable hard limits pin change register for cycle duration
// -------------------------------------------------------------------------------------
// Perform homing routine. NOTE: Special motion case. Only system reset works.
// Search to engage all axes limit switches at faster homing seek rate.
limits_go_home(HOMING_CYCLE_0); // Homing cycle 0
#ifdef HOMING_CYCLE_1
limits_go_home(HOMING_CYCLE_1); // Homing cycle 1
#endif
#ifdef HOMING_CYCLE_2
limits_go_home(HOMING_CYCLE_2); // Homing cycle 2
#endif
#ifdef HOMING_CYCLE_3
limits_go_home(HOMING_CYCLE_3); // Homing cycle 3
#endif
#ifdef HOMING_CYCLE_4
limits_go_home(HOMING_CYCLE_4); // Homing cycle 4
#endif
#ifdef HOMING_CYCLE_5
limits_go_home(HOMING_CYCLE_5); // Homing cycle 5
#endif
protocol_execute_realtime(); // Check for reset and set system abort.
if (sys.abort) { return; } // Did not complete. Alarm state set by mc_alarm.
// Homing cycle complete! Setup system for normal operation.
// -------------------------------------------------------------------------------------
// Gcode parser position was circumvented by the limits_go_home() routine, so sync position now.
gc_sync_position();
// If hard limits feature enabled, re-enable hard limits pin change register after homing cycle.
limits_init();
}
int main(void)
{
protocol_init();
settings_init();
plan_init();
st_init();
spindle_init();
gc_init();
limits_init();
for(;;){
sleep_mode(); // Wait for it ...
protocol_process(); // ... process the serial protocol
}
return 0; /* never reached */
}
// Perform homing cycle to locate and set machine zero. Only '$H' executes this command.
// NOTE: There should be no motions in the buffer and Grbl must be in an idle state before
// executing the homing cycle. This prevents incorrect buffered plans after homing.
void mc_homing_cycle(uint8_t cycle_mask)
{
// Check and abort homing cycle, if hard limits are already enabled. Helps prevent problems
// with machines with limits wired on both ends of travel to one limit pin.
// TODO: Move the pin-specific LIMIT_PIN call to limits.c as a function.
#ifdef LIMITS_TWO_SWITCHES_ON_AXES
if (limits_get_state()) {
mc_reset(); // Issue system reset and ensure spindle and coolant are shutdown.
system_set_exec_alarm(EXEC_ALARM_HARD_LIMIT);
return;
}
#endif
limits_disable(); // Disable hard limits pin change register for cycle duration
// -------------------------------------------------------------------------------------
// Perform homing routine. NOTE: Special motion case. Only system reset works.
#ifdef HOMING_SINGLE_AXIS_COMMANDS
if (cycle_mask) { limits_go_home(cycle_mask); } // Perform homing cycle based on mask.
else
#endif
{
// Search to engage all axes limit switches at faster homing seek rate.
limits_go_home(HOMING_CYCLE_0); // Homing cycle 0
#ifdef HOMING_CYCLE_1
limits_go_home(HOMING_CYCLE_1); // Homing cycle 1
#endif
#ifdef HOMING_CYCLE_2
limits_go_home(HOMING_CYCLE_2); // Homing cycle 2
#endif
}
protocol_execute_realtime(); // Check for reset and set system abort.
if (sys.abort) { return; } // Did not complete. Alarm state set by mc_alarm.
// Homing cycle complete! Setup system for normal operation.
// -------------------------------------------------------------------------------------
// Sync gcode parser and planner positions to homed position.
gc_sync_position();
plan_sync_position();
// If hard limits feature enabled, re-enable hard limits pin change register after homing cycle.
limits_init();
}
int main(void)
{
sei(); // Enable interrupts
serial_init(BAUD_RATE);
protocol_init();
settings_init();
plan_init();
st_init();
spindle_init();
gc_init();
limits_init();
while (1) {
// sleep_mode(); // Wait for it ...
protocol_process(); // ... process the serial protocol
}
return 0; /* never reached */
}
// A helper method to set settings from command line
uint8_t settings_store_global_setting(int parameter, float value) {
if (value < 0.0) { return(STATUS_SETTING_VALUE_NEG); }
switch(parameter) {
case 0: case 1: case 2:
settings.steps_per_mm[parameter] = value; break;
case 3: settings.max_rate[X_AXIS] = value; break;
case 4: settings.max_rate[Y_AXIS] = value; break;
case 5: settings.max_rate[Z_AXIS] = value; break;
case 6: settings.acceleration[X_AXIS] = value*60*60; break; // Convert to mm/min^2 for grbl internal use.
case 7: settings.acceleration[Y_AXIS] = value*60*60; break; // Convert to mm/min^2 for grbl internal use.
case 8: settings.acceleration[Z_AXIS] = value*60*60; break; // Convert to mm/min^2 for grbl internal use.
case 9: settings.max_travel[X_AXIS] = -value; break; // Store as negative for grbl internal use.
case 10: settings.max_travel[Y_AXIS] = -value; break; // Store as negative for grbl internal use.
case 11: settings.max_travel[Z_AXIS] = -value; break; // Store as negative for grbl internal use.
case 12:
if (value < 3) { return(STATUS_SETTING_STEP_PULSE_MIN); }
settings.pulse_microseconds = round(value); break;
case 13: settings.default_feed_rate = value; break;
case 14: settings.step_invert_mask = trunc(value); break;
case 15: settings.dir_invert_mask = trunc(value); break;
case 16: settings.stepper_idle_lock_time = round(value); break;
case 17: settings.junction_deviation = fabs(value); break;
case 18: settings.arc_tolerance = value; break;
case 19: settings.decimal_places = round(value); break;
case 20:
if (value) { settings.flags |= BITFLAG_REPORT_INCHES; }
else { settings.flags &= ~BITFLAG_REPORT_INCHES; }
break;
case 21: // Reset to ensure change. Immediate re-init may cause problems.
if (value) { settings.flags |= BITFLAG_AUTO_START; }
else { settings.flags &= ~BITFLAG_AUTO_START; }
break;
case 22: // Reset to ensure change. Immediate re-init may cause problems.
if (value) { settings.flags |= BITFLAG_INVERT_ST_ENABLE; }
else { settings.flags &= ~BITFLAG_INVERT_ST_ENABLE; }
break;
case 23: // Reset to ensure change. Immediate re-init may cause problems.
if (value) { settings.flags |= BITFLAG_INVERT_LIMIT_PINS; }
else { settings.flags &= ~BITFLAG_INVERT_LIMIT_PINS; }
break;
case 24:
if (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 25:
if (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 26:
if (value) { settings.flags |= BITFLAG_HOMING_ENABLE; }
else {
settings.flags &= ~BITFLAG_HOMING_ENABLE;
settings.flags &= ~BITFLAG_SOFT_LIMIT_ENABLE; // Force disable soft-limits.
}
break;
case 27: settings.homing_dir_mask = trunc(value); break;
case 28: settings.homing_feed_rate = value; break;
case 29: settings.homing_seek_rate = value; break;
case 30: settings.homing_debounce_delay = round(value); break;
case 31: settings.homing_pulloff = value; break;
default:
return(STATUS_INVALID_STATEMENT);
}
write_global_settings();
return(STATUS_OK);
}
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(int argc, const char* argv[])
{
struct vsf_session the_session =
{
/* Control connection */
0, 0, 0, 0, 0,
/* Data connection */
-1, 0, -1, 0, 0, 0, 0,
/* Login */
1, 0, INIT_MYSTR, INIT_MYSTR,
/* Protocol state */
0, 1, INIT_MYSTR, 0, 0,
/* HTTP hacks */
0, INIT_MYSTR,
/* Session state */
0,
/* Userids */
-1, -1, -1,
/* Pre-chroot() cache */
INIT_MYSTR, INIT_MYSTR, INIT_MYSTR, INIT_MYSTR, 1,
/* Logging */
-1, -1, INIT_MYSTR, 0, 0, 0, INIT_MYSTR, 0,
/* Buffers */
INIT_MYSTR, INIT_MYSTR, 0, INIT_MYSTR,
/* Parent <-> child comms */
-1, -1,
/* Number of clients */
0, 0,
/* Home directory */
INIT_MYSTR,
/* Secure connection state */
0, 0, 0, 0, 0, INIT_MYSTR, 0, -1, -1,
/* Login fails */
0,
/* write_enable */
0
};
int config_loaded = 0;
int i;
tunables_load_defaults();
/* This might need to open /dev/zero on systems lacking MAP_ANON. Needs
* to be done early (i.e. before config file parse, which may use
* anonymous pages
*/
vsf_sysutil_map_anon_pages_init();
/* Argument parsing. Any argument not starting with "-" is a config file,
* loaded in the order encountered. -o opt=value options are loading in the
* order encountered, including correct ordering with respect intermingled
* config files.
* If we see -v (version) or an unknown option, parsing bails and exits.
*/
if (argc == 0)
{
die("vsftpd: missing argv[0]");
}
for (i = 1; i < argc; ++i)
{
const char* p_arg = argv[i];
if (p_arg[0] != '-')
{
config_loaded = 1;
vsf_parseconf_load_file(p_arg, 1);
}
else
{
if (p_arg[1] == 'v')
{
vsf_exit("vsftpd: version " VSF_VERSION "\n");
}
else if (p_arg[1] == 'o')
{
vsf_parseconf_load_setting(&p_arg[2], 1);
}
else
{
die2("unrecognise option: ", p_arg);
}
}
}
/* Parse default config file if necessary */
if (!config_loaded) {
struct vsf_sysutil_statbuf* p_statbuf = 0;
int retval = vsf_sysutil_stat(VSFTP_DEFAULT_CONFIG, &p_statbuf);
if (!vsf_sysutil_retval_is_error(retval))
{
vsf_parseconf_load_file(VSFTP_DEFAULT_CONFIG, 1);
}
vsf_sysutil_free(p_statbuf);
}
/* Resolve pasv_address if required */
if (tunable_pasv_address && tunable_pasv_addr_resolve)
{
struct vsf_sysutil_sockaddr* p_addr = 0;
const char* p_numeric_addr;
vsf_sysutil_dns_resolve(&p_addr, tunable_pasv_address);
vsf_sysutil_free((char*) tunable_pasv_address);
p_numeric_addr = vsf_sysutil_inet_ntop(p_addr);
tunable_pasv_address = vsf_sysutil_strdup(p_numeric_addr);
vsf_sysutil_free(p_addr);
}
if (!tunable_run_as_launching_user)
{
/* Just get out unless we start with requisite privilege */
die_unless_privileged();
}
if (tunable_setproctitle_enable)
{
/* Warning -- warning -- may nuke argv, environ */
vsf_sysutil_setproctitle_init(argc, argv);
}
/* Initialize the SSL system here if needed - saves the overhead of each
* child doing this itself.
*/
if (tunable_ssl_enable)
{
ssl_init(&the_session);
}
if (tunable_listen || tunable_listen_ipv6)
{
/* Standalone mode */
struct vsf_client_launch ret = vsf_standalone_main();
the_session.num_clients = ret.num_children;
the_session.num_this_ip = ret.num_this_ip;
}
if (tunable_tcp_wrappers)
{
the_session.tcp_wrapper_ok = vsf_tcp_wrapper_ok(VSFTP_COMMAND_FD);
}
{
const char* p_load_conf = vsf_sysutil_getenv("VSFTPD_LOAD_CONF");
if (p_load_conf)
{
vsf_parseconf_load_file(p_load_conf, 1);
}
}
/* Sanity checks - exit with a graceful error message if our STDIN is not
* a socket. Also check various config options don't collide.
*/
do_sanity_checks();
/* Initializes session globals - e.g. IP addr's etc. */
session_init(&the_session);
/* Set up "environment", e.g. process group etc. */
env_init();
/* Set up resource limits. */
limits_init();
/* Set up logging - must come after global init because we need the remote
* address to convert into text
*/
vsf_log_init(&the_session);
str_alloc_text(&the_session.remote_ip_str,
vsf_sysutil_inet_ntop(the_session.p_remote_addr));
/* Set up options on the command socket */
vsf_cmdio_sock_setup();
if (tunable_setproctitle_enable)
{
vsf_sysutil_set_proctitle_prefix(&the_session.remote_ip_str);
vsf_sysutil_setproctitle("connected");
}
/* We might chroot() very soon (one process model), so we need to open
* any required config files here.
*/
/* SSL may have been enabled by a per-IP configuration.. */
if (tunable_ssl_enable)
{
ssl_init(&the_session);
ssl_add_entropy(&the_session);
}
if (tunable_deny_email_enable)
{
int retval = -1;
if (tunable_banned_email_file)
{
retval = str_fileread(&the_session.banned_email_str,
tunable_banned_email_file, VSFTP_CONF_FILE_MAX);
}
if (vsf_sysutil_retval_is_error(retval))
{
die2("cannot read anon e-mail list file:", tunable_banned_email_file);
}
}
if (tunable_banner_file)
{
int retval = str_fileread(&the_session.banner_str, tunable_banner_file,
VSFTP_CONF_FILE_MAX);
if (vsf_sysutil_retval_is_error(retval))
{
die2("cannot read banner file:", tunable_banner_file);
}
}
if (tunable_secure_email_list_enable)
{
int retval = -1;
if (tunable_email_password_file)
{
retval = str_fileread(&the_session.email_passwords_str,
tunable_email_password_file,
VSFTP_CONF_FILE_MAX);
}
if (vsf_sysutil_retval_is_error(retval))
{
die2("cannot read email passwords file:", tunable_email_password_file);
}
}
if (tunable_run_as_launching_user)
{
tunable_one_process_model = 1;
if (!vsf_sysutil_running_as_root())
{
tunable_connect_from_port_20 = 0;
tunable_chown_uploads = 0;
}
}
if (tunable_one_process_model)
{
vsf_one_process_start(&the_session);
}
else
{
vsf_two_process_start(&the_session);
}
/* NOTREACHED */
bug("should not get here: main");
return 1;
}
// 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: settings.steps_per_mm[parameter] = value; break;
case 1: 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; }
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; }
break;
case 14: // Reset to ensure change. Immediate re-init may cause problems.
if (int_value) { settings.flags |= BITFLAG_AUTO_START; }
else { settings.flags &= ~BITFLAG_AUTO_START; }
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;
default:
return(STATUS_INVALID_STATEMENT);
}
}
write_global_settings();
return(STATUS_OK);
}
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)
{
#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 */
}
