// 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(); }
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 '$X' will disable the alarm. // NOTE: The startup script will run after successful completion of the homing cycle, but // not after disabling the alarm locks. Prevents motion startup blocks from crashing into // things uncontrollably. Very bad. #ifdef HOMING_INIT_LOCK if (bit_istrue(settings.flags,BITFLAG_HOMING_ENABLE)) { sys.state = STATE_ALARM; } #endif // Grbl initialization loop upon power-up or a system abort. For the latter, all processes // will return to this loop to be cleanly re-initialized. for(;;) { // TODO: Separate configure task that require interrupts to be disabled, especially upon // a system abort and ensuring any active interrupts are cleanly reset. // Reset Grbl primary systems. serial_reset_read_buffer(); // Clear serial read buffer gc_init(); // Set g-code parser to default state spindle_init(); coolant_init(); limits_init(); probe_init(); plan_reset(); // Clear block buffer and planner variables st_reset(); // Clear stepper subsystem variables. // Sync cleared gcode and planner positions to current system position. plan_sync_position(); gc_sync_position(); // Reset system variables. sys.abort = false; sys.execute = 0; if (bit_istrue(settings.flags,BITFLAG_AUTO_START)) { sys.auto_start = true; } else { sys.auto_start = false; } // Start Grbl main loop. Processes program inputs and executes them. protocol_main_loop(); } return 0; /* Never reached */ }
// Perform homing cycle to locate and set machine zero. Only '$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(); }
// 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) { // 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 */ }