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 */
}
// Directs and executes one line of formatted input from protocol_process. While mostly
// incoming streaming g-code blocks, this also executes Grbl internal commands, such as
// settings, initiating the homing cycle, and toggling switch states. This differs from
// the runtime command module by being susceptible to when Grbl is ready to execute the
// next line during a cycle, so for switches like block delete, the switch only effects
// the lines that are processed afterward, not necessarily real-time during a cycle,
// since there are motions already stored in the buffer. However, this 'lag' should not
// be an issue, since these commands are not typically used during a cycle.
uint8_t protocol_execute_line(char *line)
{
// Grbl internal command and parameter lines are of the form '$4=374.3' or '$' for help
if(line[0] == '$') {
uint8_t char_counter = 1;
uint8_t helper_var = 0; // Helper variable
float parameter, value;
switch( line[char_counter] ) {
case 0 : report_grbl_help(); break;
case '$' : // Prints Grbl settings
if ( line[++char_counter] != 0 ) { return(STATUS_UNSUPPORTED_STATEMENT); }
else { report_grbl_settings(); }
break;
case '#' : // Print gcode parameters
if ( line[++char_counter] != 0 ) { return(STATUS_UNSUPPORTED_STATEMENT); }
else { report_gcode_parameters(); }
break;
case 'G' : // Prints gcode parser state
if ( line[++char_counter] != 0 ) { return(STATUS_UNSUPPORTED_STATEMENT); }
else { report_gcode_modes(); }
break;
case 'C' : // Set check g-code mode
if ( line[++char_counter] != 0 ) { return(STATUS_UNSUPPORTED_STATEMENT); }
// Perform reset when toggling off. Check g-code mode should only work if Grbl
// is idle and ready, regardless of alarm locks. This is mainly to keep things
// simple and consistent.
if ( sys.state == STATE_CHECK_MODE ) {
mc_reset();
report_feedback_message(MESSAGE_DISABLED);
} else {
if (sys.state) { return(STATUS_IDLE_ERROR); }
sys.state = STATE_CHECK_MODE;
report_feedback_message(MESSAGE_ENABLED);
}
break;
case 'X' : // Disable alarm lock
if ( line[++char_counter] != 0 ) { return(STATUS_UNSUPPORTED_STATEMENT); }
if (sys.state == STATE_ALARM) {
report_feedback_message(MESSAGE_ALARM_UNLOCK);
sys.state = STATE_IDLE;
// Don't run startup script. Prevents stored moves in startup from causing accidents.
}
break;
case 'H' : // Perform homing cycle
if (bit_istrue(settings.flags,BITFLAG_HOMING_ENABLE)) {
// Only perform homing if Grbl is idle or lost.
if ( sys.state==STATE_IDLE || sys.state==STATE_ALARM ) {
mc_go_home();
if (!sys.abort) { protocol_execute_startup(); } // Execute startup scripts after successful homing.
} else { return(STATUS_IDLE_ERROR); }
} else { return(STATUS_SETTING_DISABLED); }
break;
// case 'J' : break; // Jogging methods
// TODO: Here jogging can be placed for execution as a seperate subprogram. It does not need to be
// susceptible to other runtime commands except for e-stop. The jogging function is intended to
// be a basic toggle on/off with controlled acceleration and deceleration to prevent skipped
// steps. The user would supply the desired feedrate, axis to move, and direction. Toggle on would
// start motion and toggle off would initiate a deceleration to stop. One could 'feather' the
// motion by repeatedly toggling to slow the motion to the desired location. Location data would
// need to be updated real-time and supplied to the user through status queries.
// More controlled exact motions can be taken care of by inputting G0 or G1 commands, which are
// handled by the planner. It would be possible for the jog subprogram to insert blocks into the
// block buffer without having the planner plan them. It would need to manage de/ac-celerations
// on its own carefully. This approach could be effective and possibly size/memory efficient.
case 'N' : // Startup lines.
if ( line[++char_counter] == 0 ) { // Print startup lines
for (helper_var=0; helper_var < N_STARTUP_LINE; helper_var++) {
if (!(settings_read_startup_line(helper_var, line))) {
report_status_message(STATUS_SETTING_READ_FAIL);
} else {
report_startup_line(helper_var,line);
}
}
break;
} else { // Store startup line
helper_var = true; // Set helper_var to flag storing method.
// No break. Continues into default: to read remaining command characters.
}
default : // Storing setting methods
if(!read_float(line, &char_counter, ¶meter)) { return(STATUS_BAD_NUMBER_FORMAT); }
if(line[char_counter++] != '=') { return(STATUS_UNSUPPORTED_STATEMENT); }
if (helper_var) { // Store startup line
// Prepare sending gcode block to gcode parser by shifting all characters
helper_var = char_counter; // Set helper variable as counter to start of gcode block
do {
line[char_counter-helper_var] = line[char_counter];
} while (line[char_counter++] != 0);
// Execute gcode block to ensure block is valid.
helper_var = gc_execute_line(line); // Set helper_var to returned status code.
if (helper_var) { return(helper_var); }
else {
helper_var = trunc(parameter); // Set helper_var to int value of parameter
settings_store_startup_line(helper_var,line);
}
} else { // Store global setting.
if(!read_float(line, &char_counter, &value)) { return(STATUS_BAD_NUMBER_FORMAT); }
if(line[char_counter] != 0) { return(STATUS_UNSUPPORTED_STATEMENT); }
return(settings_store_global_setting(parameter, value));
}
}
return(STATUS_OK); // If '$' command makes it to here, then everything's ok.
} else {
return(gc_execute_line(line)); // Everything else is gcode
}
}
void jogging()
// Tests jog port pins and moves steppers
{
uint8_t jog_bits, jog_bits_old, out_bits0, jog_exit, last_sys_state;
uint8_t i, limit_state, spindle_bits;
uint32_t dest_step_rate, step_rate, step_delay; // Step delay after pulse
switch (sys.state) {
case STATE_CYCLE: case STATE_HOMING: case STATE_INIT:
LED_PORT |= (1<<LED_ERROR_BIT);
return;
case STATE_ALARM: case STATE_QUEUED:
LED_PORT &= ~(1<<LED_ERROR_BIT); break;
default:
LED_PORT |= (1<<LED_ERROR_BIT);
}
last_sys_state = sys.state;
spindle_bits = (~PINOUT_PIN) & (1<<PIN_SPIN_TOGGLE); // active low
if (spindle_bits) {
if (spindle_status) {
// gc.spindle_direction = 0;
spindle_run(0);
}
else {
// gc.spindle_direction = 1; // also update gcode spindle status
spindle_run(1);
}
spindle_btn_release();
delay_ms(20);
}
jog_bits = (~JOGSW_PIN) & JOGSW_MASK; // active low
if (!jog_bits) { return; } // nothing pressed
// At least one jog/joystick switch is active
if (jog_bits & (1<<JOG_ZERO)) { // Zero-Button gedrückt
jog_btn_release();
sys.state = last_sys_state;
if (bit_isfalse(PINOUT_PIN,bit(PIN_RESET))) { // RESET und zusätzlich ZERO gedrückt: Homing
if (bit_istrue(settings.flags,BITFLAG_HOMING_ENABLE)) {
// Only perform homing if Grbl is idle or lost.
if ( sys.state==STATE_IDLE || sys.state==STATE_ALARM ) {
mc_go_home();
if (!sys.abort) { protocol_execute_startup(); } // Execute startup scripts after successful homing.
}
}
} else { // Zero current work position
sys_sync_current_position();
// gc.coord_system[i] Current work coordinate system (G54+). Stores offset from absolute machine
// position in mm. Loaded from EEPROM when called.
// gc.coord_offset[i] Retains the G92 coordinate offset (work coordinates) relative to
// machine zero in mm. Non-persistent. Cleared upon reset and boot.
for (i=0; i<=2; i++) { // Axes indices are consistent, so loop may be used.
gc.coord_offset[i] = gc.position[i] - gc.coord_system[i];
}
// Z-Achse um bestimmten Betrag zurückziehen
mc_line(gc.position[X_AXIS], gc.position[Y_AXIS], gc.position[Z_AXIS]
+ (settings.z_zero_pulloff * settings.z_scale), settings.default_seek_rate, false);
plan_synchronize(); // Make sure the motion completes
gc.position[Z_AXIS] = gc.position[Z_AXIS] - (settings.z_zero_gauge * settings.z_scale);
gc.coord_offset[Z_AXIS] = gc.position[Z_AXIS] - gc.coord_system[Z_AXIS];
// The gcode parser position circumvented by the pull-off maneuver, so sync position vectors.
// Sets the planner position vector to current steps. Called by the system abort routine.
// Sets g-code parser position in mm. Input in steps. Called by the system abort and hard
sys_sync_current_position(); // Syncs all internal position vectors to the current system position.
}
return;
}
ADCSRA = ADCSRA_init | (1<<ADIF); //0x93, clear ADIF
uint8_t reverse_flag = 0;
uint8_t out_bits = 0;
uint8_t jog_select = 0;
out_bits0 = (0) ^ (settings.invert_mask);
ADCSRA = ADCSRA_init | (1<<ADIF); //0x93, clear ADIF
ADCSRA = ADCSRA_init | (1<<ADSC); //0xC3; start conversion
sys.state = STATE_JOG;
// check for reverse switches
if (jog_bits & (1<<JOGREV_X_BIT)) { // X reverse switch on
out_bits0 ^= (1<<X_DIRECTION_BIT);
out_bits = out_bits0 ^ (1<<X_STEP_BIT);
reverse_flag = 1;
}
if (jog_bits & (1<<JOGREV_Y_BIT)) { // Y reverse switch on
out_bits0 ^= (1<<Y_DIRECTION_BIT);
out_bits = out_bits0 ^ (1<<Y_STEP_BIT);
reverse_flag = 1;
jog_select = 1;
}
if (jog_bits & (1<<JOGREV_Z_BIT)) { // Z reverse switch on
out_bits0 ^= (1<<Z_DIRECTION_BIT);
out_bits = out_bits0 ^ (1<<Z_STEP_BIT);
reverse_flag = 1;
jog_select = 2;
}
// check for forward switches
if (jog_bits & (1<<JOGFWD_X_BIT)) { // X forward switch on
out_bits = out_bits0 ^ (1<<X_STEP_BIT);
}
if (jog_bits & (1<<JOGFWD_Y_BIT)) { // Y forward switch on
out_bits = out_bits0 ^ (1<<Y_STEP_BIT);
jog_select = 1;
}
if (jog_bits & (1<<JOGFWD_Z_BIT)) { // Z forward switch on
out_bits = out_bits0 ^ (1<<Z_STEP_BIT);
jog_select = 2;
}
dest_step_rate = ADCH; // set initial dest_step_rate according to analog input
dest_step_rate = (dest_step_rate * JOG_SPEED_FAC) + JOG_MIN_SPEED;
step_rate = JOG_MIN_SPEED; // set initial step rate
jog_exit = 0;
while (!(ADCSRA && (1<<ADIF))) {} // warte bis ADIF-Bit gesetzt
ADCSRA = ADCSRA_init; // exit conversion
st_wake_up();
// prepare direction with small delay, direction settle time
STEPPING_PORT = (STEPPING_PORT & ~STEPPING_MASK) | (out_bits0 & STEPPING_MASK);
delay_us(10);
jog_bits_old = jog_bits;
i = 0; // now index for sending position data
for(;;) { // repeat until button/joystick released
// report_realtime_status(); // benötigt viel Zeit!
ADCSRA = ADCSRA_init | (1<<ADIF); //0x93, clear ADIF
// Get limit pin state
#ifdef LIMIT_SWITCHES_ACTIVE_HIGH
// When in an active-high switch configuration
limit_state = LIMIT_PIN;
#else
limit_state = LIMIT_PIN ^ LIMIT_MASK;
#endif
if ((limit_state & LIMIT_MASK) && reverse_flag) { jog_exit = 1; } // immediate stop
jog_bits = (~JOGSW_PIN) & JOGSW_MASK; // active low
if (jog_bits == jog_bits_old) { // nothing changed
if (step_rate < (dest_step_rate - 5)) { // Hysterese für A/D-Wandlung
step_rate += JOG_RAMP; // accellerate
}
if (step_rate > (dest_step_rate + 5)) { // Hysterese für A/D-Wandlung
step_rate -= JOG_RAMP; // brake
}
}
else {
if (step_rate > (JOG_MIN_SPEED*2)) { // switch change happened, fast brake to complete stop
step_rate = ((step_rate * 99) / 100) - 10;
}
else { jog_exit = 1; } // finished to stop and exit
}
// stop and exit if done
if (jog_exit || (sys.execute & EXEC_RESET)) {
st_go_idle();
sys.state = last_sys_state;
sys_sync_current_position();
return;
}
// update position registers
if (reverse_flag) {
sys.position[jog_select]--;
}
else {
sys.position[jog_select]++;
}
ADCSRA = ADCSRA_init | (1<<ADSC); //0xC3; start ADC conversion
// Both direction and step pins appropriately inverted and set. Perform one step
STEPPING_PORT = (STEPPING_PORT & ~STEPPING_MASK) | (out_bits & STEPPING_MASK);
delay_us(settings.pulse_microseconds);
STEPPING_PORT = (STEPPING_PORT & ~STEPPING_MASK) | (out_bits0 & STEPPING_MASK);
step_delay = (1000000/step_rate) - settings.pulse_microseconds - 100; // 100 = fester Wert für Schleifenzeit
if (sys.execute & EXEC_STATUS_REPORT) { // status report requested, print short msg only
printPgmString(PSTR("Jog\r\n"));
sys.execute = 0;
}
delay_us(step_delay);
#ifdef JOG_SPI_PRESENT
send_spi_position(i); // bei jedem Durchlauf nur eine Achse übertragen
i++;
if (i>2) {i=0;}
#endif
while (!(ADCSRA && (1<<ADIF))) {} // warte ggf. bis ADIF-Bit gesetzt
ADCSRA = ADCSRA_init; // exit conversion
dest_step_rate = ADCH; // set next dest_step_rate according to analog input
dest_step_rate = (dest_step_rate * JOG_SPEED_FAC) + JOG_MIN_SPEED;
}
}
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 */
}
