kopia lustrzana https://github.com/Schildkroet/GRBL-Advanced
104 wiersze
3.2 KiB
C
104 wiersze
3.2 KiB
C
/*
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main.c - An embedded CNC Controller with rs274/ngc (g-code) support
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Part of Grbl-Advanced
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Copyright (c) 2011-2016 Sungeun K. Jeon for Gnea Research LLC
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Copyright (c) 2009-2011 Simen Svale Skogsrud
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Copyright (c) 2017 Patrick F.
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Grbl-Advanced is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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Grbl-Advanced is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with Grbl-Advanced. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <stdio.h>
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#include <stdlib.h>
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#include <stdint.h>
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#include "System32.h"
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#include "grbl_advance.h"
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#include "Print.h"
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// Declare system global variable structure
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System_t sys;
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int32_t sys_position[N_AXIS]; // Real-time machine (aka home) position vector in steps.
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int32_t sys_probe_position[N_AXIS]; // Last probe position in machine coordinates and steps.
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volatile uint8_t sys_probe_state; // Probing state value. Used to coordinate the probing cycle with stepper ISR.
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volatile uint8_t sys_rt_exec_state; // Global realtime executor bitflag variable for state management. See EXEC bitmasks.
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volatile uint8_t sys_rt_exec_alarm; // Global realtime executor bitflag variable for setting various alarms.
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volatile uint8_t sys_rt_exec_motion_override; // Global realtime executor bitflag variable for motion-based overrides.
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volatile uint8_t sys_rt_exec_accessory_override; // Global realtime executor bitflag variable for spindle/coolant overrides.
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int main(void) {
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// Init SysTick 1ms
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SysTick_Init();
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// Init formatted output
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Print_Init();
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System_Init();
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Stepper_Init();
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Settings_Init();
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System_ResetPosition();
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if(BIT_IS_TRUE(settings.flags, BITFLAG_HOMING_ENABLE)) {
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sys.state = STATE_ALARM;
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}
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else {
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sys.state = STATE_IDLE;
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}
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// Grbl-Advanced initialization loop upon power-up or a system abort. For the latter, all processes
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// will return to this loop to be cleanly re-initialized.
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while(1) {
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// Reset system variables.
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uint8_t prior_state = sys.state;
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System_Clear();
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sys.state = prior_state;
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Probe_Reset();
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sys_probe_state = 0;
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sys_rt_exec_state = 0;
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sys_rt_exec_alarm = 0;
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sys_rt_exec_motion_override = 0;
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sys_rt_exec_accessory_override = 0;
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// Reset Grbl-Advanced primary systems.
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GC_Init();
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Planner_Init();
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Coolant_Init();
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Limits_Init();
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Probe_Init();
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Spindle_Init();
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Stepper_Reset();
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// Sync cleared gcode and planner positions to current system position.
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Planner_SyncPosition();
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GC_SyncPosition();
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// Print welcome message. Indicates an initialization has occured at power-up or with a reset.
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Report_InitMessage();
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// Start Grbl-Advanced main loop. Processes program inputs and executes them.
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Protocol_MainLoop();
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// Clear serial buffer after soft reset to prevent undefined behavior
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FifoUsart_Init();
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}
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return 0;
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}
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