#include "grbl.h" // Declare system global variable structure system_t sys; int32_t sys_position[N_AXIS]; // Real-time machine (aka home) position vector in steps. int32_t sys_probe_position[N_AXIS]; // Last probe position in machine coordinates and steps. volatile uint8_t sys_probe_state; // Probing state value. Used to coordinate the probing cycle with stepper ISR. volatile uint8_t sys_rt_exec_state; // Global realtime executor bitflag variable for state management. See EXEC bitmasks. volatile uint8_t sys_rt_exec_alarm; // Global realtime executor bitflag variable for setting various alarms. volatile uint8_t sys_rt_exec_motion_override; // Global realtime executor bitflag variable for motion-based overrides. volatile uint8_t sys_rt_exec_accessory_override; // Global realtime executor bitflag variable for spindle/coolant overrides. #ifdef DEBUG volatile uint8_t sys_rt_exec_debug; #endif 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 */ }