main.c

00001 /*
00002   main.c - An embedded CNC Controller with rs274/ngc (g-code) support
00003   Part of Grbl
00004 
00005   Copyright (c) 2011-2016 Sungeun K. Jeon for Gnea Research LLC
00006   Copyright (c) 2009-2011 Simen Svale Skogsrud
00007 
00008   Grbl is free software: you can redistribute it and/or modify
00009   it under the terms of the GNU General Public License as published by
00010   the Free Software Foundation, either version 3 of the License, or
00011   (at your option) any later version.
00012 
00013   Grbl is distributed in the hope that it will be useful,
00014   but WITHOUT ANY WARRANTY; without even the implied warranty of
00015   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00016   GNU General Public License for more details.
00017 
00018   You should have received a copy of the GNU General Public License
00019   along with Grbl.  If not, see <http://www.gnu.org/licenses/>.
00020 */
00021 
00022 #include "grbl.h"
00023 // Declare system global variable structure
00024 system_t sys;
00025 int32_t sys_position[N_AXIS];      // Real-time machine (aka home) position vector in steps.
00026 int32_t sys_probe_position[N_AXIS]; // Last probe position in machine coordinates and steps.
00027 volatile uint8_t sys_probe_state;   // Probing state value.  Used to coordinate the probing cycle with stepper ISR.
00028 volatile uint8_t sys_rt_exec_state;   // Global realtime executor bitflag variable for state management. See EXEC bitmasks.
00029 volatile uint8_t sys_rt_exec_alarm;   // Global realtime executor bitflag variable for setting various alarms.
00030 volatile uint8_t sys_rt_exec_motion_override; // Global realtime executor bitflag variable for motion-based overrides.
00031 volatile uint8_t sys_rt_exec_accessory_override; // Global realtime executor bitflag variable for spindle/coolant overrides.
00032 
00033 #if defined (STM32F103C8)
00034 #include "usb_lib.h"
00035 #ifdef USEUSB
00036 #include "usb_desc.h"
00037 #endif
00038 #include "hw_config.h"
00039 #ifdef USEUSB
00040 #include "usb_pwr.h"
00041 #endif
00042 #include "stm32eeprom.h"
00043 #ifndef USEUSB
00044 #include "stm32f10x_usart.h"
00045 void USART1_Configuration(u32 BaudRate)
00046 {
00047     GPIO_InitTypeDef GPIO_InitStructure;
00048     USART_InitTypeDef USART_InitStructure;
00049     NVIC_InitTypeDef NVIC_InitStructure;
00050     NVIC_PriorityGroupConfig(NVIC_PriorityGroup_4);
00051     NVIC_InitStructure.NVIC_IRQChannel = USART1_IRQn;   
00052     NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;  
00053 
00054     NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; 
00055     NVIC_Init(&NVIC_InitStructure);                 
00056     RCC_APB2PeriphClockCmd(RCC_APB2Periph_USART1 | RCC_APB2Periph_GPIOA | RCC_APB2Periph_AFIO, ENABLE);
00057 
00058     GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9;
00059     GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; 
00060     GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;       
00061     GPIO_Init(GPIOA, &GPIO_InitStructure);
00062     GPIO_InitStructure.GPIO_Pin = GPIO_Pin_10;
00063     GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;   
00064     GPIO_Init(GPIOA, &GPIO_InitStructure);
00065 
00066     USART_InitStructure.USART_BaudRate = BaudRate;    
00067     USART_InitStructure.USART_WordLength = USART_WordLength_8b; 
00068     USART_InitStructure.USART_StopBits = USART_StopBits_1;   
00069     USART_InitStructure.USART_Parity = USART_Parity_No;  
00070     USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None;
00071     USART_InitStructure.USART_Mode = USART_Mode_Rx | USART_Mode_Tx;
00072     USART1->CR1 |= (USART_CR1_RE | USART_CR1_TE);
00073     USART_Init(USART1, &USART_InitStructure);
00074     //  USART_ITConfig(USART1, USART_IT_TXE, ENABLE);
00075     USART_ITConfig(USART1, USART_IT_RXNE, ENABLE);
00076     USART_Cmd(USART1, ENABLE);
00077 }
00078 #endif
00079 
00080 #endif
00081 
00082 
00083 #ifdef WIN32
00084 int main(int argc, char *argv[])
00085 #else
00086 int main(void)
00087 #endif
00088 {
00089 #if defined (STM32F103C8)
00090     GPIO_PinRemapConfig(GPIO_Remap_SWJ_Disable, ENABLE);
00091 #ifdef LEDBLINK
00092     GPIO_InitTypeDef GPIO_InitStructure;
00093 
00094     RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOC, ENABLE);
00095     GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;
00096     GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
00097     GPIO_InitStructure.GPIO_Pin = GPIO_Pin_13;
00098     GPIO_Init(GPIOC, &GPIO_InitStructure);
00099 #endif
00100     //Set_System();
00101 #ifndef USEUSB
00102     USART1_Configuration(115200);
00103 #else
00104     Set_USBClock();
00105     USB_Interrupts_Config();
00106     USB_Init();
00107 #endif
00108 
00109 #ifndef NOEEPROMSUPPORT
00110     FLASH_Unlock();
00111     eeprom_init();
00112 #endif
00113     SysTick->CTRL &= 0xfffffffb;
00114 #endif
00115   // Initialize system upon power-up.
00116   serial_init();   // Setup serial baud rate and interrupts
00117 #ifdef WIN32
00118   winserial_init(argv[1]);
00119   eeprom_init();
00120 #endif
00121   settings_init(); // Load Grbl settings from EEPROM
00122   stepper_init();  // Configure stepper pins and interrupt timers
00123   system_init();   // Configure pinout pins and pin-change interrupt
00124 
00125   memset(sys_position,0,sizeof(sys_position)); // Clear machine position.
00126 #ifdef AVRTARGET
00127   sei(); // Enable interrupts
00128 #endif
00129   // Initialize system state.
00130   #ifdef FORCE_INITIALIZATION_ALARM
00131     // Force Grbl into an ALARM state upon a power-cycle or hard reset.
00132     sys.state = STATE_ALARM;
00133   #else
00134     sys.state = STATE_IDLE;
00135   #endif
00136   
00137   // Check for power-up and set system alarm if homing is enabled to force homing cycle
00138   // by setting Grbl's alarm state. Alarm locks out all g-code commands, including the
00139   // startup scripts, but allows access to settings and internal commands. Only a homing
00140   // cycle '$H' or kill alarm locks '$X' will disable the alarm.
00141   // NOTE: The startup script will run after successful completion of the homing cycle, but
00142   // not after disabling the alarm locks. Prevents motion startup blocks from crashing into
00143   // things uncontrollably. Very bad.
00144   #ifdef HOMING_INIT_LOCK
00145     if (bit_istrue(settings.flags,BITFLAG_HOMING_ENABLE)) { sys.state = STATE_ALARM; }
00146   #endif
00147 
00148   // Grbl initialization loop upon power-up or a system abort. For the latter, all processes
00149   // will return to this loop to be cleanly re-initialized.
00150   for(;;) {
00151 
00152     // Reset system variables.
00153     uint8_t prior_state = sys.state;
00154     memset(&sys, 0, sizeof(system_t)); // Clear system struct variable.
00155     sys.state = prior_state;
00156     sys.f_override = DEFAULT_FEED_OVERRIDE;  // Set to 100%
00157     sys.r_override = DEFAULT_RAPID_OVERRIDE; // Set to 100%
00158     sys.spindle_speed_ovr = DEFAULT_SPINDLE_SPEED_OVERRIDE; // Set to 100%
00159         memset(sys_probe_position,0,sizeof(sys_probe_position)); // Clear probe position.
00160     sys_probe_state = 0;
00161     sys_rt_exec_state = 0;
00162     sys_rt_exec_alarm = 0;
00163     sys_rt_exec_motion_override = 0;
00164     sys_rt_exec_accessory_override = 0;
00165 
00166     // Reset Grbl primary systems.
00167     serial_reset_read_buffer(); // Clear serial read buffer
00168     gc_init(); // Set g-code parser to default state
00169     spindle_init();
00170     coolant_init();
00171     limits_init();
00172     probe_init();
00173     plan_reset(); // Clear block buffer and planner variables
00174     st_reset(); // Clear stepper subsystem variables.
00175 
00176     // Sync cleared gcode and planner positions to current system position.
00177     plan_sync_position();
00178     gc_sync_position();
00179 
00180     // Print welcome message. Indicates an initialization has occured at power-up or with a reset.
00181     report_init_message();
00182 
00183     // Start Grbl main loop. Processes program inputs and executes them.
00184     protocol_main_loop();
00185 
00186   }
00187   return 0;   /* Never reached */
00188 }
00189 #if defined (STM32F103C8)
00190 void _delay_ms(uint32_t x)
00191 {
00192     u32 temp;
00193     SysTick->LOAD = (u32)72000000 / 8000;                     // Loading time
00194     SysTick->VAL = 0x00;                                            // Empty the counter
00195     SysTick->CTRL = 0x01;                                           // Start from bottom
00196     do
00197     {
00198         temp = SysTick->CTRL;
00199     } while (temp & 0x01 && !(temp&(1 << 16)));                             // Wait time arrive
00200     SysTick->CTRL = 0x00;                                            // Close the counter
00201     SysTick->VAL = 0X00;                                            // Empty the counter
00202 }
00203 void LedBlink(void)
00204 {
00205     static BitAction nOnFlag = Bit_SET;
00206     GPIO_WriteBit(GPIOC, GPIO_Pin_13, nOnFlag);
00207     nOnFlag = (nOnFlag == Bit_SET) ? Bit_RESET : Bit_SET;
00208 }
00209 #endif