Diff: grbl/main.c.bak

Revision:

0:9dcf85d9b2f3

diff -r 000000000000 -r 9dcf85d9b2f3 grbl/main.c.bak
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/grbl/main.c.bak	Mon Sep 04 12:05:05 2017 +0000
@@ -0,0 +1,208 @@
+/*
+  main.c - An embedded CNC Controller with rs274/ngc (g-code) support
+  Part of Grbl
+
+  Copyright (c) 2011-2016 Sungeun K. Jeon for Gnea Research LLC
+  Copyright (c) 2009-2011 Simen Svale Skogsrud
+
+  Grbl is free software: you can redistribute it and/or modify
+  it under the terms of the GNU General Public License as published by
+  the Free Software Foundation, either version 3 of the License, or
+  (at your option) any later version.
+
+  Grbl is distributed in the hope that it will be useful,
+  but WITHOUT ANY WARRANTY; without even the implied warranty of
+  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+  GNU General Public License for more details.
+
+  You should have received a copy of the GNU General Public License
+  along with Grbl.  If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#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.
+
+#if defined (STM32F103C8)
+#include "usb_lib.h"
+#ifdef USEUSB
+#include "usb_desc.h"
+#endif
+#include "hw_config.h"
+#ifdef USEUSB
+#include "usb_pwr.h"
+#endif
+#include "stm32eeprom.h"
+#ifndef USEUSB
+#include "stm32f10x_usart.h"
+void USART1_Configuration(u32 BaudRate)
+{
+	GPIO_InitTypeDef GPIO_InitStructure;
+	USART_InitTypeDef USART_InitStructure;
+	NVIC_InitTypeDef NVIC_InitStructure;
+	NVIC_PriorityGroupConfig(NVIC_PriorityGroup_4);
+	NVIC_InitStructure.NVIC_IRQChannel = USART1_IRQn;   
+	NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
+
+	NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;             
+	NVIC_Init(&NVIC_InitStructure);                    
+	RCC_APB2PeriphClockCmd(RCC_APB2Periph_USART1 | RCC_APB2Periph_GPIOA | RCC_APB2Periph_AFIO, ENABLE);
+
+	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9;
+	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;	 	
+	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;	
+	GPIO_Init(GPIOA, &GPIO_InitStructure);
+	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_10;
+	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;	
+	GPIO_Init(GPIOA, &GPIO_InitStructure);
+
+	USART_InitStructure.USART_BaudRate = BaudRate;	  
+	USART_InitStructure.USART_WordLength = USART_WordLength_8b; 
+	USART_InitStructure.USART_StopBits = USART_StopBits_1;	 
+	USART_InitStructure.USART_Parity = USART_Parity_No;	 
+	USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None;
+	USART_InitStructure.USART_Mode = USART_Mode_Rx | USART_Mode_Tx;
+	USART1->CR1 |= (USART_CR1_RE | USART_CR1_TE);
+	USART_Init(USART1, &USART_InitStructure);
+	//	USART_ITConfig(USART1, USART_IT_TXE, ENABLE);
+	USART_ITConfig(USART1, USART_IT_RXNE, ENABLE);
+	USART_Cmd(USART1, ENABLE);
+}
+#endif
+
+#endif
+
+
+#ifdef WIN32
+int main(int argc, char *argv[])
+#else
+int main(void)
+#endif
+{
+#if defined (STM32F103C8)
+#ifdef LEDBLINK
+	GPIO_InitTypeDef GPIO_InitStructure;
+
+	RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOC, ENABLE);
+	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;
+	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
+	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_13;
+	GPIO_Init(GPIOC, &GPIO_InitStructure);
+#endif
+	//Set_System();
+#ifndef USEUSB
+	USART1_Configuration(115200);
+#else
+	Set_USBClock();
+	USB_Interrupts_Config();
+	USB_Init();
+#endif
+
+#ifndef NOEEPROMSUPPORT
+	FLASH_Unlock();
+	eeprom_init();
+#endif
+	SysTick->CTRL &= 0xfffffffb;
+#endif
+  // Initialize system upon power-up.
+  serial_init();   // Setup serial baud rate and interrupts
+#ifdef WIN32
+  winserial_init(argv[1]);
+  eeprom_init();
+#endif
+  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.
+#ifdef AVRTARGET
+  sei(); // Enable interrupts
+#endif
+  // 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 */
+}
+#if defined (STM32F103C8)
+void _delay_ms(uint32_t x)
+{
+	u32 temp;
+	SysTick->LOAD = (u32)72000000 / 8000;                     // Loading time
+	SysTick->VAL = 0x00;                                            // Empty the counter
+	SysTick->CTRL = 0x01;                                           // Start from bottom
+	do
+	{
+		temp = SysTick->CTRL;
+	} while (temp & 0x01 && !(temp&(1 << 16)));                             // Wait time arrive
+	SysTick->CTRL = 0x00;                                            // Close the counter
+	SysTick->VAL = 0X00;                                            // Empty the counter
+}
+void LedBlink(void)
+{
+	static BitAction nOnFlag = Bit_SET;
+	GPIO_WriteBit(GPIOC, GPIO_Pin_13, nOnFlag);
+	nOnFlag = (nOnFlag == Bit_SET) ? Bit_RESET : Bit_SET;
+}
+#endif