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/*
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/>.
*/
/*
之前在github上看到了grbl-0.9j在stm32上的移植，于是照貓畫老虎，移植了grbl1.1f-20170131，
增加了USB虛擬串口，不再需要外接轉(zhuǎn)換芯片，但其他功能都沒有調(diào)試，存在嚴(yán)重問題。此次移植了
grbl1.1f-20170801，同時(shí)進(jìn)行了少許調(diào)試，目前通訊正常，步進(jìn)電機(jī)接口、冷卻和主軸正常，同時(shí)
加入了四相五線步進(jìn)接口（x和y），這些在cpu_map.h中有相應(yīng)定義。但手頭沒有機(jī)器，尚未實(shí)機(jī)測(cè)
試，慎用！
如有重大問題，請(qǐng)聯(lián)系 tuoqiang@outlook.com
*/
#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)
{
//USB init
//Delay Init
//GPIO CLK init
Hardware_Init();
// 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.
asm("cpsie i"); // 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;
#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 */
}

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