main.c

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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/>.
*/

#include "grbl.h"

system_t sys;


int main(void)
{
// Initialize system upon power-up.
  serial_init();   
  settings_init(); 
  stepper_init();  
  system_init();   

  memset(sys_position,0,sizeof(sys_position)); 
  sei(); 

// 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.
// 
// 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)); 
    sys.state = prior_state;
    sys.f_override = DEFAULT_FEED_OVERRIDE;  
    sys.r_override = DEFAULT_RAPID_OVERRIDE; 
    sys.spindle_speed_ovr = DEFAULT_SPINDLE_SPEED_OVERRIDE; 
        memset(sys_probe_position,0,sizeof(sys_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(); 
    gc_init(); 
    spindle_init();
    coolant_init();
    limits_init();
    probe_init();
    sleep_init();
    plan_reset(); 
    st_reset(); 

// 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;   
}