mirror of
https://github.com/bdring/Grbl_Esp32.git
synced 2025-09-02 10:53:01 +02:00
Cleaned up the .ino file in favor of Grbl.h (#538)
... while moving some variable definitions where they belong.
This commit is contained in:
Mitch Bradley
GitHub
@@ -19,112 +19,11 @@
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*/
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#include "src/Grbl.h"
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#include <WiFi.h>
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// Declare system global variable structure
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system_t sys;
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int32_t sys_position[N_AXIS]; // Real-time machine (aka home) position vector in steps.
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int32_t sys_probe_position[N_AXIS]; // Last probe position in machine coordinates and steps.
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volatile uint8_t sys_probe_state; // Probing state value. Used to coordinate the probing cycle with stepper ISR.
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volatile uint8_t sys_rt_exec_state; // Global realtime executor bitflag variable for state management. See EXEC bitmasks.
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volatile uint8_t sys_rt_exec_alarm; // Global realtime executor bitflag variable for setting various alarms.
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volatile uint8_t sys_rt_exec_motion_override; // Global realtime executor bitflag variable for motion-based overrides.
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volatile uint8_t sys_rt_exec_accessory_override; // Global realtime executor bitflag variable for spindle/coolant overrides.
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#ifdef DEBUG
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volatile uint8_t sys_rt_exec_debug;
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#endif
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Spindles::Spindle* spindle;
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void setup() {
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#ifdef USE_I2S_OUT
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i2s_out_init(); // The I2S out must be initialized before it can access the expanded GPIO port
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#endif
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WiFi.persistent(false);
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WiFi.disconnect(true);
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WiFi.enableSTA(false);
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WiFi.enableAP(false);
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WiFi.mode(WIFI_OFF);
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serial_init(); // Setup serial baud rate and interrupts
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grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Grbl_ESP32 Ver %s Date %s", GRBL_VERSION, GRBL_VERSION_BUILD); // print grbl_esp32 verion info
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grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Compiled with ESP32 SDK:%s", ESP.getSdkVersion()); // print the SDK version
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// show the map name at startup
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#ifdef MACHINE_NAME
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report_machine_type(CLIENT_SERIAL);
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#endif
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settings_init(); // Load Grbl settings from EEPROM
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stepper_init(); // Configure stepper pins and interrupt timers
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init_motors();
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system_ini(); // Configure pinout pins and pin-change interrupt (Renamed due to conflict with esp32 files)
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memset(sys_position, 0, sizeof(sys_position)); // Clear machine position.
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#ifdef USE_PEN_SERVO
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servo_init();
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#endif
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#ifdef USE_SERVO_AXES
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init_servos();
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#endif
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#ifdef USE_PEN_SOLENOID
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solenoid_init();
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#endif
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#ifdef USE_MACHINE_INIT
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machine_init(); // user supplied function for special initialization
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#endif
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// Initialize system state.
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#ifdef FORCE_INITIALIZATION_ALARM
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// Force Grbl into an ALARM state upon a power-cycle or hard reset.
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sys.state = STATE_ALARM;
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#else
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sys.state = STATE_IDLE;
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#endif
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// Check for power-up and set system alarm if homing is enabled to force homing cycle
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// by setting Grbl's alarm state. Alarm locks out all g-code commands, including the
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// startup scripts, but allows access to settings and internal commands. Only a homing
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// cycle '$H' or kill alarm locks '$X' will disable the alarm.
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// NOTE: The startup script will run after successful completion of the homing cycle, but
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// not after disabling the alarm locks. Prevents motion startup blocks from crashing into
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// things uncontrollably. Very bad.
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#ifdef HOMING_INIT_LOCK
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if (homing_enable->get())
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sys.state = STATE_ALARM;
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#endif
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Spindles::Spindle::select();
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#ifdef ENABLE_WIFI
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wifi_config.begin();
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#endif
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#ifdef ENABLE_BLUETOOTH
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bt_config.begin();
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#endif
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inputBuffer.begin();
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init();
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}
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void loop() {
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// Reset system variables.
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uint8_t prior_state = sys.state;
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memset(&sys, 0, sizeof(system_t)); // Clear system struct variable.
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sys.state = prior_state;
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sys.f_override = DEFAULT_FEED_OVERRIDE; // Set to 100%
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sys.r_override = DEFAULT_RAPID_OVERRIDE; // Set to 100%
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sys.spindle_speed_ovr = DEFAULT_SPINDLE_SPEED_OVERRIDE; // Set to 100%
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memset(sys_probe_position, 0, sizeof(sys_probe_position)); // Clear probe position.
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sys_probe_state = 0;
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sys_rt_exec_state = 0;
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sys_rt_exec_alarm = 0;
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sys_rt_exec_motion_override = 0;
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sys_rt_exec_accessory_override = 0;
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// Reset Grbl primary systems.
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serial_reset_read_buffer(CLIENT_ALL); // Clear serial read buffer
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gc_init(); // Set g-code parser to default state
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spindle->stop();
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coolant_init();
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limits_init();
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probe_init();
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plan_reset(); // Clear block buffer and planner variables
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st_reset(); // Clear stepper subsystem variables
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// Sync cleared gcode and planner positions to current system position.
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plan_sync_position();
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gc_sync_position();
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// put your main code here, to run repeatedly:
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report_init_message(CLIENT_ALL);
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// Start Grbl main loop. Processes program inputs and executes them.
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protocol_main_loop();
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run_once();
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}
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131
Grbl_Esp32/src/Grbl.cpp
Normal file
131
Grbl_Esp32/src/Grbl.cpp
Normal file
@@ -0,0 +1,131 @@
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/*
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Grbl.cpp - Initialization and main loop for Grbl
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Part of Grbl
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Copyright (c) 2014-2016 Sungeun K. Jeon for Gnea Research LLC
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2018 - Bart Dring This file was modifed for use on the ESP32
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CPU. Do not use this with Grbl for atMega328P
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Grbl is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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Grbl is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with Grbl. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include "Grbl.h"
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#include <WiFi.h>
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void init() {
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#ifdef USE_I2S_OUT
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i2s_out_init(); // The I2S out must be initialized before it can access the expanded GPIO port
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#endif
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WiFi.persistent(false);
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WiFi.disconnect(true);
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WiFi.enableSTA(false);
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WiFi.enableAP(false);
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WiFi.mode(WIFI_OFF);
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serial_init(); // Setup serial baud rate and interrupts
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grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Grbl_ESP32 Ver %s Date %s", GRBL_VERSION, GRBL_VERSION_BUILD); // print grbl_esp32 verion info
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grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Compiled with ESP32 SDK:%s", ESP.getSdkVersion()); // print the SDK version
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// show the map name at startup
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#ifdef MACHINE_NAME
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report_machine_type(CLIENT_SERIAL);
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#endif
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settings_init(); // Load Grbl settings from EEPROM
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stepper_init(); // Configure stepper pins and interrupt timers
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init_motors();
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system_ini(); // Configure pinout pins and pin-change interrupt (Renamed due to conflict with esp32 files)
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memset(sys_position, 0, sizeof(sys_position)); // Clear machine position.
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#ifdef USE_PEN_SERVO
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servo_init();
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#endif
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#ifdef USE_SERVO_AXES
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init_servos();
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#endif
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#ifdef USE_PEN_SOLENOID
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solenoid_init();
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#endif
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#ifdef USE_MACHINE_INIT
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machine_init(); // user supplied function for special initialization
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#endif
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// Initialize system state.
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#ifdef FORCE_INITIALIZATION_ALARM
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// Force Grbl into an ALARM state upon a power-cycle or hard reset.
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sys.state = STATE_ALARM;
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#else
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sys.state = STATE_IDLE;
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#endif
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// Check for power-up and set system alarm if homing is enabled to force homing cycle
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// by setting Grbl's alarm state. Alarm locks out all g-code commands, including the
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// startup scripts, but allows access to settings and internal commands. Only a homing
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// cycle '$H' or kill alarm locks '$X' will disable the alarm.
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// NOTE: The startup script will run after successful completion of the homing cycle, but
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// not after disabling the alarm locks. Prevents motion startup blocks from crashing into
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// things uncontrollably. Very bad.
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#ifdef HOMING_INIT_LOCK
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if (homing_enable->get())
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sys.state = STATE_ALARM;
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#endif
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Spindles::Spindle::select();
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#ifdef ENABLE_WIFI
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wifi_config.begin();
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#endif
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#ifdef ENABLE_BLUETOOTH
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bt_config.begin();
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#endif
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inputBuffer.begin();
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}
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static void reset_variables() {
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// Reset system variables.
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uint8_t prior_state = sys.state;
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memset(&sys, 0, sizeof(system_t)); // Clear system struct variable.
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sys.state = prior_state;
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sys.f_override = DEFAULT_FEED_OVERRIDE; // Set to 100%
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sys.r_override = DEFAULT_RAPID_OVERRIDE; // Set to 100%
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sys.spindle_speed_ovr = DEFAULT_SPINDLE_SPEED_OVERRIDE; // Set to 100%
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memset(sys_probe_position, 0, sizeof(sys_probe_position)); // Clear probe position.
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sys_probe_state = 0;
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sys_rt_exec_state = 0;
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sys_rt_exec_alarm = 0;
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sys_rt_exec_motion_override = 0;
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sys_rt_exec_accessory_override = 0;
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// Reset Grbl primary systems.
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serial_reset_read_buffer(CLIENT_ALL); // Clear serial read buffer
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gc_init(); // Set g-code parser to default state
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spindle->stop();
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coolant_init();
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limits_init();
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probe_init();
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plan_reset(); // Clear block buffer and planner variables
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st_reset(); // Clear stepper subsystem variables
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// Sync cleared gcode and planner positions to current system position.
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plan_sync_position();
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gc_sync_position();
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report_init_message(CLIENT_ALL);
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}
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void run_once() {
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reset_variables();
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// Start Grbl main loop. Processes program inputs and executes them.
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// This can exit on a system abort condition, in which case run_once()
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// is re-executed by an enclosing loop.
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protocol_main_loop();
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}
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/*
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setup() and loop() in the Arduino .ino implements this control flow:
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void main() {
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init(); // setup()
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while (1) { // loop()
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run_once();
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}
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}
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*/
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@@ -95,6 +95,9 @@
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# include "I2SOut.h"
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#endif
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void init();
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void run_once();
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// Called if USE_MACHINE_INIT is defined
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void machine_init();
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@@ -79,3 +79,5 @@ namespace Spindles {
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set_state(state, rpm);
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}
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}
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Spindles::Spindle* spindle;
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@@ -21,6 +21,19 @@
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#include "Grbl.h"
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#include "Config.h"
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// Declare system global variable structure
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system_t sys;
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int32_t sys_position[N_AXIS]; // Real-time machine (aka home) position vector in steps.
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int32_t sys_probe_position[N_AXIS]; // Last probe position in machine coordinates and steps.
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volatile uint8_t sys_probe_state; // Probing state value. Used to coordinate the probing cycle with stepper ISR.
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volatile uint8_t sys_rt_exec_state; // Global realtime executor bitflag variable for state management. See EXEC bitmasks.
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volatile uint8_t sys_rt_exec_alarm; // Global realtime executor bitflag variable for setting various alarms.
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volatile uint8_t sys_rt_exec_motion_override; // Global realtime executor bitflag variable for motion-based overrides.
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volatile uint8_t sys_rt_exec_accessory_override; // Global realtime executor bitflag variable for spindle/coolant overrides.
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#ifdef DEBUG
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volatile uint8_t sys_rt_exec_debug;
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#endif
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xQueueHandle control_sw_queue; // used by control switch debouncing
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bool debouncing = false; // debouncing in process
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