grbllib.c

/*
  grbllib.c - An embedded CNC Controller with rs274/ngc (g-code) support

  Part of grblHAL

  Copyright (c) 2017-2023 Terje Io
  Copyright (c) 2011-2015 Sungeun K. Jeon
  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 <string.h>
#include <stdlib.h>
#include <assert.h>

#include "hal.h"
#include "nuts_bolts.h"
#include "tool_change.h"
#include "override.h"
#include "protocol.h"
#include "machine_limits.h"
#include "report.h"
#include "state_machine.h"
#include "nvs_buffer.h"
#include "stream.h"
#if ENABLE_BACKLASH_COMPENSATION
#include "motion_control.h"
#endif
#ifdef KINEMATICS_API
#include "kinematics.h"
#endif

#if COREXY
#include "kinematics/corexy.h"
#endif

#if WALL_PLOTTER
#include "kinematics/wall_plotter.h"
#endif

#if DELTA_ROBOT
#include "kinematics/delta.h"
#endif

#if POLAR_ROBOT
#include "kinematics/polar.h"
#endif

typedef union {
    uint8_t ok;
    struct {
        uint8_t init          :1,
                setup         :1,
                spindle       :1,
                amass         :1,
                pulse_delay   :1,
                unused        :3;
    };
} driver_startup_t;

struct system sys = {0}; //!< System global variable structure.
grbl_t grbl;
grbl_hal_t hal;
static driver_startup_t driver = { .ok = 0xFF };
static on_execute_realtime_ptr on_execute_realtime;

#ifdef KINEMATICS_API
kinematics_t kinematics;
#endif

void dummy_bool_handler (bool arg)
{
    // NOOP
}

void reset_handler (void)
{
    report_init_fns();

    grbl.on_macro_return = NULL;
}

static bool dummy_irq_claim (irq_type_t irq, uint_fast8_t id, irq_callback_ptr callback)
{
    return false;
}

static void report_driver_error (sys_state_t state)
{
    char msg[40];

    driver.ok = ~driver.ok;
    strcpy(msg, "Fatal: Incompatible driver (");
    strcat(msg, uitoa(driver.ok));
    strcat(msg, ")");

    report_message(msg, Message_Plain);
}

static void auto_realtime_report (sys_state_t state)
{
    static uint32_t ms = 0;

    if(sys.flags.auto_reporting) {

        uint32_t t = hal.get_elapsed_ticks();

        if(t - ms >= settings.report_interval) {
            ms = t;
            system_set_exec_state_flag(EXEC_STATUS_REPORT);
        }
    }

    on_execute_realtime(state);
}

// "Wire" homing signals to limit signals, used when max limit inputs not available.
ISR_CODE static home_signals_t ISR_FUNC(get_homing_status)(void)
{
    home_signals_t home;
    limit_signals_t limits = hal.limits.get_state();

    home.a.value = limits.min.value;
    home.b.value = limits.min2.value;

    return home;
}

// "Wire" homing signals to limit signals, used when max limit inputs available.
ISR_CODE static home_signals_t ISR_FUNC(get_homing_status2)(void)
{
    home_signals_t home;
    limit_signals_t source = xbar_get_homing_source(), limits = hal.limits.get_state();

    home.a.value = (limits.min.value & source.min.mask) | (limits.max.value & source.max.mask);
    home.b.value = (limits.min2.value & source.min2.mask) | (limits.max2.value & source.max2.mask);

    return home;
}

// main entry point

int grbl_enter (void)
{
    assert(NVS_ADDR_PARAMETERS + N_CoordinateSystems * (sizeof(coord_data_t) + NVS_CRC_BYTES) < NVS_ADDR_STARTUP_BLOCK);
    assert(NVS_ADDR_STARTUP_BLOCK + N_STARTUP_LINE * (sizeof(stored_line_t) + NVS_CRC_BYTES) < NVS_ADDR_BUILD_INFO);

    bool looping = true;

    // Clear all and set some core function pointers
    memset(&grbl, 0, sizeof(grbl_t));
    grbl.on_execute_realtime = grbl.on_execute_delay = protocol_execute_noop;
    grbl.enqueue_gcode = protocol_enqueue_gcode;
    grbl.enqueue_realtime_command = stream_enqueue_realtime_command;
    grbl.on_report_options = dummy_bool_handler;
    grbl.on_report_command_help = system_command_help;
    grbl.on_get_alarms = alarms_get_details;
    grbl.on_get_errors = errors_get_details;
    grbl.on_get_settings = settings_get_details;

    // Clear all and set some HAL function pointers
    memset(&hal, 0, sizeof(grbl_hal_t));
    hal.version = HAL_VERSION; // Update when signatures and/or contract is changed - driver_init() should fail
    hal.driver_reset = reset_handler;
    hal.irq_enable = dummy_handler;
    hal.irq_disable = dummy_handler;
    hal.irq_claim = dummy_irq_claim;
    hal.nvs.size = GRBL_NVS_SIZE;
    hal.limits.interrupt_callback = limit_interrupt_handler;
    hal.control.interrupt_callback = control_interrupt_handler;
    hal.stepper.interrupt_callback = stepper_driver_interrupt_handler;
    hal.stream_blocking_callback = stream_tx_blocking;
    hal.signals_cap.reset = hal.signals_cap.feed_hold = hal.signals_cap.cycle_start = On;

    sys.cold_start = true;

    limits_init();

#if NVSDATA_BUFFER_ENABLE
    nvs_buffer_alloc(); // Allocate memory block for NVS buffer
#endif

    settings_clear();
    report_init_fns();

#ifdef KINEMATICS_API
    memset(&kinematics, 0, sizeof(kinematics_t));
#endif

    driver.init = driver_init();

#ifdef DEBUGOUT
    debug_stream_init();
#endif

#if COMPATIBILITY_LEVEL > 0
    hal.stream.suspend_read = NULL;
#endif

#ifdef NO_SAFETY_DOOR_SUPPORT
    hal.signals_cap.safety_door_ajar = Off;
#endif

#if COREXY
    corexy_init();
#endif

#if WALL_PLOTTER
    wall_plotter_init();
#endif

#if DELTA_ROBOT
    delta_robot_init();
#endif

#if POLAR_ROBOT
    polar_init();
#endif

  #if NVSDATA_BUFFER_ENABLE
    nvs_buffer_init();
  #endif
    settings_init(); // Load settings from non-volatile storage

    memset(sys.position, 0, sizeof(sys.position)); // Clear machine position.

// check and configure driver

#ifdef ADAPTIVE_MULTI_AXIS_STEP_SMOOTHING
    driver.amass = hal.driver_cap.amass_level >= MAX_AMASS_LEVEL;
    hal.driver_cap.amass_level = MAX_AMASS_LEVEL;
#else
    hal.driver_cap.amass_level = 0;
#endif

#ifdef DEFAULT_STEP_PULSE_DELAY
    driver.pulse_delay = hal.driver_cap.step_pulse_delay;
#endif
/*
#if AXIS_N_SETTINGS > 4
    driver_ok = driver_ok & hal.driver_cap.axes >= AXIS_N_SETTINGS;
#endif
*/
    sys.mpg_mode = false;

    if(driver.ok == 0xFF)
        driver.setup = hal.driver_setup(&settings);

    if((driver.spindle = spindle_select(settings.spindle.flags.type))) {
        spindle_ptrs_t *spindle = spindle_get(0);
        driver.spindle = spindle->get_pwm == NULL || spindle->update_pwm != NULL;
    } else
        driver.spindle = spindle_select(spindle_add_null());

    if(driver.ok != 0xFF) {
        sys.alarm = Alarm_SelftestFailed;
        protocol_enqueue_rt_command(report_driver_error);
    }

    hal.stepper.enable(settings.steppers.deenergize);

    spindle_all_off();
    hal.coolant.set_state((coolant_state_t){0});

    if(hal.get_position)
        hal.get_position(&sys.position); // TODO: restore on abort when returns true?

#if ENABLE_BACKLASH_COMPENSATION
    mc_backlash_init((axes_signals_t){AXES_BITMASK});
#endif

    sys.driver_started = sys.alarm != Alarm_SelftestFailed;

    // "Wire" homing switches to limit switches if not provided by the driver.
    if(hal.homing.get_state == NULL)
        hal.homing.get_state = hal.limits_cap.max.mask ? get_homing_status2 : get_homing_status;

    if(settings.report_interval) {
        on_execute_realtime = grbl.on_execute_realtime;
        grbl.on_execute_realtime = auto_realtime_report;
    }

    // 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.
    while(looping) {

        spindle_num_t spindle_num = N_SYS_SPINDLE;

        // Reset report entry points
        report_init_fns();

        if(!sys.position_lost || settings.homing.flags.keep_on_reset)
            memset(&sys, 0, offsetof(system_t, homed)); // Clear system variables except alarm & homed status.
        else
            memset(&sys, 0, offsetof(system_t, alarm)); // Clear system variables except state & alarm.

        sys.var5399 = -2;                                        // Clear last M66 result
        sys.override.feed_rate = DEFAULT_FEED_OVERRIDE;          // Set to 100%
        sys.override.rapid_rate = DEFAULT_RAPID_OVERRIDE;        // Set to 100%
        do {
            if(spindle_is_enabled(--spindle_num))
                spindle_get(spindle_num)->param->override_pct = DEFAULT_SPINDLE_RPM_OVERRIDE; // Set to 100%
        } while(spindle_num);
        sys.flags.auto_reporting = settings.report_interval != 0;

        if(settings.parking.flags.enabled)
            sys.override.control.parking_disable = settings.parking.flags.deactivate_upon_init;

        flush_override_buffers();

        // Reset Grbl primary systems.
        hal.stream.reset_read_buffer(); // Clear input stream buffer
        gc_init();                      // Set g-code parser to default state
        hal.limits.enable(settings.limits.flags.hard_enabled, (axes_signals_t){0});
        plan_reset();                   // Clear block buffer and planner variables
        st_reset();                     // Clear stepper subsystem variables.
        limits_set_homing_axes();       // Set axes to be homed from settings.

        // Sync cleared gcode and planner positions to current system position.
        sync_position();

        if(hal.stepper.disable_motors)
            hal.stepper.disable_motors((axes_signals_t){0}, SquaringMode_Both);

        if(!hal.driver_cap.atc)
            tc_init();

        // Print welcome message. Indicates an initialization has occurred at power-up or with a reset.
        grbl.report.init_message();

        if(!settings.flags.no_unlock_after_estop && state_get() == STATE_ESTOP)
            state_set(STATE_ALARM);

        if(hal.driver_cap.mpg_mode)
            protocol_enqueue_realtime_command(sys.mpg_mode ? CMD_STATUS_REPORT_ALL : CMD_STATUS_REPORT);

        // Start Grbl main loop. Processes program inputs and executes them.
        if(!(looping = protocol_main_loop()))
            looping = hal.driver_release == NULL || hal.driver_release();

        sys.cold_start = false;
    }

    nvs_buffer_free();

    return 0;
}