main.c

/*
  main.c - An embedded CNC Controller with rs274/ngc (g-code) support
  Part of Grbl-Advanced

  Copyright (c) 2011-2016 Sungeun K. Jeon for Gnea Research LLC
  Copyright (c) 2009-2011 Simen Svale Skogsrud
  Copyright (c)	2018-2020 Patrick F.

  Grbl-Advanced 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-Advanced 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-Advanced.  If not, see <http://www.gnu.org/licenses/>.
*/
#include <stdio.h>
#include <stdlib.h>
#include <stdint.h>

#include "FreeRTOS.h"
#include "task.h"
#include "timers.h"

#include "System32.h"
#include "grbl_advance.h"
#include "Ethernet.h"
#include "GrIP.h"
#include "ServerTCP.h"
#include "util2.h"

#include "Print.h"
#include "FIFO_USART.h"
#include "ComIf.h"
#include "Platform.h"

#define MAIN_TASK_STACK_SIZE configMINIMAL_STACK_SIZE
#define MAIN_TASK_PRIO (configMAX_PRIORITIES - 2)

// 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 uint16_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 ETH_IF
    uint8_t MAC[] = {0xDE, 0xAD, 0xBE, 0xEF, 0xFE, 0xED};

    // IP Address of tcp server
    IPAddress_t IP = {{192, 168, 1, 20}};
    IPAddress_t GatewayIP = {{192, 168, 1, 1}};
    IPAddress_t SubnetMask = {{255, 255, 255, 0}};
    IPAddress_t MyDns = {{8, 8, 8, 8}};
#endif


void vMainTask(void *pvParameters __attribute__((unused)))
{
    // Grbl-Advanced 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(1)
    {
        // Reset system variables.
        uint16_t prior_state = sys.state;
        uint8_t home_state = sys.is_homed;

        System_Clear();
        sys.state = prior_state;
        sys.is_homed = home_state;

        Probe_Reset();

        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-Advanced primary systems.
        GC_Init();
        Planner_Init();
        MC_Init();
        TC_Init();

        Coolant_Init();
        Limits_Init();
        Probe_Init();
        Spindle_Init();
        Stepper_Reset();

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

        // Print welcome message. Indicates an initialization has occured at power-up or with a reset.
        Report_InitMessage();

        //-- Start Grbl-Advanced main loop. Processes program inputs and executes them. --//
        Protocol_MainLoop();
        //--------------------------------------------------------------------------------//

        // Clear serial buffer after soft reset to prevent undefined behavior
        FifoUsart_Init();
    }
}

void vTimerCallback(TimerHandle_t xTimer __attribute__((unused)))
{
    Poll_States();
}

int main(void)
{
    BaseType_t ret;
    TimerHandle_t xTimer;

    // Init formatted output
    Printf_Init();
    System_Init();
    Stepper_Init();
    Settings_Init();

    System_ResetPosition();

#ifdef ETH_IF
    // Initialize W5500
    Ethernet_Init(MAC, &IP, &MyDns, &GatewayIP, &SubnetMask);

    // Initialize TCP server
    ServerTCP_Init(ETH_SOCK, ETH_PORT);
#endif

    // Initialize GrIP protocol
    GrIP_Init();

    // Init SysTick 1ms
    // SysTick_Init();

    if(BIT_IS_TRUE(settings.flags, BITFLAG_HOMING_ENABLE))
    {
        sys.state = STATE_ALARM;
    }
    else
    {
        sys.state = STATE_IDLE;
    }

    xTimer = xTimerCreate("Timer", pdMS_TO_TICKS(1), pdTRUE, (void *)0, vTimerCallback);
    configASSERT(xTimer != NULL);

    ret = xTaskCreate(vMainTask, "main_task", MAIN_TASK_STACK_SIZE, NULL, MAIN_TASK_PRIO, NULL);
    configASSERT(ret == pdPASS);

    xTimerStart(xTimer, 0);
    vTaskStartScheduler();

    return 0;
}