標(biāo)題: grbl stm32f4移植 [打印本頁]
作者: zzzlllqqq    時(shí)間: 2018-9-7 07:29
標(biāo)題: grbl stm32f4移植
grbl stm32f4 移植工程包：


單片機(jī)源程序如下:
  1. /*
  2.   main.c - An embedded CNC Controller with rs274/ngc (g-code) support
  3.   Part of Grbl

  5.   Copyright (c) 2011-2016 Sungeun K. Jeon for Gnea Research LLC
  6.   Copyright (c) 2009-2011 Simen Svale Skogsrud

  8.   Grbl is free software: you can redistribute it and/or modify
  9.   it under the terms of the GNU General Public License as published by
  10.   the Free Software Foundation, either version 3 of the License, or
  11.   (at your option) any later version.

  13.   Grbl is distributed in the hope that it will be useful,
  14.   but WITHOUT ANY WARRANTY; without even the implied warranty of
  15.   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  16.   GNU General Public License for more details.

  18.   You should have received a copy of the GNU General Public License
  19.   along with Grbl.  If not, see <http://www.gnu.org/licenses/>.
  20. */
  21. /*
  22.   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，
  23. 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
  24. 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)
  25. 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)
  26. 試，慎用！
  27.   如有重大問題，請(qǐng)聯(lián)系 tuoqiang@outlook.com
  28. */

  30. #include "grbl.h"

  32. // Declare system global variable structure
  33. system_t sys;
  34. int32_t sys_position[N_AXIS];      // Real-time machine (aka home) position vector in steps.
  35. int32_t sys_probe_position[N_AXIS]; // Last probe position in machine coordinates and steps.
  36. volatile uint8_t sys_probe_state;   // Probing state value.  Used to coordinate the probing cycle with stepper ISR.
  37. volatile uint8_t sys_rt_exec_state;   // Global realtime executor bitflag variable for state management. See EXEC bitmasks.
  38. volatile uint8_t sys_rt_exec_alarm;   // Global realtime executor bitflag variable for setting various alarms.
  39. volatile uint8_t sys_rt_exec_motion_override; // Global realtime executor bitflag variable for motion-based overrides.
  40. volatile uint8_t sys_rt_exec_accessory_override; // Global realtime executor bitflag variable for spindle/coolant overrides.
  41. #ifdef DEBUG
  42.   volatile uint8_t sys_rt_exec_debug;
  43. #endif


  46. int main(void)
  47. {
  48.   //USB init
  49.   //Delay Init
  50.   //GPIO CLK init
  51.   Hardware_Init();
  52.   
  53.   // Initialize system upon power-up.
  54.   serial_init();   // Setup serial baud rate and interrupts
  55.   settings_init(); // Load Grbl settings from EEPROM
  56.   stepper_init();  // Configure stepper pins and interrupt timers
  57.   system_init();   // Configure pinout pins and pin-change interrupt

  59.   memset(sys_position,0,sizeof(sys_position)); // Clear machine position.
  60.   asm("cpsie i"); // Enable interrupts

  62.   // Initialize system state.
  63.   #ifdef FORCE_INITIALIZATION_ALARM
  64.     // Force Grbl into an ALARM state upon a power-cycle or hard reset.
  65.     sys.state = STATE_ALARM;
  66.   #endif
  67.   
  68.   // Check for power-up and set system alarm if homing is enabled to force homing cycle
  69.   // by setting Grbl's alarm state. Alarm locks out all g-code commands, including the
  70.   // startup scripts, but allows access to settings and internal commands. Only a homing
  71.   // cycle '$H' or kill alarm locks '$X' will disable the alarm.
  72.   // NOTE: The startup script will run after successful completion of the homing cycle, but
  73.   // not after disabling the alarm locks. Prevents motion startup blocks from crashing into
  74.   // things uncontrollably. Very bad.
  75.   #ifdef HOMING_INIT_LOCK
  76.     if (bit_istrue(settings.flags,BITFLAG_HOMING_ENABLE)) { sys.state = STATE_ALARM; }
  77.   #endif

  79.   // Grbl initialization loop upon power-up or a system abort. For the latter, all processes
  80.   // will return to this loop to be cleanly re-initialized.
  81.   for(;;) {

  83.     // Reset system variables.
  84.     uint8_t prior_state = sys.state;
  85.     memset(&sys, 0, sizeof(system_t)); // Clear system struct variable.
  86.     sys.state = prior_state;
  87.     sys.f_override = DEFAULT_FEED_OVERRIDE;  // Set to 100%
  88.     sys.r_override = DEFAULT_RAPID_OVERRIDE; // Set to 100%
  89.     sys.spindle_speed_ovr = DEFAULT_SPINDLE_SPEED_OVERRIDE; // Set to 100%
  90.                 memset(sys_probe_position,0,sizeof(sys_probe_position)); // Clear probe position.
  91.     sys_probe_state = 0;
  92.     sys_rt_exec_state = 0;
  93.     sys_rt_exec_alarm = 0;
  94.     sys_rt_exec_motion_override = 0;
  95.     sys_rt_exec_accessory_override = 0;

  97.     // Reset Grbl primary systems.
  98.     serial_reset_read_buffer(); // Clear serial read buffer
  99.     gc_init(); // Set g-code parser to default state
  100.     spindle_init();
  101.     coolant_init();
  102.     limits_init();
  103.     probe_init();
  104.     plan_reset(); // Clear block buffer and planner variables
  105.     st_reset(); // Clear stepper subsystem variables.

  107.     // Sync cleared gcode and planner positions to current system position.
  108.     plan_sync_position();
  109.     gc_sync_position();

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

  114.     // Start Grbl main loop. Processes program inputs and executes them.
  115.     protocol_main_loop();

  117.   }
  118.   //return 0;   /* Never reached */
  119. }

復(fù)制代碼

所有資料51hei提供下載:
grbl1.1f-stm32f103c8-master.zip (471.01 KB, 下載次數(shù): 74)


作者: dmc2019    時(shí)間: 2019-6-9 22:30
被騙了，明明是F103的。Grbl網(wǎng)站本來就有的。
作者: nan1860    時(shí)間: 2019-9-16 12:05
測(cè)試過沒有啊
作者: sddzycnq    時(shí)間: 2021-3-12 08:19
貨不對(duì)版啊。這是stm32f103的移植，并不是stm32f407



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