diff --git a/404.html b/404.html index 3e5bbe9..8c02356 100644 --- a/404.html +++ b/404.html @@ -8,13 +8,13 @@ - + -

404

Looks like we've got some broken links.
+ - + diff --git a/analysis/acceleration.html b/analysis/acceleration.html index 181ff0e..7c90fdb 100644 --- a/analysis/acceleration.html +++ b/analysis/acceleration.html @@ -8,7 +8,7 @@ - + @@ -33,6 +33,6 @@ →

- + diff --git a/analysis/architecture.html b/analysis/architecture.html index 736558f..04e75e6 100644 --- a/analysis/architecture.html +++ b/analysis/architecture.html @@ -8,7 +8,7 @@ - + @@ -24,7 +24,38 @@ grbl中文注解 (opens new window)
Github - (opens new window)

# 架构

Grbl的核心是带有梯形加减速过程的直线插补算法的实现，它包含一个G代码的解析器，一个全局状态机，还有一系列的守护进程,是一个典型的前台+后台架构。前台是各种中断处理，后台是一个无限循环，然后通过状态机关联前后台，中断中不会执行复杂的任务，它只根据当前条件改变状态，后台通过状态执行相应的任务，比如G代码解析，运动前瞻规划，运动插值等。通过调用链分析，得到下图：

grbl architecture

Grbl运行在 Arduino UNO 硬件上，但是它并没有使用Arduino框架，原因在于Arduino的芯片atmega328p资源有限，而且Arduino框架占用了某些资源（比如定时器）。因此grbl所有的库都是自己封装的，通过操作寄存器实现的。通过grbl源码，我整理出了以下模块的作用：

+ (opens new window)

# 架构

# 架构图

Grbl的核心是带有梯形加减速过程的直线插补算法的实现，它包含一个G代码的解析器，一个全局状态机，还有一系列的守护进程,是一个典型的前台+后台架构。前台是各种中断处理，后台是一个无限循环，然后通过状态机关联前后台，中断中不会执行复杂的任务，它只根据当前条件改变状态，后台通过状态执行相应的任务，比如G代码解析，运动前瞻规划，运动插值等。通过调用链分析，得到下图：

grbl architecture

Grbl运行在 Arduino UNO 硬件上，但是它并没有使用Arduino框架，原因在于Arduino的芯片atmega328p资源有限，而且Arduino框架占用了某些资源（比如定时器）。因此grbl所有的库都是自己封装的，通过操作寄存器实现的。通过grbl源码，我整理出了以下模块的作用：

# 入口

main.c 初始化外设，开启主循环
+

# 串口通信

serial.c：低阶串口通信并为异步控制检出运行时的实时命令。
+
+report.c：通知状态映射和消息组装
+
+print.c：打印不同格式字符串的函数（用在串口）
+

# 主循环

protocol.c: 从串口接受命令行并把他们传递到“gcode”执行。提供每个命令的状态响应。还管理串口中断的运行时命令集。
+
+gcode.c：从“protocol”接收g代码，按照解析器的当前状态解析它并且通过“xxx_control”模块发出命令
+

# 运动规划模块

motion_control.c: 从“gcode”接收移动命令并且传递他们到规划器。这个模块为规划器模块或步进电机模块提供公共接口。
+
+planner.c: 从“motion_control”接收线性移动命令并且把他们添加到准备移动的计划中。它维护持被添加的移动续优化加速度路径。
+

# 动作模块

stepper.c：按计划用步进电机按步执行移动
+
+spindle.c: 控制主轴的命令
+
+coolant_control.c：控制主轴冷却的命令
+

# 输入控制模块

limits.c：配置限位开关，用来告诉机器源点位置，阻止超出行程范围
+
+probe.c：对刀，告知Z轴0点位置
+
+jog.c：手动控制机器移动
+
+system.c：解析并执行系统命令（$开头），外部控制按钮响应
+

# 参数设置模块

settings.c：在eeroom中维护运行时配置项并且让它对所有模块可用
+
+config.h：编译时的用户配置
+
+eeprom.c：一个Atmel的库，提供方法读或写eerom，添加了一点东西可以在读写二进制流的时候检查配置项的校验和。
+

# 引脚映射模块

cpu_map.h：定义MCU的引脚对应关系
+

# 辅助模块

nuts_bolts.c：一些全局变量定义，到处被用到的有用的常量、宏。 
+

← →

- + diff --git a/analysis/bresenham.html b/analysis/bresenham.html index 837f73e..0786745 100644 --- a/analysis/bresenham.html +++ b/analysis/bresenham.html @@ -8,7 +8,7 @@ - + @@ -33,6 +33,6 @@ →

- + diff --git a/analysis/coolant.html b/analysis/coolant.html index e668267..ceed122 100644 --- a/analysis/coolant.html +++ b/analysis/coolant.html @@ -8,7 +8,7 @@ - + @@ -33,6 +33,6 @@ →

- + diff --git a/analysis/emergency.html b/analysis/emergency.html index 7ea813e..c346032 100644 --- a/analysis/emergency.html +++ b/analysis/emergency.html @@ -8,7 +8,7 @@ - + @@ -33,6 +33,6 @@ →

- + diff --git a/analysis/endstop.html b/analysis/endstop.html index 45f037c..2525c05 100644 --- a/analysis/endstop.html +++ b/analysis/endstop.html @@ -8,7 +8,7 @@ - + @@ -33,6 +33,6 @@ →

- + diff --git a/analysis/gcode.html b/analysis/gcode.html index bfd1cbc..81e8b5b 100644 --- a/analysis/gcode.html +++ b/analysis/gcode.html @@ -8,7 +8,7 @@ - + @@ -33,6 +33,6 @@ →

- + diff --git a/analysis/homing.html b/analysis/homing.html index b0dc673..fd2556b 100644 --- a/analysis/homing.html +++ b/analysis/homing.html @@ -8,7 +8,7 @@ - + @@ -33,6 +33,6 @@ →

- + diff --git a/analysis/index.html b/analysis/index.html index 7a3623f..694b839 100644 --- a/analysis/index.html +++ b/analysis/index.html @@ -8,7 +8,7 @@ - + @@ -46,6 +46,6 @@ →

- + diff --git a/analysis/interface.html b/analysis/interface.html index e61cc6d..9a27552 100644 --- a/analysis/interface.html +++ b/analysis/interface.html @@ -8,7 +8,7 @@ - + @@ -33,6 +33,6 @@ →

- + diff --git a/analysis/main.html b/analysis/main.html index c52b092..4d5e390 100644 --- a/analysis/main.html +++ b/analysis/main.html @@ -8,7 +8,7 @@ - + @@ -24,7 +24,7 @@ grbl中文注解 (opens new window)
Github - (opens new window)

# 入口 main.c

Grbl的主入口是grbl文件夹里面的main.c,入口函数是main()，而不是Arduino的 setup()和loop()，其实功能上差不多，就是先执行初始化，再加一个无限循环。我们先看下main.c的源代码和注释。

/*
+   (opens new window)

# 入口 main.c

# 源代码

Grbl的主入口是grbl文件夹里面的main.c,入口函数是main()，而不是Arduino的 setup()和loop()，其实功能上差不多，就是先执行初始化，再加一个无限循环。我们先看下main.c的源代码和注释。

/*
   main.c - An embedded CNC Controller with rs274/ngc (g-code) support
   Part of Grbl
 
@@ -133,8 +133,9 @@
   }
   return 0;   /* Never reached */
 }
-

注释的开头说明grbl是一个支持NIST（国家标准及技术局） rs274/ngc规范（见附件）的嵌入式控制器，它在GNU GPL许可下发布。

  • grbl是模块化的，所有模块通过#include "grbl.h"文件头引入.
    -然后初始化了一些全局状态，通过状态机维护这些状态:
// 声明系统全局变量结构体
+

# 注释

注释的开头说明grbl是一个支持NIST（国家标准及技术局） rs274/ngc规范（见附件）的嵌入式控制器，它在GNU GPL许可下发布。
+grbl是模块化的，所有模块通过#include "grbl.h"文件头引入.
+然后初始化了一些全局状态，通过状态机维护这些状态:

// 声明系统全局变量结构体
 system_t sys;
 int32_t sys_position[N_AXIS];      // 用步数表示的实时机器（如归位）位置向量。
 int32_t sys_probe_position[N_AXIS]; // 探针在机器坐标的最后位置和步数。
@@ -146,7 +147,7 @@
 #ifdef DEBUG
   volatile uint8_t sys_rt_exec_debug;
 #endif
-
  • 在main函数中对各个模块进行初始化，主要包括定义引脚，设置中断等,然后开启总中断：
// 开机后初始化系统
+

# 初始化

在main函数中对各个模块进行初始化，主要包括定义引脚，设置中断等,然后开启总中断：

// 开机后初始化系统
   serial_init();   // 设置串口波特率和中断。
   settings_init(); // 从EEPROM加载Grbl设置。
   stepper_init();  // 配置步进电机引脚和中断定时器。
@@ -154,7 +155,7 @@
 
   memset(sys_position,0,sizeof(sys_position)); // 清空机器位置。
   sei(); // 开启总中断。
-
  • 如果设置了进行限位开关的检查，就进入限位警报状态，机器启动时就得进行$H归位，或者通过$X命令解除警报:
// 初始化系统状态
+

# 状态检查

如果设置了进行限位开关的检查，就进入限位警报状态，机器启动时就得进行$H归位，或者通过$X命令解除警报:

// 初始化系统状态
   #ifdef FORCE_INITIALIZATION_ALARM
     // 在系统上电或硬件重置时强制Grbl进入ALARM状态。
     sys.state = STATE_ALARM;
@@ -169,7 +170,7 @@
   #ifdef HOMING_INIT_LOCK
     if (bit_istrue(settings.flags,BITFLAG_HOMING_ENABLE)) { sys.state = STATE_ALARM; }
   #endif
-
  • 然后进入循环，进行干净的初始化：
// Grbl 在上电或系统终止后初始化循环。稍后，所有过程将会返回到这个循环进行干净地重新初始化。
+

# 子模块初始化

然后进入循环，进行干净的初始化：

// Grbl 在上电或系统终止后初始化循环。稍后，所有过程将会返回到这个循环进行干净地重新初始化。
   for(;;) {
 
     // 重置系统变量。
@@ -207,7 +208,7 @@
     protocol_main_loop();
 
   }
-
  • 然后进入grbl的主循环protocol_main_loop(),开始协议解析和后台任务处理。

+

# 主循环

然后进入grbl的主循环protocol_main_loop(),开始协议解析和后台任务处理。

← →

- + diff --git a/analysis/motion.html b/analysis/motion.html index 6635b1c..19ca271 100644 --- a/analysis/motion.html +++ b/analysis/motion.html @@ -8,7 +8,7 @@ - + @@ -33,6 +33,6 @@ →

- + diff --git a/analysis/planner.html b/analysis/planner.html index ef5f91e..f794185 100644 --- a/analysis/planner.html +++ b/analysis/planner.html @@ -8,7 +8,7 @@ - + @@ -33,6 +33,6 @@ →

- + diff --git a/analysis/probe.html b/analysis/probe.html index 3a29bc7..df58f90 100644 --- a/analysis/probe.html +++ b/analysis/probe.html @@ -8,7 +8,7 @@ - + @@ -33,6 +33,6 @@ →

- + diff --git a/analysis/protocol.html b/analysis/protocol.html index 524260c..79e2df6 100644 --- a/analysis/protocol.html +++ b/analysis/protocol.html @@ -8,7 +8,7 @@ - + @@ -24,7 +24,7 @@ grbl中文注解 (opens new window)
Github - (opens new window)

# 协议-主循环 protocol.c

protocol_main_loop()函数是在protocol.c中定义的，该模块用于控制和执行协议和程序。我们先看下源码：

// Define line flags. Includes comment type tracking and line overflow detection.
+   (opens new window)

# 协议-主循环 protocol.c

# 源代码

protocol_main_loop()函数是在protocol.c中定义的，该模块用于控制和执行协议和程序。我们先看下源码：

// Define line flags. Includes comment type tracking and line overflow detection.
 #define LINE_FLAG_OVERFLOW bit(0)
 #define LINE_FLAG_COMMENT_PARENTHESES bit(1)
 #define LINE_FLAG_COMMENT_SEMICOLON bit(2)
@@ -165,7 +165,7 @@
 
   return; /* Never reached */
 }
-

主循环函数protocol_main_loop()主要的功能就是从 GRBL串口RX缓冲区 （不是芯片缓冲区）读取字符串，经过处理后放入 G代码行缓冲区，然后交给G代码解析器。处理过程大概如下：

  1. 先执行限位开关、安全门等检查，执行初始化脚本：
// 执行一些机器检查以确保一切正常。
+

主循环函数protocol_main_loop()主要的功能就是从 GRBL串口RX缓冲区 （不是芯片缓冲区）读取字符串，经过处理后放入 G代码行缓冲区，然后交给G代码解析器。处理过程大概如下：

# 安全检查

先执行限位开关、安全门等检查，执行初始化脚本：

// 执行一些机器检查以确保一切正常。
   #ifdef CHECK_LIMITS_AT_INIT // 检查是否开启了初始化系统时检查限位开关，默认是开启的。
     if (bit_istrue(settings.flags, BITFLAG_HARD_LIMIT_ENABLE)) { // 检查是否设置了硬件限位功能
       if (limits_get_state()) { // 检查限位开关状态
@@ -191,7 +191,7 @@
     // 所有系统正常！
     system_execute_startup(line); // 执行启动脚本
   }
-
  1. 一直从RX缓冲区读取字符，直到遇到串口数据结束符SERIAL_NO_DATA(0xff)也就是串口空了为止，然后把读取到的G代码行经过去掉注释和空格、 字母转换为大写后放入G代码行缓冲区line[LINE_BUFFER_SIZE]，如果开头是以$开头的系统命令，则传递给命令处理器入口system_execute_line()，如果是G代码则传递给G代码解释器入口gc_execute_line()。行缓冲区大小LINE_BUFFER_SIZE设置为80个字符，超出这个字符数量会报行缓冲区溢出STATUS_OVERFLOW错误，标准要求是255个字符，但这里足够用了，如果你需要缓冲更多字符，可以修改LINE_BUFFER_SIZE为更大值。
// ---------------------------------------------------------------------------------
+

# 处理串口字符串

一直从RX缓冲区读取字符，直到遇到串口数据结束符SERIAL_NO_DATA(0xff)也就是串口空了为止，然后把读取到的G代码行经过去掉注释和空格、 字母转换为大写后放入G代码行缓冲区line[LINE_BUFFER_SIZE]，如果开头是以$开头的系统命令，则传递给命令处理器入口system_execute_line()，如果是G代码则传递给G代码解释器入口gc_execute_line()。行缓冲区大小LINE_BUFFER_SIZE设置为80个字符，超出这个字符数量会报行缓冲区溢出STATUS_OVERFLOW错误，标准要求是255个字符，但这里足够用了，如果你需要缓冲更多字符，可以修改LINE_BUFFER_SIZE为更大值。

// ---------------------------------------------------------------------------------
   // 主循环! 系统终止后这回退出返回到main()去重置系统。
   // 这也是Grbl空闲等待其他事情的地方。
   // ---------------------------------------------------------------------------------
@@ -278,11 +278,11 @@
     }    
     
   }
-

从USB串口读取数据部分的源码，为避免注意力过度分散，我们放在后面硬件部分集中分析。

  1. G代码经过一系列处理后会进行一系列的信号加工，最后生成待执行的队列，默认设置了自动开启循环，会依次执行队列中的数据，并更新队列，这部分我们等到后面信号处理的时候在说，这也是一个初次看GRBL源码容易被忽略的地方导致分析断层。
// 如果在串口读缓冲区没有字符需要处理或执行，这会通知g代码流已填充到规划器缓冲区或已完成。
+

从USB串口读取数据部分的源码，为避免注意力过度分散，我们放在后面硬件部分集中分析。

# 开始自动周期

G代码经过一系列处理后会进行一系列的信号加工，最后生成待执行的队列，默认设置了自动开启循环，会依次执行队列中的数据，并更新队列，这部分我们等到后面信号处理的时候在说，这也是一个初次看GRBL源码容易被忽略的地方导致分析断层。

// 如果在串口读缓冲区没有字符需要处理或执行，这会通知g代码流已填充到规划器缓冲区或已完成。
 // 不管哪种情况，如果开启了自动循环，就会开始自动循环，队列就会移动。
 protocol_auto_cycle_start();
-
  1. 如果碰到sys.abort信号就会退出主循环到main的循环中去重置系统（GRBL的状态机）。
if (sys.abort) { return; } // 如果系统终止，返回到main()程序循环去重置系统。
-
  1. 由于GRBL没有实时操作系统，为了保证系统能够及时响应一些危险事件，在每一个可能会阻塞或长时间运行的地方，都安插了运行时命令检查点：
protocol_execute_realtime();  // 运行时命令检查点。
+

# 终止信号

如果碰到sys.abort信号就会退出主循环到main的循环中去重置系统（GRBL的状态机）。

if (sys.abort) { return; } // 如果系统终止，返回到main()程序循环去重置系统。
+

# 运行时检查

由于GRBL没有实时操作系统，为了保证系统能够及时响应一些危险事件，在每一个可能会阻塞或长时间运行的地方，都安插了运行时命令检查点：

protocol_execute_realtime();  // 运行时命令检查点。

这部分内容比较多我们单独章节分析。

← →

- + diff --git a/analysis/serial.html b/analysis/serial.html index 456049f..ae3dc4d 100644 --- a/analysis/serial.html +++ b/analysis/serial.html @@ -8,7 +8,7 @@ - + @@ -33,6 +33,6 @@ →

- + diff --git a/analysis/settings.html b/analysis/settings.html index a467415..19eedad 100644 --- a/analysis/settings.html +++ b/analysis/settings.html @@ -8,7 +8,7 @@ - + @@ -33,6 +33,6 @@ →

- + diff --git a/analysis/spindle.html b/analysis/spindle.html index c2a6186..76df93c 100644 --- a/analysis/spindle.html +++ b/analysis/spindle.html @@ -8,7 +8,7 @@ - + @@ -33,6 +33,6 @@ →

- + diff --git a/analysis/stepper.html b/analysis/stepper.html index 21efa21..4f941a5 100644 --- a/analysis/stepper.html +++ b/analysis/stepper.html @@ -8,7 +8,7 @@ - + @@ -33,6 +33,6 @@ →

- + diff --git a/analysis/system.html b/analysis/system.html index bd9da4b..fd2d968 100644 --- a/analysis/system.html +++ b/analysis/system.html @@ -8,7 +8,7 @@ - + @@ -33,6 +33,6 @@ →

- + diff --git a/appendix/index.html b/appendix/index.html index 0863bac..b0e0e79 100644 --- a/appendix/index.html +++ b/appendix/index.html @@ -8,7 +8,7 @@ - + @@ -29,6 +29,6 @@

- + diff --git a/assets/js/12.72846795.js b/assets/js/12.2f99913c.js similarity index 86% rename from assets/js/12.72846795.js rename to assets/js/12.2f99913c.js index 4b0ce95..da5a5bc 100644 --- a/assets/js/12.72846795.js +++ b/assets/js/12.2f99913c.js @@ -1 +1 @@ -(window.webpackJsonp=window.webpackJsonp||[]).push([[12],{293:function(t,s,e){"use strict";e.r(s);var n=e(14),r=Object(n.a)({},(function(){var t=this._self._c;return t("ContentSlotsDistributor",{attrs:{"slot-key":this.$parent.slotKey}},[t("h1",{attrs:{id:"bresenham插值算法"}},[t("a",{staticClass:"header-anchor",attrs:{href:"#bresenham插值算法"}},[this._v("#")]),this._v(" Bresenham插值算法")])])}),[],!1,null,null,null);s.default=r.exports}}]); \ No newline at end of file +(window.webpackJsonp=window.webpackJsonp||[]).push([[12],{292:function(t,s,e){"use strict";e.r(s);var n=e(14),r=Object(n.a)({},(function(){var t=this._self._c;return t("ContentSlotsDistributor",{attrs:{"slot-key":this.$parent.slotKey}},[t("h1",{attrs:{id:"bresenham插值算法"}},[t("a",{staticClass:"header-anchor",attrs:{href:"#bresenham插值算法"}},[this._v("#")]),this._v(" Bresenham插值算法")])])}),[],!1,null,null,null);s.default=r.exports}}]); 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Jeon for Gnea Research LLC\n Copyright (c) 2009-2011 Simen Svale Skogsrud\n\n Grbl is free software: you can redistribute it and/or modify\n it under the terms of the GNU General Public License as published by\n the Free Software Foundation, either version 3 of the License, or\n (at your option) any later version.\n\n Grbl is distributed in the hope that it will be useful,\n but WITHOUT ANY WARRANTY; without even the implied warranty of\n MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the\n GNU General Public License for more details.\n\n You should have received a copy of the GNU General Public License\n along with Grbl. 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number"}},[t._v("0")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(";")]),t._v("\n sys_rt_exec_accessory_override "),s("span",{pre:!0,attrs:{class:"token operator"}},[t._v("=")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token number"}},[t._v("0")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(";")]),t._v("\n\n "),s("span",{pre:!0,attrs:{class:"token comment"}},[t._v("// Reset Grbl primary systems.")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token function"}},[t._v("serial_reset_read_buffer")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("(")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(")")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(";")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token comment"}},[t._v("// Clear serial read buffer")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token function"}},[t._v("gc_init")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("(")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(")")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(";")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token comment"}},[t._v("// Set g-code parser to default state")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token function"}},[t._v("spindle_init")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("(")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(")")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(";")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token function"}},[t._v("coolant_init")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("(")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(")")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(";")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token function"}},[t._v("limits_init")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("(")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(")")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(";")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token function"}},[t._v("probe_init")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("(")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(")")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(";")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token function"}},[t._v("plan_reset")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("(")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(")")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(";")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token comment"}},[t._v("// Clear block buffer and planner variables")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token function"}},[t._v("st_reset")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("(")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(")")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(";")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token comment"}},[t._v("// Clear stepper subsystem variables.")]),t._v("\n\n "),s("span",{pre:!0,attrs:{class:"token comment"}},[t._v("// Sync cleared gcode and planner positions to current system position.")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token function"}},[t._v("plan_sync_position")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("(")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(")")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(";")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token function"}},[t._v("gc_sync_position")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("(")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(")")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(";")]),t._v("\n\n "),s("span",{pre:!0,attrs:{class:"token comment"}},[t._v("// Print welcome message. Indicates an initialization has occured at power-up or with a reset.")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token function"}},[t._v("report_init_message")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("(")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(")")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(";")]),t._v("\n\n "),s("span",{pre:!0,attrs:{class:"token comment"}},[t._v("// Start Grbl main loop. Processes program inputs and executes them.")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token function"}},[t._v("protocol_main_loop")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("(")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(")")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(";")]),t._v("\n\n "),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("}")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token keyword"}},[t._v("return")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token number"}},[t._v("0")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(";")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token comment"}},[t._v("/* Never reached */")]),t._v("\n"),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("}")]),t._v("\n")])])]),s("h2",{attrs:{id:"注释"}},[s("a",{staticClass:"header-anchor",attrs:{href:"#注释"}},[t._v("#")]),t._v(" 注释")]),t._v(" "),s("p",[t._v("注释的开头说明grbl是一个支持NIST（国家标准及技术局） rs274/ngc规范（"),s("a",{attrs:{href:"/docs/RS274NGC_3.pdf"}},[t._v("见附件")]),t._v("）的嵌入式控制器，它在GNU GPL许可下发布。"),s("br"),t._v("\ngrbl是模块化的，所有模块通过"),s("code",[t._v('#include "grbl.h"')]),t._v("文件头引入."),s("br"),t._v("\n然后初始化了一些全局状态，通过状态机维护这些状态:")]),t._v(" "),s("div",{staticClass:"language-c extra-class"},[s("pre",{pre:!0,attrs:{class:"language-c"}},[s("code",[s("span",{pre:!0,attrs:{class:"token comment"}},[t._v("// 声明系统全局变量结构体")]),t._v("\n"),s("span",{pre:!0,attrs:{class:"token class-name"}},[t._v("system_t")]),t._v(" sys"),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(";")]),t._v("\n"),s("span",{pre:!0,attrs:{class:"token class-name"}},[t._v("int32_t")]),t._v(" sys_position"),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("[")]),t._v("N_AXIS"),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("]")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(";")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token comment"}},[t._v("// 用步数表示的实时机器（如归位）位置向量。")]),t._v("\n"),s("span",{pre:!0,attrs:{class:"token class-name"}},[t._v("int32_t")]),t._v(" sys_probe_position"),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("[")]),t._v("N_AXIS"),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("]")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(";")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token comment"}},[t._v("// 探针在机器坐标的最后位置和步数。")]),t._v("\n"),s("span",{pre:!0,attrs:{class:"token keyword"}},[t._v("volatile")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token class-name"}},[t._v("uint8_t")]),t._v(" sys_probe_state"),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(";")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token comment"}},[t._v("// 对刀状态值。用于在步进中断中配合对刀周期。")]),t._v("\n"),s("span",{pre:!0,attrs:{class:"token keyword"}},[t._v("volatile")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token class-name"}},[t._v("uint8_t")]),t._v(" sys_rt_exec_state"),s("span",{pre:!0,attrs:{class:"token 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punctuation"}},[t._v(")")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(";")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token comment"}},[t._v("// 从EEPROM加载Grbl设置。")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token function"}},[t._v("stepper_init")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("(")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(")")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(";")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token comment"}},[t._v("// 配置步进电机引脚和中断定时器。")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token function"}},[t._v("system_init")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("(")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(")")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(";")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token comment"}},[t._v("// 配置引出引脚和引脚电平改变中断。")]),t._v("\n\n "),s("span",{pre:!0,attrs:{class:"token function"}},[t._v("memset")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("(")]),t._v("sys_position"),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(",")]),s("span",{pre:!0,attrs:{class:"token number"}},[t._v("0")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(",")]),s("span",{pre:!0,attrs:{class:"token keyword"}},[t._v("sizeof")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("(")]),t._v("sys_position"),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(")")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(")")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(";")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token comment"}},[t._v("// 清空机器位置。")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token function"}},[t._v("sei")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("(")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(")")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(";")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token comment"}},[t._v("// 开启总中断。")]),t._v("\n")])])]),s("h2",{attrs:{id:"状态检查"}},[s("a",{staticClass:"header-anchor",attrs:{href:"#状态检查"}},[t._v("#")]),t._v(" 状态检查")]),t._v(" "),s("p",[t._v("如果设置了进行限位开关的检查，就进入限位警报状态，机器启动时就得进行"),s("code",[t._v("$H")]),t._v("归位，或者通过"),s("code",[t._v("$X")]),t._v("命令解除警报:")]),t._v(" "),s("div",{staticClass:"language-c extra-class"},[s("pre",{pre:!0,attrs:{class:"language-c"}},[s("code",[s("span",{pre:!0,attrs:{class:"token comment"}},[t._v("// 初始化系统状态")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token macro property"}},[s("span",{pre:!0,attrs:{class:"token directive-hash"}},[t._v("#")]),s("span",{pre:!0,attrs:{class:"token directive keyword"}},[t._v("ifdef")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token expression"}},[t._v("FORCE_INITIALIZATION_ALARM")])]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token comment"}},[t._v("// 在系统上电或硬件重置时强制Grbl进入ALARM状态。")]),t._v("\n 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通过设置Grbl的警报状态，如果归位被启用，则上电后检查系统警报以强制进入归位周期。")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token comment"}},[t._v("// 警报锁定所有G代码命令，包括启动脚本，但是允许设置和内部命令。")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token comment"}},[t._v("// 只允许归位周期'$H'命令或解除警报'$X'命令。")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token comment"}},[t._v("// 注意：启动脚本将会在归位周期成功完成后执行，但是不会在解除警报后执行。")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token comment"}},[t._v("// 阻止运动启动块从崩溃中进入不可控的事情。那是非常糟糕的。")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token macro property"}},[s("span",{pre:!0,attrs:{class:"token directive-hash"}},[t._v("#")]),s("span",{pre:!0,attrs:{class:"token directive keyword"}},[t._v("ifdef")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token expression"}},[t._v("HOMING_INIT_LOCK")])]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token keyword"}},[t._v("if")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("(")]),s("span",{pre:!0,attrs:{class:"token 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In either case, auto-cycle start, if enabled, any queued moves.")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token function"}},[t._v("protocol_auto_cycle_start")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("(")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(")")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(";")]),t._v("\n\n "),s("span",{pre:!0,attrs:{class:"token function"}},[t._v("protocol_execute_realtime")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("(")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(")")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(";")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token comment"}},[t._v("// Runtime command check point.")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token keyword"}},[t._v("if")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("(")]),t._v("sys"),s("span",{pre:!0,attrs:{class:"token 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"),s("strong",[t._v("GRBL串口RX缓冲区")]),t._v(" （不是芯片缓冲区）读取字符串，经过处理后放入 "),s("strong",[t._v("G代码行缓冲区")]),t._v("，然后交给"),s("strong",[t._v("G代码解析器")]),t._v("。处理过程大概如下：")]),t._v(" "),s("ol",[s("li",[t._v("先执行限位开关、安全门等检查，执行初始化脚本：")])]),t._v(" "),s("div",{staticClass:"language-c extra-class"},[s("pre",{pre:!0,attrs:{class:"language-c"}},[s("code",[s("span",{pre:!0,attrs:{class:"token comment"}},[t._v("// 执行一些机器检查以确保一切正常。")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token macro property"}},[s("span",{pre:!0,attrs:{class:"token directive-hash"}},[t._v("#")]),s("span",{pre:!0,attrs:{class:"token directive keyword"}},[t._v("ifdef")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token expression"}},[t._v("CHECK_LIMITS_AT_INIT ")]),s("span",{pre:!0,attrs:{class:"token comment"}},[t._v("// 检查是否开启了初始化系统时检查限位开关，默认是开启的。")])]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token keyword"}},[t._v("if")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("(")]),s("span",{pre:!0,attrs:{class:"token function"}},[t._v("bit_istrue")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("(")]),t._v("settings"),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(".")]),t._v("flags"),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(",")]),t._v(" BITFLAG_HARD_LIMIT_ENABLE"),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(")")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(")")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("{")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token comment"}},[t._v("// 检查是否设置了硬件限位功能")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token keyword"}},[t._v("if")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("(")]),s("span",{pre:!0,attrs:{class:"token function"}},[t._v("limits_get_state")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("(")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(")")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(")")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("{")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token comment"}},[t._v("// 检查限位开关状态")]),t._v("\n sys"),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(".")]),t._v("state "),s("span",{pre:!0,attrs:{class:"token operator"}},[t._v("=")]),t._v(" STATE_ALARM"),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(";")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token comment"}},[t._v("// 如果限位开关被触发，确保警报状态被激活。")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token function"}},[t._v("report_feedback_message")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("(")]),t._v("MESSAGE_CHECK_LIMITS"),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(")")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(";")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token comment"}},[t._v("// 报告限位开关被触发的反馈消息")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("}")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("}")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token macro property"}},[s("span",{pre:!0,attrs:{class:"token directive-hash"}},[t._v("#")]),s("span",{pre:!0,attrs:{class:"token directive keyword"}},[t._v("endif")])]),t._v("\n\n "),s("span",{pre:!0,attrs:{class:"token comment"}},[t._v("// 在重置、错误、或上电初始化之后检查并报告警报状态。")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token comment"}},[t._v("// 注意： 睡眠模式禁用步进驱动器并且位置不能保持。步进驱动器的EN引脚释放，不能保持力矩。")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token comment"}},[t._v("// 将睡眠状态重新初始化为警报模式确保让用户归位或让用户知道。")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token keyword"}},[t._v("if")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("(")]),t._v("sys"),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(".")]),t._v("state "),s("span",{pre:!0,attrs:{class:"token operator"}},[t._v("&")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("(")]),t._v("STATE_ALARM "),s("span",{pre:!0,attrs:{class:"token operator"}},[t._v("|")]),t._v(" STATE_SLEEP"),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(")")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(")")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("{")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token comment"}},[t._v("// 如果系统处于STATE_ALARM或STATE_SLEEP状态")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token function"}},[t._v("report_feedback_message")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("(")]),t._v("MESSAGE_ALARM_LOCK"),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(")")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(";")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token comment"}},[t._v("// 报告警报锁定消息")]),t._v("\n sys"),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(".")]),t._v("state "),s("span",{pre:!0,attrs:{class:"token operator"}},[t._v("=")]),t._v(" STATE_ALARM"),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(";")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token comment"}},[t._v("// 确保警报状态被设置")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("}")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token keyword"}},[t._v("else")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("{")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token comment"}},[t._v("// 检查安全门是否打开")]),t._v("\n sys"),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(".")]),t._v("state "),s("span",{pre:!0,attrs:{class:"token operator"}},[t._v("=")]),t._v(" STATE_IDLE"),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(";")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token keyword"}},[t._v("if")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("(")]),s("span",{pre:!0,attrs:{class:"token function"}},[t._v("system_check_safety_door_ajar")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("(")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(")")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(")")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("{")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token comment"}},[t._v("// 检查安全门")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token function"}},[t._v("bit_true")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("(")]),t._v("sys_rt_exec_state"),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(",")]),t._v(" EXEC_SAFETY_DOOR"),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(")")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(";")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token comment"}},[t._v("// 设置执行安全门标志位")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token function"}},[t._v("protocol_execute_realtime")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("(")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(")")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(";")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token comment"}},[t._v("// 进入安全门模式。应该返回IDLE状态。")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("}")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token comment"}},[t._v("// 所有系统正常！")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token function"}},[t._v("system_execute_startup")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("(")]),t._v("line"),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(")")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(";")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token comment"}},[t._v("// 执行启动脚本")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("}")]),t._v("\n")])])]),s("ol",{attrs:{start:"2"}},[s("li",[t._v("一直从RX缓冲区读取字符，直到遇到串口数据结束符"),s("code",[t._v("SERIAL_NO_DATA(0xff)")]),t._v("也就是串口空了为止，然后把读取到的G代码行经过去掉注释和空格、 字母转换为大写后放入G代码行缓冲区"),s("code",[t._v("line[LINE_BUFFER_SIZE]")]),t._v("，如果开头是以"),s("code",[t._v("$")]),t._v("开头的系统命令，则传递给命令处理器入口"),s("code",[t._v("system_execute_line()")]),t._v("，如果是G代码则传递给G代码解释器入口"),s("code",[t._v("gc_execute_line()")]),t._v("。行缓冲区大小"),s("code",[t._v("LINE_BUFFER_SIZE")]),t._v("设置为80个字符，超出这个字符数量会报行缓冲区溢出"),s("code",[t._v("STATUS_OVERFLOW")]),t._v("错误，标准要求是255个字符，但这里足够用了，如果你需要缓冲更多字符，可以修改"),s("code",[t._v("LINE_BUFFER_SIZE")]),t._v("为更大值。")])]),t._v(" "),s("div",{staticClass:"language-c extra-class"},[s("pre",{pre:!0,attrs:{class:"language-c"}},[s("code",[s("span",{pre:!0,attrs:{class:"token comment"}},[t._v("// ---------------------------------------------------------------------------------")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token comment"}},[t._v("// 主循环! 系统终止后这回退出返回到main()去重置系统。")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token comment"}},[t._v("// 这也是Grbl空闲等待其他事情的地方。")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token comment"}},[t._v("// ---------------------------------------------------------------------------------")]),t._v("\n\n "),s("span",{pre:!0,attrs:{class:"token class-name"}},[t._v("uint8_t")]),t._v(" line_flags "),s("span",{pre:!0,attrs:{class:"token operator"}},[t._v("=")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token number"}},[t._v("0")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(";")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token comment"}},[t._v("// 初始化行标志位")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token class-name"}},[t._v("uint8_t")]),t._v(" char_counter "),s("span",{pre:!0,attrs:{class:"token operator"}},[t._v("=")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token number"}},[t._v("0")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(";")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token comment"}},[t._v("// 初始化字符计数")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token class-name"}},[t._v("uint8_t")]),t._v(" c"),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(";")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token comment"}},[t._v("// 声明放字符的变量")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token keyword"}},[t._v("for")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("(")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(";")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(";")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(")")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("{")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token comment"}},[t._v("// 无限循环")]),t._v("\n\n "),s("span",{pre:!0,attrs:{class:"token comment"}},[t._v("// 处理一行从串口缓冲区到来的数据，如果数据可用的话。通过溢出空格和注释执行一个初始的过滤，并且大写所有字母。")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token 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function"}},[t._v("protocol_execute_realtime")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("(")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(")")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(";")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token comment"}},[t._v("// 运行时命令检查点")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token keyword"}},[t._v("if")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("(")]),t._v("sys"),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(".")]),t._v("abort"),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(")")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("{")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token keyword"}},[t._v("return")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(";")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("}")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token comment"}},[t._v("// 系统终止后退出函数")]),t._v("\n\n line"),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("[")]),t._v("char_counter"),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("]")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token operator"}},[t._v("=")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token number"}},[t._v("0")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(";")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token comment"}},[t._v("// 设置字符串结束符号")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token macro property"}},[s("span",{pre:!0,attrs:{class:"token directive-hash"}},[t._v("#")]),s("span",{pre:!0,attrs:{class:"token directive keyword"}},[t._v("ifdef")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token expression"}},[t._v("REPORT_ECHO_LINE_RECEIVED")])]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token function"}},[t._v("report_echo_line_received")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("(")]),t._v("line"),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(")")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(";")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token comment"}},[t._v("// 报告接收了多少行")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token macro property"}},[s("span",{pre:!0,attrs:{class:"token directive-hash"}},[t._v("#")]),s("span",{pre:!0,attrs:{class:"token directive keyword"}},[t._v("endif")])]),t._v("\n\n "),s("span",{pre:!0,attrs:{class:"token comment"}},[t._v("// 直接执行格式化的输入行并报告执行状态")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token keyword"}},[t._v("if")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("(")]),t._v("line_flags "),s("span",{pre:!0,attrs:{class:"token operator"}},[t._v("&")]),t._v(" LINE_FLAG_OVERFLOW"),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(")")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("{")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token comment"}},[t._v("// 报告行溢出错误")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token function"}},[t._v("report_status_message")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("(")]),t._v("STATUS_OVERFLOW"),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(")")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(";")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("}")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token keyword"}},[t._v("else")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token keyword"}},[t._v("if")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("(")]),t._v("line"),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("[")]),s("span",{pre:!0,attrs:{class:"token number"}},[t._v("0")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("]")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token operator"}},[t._v("==")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token number"}},[t._v("0")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(")")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("{")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token comment"}},[t._v("// 空行或注释行。用于同步。")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token function"}},[t._v("report_status_message")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("(")]),t._v("STATUS_OK"),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(")")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(";")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("}")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token keyword"}},[t._v("else")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token keyword"}},[t._v("if")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("(")]),t._v("line"),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("[")]),s("span",{pre:!0,attrs:{class:"token number"}},[t._v("0")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("]")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token operator"}},[t._v("==")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token char"}},[t._v("'$'")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(")")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("{")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token comment"}},[t._v("// Grbl 系统命令 '$'")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token function"}},[t._v("report_status_message")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("(")]),s("span",{pre:!0,attrs:{class:"token function"}},[t._v("system_execute_line")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("(")]),t._v("line"),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(")")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(")")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(";")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("}")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token keyword"}},[t._v("else")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token keyword"}},[t._v("if")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("(")]),t._v("sys"),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(".")]),t._v("state "),s("span",{pre:!0,attrs:{class:"token operator"}},[t._v("&")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("(")]),t._v("STATE_ALARM "),s("span",{pre:!0,attrs:{class:"token operator"}},[t._v("|")]),t._v(" STATE_JOG"),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(")")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(")")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("{")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token comment"}},[t._v("// 其他的都是G代码。如果处于警报或点动模式就阻塞。")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token function"}},[t._v("report_status_message")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("(")]),t._v("STATUS_SYSTEM_GC_LOCK"),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(")")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(";")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("}")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token keyword"}},[t._v("else")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("{")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token comment"}},[t._v("// 解析并执行G代码块。")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token function"}},[t._v("report_status_message")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("(")]),s("span",{pre:!0,attrs:{class:"token function"}},[t._v("gc_execute_line")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("(")]),t._v("line"),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(")")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(")")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(";")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("}")]),t._v("\n\n "),s("span",{pre:!0,attrs:{class:"token comment"}},[t._v("// 为下一行重置跟踪数据变量")]),t._v("\n line_flags "),s("span",{pre:!0,attrs:{class:"token operator"}},[t._v("=")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token number"}},[t._v("0")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(";")]),t._v("\n char_counter "),s("span",{pre:!0,attrs:{class:"token operator"}},[t._v("=")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token number"}},[t._v("0")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(";")]),t._v("\n\n "),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("}")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token keyword"}},[t._v("else")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("{")]),t._v("\n\n "),s("span",{pre:!0,attrs:{class:"token keyword"}},[t._v("if")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("(")]),t._v("line_flags"),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(")")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("{")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token comment"}},[t._v("// 丢弃所有（除了行结束符）注释字符和溢出字符。")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token keyword"}},[t._v("if")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("(")]),t._v("c "),s("span",{pre:!0,attrs:{class:"token operator"}},[t._v("==")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token char"}},[t._v("')'")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(")")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("{")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token comment"}},[t._v("// 匹配括号'()'包裹的注释。继续允许行数据。")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token keyword"}},[t._v("if")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("(")]),t._v("line_flags "),s("span",{pre:!0,attrs:{class:"token operator"}},[t._v("&")]),t._v(" LINE_FLAG_COMMENT_PARENTHESES"),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(")")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("{")]),t._v(" line_flags "),s("span",{pre:!0,attrs:{class:"token operator"}},[t._v("&=")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token operator"}},[t._v("~")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("(")]),t._v("LINE_FLAG_COMMENT_PARENTHESES"),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(")")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(";")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("}")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("}")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("}")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token keyword"}},[t._v("else")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("{")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token comment"}},[t._v("// 丢弃空白字符和控制字符")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token keyword"}},[t._v("if")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("(")]),t._v("c "),s("span",{pre:!0,attrs:{class:"token operator"}},[t._v("<=")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token char"}},[t._v("' '")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(")")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("{")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token comment"}},[t._v("// 丢弃空白字符")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("}")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token keyword"}},[t._v("else")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token keyword"}},[t._v("if")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("(")]),t._v("c "),s("span",{pre:!0,attrs:{class:"token operator"}},[t._v("==")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token char"}},[t._v("'/'")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(")")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("{")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token comment"}},[t._v("// 块删除不支持，忽略字符。")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token comment"}},[t._v("// 注意：如果支持了，应该需要简单地检查系统如果启用了块删除的话。")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("}")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token keyword"}},[t._v("else")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token keyword"}},[t._v("if")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("(")]),t._v("c "),s("span",{pre:!0,attrs:{class:"token operator"}},[t._v("==")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token char"}},[t._v("'('")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(")")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("{")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token comment"}},[t._v("// 开启注释标志位并忽略所有字符，直到碰到')'或EOL")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token comment"}},[t._v("// 注意：这没有完全遵守NIST定义，但是现在来说足够了。未来我们可能简单地移除注释项，但保留注释控制字符，")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token comment"}},[t._v("// 因此G代码解析器可以进行错误检查。")]),t._v("\n line_flags "),s("span",{pre:!0,attrs:{class:"token operator"}},[t._v("|=")]),t._v(" LINE_FLAG_COMMENT_PARENTHESES"),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(";")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("}")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token keyword"}},[t._v("else")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token keyword"}},[t._v("if")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("(")]),t._v("c "),s("span",{pre:!0,attrs:{class:"token operator"}},[t._v("==")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token char"}},[t._v("';'")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(")")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("{")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token comment"}},[t._v("// 注意：';' 注释结束符是 LinuxCNC定义的，不是NIST定义的。")]),t._v("\n line_flags "),s("span",{pre:!0,attrs:{class:"token operator"}},[t._v("|=")]),t._v(" LINE_FLAG_COMMENT_SEMICOLON"),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(";")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token comment"}},[t._v("// 代办：安装 '%' 功能")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token comment"}},[t._v("// } else if (c == '%') {")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token comment"}},[t._v("// 程序开始-结束百分比符号还不支持。")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token comment"}},[t._v("// 注意：这可能被安装用来告诉Grbl一个程序相对输入运行的时间")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token comment"}},[t._v("// 位置，间隔，系统自动循环开始继续执行所有事情直到下一个标记。")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token comment"}},[t._v("// 这将会帮助修复带有明确功能的恢复问题，清空规划缓冲区用来准时执行任务")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("}")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token keyword"}},[t._v("else")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token keyword"}},[t._v("if")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("(")]),t._v("char_counter "),s("span",{pre:!0,attrs:{class:"token operator"}},[t._v(">=")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("(")]),t._v("LINE_BUFFER_SIZE"),s("span",{pre:!0,attrs:{class:"token operator"}},[t._v("-")]),s("span",{pre:!0,attrs:{class:"token number"}},[t._v("1")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(")")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(")")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("{")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token comment"}},[t._v("// 检查行缓冲区溢出并设置标志位。")]),t._v("\n line_flags 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Block if in alarm or jog mode.")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token function"}},[t._v("report_status_message")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("(")]),t._v("STATUS_SYSTEM_GC_LOCK"),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(")")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(";")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("}")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token keyword"}},[t._v("else")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("{")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token comment"}},[t._v("// Parse and execute g-code block.")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token function"}},[t._v("report_status_message")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("(")]),s("span",{pre:!0,attrs:{class:"token function"}},[t._v("gc_execute_line")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("(")]),t._v("line"),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(")")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(")")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(";")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("}")]),t._v("\n\n "),s("span",{pre:!0,attrs:{class:"token comment"}},[t._v("// Reset tracking data for next line.")]),t._v("\n line_flags "),s("span",{pre:!0,attrs:{class:"token operator"}},[t._v("=")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token number"}},[t._v("0")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(";")]),t._v("\n char_counter "),s("span",{pre:!0,attrs:{class:"token operator"}},[t._v("=")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token number"}},[t._v("0")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(";")]),t._v("\n\n "),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("}")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token keyword"}},[t._v("else")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("{")]),t._v("\n\n "),s("span",{pre:!0,attrs:{class:"token keyword"}},[t._v("if")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("(")]),t._v("line_flags"),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(")")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("{")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token comment"}},[t._v("// Throw away all (except EOL) comment characters and overflow characters.")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token keyword"}},[t._v("if")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("(")]),t._v("c "),s("span",{pre:!0,attrs:{class:"token operator"}},[t._v("==")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token char"}},[t._v("')'")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(")")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("{")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token comment"}},[t._v("// End of '()' comment. 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punctuation"}},[t._v("(")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(")")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(")")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("{")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token comment"}},[t._v("// 检查限位开关状态")]),t._v("\n sys"),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(".")]),t._v("state "),s("span",{pre:!0,attrs:{class:"token operator"}},[t._v("=")]),t._v(" STATE_ALARM"),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(";")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token comment"}},[t._v("// 如果限位开关被触发，确保警报状态被激活。")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token function"}},[t._v("report_feedback_message")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("(")]),t._v("MESSAGE_CHECK_LIMITS"),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(")")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(";")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token comment"}},[t._v("// 报告限位开关被触发的反馈消息")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("}")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("}")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token macro property"}},[s("span",{pre:!0,attrs:{class:"token directive-hash"}},[t._v("#")]),s("span",{pre:!0,attrs:{class:"token directive keyword"}},[t._v("endif")])]),t._v("\n\n "),s("span",{pre:!0,attrs:{class:"token comment"}},[t._v("// 在重置、错误、或上电初始化之后检查并报告警报状态。")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token comment"}},[t._v("// 注意： 睡眠模式禁用步进驱动器并且位置不能保持。步进驱动器的EN引脚释放，不能保持力矩。")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token comment"}},[t._v("// 将睡眠状态重新初始化为警报模式确保让用户归位或让用户知道。")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token keyword"}},[t._v("if")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("(")]),t._v("sys"),s("span",{pre:!0,attrs:{class:"token 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function"}},[t._v("protocol_execute_realtime")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("(")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(")")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(";")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token comment"}},[t._v("// 进入安全门模式。应该返回IDLE状态。")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("}")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token comment"}},[t._v("// 所有系统正常！")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token function"}},[t._v("system_execute_startup")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("(")]),t._v("line"),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(")")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(";")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token comment"}},[t._v("// 执行启动脚本")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("}")]),t._v("\n")])])]),s("h2",{attrs:{id:"处理串口字符串"}},[s("a",{staticClass:"header-anchor",attrs:{href:"#处理串口字符串"}},[t._v("#")]),t._v(" 处理串口字符串")]),t._v(" "),s("p",[t._v("一直从RX缓冲区读取字符，直到遇到串口数据结束符"),s("code",[t._v("SERIAL_NO_DATA(0xff)")]),t._v("也就是串口空了为止，然后把读取到的G代码行经过去掉注释和空格、 字母转换为大写后放入G代码行缓冲区"),s("code",[t._v("line[LINE_BUFFER_SIZE]")]),t._v("，如果开头是以"),s("code",[t._v("$")]),t._v("开头的系统命令，则传递给命令处理器入口"),s("code",[t._v("system_execute_line()")]),t._v("，如果是G代码则传递给G代码解释器入口"),s("code",[t._v("gc_execute_line()")]),t._v("。行缓冲区大小"),s("code",[t._v("LINE_BUFFER_SIZE")]),t._v("设置为80个字符，超出这个字符数量会报行缓冲区溢出"),s("code",[t._v("STATUS_OVERFLOW")]),t._v("错误，标准要求是255个字符，但这里足够用了，如果你需要缓冲更多字符，可以修改"),s("code",[t._v("LINE_BUFFER_SIZE")]),t._v("为更大值。")]),t._v(" "),s("div",{staticClass:"language-c extra-class"},[s("pre",{pre:!0,attrs:{class:"language-c"}},[s("code",[s("span",{pre:!0,attrs:{class:"token comment"}},[t._v("// ---------------------------------------------------------------------------------")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token comment"}},[t._v("// 主循环! 系统终止后这回退出返回到main()去重置系统。")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token comment"}},[t._v("// 这也是Grbl空闲等待其他事情的地方。")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token comment"}},[t._v("// ---------------------------------------------------------------------------------")]),t._v("\n\n "),s("span",{pre:!0,attrs:{class:"token class-name"}},[t._v("uint8_t")]),t._v(" line_flags "),s("span",{pre:!0,attrs:{class:"token operator"}},[t._v("=")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token number"}},[t._v("0")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(";")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token comment"}},[t._v("// 初始化行标志位")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token class-name"}},[t._v("uint8_t")]),t._v(" char_counter "),s("span",{pre:!0,attrs:{class:"token operator"}},[t._v("=")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token number"}},[t._v("0")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(";")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token comment"}},[t._v("// 初始化字符计数")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token class-name"}},[t._v("uint8_t")]),t._v(" c"),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(";")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token comment"}},[t._v("// 声明放字符的变量")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token keyword"}},[t._v("for")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("(")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(";")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(";")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(")")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("{")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token comment"}},[t._v("// 无限循环")]),t._v("\n\n "),s("span",{pre:!0,attrs:{class:"token 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到达一行")]),t._v("\n\n "),s("span",{pre:!0,attrs:{class:"token function"}},[t._v("protocol_execute_realtime")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("(")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(")")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(";")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token comment"}},[t._v("// 运行时命令检查点")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token keyword"}},[t._v("if")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("(")]),t._v("sys"),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(".")]),t._v("abort"),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(")")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("{")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token keyword"}},[t._v("return")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(";")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("}")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token comment"}},[t._v("// 系统终止后退出函数")]),t._v("\n\n line"),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("[")]),t._v("char_counter"),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("]")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token operator"}},[t._v("=")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token number"}},[t._v("0")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(";")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token comment"}},[t._v("// 设置字符串结束符号")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token macro property"}},[s("span",{pre:!0,attrs:{class:"token directive-hash"}},[t._v("#")]),s("span",{pre:!0,attrs:{class:"token directive keyword"}},[t._v("ifdef")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token expression"}},[t._v("REPORT_ECHO_LINE_RECEIVED")])]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token function"}},[t._v("report_echo_line_received")]),s("span",{pre:!0,attrs:{class:"token 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"),s("span",{pre:!0,attrs:{class:"token number"}},[t._v("0")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(")")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("{")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token comment"}},[t._v("// 空行或注释行。用于同步。")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token function"}},[t._v("report_status_message")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("(")]),t._v("STATUS_OK"),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(")")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(";")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("}")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token keyword"}},[t._v("else")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token keyword"}},[t._v("if")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("(")]),t._v("line"),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("[")]),s("span",{pre:!0,attrs:{class:"token number"}},[t._v("0")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("]")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token operator"}},[t._v("==")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token char"}},[t._v("'$'")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(")")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("{")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token comment"}},[t._v("// Grbl 系统命令 '$'")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token function"}},[t._v("report_status_message")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("(")]),s("span",{pre:!0,attrs:{class:"token function"}},[t._v("system_execute_line")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("(")]),t._v("line"),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(")")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(")")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(";")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("}")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token keyword"}},[t._v("else")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token keyword"}},[t._v("if")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("(")]),t._v("sys"),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(".")]),t._v("state "),s("span",{pre:!0,attrs:{class:"token operator"}},[t._v("&")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("(")]),t._v("STATE_ALARM "),s("span",{pre:!0,attrs:{class:"token operator"}},[t._v("|")]),t._v(" STATE_JOG"),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(")")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(")")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("{")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token comment"}},[t._v("// 其他的都是G代码。如果处于警报或点动模式就阻塞。")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token function"}},[t._v("report_status_message")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("(")]),t._v("STATUS_SYSTEM_GC_LOCK"),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(")")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(";")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("}")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token keyword"}},[t._v("else")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("{")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token comment"}},[t._v("// 解析并执行G代码块。")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token function"}},[t._v("report_status_message")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("(")]),s("span",{pre:!0,attrs:{class:"token function"}},[t._v("gc_execute_line")]),s("span",{pre:!0,attrs:{class:"token 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keyword"}},[t._v("else")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("{")]),t._v("\n\n "),s("span",{pre:!0,attrs:{class:"token keyword"}},[t._v("if")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("(")]),t._v("line_flags"),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(")")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("{")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token comment"}},[t._v("// 丢弃所有（除了行结束符）注释字符和溢出字符。")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token keyword"}},[t._v("if")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("(")]),t._v("c "),s("span",{pre:!0,attrs:{class:"token operator"}},[t._v("==")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token char"}},[t._v("')'")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(")")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("{")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token comment"}},[t._v("// 匹配括号'()'包裹的注释。继续允许行数据。")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token keyword"}},[t._v("if")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("(")]),t._v("line_flags "),s("span",{pre:!0,attrs:{class:"token operator"}},[t._v("&")]),t._v(" LINE_FLAG_COMMENT_PARENTHESES"),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(")")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("{")]),t._v(" line_flags "),s("span",{pre:!0,attrs:{class:"token operator"}},[t._v("&=")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token operator"}},[t._v("~")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("(")]),t._v("LINE_FLAG_COMMENT_PARENTHESES"),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(")")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(";")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("}")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("}")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("}")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token keyword"}},[t._v("else")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("{")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token comment"}},[t._v("// 丢弃空白字符和控制字符")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token keyword"}},[t._v("if")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("(")]),t._v("c "),s("span",{pre:!0,attrs:{class:"token operator"}},[t._v("<=")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token char"}},[t._v("' '")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(")")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("{")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token comment"}},[t._v("// 丢弃空白字符")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("}")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token keyword"}},[t._v("else")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token keyword"}},[t._v("if")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("(")]),t._v("c "),s("span",{pre:!0,attrs:{class:"token operator"}},[t._v("==")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token char"}},[t._v("'/'")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(")")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("{")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token comment"}},[t._v("// 块删除不支持，忽略字符。")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token comment"}},[t._v("// 注意：如果支持了，应该需要简单地检查系统如果启用了块删除的话。")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("}")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token keyword"}},[t._v("else")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token keyword"}},[t._v("if")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("(")]),t._v("c "),s("span",{pre:!0,attrs:{class:"token operator"}},[t._v("==")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token char"}},[t._v("'('")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(")")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("{")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token comment"}},[t._v("// 开启注释标志位并忽略所有字符，直到碰到')'或EOL")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token comment"}},[t._v("// 注意：这没有完全遵守NIST定义，但是现在来说足够了。未来我们可能简单地移除注释项，但保留注释控制字符，")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token comment"}},[t._v("// 因此G代码解析器可以进行错误检查。")]),t._v("\n line_flags "),s("span",{pre:!0,attrs:{class:"token operator"}},[t._v("|=")]),t._v(" LINE_FLAG_COMMENT_PARENTHESES"),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(";")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("}")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token keyword"}},[t._v("else")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token keyword"}},[t._v("if")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("(")]),t._v("c "),s("span",{pre:!0,attrs:{class:"token operator"}},[t._v("==")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token char"}},[t._v("';'")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(")")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("{")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token comment"}},[t._v("// 注意：';' 注释结束符是 LinuxCNC定义的，不是NIST定义的。")]),t._v("\n line_flags "),s("span",{pre:!0,attrs:{class:"token operator"}},[t._v("|=")]),t._v(" LINE_FLAG_COMMENT_SEMICOLON"),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(";")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token comment"}},[t._v("// 代办：安装 '%' 功能")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token comment"}},[t._v("// } else if (c == '%') {")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token comment"}},[t._v("// 程序开始-结束百分比符号还不支持。")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token comment"}},[t._v("// 注意：这可能被安装用来告诉Grbl一个程序相对输入运行的时间")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token comment"}},[t._v("// 位置，间隔，系统自动循环开始继续执行所有事情直到下一个标记。")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token comment"}},[t._v("// 这将会帮助修复带有明确功能的恢复问题，清空规划缓冲区用来准时执行任务")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("}")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token keyword"}},[t._v("else")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token keyword"}},[t._v("if")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("(")]),t._v("char_counter "),s("span",{pre:!0,attrs:{class:"token operator"}},[t._v(">=")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("(")]),t._v("LINE_BUFFER_SIZE"),s("span",{pre:!0,attrs:{class:"token operator"}},[t._v("-")]),s("span",{pre:!0,attrs:{class:"token number"}},[t._v("1")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(")")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(")")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("{")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token comment"}},[t._v("// 检查行缓冲区溢出并设置标志位。")]),t._v("\n line_flags "),s("span",{pre:!0,attrs:{class:"token operator"}},[t._v("|=")]),t._v(" LINE_FLAG_OVERFLOW"),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(";")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("}")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token keyword"}},[t._v("else")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token keyword"}},[t._v("if")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("(")]),t._v("c "),s("span",{pre:!0,attrs:{class:"token operator"}},[t._v(">=")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token char"}},[t._v("'a'")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token operator"}},[t._v("&&")]),t._v(" c "),s("span",{pre:!0,attrs:{class:"token operator"}},[t._v("<=")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token char"}},[t._v("'z'")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(")")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("{")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token comment"}},[t._v("// 字母改成大写")]),t._v("\n line"),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("[")]),t._v("char_counter"),s("span",{pre:!0,attrs:{class:"token operator"}},[t._v("++")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("]")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token operator"}},[t._v("=")]),t._v(" c"),s("span",{pre:!0,attrs:{class:"token operator"}},[t._v("-")]),s("span",{pre:!0,attrs:{class:"token char"}},[t._v("'a'")]),s("span",{pre:!0,attrs:{class:"token operator"}},[t._v("+")]),s("span",{pre:!0,attrs:{class:"token char"}},[t._v("'A'")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(";")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("}")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token keyword"}},[t._v("else")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("{")]),t._v("\n line"),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("[")]),t._v("char_counter"),s("span",{pre:!0,attrs:{class:"token operator"}},[t._v("++")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("]")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token operator"}},[t._v("=")]),t._v(" c"),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(";")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("}")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("}")]),t._v("\n\n "),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("}")]),t._v("\n "),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("}")]),t._v(" \n \n "),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("}")]),t._v("\n")])])]),s("p",[t._v("从USB串口读取数据部分的源码，为避免注意力过度分散，我们放在后面硬件部分集中分析。")]),t._v(" "),s("h2",{attrs:{id:"开始自动周期"}},[s("a",{staticClass:"header-anchor",attrs:{href:"#开始自动周期"}},[t._v("#")]),t._v(" 开始自动周期")]),t._v(" "),s("p",[t._v("G代码经过一系列处理后会进行一系列的信号加工，最后生成待执行的队列，默认设置了自动开启循环，会依次执行队列中的数据，并更新队列，这部分我们等到后面信号处理的时候在说，这也是一个初次看GRBL源码容易被忽略的地方导致分析断层。")]),t._v(" "),s("div",{staticClass:"language-c extra-class"},[s("pre",{pre:!0,attrs:{class:"language-c"}},[s("code",[s("span",{pre:!0,attrs:{class:"token comment"}},[t._v("// 如果在串口读缓冲区没有字符需要处理或执行，这会通知g代码流已填充到规划器缓冲区或已完成。")]),t._v("\n"),s("span",{pre:!0,attrs:{class:"token comment"}},[t._v("// 不管哪种情况，如果开启了自动循环，就会开始自动循环，队列就会移动。")]),t._v("\n"),s("span",{pre:!0,attrs:{class:"token function"}},[t._v("protocol_auto_cycle_start")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("(")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(")")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(";")]),t._v("\n")])])]),s("h2",{attrs:{id:"终止信号"}},[s("a",{staticClass:"header-anchor",attrs:{href:"#终止信号"}},[t._v("#")]),t._v(" 终止信号")]),t._v(" "),s("p",[t._v("如果碰到sys.abort信号就会退出主循环到main的循环中去重置系统（GRBL的状态机）。")]),t._v(" "),s("div",{staticClass:"language-c extra-class"},[s("pre",{pre:!0,attrs:{class:"language-c"}},[s("code",[s("span",{pre:!0,attrs:{class:"token keyword"}},[t._v("if")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("(")]),t._v("sys"),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(".")]),t._v("abort"),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(")")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("{")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token keyword"}},[t._v("return")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(";")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("}")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token comment"}},[t._v("// 如果系统终止，返回到main()程序循环去重置系统。")]),t._v("\n")])])]),s("h2",{attrs:{id:"运行时检查"}},[s("a",{staticClass:"header-anchor",attrs:{href:"#运行时检查"}},[t._v("#")]),t._v(" 运行时检查")]),t._v(" "),s("p",[t._v("由于GRBL没有实时操作系统，为了保证系统能够及时响应一些危险事件，在每一个可能会阻塞或长时间运行的地方，都安插了运行时命令检查点：")]),t._v(" "),s("div",{staticClass:"language-c extra-class"},[s("pre",{pre:!0,attrs:{class:"language-c"}},[s("code",[s("span",{pre:!0,attrs:{class:"token function"}},[t._v("protocol_execute_realtime")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v("(")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(")")]),s("span",{pre:!0,attrs:{class:"token punctuation"}},[t._v(";")]),t._v(" "),s("span",{pre:!0,attrs:{class:"token comment"}},[t._v("// 运行时命令检查点。")]),t._v("\n")])])]),s("p",[t._v("这部分内容比较多我们单独章节分析。")])])}),[],!1,null,null,null);s.default=e.exports}}]); \ No newline at end of file diff --git a/assets/js/24.96aed836.js b/assets/js/24.a8433bb4.js similarity index 84% rename from assets/js/24.96aed836.js rename to 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n=0;nn||(t.hash?!Wn.$vuepress.$get("disableScrollBehavior")&&{selector:decodeURIComponent(t.hash)}:{x:0,y:0})});!function(t){t.beforeEach((e,n,r)=>{if(Ms(t,e.path))r();else if(/(\/|\.html)$/.test(e.path))if(/\/$/.test(e.path)){const n=e.path.replace(/\/$/,"")+".html";Ms(t,n)?r(n):r()}else r();else{const n=e.path+"/",o=e.path+".html";Ms(t,o)?r(o):Ms(t,n)?r(n):r()}})}(n);const r={};try{await Promise.all(As.filter(t=>"function"==typeof t).map(e=>e({Vue:Wn,options:r,router:n,siteData:Ps,isServer:t})))}catch(t){console.error(t)}return{app:new Wn(Object.assign(r,{router:n,render:t=>t("div",{attrs:{id:"app"}},[t("RouterView",{ref:"layout"}),t("div",{class:"global-ui"},Ts.map(e=>t(e)))])})),router:n}}(!1).then(({app:t,router:e})=>{e.onReady(()=>{t.$mount("#app")})})}]); \ No newline at end of file diff --git a/donate/index.html b/donate/index.html index b83e8e7..105d507 100644 --- a/donate/index.html +++ b/donate/index.html @@ -8,7 +8,7 @@ - + @@ -25,6 +25,6 @@ (opens new window)
Github (opens new window)

赞赏

您可以选择出现在下面的赞赏列表里：

  1. PolyLin: 感谢注解grbl
- + diff --git a/extensions/index.html b/extensions/index.html index 5e699cb..b4343d2 100644 --- a/extensions/index.html +++ b/extensions/index.html @@ -8,7 +8,7 @@ - + @@ -25,6 +25,6 @@ (opens new window)
Github (opens new window)
- + diff --git a/extensions/servo.html b/extensions/servo.html index b0c0abd..14e512f 100644 --- a/extensions/servo.html +++ b/extensions/servo.html @@ -8,7 +8,7 @@ - + @@ -33,6 +33,6 @@ →

- + diff --git a/extensions/toolchange.html b/extensions/toolchange.html index b6fc66e..8712627 100644 --- a/extensions/toolchange.html +++ b/extensions/toolchange.html @@ -8,7 +8,7 @@ - + @@ -33,6 +33,6 @@ →

- + diff --git a/index.html b/index.html index 57782f4..205654a 100644 --- a/index.html +++ b/index.html @@ -8,7 +8,7 @@ - + @@ -30,6 +30,6 @@ →

- + diff --git a/porting/ATOMIC.html b/porting/ATOMIC.html index 6e7caa0..1df7668 100644 --- a/porting/ATOMIC.html +++ b/porting/ATOMIC.html @@ -8,7 +8,7 @@ - + @@ -33,6 +33,6 @@ →

- + diff --git a/porting/EEPROM.html b/porting/EEPROM.html index e4e6ffe..f2f8566 100644 --- a/porting/EEPROM.html +++ b/porting/EEPROM.html @@ -8,7 +8,7 @@ - + @@ -33,6 +33,6 @@ →

- + diff --git a/porting/GPIO.html b/porting/GPIO.html index d8e4dee..4fcc00f 100644 --- a/porting/GPIO.html +++ b/porting/GPIO.html @@ -8,7 +8,7 @@ - + @@ -33,6 +33,6 @@ →

- + diff --git a/porting/index.html b/porting/index.html index 373745e..5b20c18 100644 --- a/porting/index.html +++ b/porting/index.html @@ -8,7 +8,7 @@ - + @@ -25,6 +25,6 @@ (opens new window)
Github (opens new window)
- + diff --git a/porting/lectotype.html b/porting/lectotype.html index 55fbf83..7fb97c3 100644 --- a/porting/lectotype.html +++ b/porting/lectotype.html @@ -8,7 +8,7 @@ - + @@ -33,6 +33,6 @@ →

- + diff --git a/porting/serial.html b/porting/serial.html index 28a22b5..081c3f2 100644 --- a/porting/serial.html +++ b/porting/serial.html @@ -8,7 +8,7 @@ - + @@ -33,6 +33,6 @@ →

- + diff --git a/porting/timer.html b/porting/timer.html index b80d263..cc815d0 100644 --- a/porting/timer.html +++ b/porting/timer.html @@ -8,7 +8,7 @@ - + @@ -33,6 +33,6 @@ →

- + diff --git a/preface.html b/preface.html index 651931e..39d2991 100644 --- a/preface.html +++ b/preface.html @@ -8,7 +8,7 @@ - + @@ -33,6 +33,6 @@ →

- + diff --git a/prepare.html b/prepare.html index 5b9e0e8..28699e0 100644 --- a/prepare.html +++ b/prepare.html @@ -8,7 +8,7 @@ - + @@ -39,6 +39,6 @@ →

- +