GRBL四：GRBL框架解析
GRBL四：GRBL框架解析GRBL0.8版本中有个doc文件夹，下面是关于GRBL大致的框架介绍1.commands.txt介绍GRBL命令
2.pinmapping.txt介绍GRBL引脚映射
3.resources.txt介绍GRBL用到资源
4.structure.txt介绍GRBL框架
4.1英文如下
The general structure of Grbl
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4.1.1The main processing stack:
http://blog.csdn.net/zhangjikuan/article/details/46697257
http://img.blog.csdn.net/20160108211526823?watermark/2/text/aHR0cDovL2Jsb2cuY3Nkbi5uZXQv/font/5a6L5L2T/fontsize/400/fill/I0JBQkFCMA==/dissolve/70/gravity/Center
1.'protocol' : Accepts command lines from the serial port and passes them to 'gcode' for execution.
Provides status responses for each command. Also manages run-time commands set by
the serial interrupt.
接收串口命令传递给gcode执行，给命令提供应答，通过串口中断管理程序命令
2.'gcode' : Recieves gcode from 'protocol', parses it according to the current state
of the parser and issues commands via '..._control' modules
从1接收G代码，解析G代码
3.'spindle_control' : Commands for controlling the spindle.
主轴控制，雕刻机的主轴带刀的轴，与XYZ无关，M3,4,5有关于主轴正反转停止命令
4.'motion_control': Accepts motion commands from 'gcode' and passes them to the 'planner'. This module
represents the public interface of the planner/stepper duo.
从2接收运动命令将其传递给5，相当于一个发出命令的高层接口
5.'planner' : Receives linear motion commands from 'motion_control' and adds them to the plan of
prepared motions. It takes care of continuously optimizing the acceleration profile
as motions are added.
从4接收线性运动的命令，并将其添加到准备运动计划中(计算的数据写入唤醒缓冲区)
随着运动不断被添加负责优化计算加速度分布图
6.'stepper' : Executes the motions by stepping the steppers according to the plan.
执行动作，用两个定时器来控制三个轴完成相应的动作
4.1.2Supporting files:
'config.h' : Compile time user settings
一些全局变量的宏定义，例如MINIMUM_STEPS_PER_MINUTE最低每分钟跳动多少下，也就是最低
频率就在这里声明的
'settings' : Maintains the run time settings record in eeprom and makes it available
to all modules.
全局中主要的参数设置，$$命令打印出来的参数都是这里设置的
上电读取EEPROM的值，如果读取失败调用default值，都在这里
'eeprom' : A library from Atmel that provides methods for reading and writing the eeprom with
a small addition from us that read and write binary streams with check sums used
to verify validity of the settings record.
存放参数的作用，有关于EPROM的读写函数
'nuts_bolts.h' : A collection of global variable definitions, useful constants, and macros used everywhere
一些全局变量的定义
'serial' : Low level serial communications and picks off run-time commands real-time for asynchronous
control.
串口控制台
'print' : Functions to print strings of different formats (using serial)
打印不同格式的字符串函数在这里定义的
大致框架如下所示
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