WIP

ecmc_plugin_grbl/ecmcGrbl.cpp

@@ -974,7 +974,7 @@ void  ecmcGrbl::addConfig(std::string command) {
   }
     
   if (getEcmcEpicsIOCState() == 16) {
-    printf("%s:%s:%d: GRBL: ERROR: Configuratoin can only be applied during startup:(0x%x)\n",
+    printf("%s:%s:%d: GRBL: ERROR: Configuration can only be applied during startup:(0x%x)\n",
         __FILE__,__FUNCTION__,__LINE__,ECMC_PLUGIN_CONFIG_ERROR_CODE);
     return;
   }

grbl/grbl_gcode.c

@@ -68,7 +68,7 @@ void gc_sync_position()
 // coordinates, respectively.
 uint8_t gc_execute_line(char *line)
 {
-   PRINTF_DEBUG("");
+   PRINTF_DEBUG("gc_execute_line\n");
    //printf("gc_execute_line: %s\n",line);
    if(strlen(line)<2) {
      return(STATUS_OK);
@@ -124,6 +124,8 @@ uint8_t gc_execute_line(char *line)
   else { char_counter = 0; }
 
   while (line[char_counter] != 0) { // Loop until no more g-code words in line.
+    
+    PRINTF_DEBUG("gc_execute_line::while\n");
     //printf("1\n");
     // Import the next g-code word, expecting a letter followed by a value. Otherwise, error out.
     letter = line[char_counter];

grbl/grbl_nuts_bolts.c

@@ -117,24 +117,8 @@ void delay_sec(float seconds, uint8_t mode)
   clock_gettime(CLOCK_MONOTONIC,&deadline);
   deadline.tv_sec+=1*seconds;
   clock_nanosleep(CLOCK_MONOTONIC,TIMER_ABSTIME, &deadline,NULL);
-  
-  // NOTE!!!: mode not used!!!!
-  
- 	//uint16_t i = ceil(1000/DWELL_TIME_STEP*seconds);
-	//while (i-- > 0) {
-	//	if (sys.abort) { return; }
-	//	if (mode == DELAY_MODE_DWELL) {
-	//		protocol_execute_realtime();
-	//	} else { // DELAY_MODE_SYS_SUSPEND
-	//	  // Execute rt_system() only to avoid nesting suspend loops.
-	//	  protocol_exec_rt_system();
-	//	  if (sys.suspend & SUSPEND_RESTART_RETRACT) { return; } // Bail, if safety door reopens.
-	//	}
-	//	_delay_ms(DWELL_TIME_STEP); // Delay DWELL_TIME_STEP increment
-	//}
 }
 
-
 // Delays variable defined milliseconds. Compiler compatibility fix for _delay_ms(),
 // which only accepts constants in future compiler releases.
 void delay_ms(uint16_t ms)
@@ -147,8 +131,6 @@ void delay_ms(uint16_t ms)
     deadline.tv_sec++;
   }
   clock_nanosleep(CLOCK_MONOTONIC,TIMER_ABSTIME, &deadline,NULL);
-
-  //while ( ms-- ) { _delay_ms(1); }
 }
 
 
@@ -165,23 +147,6 @@ void delay_us(uint32_t us)
     deadline.tv_sec++;
   }
   clock_nanosleep(CLOCK_MONOTONIC,TIMER_ABSTIME, &deadline,NULL);
-
-  
-  //while (us) {
-  //  if (us < 10) {
-  //    _delay_us(1);
-  //    us--;
-  //  } else if (us < 100) {
-  //    _delay_us(10);
-  //    us -= 10;
-  //  } else if (us < 1000) {
-  //    _delay_us(100);
-  //    us -= 100;
-  //  } else {
-  //    _delay_ms(1);
-  //    us -= 1000;
-  //  }
-  //}
 }
 
 

grbl/grbl_protocol.c

@@ -37,8 +37,6 @@ static void protocol_exec_rt_suspend();
 */
 void protocol_main_loop()
 {
-  PRINTF_DEBUG("");
-
   // Perform some machine checks to make sure everything is good to go.
   #ifdef CHECK_LIMITS_AT_INIT
     if (bit_istrue(settings.flags, BITFLAG_HARD_LIMIT_ENABLE)) {
@@ -75,10 +73,12 @@ void protocol_main_loop()
   uint8_t c;
   delay_ms(1);  // added for ecmc (I think..)
   for (;;) {
+
     // Process one line of incoming serial data, as the data becomes available. Performs an
     // initial filtering by removing spaces and comments and capitalizing all letters.    
     delay_us(100);  // added for ecmc
     while((c = serial_read()) != SERIAL_NO_DATA) {
+
       if ((c == '\n') || (c == '\r')) { // End of line reached
     
         protocol_execute_realtime(); // Runtime command check point.
@@ -154,11 +154,11 @@ void protocol_main_loop()
             line[char_counter++] = c;
           }
         }
-
+        delay_us(100);
       }
       delay_us(100); // added for ecmc
     }
-    delay_us(100); // added for ecmc
+    delay_us(1000); // added for ecmc
     // If there are no more characters in the serial read buffer to be processed and executed,
     // this indicates that g-code streaming has either filled the planner buffer or has
     // completed. In either case, auto-cycle start, if enabled, any queued moves.
@@ -241,12 +241,11 @@ void protocol_exec_rt_system()
         // the user and a GUI time to do what is needed before resetting, like killing the
         // incoming stream. The same could be said about soft limits. While the position is not
         // lost, continued streaming could cause a serious crash if by chance it gets executed.
-        delay_us(100); // added for ecmc
       } while (bit_isfalse(sys_rt_exec_state,EXEC_RESET));
     }
     system_clear_exec_alarm(); // Clear alarm
   }
-
+  delay_us(10); // added for ecmc
   rt_exec = sys_rt_exec_state; // Copy volatile sys_rt_exec_state.
   if (rt_exec) {
 
@@ -774,4 +773,5 @@ static void protocol_exec_rt_suspend()
     delay_us(100);  // added for ecmc
     protocol_exec_rt_system();
   }
+  delay_us(100); // added for ecmc
 }