Remove rt block

ecmc_plugin_grbl/ecmcGrbl.cpp

@@ -23,6 +23,7 @@
 #include "ecmcMotion.h"
 #include <iostream>
 #include <fstream>
+#include <time.h>
 
 extern "C" {
 #include "grbl.h"
@@ -626,6 +627,10 @@ int  ecmcGrbl::grblRTexecute(int ecmcError) {
     return 0;
   }
 
+  struct timespec starttime, endtime;
+  clock_gettime(CLOCK_MONOTONIC,&starttime);
+  
+
   if((ecmcError_ == 0 && ecmcError>0) || (errorCode_>0 && errorCodeOld_ == 0)) {    
     setHalt(0);
     setHalt(1);
@@ -648,7 +653,7 @@ int  ecmcGrbl::grblRTexecute(int ecmcError) {
 
   //auto enable, sync positions
   preExeAxes();
-  
+
   double sampleRateMs = 0.0;
   if(grblInitDone_ && autoEnableExecuted_) {
     while(timeToNextExeMs_ < exeSampleTimeMs_ && sampleRateMs >= 0) {      
@@ -663,9 +668,18 @@ int  ecmcGrbl::grblRTexecute(int ecmcError) {
       timeToNextExeMs_-= exeSampleTimeMs_;
     }
   }
-
+  
+  int diffNs=0;
   //update setpoints
   postExeAxes();
+  clock_gettime(CLOCK_MONOTONIC,&endtime);
+  if(endtime.tv_sec > starttime.tv_sec) {
+    diffNs = 1E9-starttime.tv_nsec + endtime.tv_nsec;
+  }
+  else {
+    diffNs = endtime.tv_nsec - starttime.tv_nsec;
+  }
+  if(diffNs>5000) printf("DIFF %d\n",diffNs);
   return errorCode_;
 }
 

grbl/grbl_protocol.c

@@ -177,7 +177,7 @@ void protocol_buffer_synchronize()
   do {
     protocol_execute_realtime();   // Check and execute run-time commands
     if (sys.abort) { return; } // Check for system abort
-    delay_ms(1);  // added for ecmc
+    delay_us(100);  // added for ecmc
   } while (plan_get_current_block() || (sys.state == STATE_CYCLE));
 }
 

grbl/grbl_stepper.c

@@ -270,7 +270,9 @@ void st_go_idle()
   if (((settings.stepper_idle_lock_time != 0xff) || sys_rt_exec_alarm || sys.state == STATE_SLEEP) && sys.state != STATE_HOMING) {
     // Force stepper dwell to lock axes for a defined amount of time to ensure the axes come to a complete
     // stop and not drift from residual inertial forces at the end of the last movement.
-    delay_ms(settings.stepper_idle_lock_time);
+    
+    // ecmc need to take away below setting because it blocks ecmc rt system. Consider add it in another way.
+    // delay_ms(settings.stepper_idle_lock_time);
     pin_state = true; // Override. Disable steppers.
   }
 //  if (bit_istrue(settings.flags,BITFLAG_INVERT_ST_ENABLE)) { pin_state = !pin_state; } // Apply pin invert.
@@ -716,7 +718,6 @@ void st_prep_buffer()
   if (bit_istrue(sys.step_control,STEP_CONTROL_END_MOTION)) { return; }
 
   while (segment_buffer_tail != segment_next_head) { // Check if we need to fill the buffer.
-
     // Determine if we need to load a new planner block or if the block needs to be recomputed.
     if (pl_block == NULL) {
 
@@ -994,6 +995,7 @@ void st_prep_buffer()
           break; // **Complete** Exit loop. Segment execution time maxed.
         }
       }
+
     } while (mm_remaining > prep.mm_complete); // **Complete** Exit loop. Profile complete.
 
     #ifdef VARIABLE_SPINDLE
@@ -1130,7 +1132,6 @@ void st_prep_buffer()
         plan_discard_current_block();
       }
     }
-
   }
 }