motion/ecmc_plugin_grbl
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Minor cleanuo

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This commit is contained in:
Anders Sandstrom
2022-02-02 11:46:37 +01:00
parent d39b6ce5a1
commit be9ebea829
3 changed files with 1580 additions and 11121 deletions
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154
ecmc_plugin_grbl/ecmcGrbl.cpp
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@@ -110,15 +110,15 @@ ecmcGrbl::ecmcGrbl(char* configStr,
haltCmd_ = 0;
resumeCmd_ = 0;
errorCode_ = 0;
ecmcError_ = 0;
errorCodeOld_ = 0;
exeSampleTimeMs_ = exeSampleTimeMs;
cfgXAxisId_ = -1;
cfgYAxisId_ = -1;
cfgZAxisId_ = -1;
cfgSpindleAxisId_ = -1;
cfgAutoEnable_ = 0;
grblInitDone_ = 0;
cfgAutoEnable_ = 0;
autoStartDone_ = 0;
autoEnableExecuted_ = 0;
timeToNextExeMs_ = 0;
writerBusy_ = 0;
@@ -146,11 +146,6 @@ ecmcGrbl::ecmcGrbl(char* configStr,
ecmcData_.zAxis.axisId = cfgZAxisId_;
ecmcData_.spindleAxis.axisId = cfgSpindleAxisId_;
// auto execute
if(cfgAutoStart_) {
setExecute(1);
}
// global varaible in grbl
enableDebugPrintouts = cfgDbgMode_;
@@ -536,7 +531,7 @@ double ecmcGrbl::getEcmcAxisActPos(int axis) {
}
void ecmcGrbl::preExeAxes() {
preExeAxis(ecmcData_.xAxis,X_AXIS);
preExeAxis(ecmcData_.yAxis,Y_AXIS);
preExeAxis(ecmcData_.zAxis,Z_AXIS);
@@ -554,7 +549,7 @@ void ecmcGrbl::preExeAxes() {
if(cfgAutoEnable_) {
if(autoEnableTimeOutCounter_ >= cfgAutoEnableTimeOutSecs_/exeSampleTimeMs_*1000) {
errorCode_ = ECMC_PLUGIN_AUTO_ENABLE_TIMEOUT_ERROR_CODE;
if(errorCode_!=errorCodeOld_) {
if(errorCode_ != errorCodeOld_) {
printf("GRBL: ERROR: Auto enable timeout 0x%x\n",errorCode_);
}
setAllAxesEnable(0);
@@ -576,7 +571,6 @@ void ecmcGrbl::preExeAxis(ecmcAxisStatusData ecmcAxisData, int grblAxisId) {
void ecmcGrbl::giveControlToEcmcIfNeeded() {
// Give total control to ecmc at negative edge of any limit switch
if(!ecmcData_.allLimitsOK && ecmcData_.allLimitsOKOld) {
@@ -653,99 +647,107 @@ int ecmcGrbl::enterRT() {
}
// Get data from ecmc and check enabled and limits
void ecmcGrbl::readEcmcStatus() {
void ecmcGrbl::readEcmcStatus(int ecmcError) {
ecmcData_.errorOld = ecmcData_.error;
ecmcData_.error = ecmcError;
ecmcData_.allLimitsOKOld = ecmcData_.allLimitsOK;
ecmcData_.allEnabled = true;
ecmcData_.allLimitsOK = true;
if(cfgXAxisId_ >= 0) {
ecmcData_.xAxis.enabled = getEcmcAxisEnabled(cfgXAxisId_);
ecmcData_.xAxis.limitBwd = getEcmcAxisLimitBwd(cfgXAxisId_);
ecmcData_.xAxis.limitFwd = getEcmcAxisLimitFwd(cfgXAxisId_);
ecmcData_.xAxis.error = getAxisError(cfgXAxisId_);
ecmcData_.xAxis.actpos = getEcmcAxisActPos(cfgXAxisId_);
ecmcData_.xAxis.trajSource = getEcmcAxisTrajSource(cfgXAxisId_);
ecmcData_.allEnabled = ecmcData_.allEnabled &&
ecmcData_.xAxis.enabled;
ecmcData_.allLimitsOK = ecmcData_.allLimitsOK &&
ecmcData_.xAxis.limitBwd &&
ecmcData_.xAxis.limitFwd;
ecmcData_.allEnabled = true;
ecmcData_.allLimitsOK = true;
if(ecmcData_.xAxis.axisId >= 0) {
ecmcData_.xAxis.enabled = getEcmcAxisEnabled(cfgXAxisId_);
ecmcData_.xAxis.limitBwd = getEcmcAxisLimitBwd(cfgXAxisId_);
ecmcData_.xAxis.limitFwd = getEcmcAxisLimitFwd(cfgXAxisId_);
ecmcData_.xAxis.error = getAxisError(cfgXAxisId_);
ecmcData_.xAxis.actpos = getEcmcAxisActPos(cfgXAxisId_);
ecmcData_.xAxis.trajSource = getEcmcAxisTrajSource(cfgXAxisId_);
ecmcData_.allEnabled = ecmcData_.allEnabled &&
ecmcData_.xAxis.enabled;
ecmcData_.allLimitsOK = ecmcData_.allLimitsOK &&
ecmcData_.xAxis.limitBwd &&
ecmcData_.xAxis.limitFwd;
}
if(cfgYAxisId_ >= 0) {
ecmcData_.yAxis.enabled = getEcmcAxisEnabled(cfgYAxisId_);
ecmcData_.yAxis.limitBwd = getEcmcAxisLimitBwd(cfgYAxisId_);
ecmcData_.yAxis.limitFwd = getEcmcAxisLimitFwd(cfgYAxisId_);
ecmcData_.yAxis.error = getAxisError(cfgYAxisId_);
ecmcData_.yAxis.actpos = getEcmcAxisActPos(cfgYAxisId_);
ecmcData_.yAxis.trajSource = getEcmcAxisTrajSource(cfgYAxisId_);
ecmcData_.allEnabled = ecmcData_.allEnabled &&
ecmcData_.yAxis.enabled;
ecmcData_.allLimitsOK = ecmcData_.allLimitsOK &&
ecmcData_.yAxis.limitBwd &&
ecmcData_.yAxis.limitFwd;
if(ecmcData_.yAxis.axisId >= 0) {
ecmcData_.yAxis.enabled = getEcmcAxisEnabled(cfgYAxisId_);
ecmcData_.yAxis.limitBwd = getEcmcAxisLimitBwd(cfgYAxisId_);
ecmcData_.yAxis.limitFwd = getEcmcAxisLimitFwd(cfgYAxisId_);
ecmcData_.yAxis.error = getAxisError(cfgYAxisId_);
ecmcData_.yAxis.actpos = getEcmcAxisActPos(cfgYAxisId_);
ecmcData_.yAxis.trajSource = getEcmcAxisTrajSource(cfgYAxisId_);
ecmcData_.allEnabled = ecmcData_.allEnabled &&
ecmcData_.yAxis.enabled;
ecmcData_.allLimitsOK = ecmcData_.allLimitsOK &&
ecmcData_.yAxis.limitBwd &&
ecmcData_.yAxis.limitFwd;
}
if(cfgZAxisId_ >= 0) {
ecmcData_.zAxis.enabled = getEcmcAxisEnabled(cfgZAxisId_);
ecmcData_.zAxis.limitBwd = getEcmcAxisLimitBwd(cfgZAxisId_);
ecmcData_.zAxis.limitFwd = getEcmcAxisLimitFwd(cfgZAxisId_);
ecmcData_.zAxis.error = getAxisError(cfgZAxisId_);
ecmcData_.zAxis.actpos = getEcmcAxisActPos(cfgZAxisId_);
ecmcData_.zAxis.trajSource = getEcmcAxisTrajSource(cfgZAxisId_);
ecmcData_.allEnabled = ecmcData_.allEnabled &&
ecmcData_.zAxis.enabled;
ecmcData_.allLimitsOK = ecmcData_.allLimitsOK &&
ecmcData_.zAxis.limitBwd &&
ecmcData_.zAxis.limitFwd;
if(ecmcData_.zAxis.axisId >= 0) {
ecmcData_.zAxis.enabled = getEcmcAxisEnabled(cfgZAxisId_);
ecmcData_.zAxis.limitBwd = getEcmcAxisLimitBwd(cfgZAxisId_);
ecmcData_.zAxis.limitFwd = getEcmcAxisLimitFwd(cfgZAxisId_);
ecmcData_.zAxis.error = getAxisError(cfgZAxisId_);
ecmcData_.zAxis.actpos = getEcmcAxisActPos(cfgZAxisId_);
ecmcData_.zAxis.trajSource = getEcmcAxisTrajSource(cfgZAxisId_);
ecmcData_.allEnabled = ecmcData_.allEnabled &&
ecmcData_.zAxis.enabled;
ecmcData_.allLimitsOK = ecmcData_.allLimitsOK &&
ecmcData_.zAxis.limitBwd &&
ecmcData_.zAxis.limitFwd;
}
if(cfgSpindleAxisId_>= 0) {
ecmcData_.spindleAxis.enabled = getEcmcAxisEnabled(cfgSpindleAxisId_);
ecmcData_.spindleAxis.limitBwd = getEcmcAxisLimitBwd(cfgSpindleAxisId_);
ecmcData_.spindleAxis.limitFwd = getEcmcAxisLimitFwd(cfgSpindleAxisId_);
ecmcData_.spindleAxis.error = getAxisError(cfgSpindleAxisId_);
ecmcData_.spindleAxis.actpos = getEcmcAxisActPos(cfgSpindleAxisId_);
ecmcData_.spindleAxis.trajSource = getEcmcAxisTrajSource(cfgSpindleAxisId_);
ecmcData_.allEnabled = ecmcData_.allEnabled &&
ecmcData_.spindleAxis.enabled;
ecmcData_.allLimitsOK = ecmcData_.allLimitsOK &&
ecmcData_.spindleAxis.limitBwd &&
ecmcData_.spindleAxis.limitFwd;
if(ecmcData_.spindleAxis.axisId >= 0) {
ecmcData_.spindleAxis.enabled = getEcmcAxisEnabled(cfgSpindleAxisId_);
ecmcData_.spindleAxis.limitBwd = getEcmcAxisLimitBwd(cfgSpindleAxisId_);
ecmcData_.spindleAxis.limitFwd = getEcmcAxisLimitFwd(cfgSpindleAxisId_);
ecmcData_.spindleAxis.error = getAxisError(cfgSpindleAxisId_);
ecmcData_.spindleAxis.actpos = getEcmcAxisActPos(cfgSpindleAxisId_);
ecmcData_.spindleAxis.trajSource = getEcmcAxisTrajSource(cfgSpindleAxisId_);
ecmcData_.allEnabled = ecmcData_.allEnabled &&
ecmcData_.spindleAxis.enabled;
ecmcData_.allLimitsOK = ecmcData_.allLimitsOK &&
ecmcData_.spindleAxis.limitBwd &&
ecmcData_.spindleAxis.limitFwd;
}
}
// grb realtime thread!!!
int ecmcGrbl::grblRTexecute(int ecmcError) {
if(getEcmcEpicsIOCState()!=16) {
if(getEcmcEpicsIOCState()!=16 || !grblInitDone_) {
return 0;
}
readEcmcStatus( ecmcError);
readEcmcStatus();
ecmcData_.error = ecmcError;
if((ecmcError_ == 0 && ecmcError>0) || (errorCode_>0 && errorCodeOld_ == 0)) {
if((ecmcData_.errorOld == 0 && ecmcData_.error > 0) ||
(errorCode_>0 && errorCodeOld_ == 0)) {
setHalt(0);
setHalt(1);
if(ecmcError != errorCode_) { // ecmc error the reset
if(ecmcError>0 && ecmcError_ == 0) {
if(ecmcError != errorCode_) { // ecmc error then reset
if(ecmcError>0 && ecmcData_.errorOld == 0) {
setReset(0);
setReset(1);
}
}
setExecute(0);
printf("GRBL: ERROR: ecmc 0x%x, plugin 0x%x\n",ecmcError,errorCode_);
ecmcError_ = ecmcError;
errorCodeOld_ = errorCode_;
printf("GRBL: ERROR: ecmc 0x%x, plugin 0x%x\n",ecmcError,errorCode_);
errorCodeOld_ = errorCode_;
return errorCode_;
}
ecmcError_ = ecmcError;
errorCodeOld_ = errorCode_;
// auto start
if (!autoStartDone_) {
if(cfgAutoStart_) {
setExecute(1);
autoStartDone_ = 1;
}
}
//auto enable, sync positions
errorCodeOld_ = errorCode_;
preExeAxes();
double sampleRateMs = 0.0;

6
ecmc_plugin_grbl/ecmcGrbl.h
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@@ -42,6 +42,7 @@ typedef struct {
ecmcAxisStatusData zAxis;
ecmcAxisStatusData spindleAxis;
int error;
int errorOld;
bool allEnabled;
bool allLimitsOK;
bool allLimitsOKOld;
@@ -80,7 +81,7 @@ class ecmcGrbl : public asynPortDriver {
private:
void parseConfigStr(char *configStr);
void readEcmcStatus();
void readEcmcStatus(int ecmcError);
void preExeAxes();
void postExeAxes();
void preExeAxis(ecmcAxisStatusData ecmcAxisData, int grblAxisId);
@@ -107,14 +108,13 @@ class ecmcGrbl : public asynPortDriver {
int haltCmd_;
int resumeCmd_;
int errorCode_;
int ecmcError_;
int errorCodeOld_;
double exeSampleTimeMs_;
int grblInitDone_;
std::vector<std::string> grblCommandBuffer_;
unsigned int grblCommandBufferIndex_;
epicsMutexId grblCommandBufferMutex_;
bool firstCommandWritten_;
bool autoStartDone_;
int autoEnableExecuted_;
int grblExeCycles_;
double timeToNextExeMs_;

12541
iocsh/log.log
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