motion/ecmc_plugin_grbl
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This commit is contained in:
Anders Sandstrom
2022-02-02 15:29:40 +01:00
parent ccd0c53ed3
commit ec59924d0e
8 changed files with 142 additions and 33 deletions
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41
ecmc_plugin_grbl/ecmcGrbl.cpp
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@@ -431,23 +431,27 @@ void ecmcGrbl::doMainWorker() {
}
}
int ecmcGrbl::setAllAxesEnable(int enable) {
int ecmcGrbl::setAllAxesEnable(int enable) {
if(cfgXAxisId_ >= 0) {
setAxisEnable(cfgXAxisId_, enable);
if(ecmcData_.xAxis.axisId >= 0) {
setAxisEnable(ecmcData_.xAxis.axisId, enable);
}
if(cfgYAxisId_ >= 0 ) {
setAxisEnable(cfgYAxisId_, enable);
if(ecmcData_.yAxis.axisId >= 0 ) {
setAxisEnable(ecmcData_.yAxis.axisId, enable);
}
if(cfgZAxisId_ >=0 ) {
setAxisEnable(cfgZAxisId_, enable);
if(ecmcData_.zAxis.axisId >= 0 ) {
setAxisEnable(ecmcData_.zAxis.axisId, enable);
}
if(cfgSpindleAxisId_ >= 0) {
setAxisEnable(cfgSpindleAxisId_, enable);
if(ecmcData_.spindleAxis.axisId >= 0) {
setAxisEnable(ecmcData_.spindleAxis.axisId, enable);
}
return 0;
}
int ecmcGrbl::getAllAxesEnabled() {
return ecmcData_.allEnabled;
}
void ecmcGrbl::autoEnableAxis(ecmcAxisStatusData ecmcAxisData) {
if(!cfgAutoEnable_ || getEcmcEpicsIOCState()!=16 || errorCode_ || ecmcAxisData.axisId < 0) {
@@ -676,7 +680,7 @@ void ecmcGrbl::readEcmcStatus(int ecmcError) {
// grb realtime thread!!!
int ecmcGrbl::grblRTexecute(int ecmcError) {
if(getEcmcEpicsIOCState()!=16 || !grblInitDone_) {
return 0;
}
@@ -690,12 +694,13 @@ int ecmcGrbl::grblRTexecute(int ecmcError) {
setHalt(0);
setHalt(1);
if(ecmcData_.error != errorCode_) { // ecmc error then reset
if(ecmcData_.error > 0 && ecmcData_.errorOld == 0) {
setReset(0);
setReset(1);
}
}
//if(ecmcData_.error != errorCode_) { // ecmc error then reset
// if(ecmcData_.error > 0 && ecmcData_.errorOld == 0) {
// setReset(0);
// setReset(1);
// }
//}
// Stop spindle
if(ecmcData_.spindleAxis.axisId >= 0) {
setAxisTargetVel(ecmcData_.spindleAxis.axisId, 0);
@@ -753,8 +758,8 @@ void ecmcGrbl::postExeAxes() {
postExeAxis(ecmcData_.zAxis,Z_AXIS);
if(cfgSpindleAxisId_ >= 0) {
setAxisTargetVel(cfgSpindleAxisId_,(double)sys.spindle_speed);
if(ecmcData_.spindleAxis.axisId >= 0) {
setAxisTargetVel(ecmcData_.spindleAxis.axisId,(double)sys.spindle_speed);
if(sys.spindle_speed!=0) {
moveVelocity(cfgSpindleAxisId_,
(double)sys.spindle_speed,

1
ecmc_plugin_grbl/ecmcGrbl.h
View File

@@ -79,6 +79,7 @@ class ecmcGrbl : public asynPortDriver {
int setAllAxesEnable(int enable);
int getError();
void resetError();
int getAllAxesEnabled();
private:
void parseConfigStr(char *configStr);

13
ecmc_plugin_grbl/ecmcGrblWrap.cpp
View File

@@ -134,6 +134,19 @@ int resetError() {
return 0;
}
int setAllAxesEnable(int enable) {
if(grbl){
grbl->setAllAxesEnable(enable);
}
return 0;
}
int getAllAxesEnabled() {
if(grbl){
return grbl->getAllAxesEnabled();
}
return 0;
}
void deleteGrbl() {
if(grbl) {

8
ecmc_plugin_grbl/ecmcGrblWrap.h
View File

@@ -74,6 +74,14 @@ int getError();
*/
int resetError();
/** \brief get all configured axes enabled\n
*/
int getAllAxesEnabled();
/** \brief set all enable of all configured axes\n
*/
int setAllAxesEnable(int enable);
// Delete object
void deleteGrbl();

56
ecmc_plugin_grbl/ecmcPluginGrbl.c
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@@ -142,6 +142,14 @@ double grbl_get_error() {
return getError();
}
double grbl_get_all_enabled() {
return getAllAxesEnabled();
}
double grbl_set_all_enable(double enable) {
return setAllAxesEnable(enable);
}
// Register data for plugin so ecmc know what to use
struct ecmcPluginData pluginDataDef = {
// Allways use ECMC_PLUG_VERSION_MAGIC
@@ -379,8 +387,54 @@ struct ecmcPluginData pluginDataDef = {
.funcArg10 = NULL,
.funcGenericObj = NULL,
},
.funcs[9] =
{ /*----grbl_get_all_enabled----*/
// Function name (this is the name you use in ecmc plc-code)
.funcName = "grbl_get_all_enabled",
// Function description
.funcDesc = "double grbl_get_all_enabled() : Get all configured axes enabled.",
/**
* 7 different prototypes allowed (only doubles since reg in plc).
* Only funcArg${argCount} func shall be assigned the rest set to NULL.
**/
.funcArg0 = grbl_get_all_enabled,
.funcArg1 = NULL,
.funcArg2 = NULL,
.funcArg3 = NULL,
.funcArg4 = NULL,
.funcArg5 = NULL,
.funcArg6 = NULL,
.funcArg7 = NULL,
.funcArg8 = NULL,
.funcArg9 = NULL,
.funcArg10 = NULL,
.funcGenericObj = NULL,
},
.funcs[10] =
{ /*----grbl_set_all_enable----*/
// Function name (this is the name you use in ecmc plc-code)
.funcName = "grbl_set_all_enable",
// Function description
.funcDesc = "double grbl_set_all_enable(enable) : Set enable on all configured axes.",
/**
* 7 different prototypes allowed (only doubles since reg in plc).
* Only funcArg${argCount} func shall be assigned the rest set to NULL.
**/
.funcArg0 = NULL,
.funcArg1 = grbl_set_all_enable,
.funcArg2 = NULL,
.funcArg3 = NULL,
.funcArg4 = NULL,
.funcArg5 = NULL,
.funcArg6 = NULL,
.funcArg7 = NULL,
.funcArg8 = NULL,
.funcArg9 = NULL,
.funcArg10 = NULL,
.funcGenericObj = NULL,
},
.funcs[9] = {0}, // last element set all to zero..
.funcs[11] = {0}, // last element set all to zero..
// PLC consts
.consts[0] = {0}, // last element set all to zero..
};

4
iocsh/cfg/el7201_mod.ax
View File

@@ -6,7 +6,7 @@ epicsEnvSet("ECMC_EGU", "mm") # Motor Re
epicsEnvSet("ECMC_PREC", "3") # Motor Record Precision
epicsEnvSet("ECMC_AXISCONFIG", "") # Extra parameters to driver
epicsEnvSet("ECMC_EC_AXIS_HEALTH", "") # Entry for axis health output (example: ec0.s1.binaryOutput01.0)
epicsEnvSet("ECMC_MOD_RANGE" , "0") # Modulo range (traj setpoints and encoder values will be in range 0..ECMC_MOD_RANGE)
epicsEnvSet("ECMC_MOD_RANGE" , "360") # Modulo range (traj setpoints and encoder values will be in range 0..ECMC_MOD_RANGE)
epicsEnvSet("ECMC_MOD_TYPE", "0") # For positioning and MOD_RANGE!=: 0 = Normal, 1 = Always Fwd, 2 = Always Bwd, 3 = Closest Distance
#Encoder
@@ -47,7 +47,7 @@ epicsEnvSet("ECMC_VELO", "1000.0")
epicsEnvSet("ECMC_JOG_VEL", "3600")
epicsEnvSet("ECMC_JAR", "0.0") # JAR defaults to VELO/ACCL
epicsEnvSet("ECMC_ACCS_EGU_PER_S2", "100")
epicsEnvSet("ECMC_EMERG_DECEL", "1000") # Emergency deceleration
epicsEnvSet("ECMC_EMERG_DECEL", "100") # Emergency deceleration
epicsEnvSet("ECMC_JERK", "1000") # Only valid for ECMC_TRAJ_TYPE==1
#Homing

50
iocsh/plc/grbl.plc
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@@ -7,17 +7,45 @@ println('Parser busy :', grbl_get_parser_busy());
println('Error :', grbl_get_error());
println('Row :', grbl_get_code_row_num());
println('Ecmc error :', ax1.error, ax2.error, ax3.error);
println('All Enabled :', grbl_get_all_enabled());
ax1.reset:=0;
ax2.reset:=0;
ax3.reset:=0;
if(grbl_get_error()) {
println('Try reset');
grbl_reset_error();
#ax1.reset:=1;
#ax2.reset:=1;
#ax3.reset:=1;
} else if(not(grbl_get_parser_busy())) {
static.counter+=1;
println('Retrigger g-code. Counter: ', static.counter);
grbl_set_execute(0);
grbl_set_execute(1);
# Enable axis in state 0
if(static.state==0) {
if(not(grbl_get_busy()) and not(grbl_get_error())) {
grbl_set_all_enable(1);
};
if(grbl_get_all_enabled()) {
static.state:=1;
};
};
# Trigg motion
if(static.state == 1) {
if(not(grbl_get_parser_busy())) {
static.counter+=1;
println('Retrigger g-code. Counter: ', static.counter);
grbl_set_execute(0);
grbl_set_execute(1);
};
};
#if(grbl_get_error()) {
# println('Try reset');
# grbl_reset_error();
# grbl_mc_resume(0);
# grbl_mc_resume(1);
# ax1.reset:=1;
# ax2.reset:=1;
# ax3.reset:=1;
#
#} else if(not(grbl_get_parser_busy())) {
# #static.counter+=1;
# #println('Retrigger g-code. Counter: ', static.counter);
# #grbl_set_execute(0);
# #grbl_set_execute(1);
#};

2
iocsh/test.script
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@@ -82,7 +82,7 @@ epicsEnvSet("PLUGIN_VER" ,"develop")
require ecmc_plugin_grbl $(PLUGIN_VER)
epicsEnvSet(ECMC_PLUGIN_FILNAME,"/home/pi/epics/base-7.0.5/require/${E3_REQUIRE_VERSION}/siteMods/ecmc_plugin_grbl/$(PLUGIN_VER)/lib/${EPICS_HOST_ARCH=linux-x86_64}/libecmc_plugin_grbl.so")
epicsEnvSet(ECMC_PLUGIN_CONFIG,"DBG_PRINT=1;X_AXIS=1;Y_AXIS=2;SPINDLE_AXIS=3;AUTO_ENABLE=1;AUTO_START=0;") # Only one option implemented in this plugin
epicsEnvSet(ECMC_PLUGIN_CONFIG,"DBG_PRINT=1;X_AXIS=1;Y_AXIS=2;SPINDLE_AXIS=3;AUTO_ENABLE=0;AUTO_START=0;") # Only one option implemented in this plugin
${SCRIPTEXEC} ${ecmccfg_DIR}loadPlugin.cmd, "PLUGIN_ID=0,FILE=${ECMC_PLUGIN_FILNAME},CONFIG='${ECMC_PLUGIN_CONFIG}', REPORT=1"
epicsEnvUnset(ECMC_PLUGIN_FILNAME)
epicsEnvUnset(ECMC_PLUGIN_CONFIG)