WIP

ecmc_plugin_grbl/ecmcGrbl.cpp

@@ -39,6 +39,8 @@ volatile uint8_t sys_rt_exec_accessory_override; // Global realtime executor bit
   volatile uint8_t sys_rt_exec_debug;
 #endif
 
+int enableDebugPrintouts = 0;
+
 // Start worker for socket read()
 void f_worker_read(void *obj) {
   if(!obj) {
@@ -122,6 +124,10 @@ ecmcGrbl::ecmcGrbl(char* configStr,
   if(!cfgAutoEnableAtStart_) {
     autoEnableExecuted_ = 1;
   }
+
+  // global varaible in grbl  
+  enableDebugPrintouts = cfgDbgMode_;
+
   //Check atleast one valid axis
   if(cfgXAxisId_<0 && cfgXAxisId_<0 && cfgXAxisId_<0 && cfgSpindleAxisId_<0) {
     throw std::out_of_range("No valid axis choosen.");

grbl/grbl.h

@@ -60,7 +60,14 @@
 #include "grbl_serial.h"
 #include "grbl_spindle_control.h"
 #include "grbl_stepper.h"
-#include "grbl_jog.h"
+#include "grbl_jog.h"  
+
+#define PRINTF_DEBUG(str)                                                     \
+  {                                                                           \
+    if (enableDebugPrintouts) {                                               \
+      printf("%s:%s:%d:%s\n",__FILE__,__FUNCTION__,__LINE__,str);             \
+    }                                                                         \
+  }                                                                           \
 
 // ---------------------------------------------------------------------------------------
 // COMPILE-TIME ERROR CHECKING OF DEFINE VALUES:

grbl/grbl_gcode.c

@@ -41,7 +41,7 @@ parser_block_t gc_block;
 
 void gc_init()
 {
-  printf("%s:%s:%d:\n",__FILE__,__FUNCTION__,__LINE__);  
+  PRINTF_DEBUG(""); 
 
   memset(&gc_state, 0, sizeof(parser_state_t));
 
@@ -56,7 +56,7 @@ void gc_init()
 // limit pull-off routines.
 void gc_sync_position()
 {
-  printf("%s:%s:%d:\n",__FILE__,__FUNCTION__,__LINE__);  
+  PRINTF_DEBUG("");
   system_convert_array_steps_to_mpos(gc_state.position,sys_position);
 }
 
@@ -68,7 +68,7 @@ void gc_sync_position()
 // coordinates, respectively.
 uint8_t gc_execute_line(char *line)
 {
-   printf("%s:%s:%d:%s\n",__FILE__,__FUNCTION__,__LINE__,line);  
+   PRINTF_DEBUG("");
 
   /* -------------------------------------------------------------------------------------
      STEP 1: Initialize parser block struct and copy current g-code state modes. The parser
@@ -345,7 +345,7 @@ uint8_t gc_execute_line(char *line)
         value_words |= bit(word_bit); // Flag to indicate parameter assigned.
      
     }
-    //printf("%s:%s:%d:\n",__FILE__,__FUNCTION__,__LINE__);  
+    //PRINTF_DEBUG("");
   }
   // Parsing complete!
 

grbl/grbl_motion_control.c

@@ -30,7 +30,7 @@
 // in the planner and to let backlash compensation or canned cycle integration simple and direct.
 void mc_line(float *target, plan_line_data_t *pl_data)
 {
-  printf("%s:%s:%d\n",__FILE__,__FUNCTION__,__LINE__);
+  PRINTF_DEBUG("");
 
   // If enabled, check for soft limit violations. Placed here all line motions are picked up
   // from everywhere in Grbl.
@@ -88,7 +88,7 @@ void mc_line(float *target, plan_line_data_t *pl_data)
 void mc_arc(float *target, plan_line_data_t *pl_data, float *position, float *offset, float radius,
   uint8_t axis_0, uint8_t axis_1, uint8_t axis_linear, uint8_t is_clockwise_arc)
 {
-  printf("%s:%s:%d\n",__FILE__,__FUNCTION__,__LINE__);
+  PRINTF_DEBUG("");
 
   float center_axis0 = position[axis_0] + offset[axis_0];
   float center_axis1 = position[axis_1] + offset[axis_1];
@@ -197,7 +197,7 @@ void mc_arc(float *target, plan_line_data_t *pl_data, float *position, float *of
 // Execute dwell in seconds.
 void mc_dwell(float seconds)
 {
-  printf("%s:%s:%d\n",__FILE__,__FUNCTION__,__LINE__);
+  PRINTF_DEBUG("");
 
   if (sys.state == STATE_CHECK_MODE) { return; }
   protocol_buffer_synchronize();
@@ -333,7 +333,7 @@ uint8_t mc_probe_cycle(float *target, plan_line_data_t *pl_data, uint8_t parser_
 #ifdef PARKING_ENABLE
   void mc_parking_motion(float *parking_target, plan_line_data_t *pl_data)
   {
-    printf("%s:%s:%d\n",__FILE__,__FUNCTION__,__LINE__);
+    PRINTF_DEBUG("");
 
     if (sys.abort) { return; } // Block during abort.
 
@@ -362,7 +362,7 @@ uint8_t mc_probe_cycle(float *target, plan_line_data_t *pl_data, uint8_t parser_
 #ifdef ENABLE_PARKING_OVERRIDE_CONTROL
   void mc_override_ctrl_update(uint8_t override_state)
   {
-    printf("%s:%s:%d\n",__FILE__,__FUNCTION__,__LINE__);
+    PRINTF_DEBUG("");
 
     // Finish all queued commands before altering override control state
     protocol_buffer_synchronize();
@@ -379,7 +379,7 @@ uint8_t mc_probe_cycle(float *target, plan_line_data_t *pl_data, uint8_t parser_
 // realtime abort command and hard limits. So, keep to a minimum.
 void mc_reset()
 {
-  printf("%s:%s:%d\n",__FILE__,__FUNCTION__,__LINE__);
+  PRINTF_DEBUG("");
 
   // Only this function can set the system reset. Helps prevent multiple kill calls.
   if (bit_isfalse(sys_rt_exec_state, EXEC_RESET)) {

grbl/grbl_protocol.c

@@ -37,7 +37,7 @@ static void protocol_exec_rt_suspend();
 */
 void protocol_main_loop()
 {
-  printf("%s:%s:%d\n",__FILE__,__FUNCTION__,__LINE__);
+  PRINTF_DEBUG("");
 
   // Perform some machine checks to make sure everything is good to go.
   #ifdef CHECK_LIMITS_AT_INIT

grbl/grbl_serial.c

@@ -216,8 +216,10 @@ void ecmc_write_command_serial(char* line) {
     ecmc_add_char_to_buffer(line[i]);    
   }
   ecmc_add_char_to_buffer('\n');
-  printf("Added: %s",line);
-  printf("to buffer: %s\n",serial_rx_buffer);
+  if(enableDebugPrintouts) {
+    printf("Added: %s",line);
+    printf("to buffer: %s\n",serial_rx_buffer);
+  }
   free(line);
 }
 

grbl/grbl_stepper.c

@@ -227,7 +227,7 @@ static bool stepperInterruptEnable = 0;
 void st_wake_up()
 {
 
-  printf("%s:%s:%d\n",__FILE__,__FUNCTION__,__LINE__);
+  PRINTF_DEBUG("");
   // Enable stepper drivers.
   //if (bit_istrue(settings.flags,BITFLAG_INVERT_ST_ENABLE)) { STEPPERS_DISABLE_PORT |= (1<<STEPPERS_DISABLE_BIT); }
   //else { STEPPERS_DISABLE_PORT &= ~(1<<STEPPERS_DISABLE_BIT); }
@@ -258,7 +258,7 @@ void st_wake_up()
 // Stepper shutdown
 void st_go_idle()
 {
-  printf("%s:%s:%d\n",__FILE__,__FUNCTION__,__LINE__);
+  PRINTF_DEBUG("");
 
   stepperInterruptEnable = 0;
 
@@ -334,7 +334,7 @@ void st_go_idle()
 // returns exe_time_rate_ms (need to downsample to ecmc rate)
 double ecmc_grbl_main_rt_thread()
 { 
-  //printf("%s:%s:%d\n",__FILE__,__FUNCTION__,__LINE__);
+  //PRINTF_DEBUG("");
 
   if (busy || !stepperInterruptEnable) { return -1.0; } // The busy-flag is used to avoid reentering this interrupt
 
@@ -549,7 +549,7 @@ double ecmc_grbl_main_rt_thread()
 // Generates the step and direction port invert masks used in the Stepper Interrupt Driver.
 void st_generate_step_dir_invert_masks()
 {
-  printf("%s:%s:%d\n",__FILE__,__FUNCTION__,__LINE__);
+  PRINTF_DEBUG("");
 
   uint8_t idx;
   step_port_invert_mask = 0;
@@ -571,7 +571,7 @@ void st_generate_step_dir_invert_masks()
 // Reset and clear stepper subsystem variables
 void st_reset()
 {
-  printf("%s:%s:%d\n",__FILE__,__FUNCTION__,__LINE__);
+  PRINTF_DEBUG("");
 
   // Initialize stepper driver idle state.
   st_go_idle();
@@ -604,7 +604,7 @@ void st_reset()
 // Initialize and start the stepper motor subsystem
 void stepper_init()
 {
-  printf("%s:%s:%d\n",__FILE__,__FUNCTION__,__LINE__);
+  PRINTF_DEBUG("");
 
   // Configure step and direction interface pins
 //  STEP_DDR |= STEP_MASK;
@@ -638,7 +638,7 @@ void stepper_init()
 // Called by planner_recalculate() when the executing block is updated by the new plan.
 void st_update_plan_block_parameters()
 {
-  printf("%s:%s:%d\n",__FILE__,__FUNCTION__,__LINE__);
+  PRINTF_DEBUG("");
 
   if (pl_block != NULL) { // Ignore if at start of a new block.
     prep.recalculate_flag |= PREP_FLAG_RECALCULATE;
@@ -651,7 +651,7 @@ void st_update_plan_block_parameters()
 // Increments the step segment buffer block data ring buffer.
 static uint8_t st_next_block_index(uint8_t block_index)
 {
-  printf("%s:%s:%d\n",__FILE__,__FUNCTION__,__LINE__);
+  PRINTF_DEBUG("");
 
   block_index++;
   if ( block_index == (SEGMENT_BUFFER_SIZE-1) ) { return(0); }
@@ -712,7 +712,7 @@ static uint8_t st_next_block_index(uint8_t block_index)
 */
 void st_prep_buffer()
 {
-  //printf("%s:%s:%d\n",__FILE__,__FUNCTION__,__LINE__);
+  //PRINTF_DEBUG("");
 
   // Block step prep buffer, while in a suspend state and there is no suspend motion to execute.
   if (bit_istrue(sys.step_control,STEP_CONTROL_END_MOTION)) { return; }
@@ -1143,7 +1143,7 @@ void st_prep_buffer()
 // divided by the ACCELERATION TICKS PER SECOND in seconds.
 float st_get_realtime_rate()
 {
-  printf("%s:%s:%d\n",__FILE__,__FUNCTION__,__LINE__);
+  PRINTF_DEBUG("");
 
   if (sys.state & (STATE_CYCLE | STATE_HOMING | STATE_HOLD | STATE_JOG | STATE_SAFETY_DOOR)){
     return prep.current_speed;

grbl/grbl_system.h

@@ -151,6 +151,7 @@ typedef struct {
 extern system_t sys;
 
 // NOTE: These position variables may need to be declared as volatiles, if problems arise.
+extern int enableDebugPrintouts;
 extern int32_t sys_position[N_AXIS];      // Real-time machine (aka home) position vector in steps.
 extern int32_t sys_probe_position[N_AXIS]; // Last probe position in machine coordinates and steps.
 

iocsh/test.script

@@ -59,7 +59,7 @@ 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;AUTO_ENABLE=1;") # Only one option implemented in this plugin
+epicsEnvSet(ECMC_PLUGIN_CONFIG,"DBG_PRINT=0;X_AXIS=1;Y_AXIS=2;AUTO_ENABLE=1;") # 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)
@@ -67,23 +67,23 @@ epicsEnvUnset(ECMC_PLUGIN_CONFIG)
 ecmcGrblAddCommand("G1X20Y20F180");
 ecmcGrblAddCommand("G4P1");
 ecmcGrblAddCommand("G2X0Y0R20");
-//ecmcGrblAddCommand("G0X10Y10");
-//ecmcGrblAddCommand("G4P1");
-//ecmcGrblAddCommand("G1X10Y0F360");
-//ecmcGrblAddCommand("G4P1");
-//ecmcGrblAddCommand("G1X50Y50F180");
-//ecmcGrblAddCommand("G4P1");
-//ecmcGrblAddCommand("G1X0Y0F360");
-//ecmcGrblAddCommand("G1X20Y20F180");
-//ecmcGrblAddCommand("G4P1");
-//ecmcGrblAddCommand("G2X0Y0R20");
-//ecmcGrblAddCommand("G0X10Y10");
-//ecmcGrblAddCommand("G4P1");
-//ecmcGrblAddCommand("G1X10Y0F360");
-//ecmcGrblAddCommand("G4P1");
-//ecmcGrblAddCommand("G1X50Y50F180");
-//ecmcGrblAddCommand("G4P1");
-//ecmcGrblAddCommand("G1X0Y0F360");
+ecmcGrblAddCommand("G0X10Y10");
+ecmcGrblAddCommand("G4P1");
+ecmcGrblAddCommand("G1X10Y0F360");
+ecmcGrblAddCommand("G4P1");
+ecmcGrblAddCommand("G1X50Y50F180");
+ecmcGrblAddCommand("G4P1");
+ecmcGrblAddCommand("G1X0Y0F360");
+ecmcGrblAddCommand("G1X20Y20F180");
+ecmcGrblAddCommand("G4P1");
+ecmcGrblAddCommand("G2X0Y0R20");
+ecmcGrblAddCommand("G0X10Y10");
+ecmcGrblAddCommand("G4P1");
+ecmcGrblAddCommand("G1X10Y0F360");
+ecmcGrblAddCommand("G4P1");
+ecmcGrblAddCommand("G1X50Y50F180");
+ecmcGrblAddCommand("G4P1");
+ecmcGrblAddCommand("G1X0Y0F360");
 //ecmcGrblAddCommand("G1X20Y20F180");
 //ecmcGrblAddCommand("G4P1");
 //ecmcGrblAddCommand("G2X0Y0R20");
@@ -201,9 +201,7 @@ ecmcConfigOrDie "Cfg.SetDiagAxisEnable(0)"
 
 $(SCRIPTEXEC) ($(ecmccfg_DIR)setAppMode.cmd)
 
-asynSetTraceMask(MC_CPU1, -1, 0)
-asynSetTraceIOMask(MC_CPU1, -1, 0)
-asynSetTraceInfoMask(MC_CPU1, -1, 0)
+asynSetTraceMask(MC_CPU1, -1, 0x41)
 iocInit()
 
 dbpf $(IOC):Axis1.SPAM 0