kopia lustrzana https://github.com/grblHAL/Plugin_odometer
initial check-in
Terje Io
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3ba87d7450
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#
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# =========================
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# Operating System Files
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# =========================
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.vscode/settings.json
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/*
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odometer.c - axis odometers including run time + spindle run time
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Part of grblHAL
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Copyright (c) 2020-2021 Terje Io
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Grbl is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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Grbl is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with Grbl. If not, see <http://www.gnu.org/licenses/>.
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*/
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#ifdef ARDUINO
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#include "../driver.h"
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#else
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#include "driver.h"
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#endif
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#if ODOMETER_ENABLE
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#include <string.h>
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#include <stdio.h>
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#ifdef ARDUINO
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#include "../grbl/system.h"
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#include "../grbl/protocol.h"
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#include "../grbl/nvs_buffer.h"
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#else
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#include "grbl/system.h"
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#include "grbl/protocol.h"
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#include "grbl/nvs_buffer.h"
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#endif
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typedef struct {
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uint64_t motors;
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uint64_t spindle;
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float distance[N_AXIS];
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} odometer_data_t;
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static uint32_t steps[N_AXIS] = {0};
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static bool odometer_changed = false;
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static uint32_t odometers_address, odometers_address_prv;
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static odometer_data_t odometers, odometers_prv;
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static nvs_io_t nvs;
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static stepper_pulse_start_ptr stepper_pulse_start;
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static on_state_change_ptr on_state_change;
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static spindle_set_state_ptr spindle_set_state_;
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static settings_changed_ptr settings_changed;
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static on_report_options_ptr on_report_options;
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static on_report_command_help_ptr on_report_command_help;
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static void stepperPulseStart (stepper_t *stepper)
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{
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odometer_changed = true;
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if(stepper->step_outbits.x)
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steps[X_AXIS]++;
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if(stepper->step_outbits.y)
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steps[Y_AXIS]++;
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if(stepper->step_outbits.z)
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steps[Z_AXIS]++;
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#ifdef A_AXIS
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if(stepper->step_outbits.a)
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steps[A_AXIS]++;
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#endif
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#ifdef B_AXIS
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if(stepper->step_outbits.b)
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steps[B_AXIS]++;
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#endif
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#ifdef C_AXIS
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if(stepper->step_outbits.b)
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steps[C_AXIS]++;
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#endif
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stepper_pulse_start(stepper);
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}
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void onStateChanged (sys_state_t state)
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{
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static uint32_t ms = 0;
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if(state & (STATE_CYCLE|STATE_JOG|STATE_HOMING|STATE_SAFETY_DOOR))
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ms = hal.get_elapsed_ticks();
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else if(odometer_changed) {
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uint_fast8_t idx = N_AXIS;
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odometer_changed = false;
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odometers.motors += (hal.get_elapsed_ticks() - ms);
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do {
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if(steps[--idx]) {
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odometers.distance[idx] += (float)steps[idx] / settings.axis[idx].steps_per_mm;
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steps[idx] = 0;
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}
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} while(idx);
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nvs.memcpy_to_nvs(odometers_address, (uint8_t *)&odometers, sizeof(odometer_data_t), true);
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}
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if(on_state_change)
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on_state_change(state);
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}
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// Called by foreground process.
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static void odometers_write (sys_state_t state)
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{
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nvs.memcpy_to_nvs(odometers_address, (uint8_t *)&odometers, sizeof(odometer_data_t), true);
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}
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ISR_CODE static void onSpindleSetState (spindle_state_t state, float rpm)
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{
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static uint32_t ms = 0;
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spindle_set_state_(state, rpm);
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if(state.on)
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ms = hal.get_elapsed_ticks();
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else if(ms) {
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odometers.spindle += (hal.get_elapsed_ticks() - ms);
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ms = 0;
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// Write odometer data in foreground process.
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protocol_enqueue_rt_command(odometers_write);
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}
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}
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// Reclaim entry points that may have been changed on settings change.
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static void onSettingsChanged (settings_t *settings)
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{
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settings_changed(settings);
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if(hal.spindle.set_state != onSpindleSetState) {
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spindle_set_state_ = hal.spindle.set_state;
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hal.spindle.set_state = onSpindleSetState;
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}
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if(hal.stepper.pulse_start != stepperPulseStart) {
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stepper_pulse_start = hal.stepper.pulse_start;
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hal.stepper.pulse_start = stepperPulseStart;
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}
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}
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static void odometer_data_reset (bool backup)
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{
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if(backup) {
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memcpy(&odometers_prv, &odometers, sizeof(odometer_data_t));
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nvs.memcpy_to_nvs(odometers_address_prv, (uint8_t *)&odometers_prv, sizeof(odometer_data_t), true);
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}
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memset(&odometers, 0, sizeof(odometer_data_t));
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nvs.memcpy_to_nvs(odometers_address, (uint8_t *)&odometers, sizeof(odometer_data_t), true);
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}
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static void odometers_report (odometer_data_t *odometers)
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{
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char buf[40];
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uint_fast8_t idx;
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uint32_t hr = odometers->spindle / 3600000, min = (odometers->spindle / 60000) % 60;
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sprintf(buf, "SPINDLEHRS %ld:%.2ld", hr, min);
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report_message(buf, Message_Plain);
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hr = odometers->motors / 3600000;
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min = (odometers->motors / 60000) % 60;
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sprintf(buf, "MOTORHRS %ld:%.2ld", hr, min);
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report_message(buf, Message_Plain);
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for(idx = 0 ; idx < N_AXIS ; idx++) {
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sprintf(buf, "ODOMETER%s %s", axis_letter[idx], ftoa(odometers->distance[idx] / 1000.0f, 1)); // meters
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report_message(buf, Message_Plain);
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}
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}
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static status_code_t odometer_command (sys_state_t state, char *args)
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{
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status_code_t retval = Status_Unhandled;
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if(args == NULL) {
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odometers_report(&odometers);
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retval = Status_OK;
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} else {
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strcaps(args);
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if(!strcmp(args, "PREV")) {
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if(nvs.memcpy_from_nvs((uint8_t *)&odometers_prv, odometers_address_prv, sizeof(odometer_data_t), true) == NVS_TransferResult_OK)
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odometers_report(&odometers_prv);
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else
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report_message("Previous odometer values not available", Message_Warning);
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retval = Status_OK;
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}
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if(!strcmp(args, "RST")) {
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odometer_data_reset(true);
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retval = Status_OK;
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}
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}
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return retval;
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}
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const sys_command_t odometer_command_list[] = {
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{"ODOMETERS", false, odometer_command},
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};
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static sys_commands_t odometer_commands = {
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.n_commands = sizeof(odometer_command_list) / sizeof(sys_command_t),
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.commands = odometer_command_list
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};
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sys_commands_t *odometer_get_commands()
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{
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return &odometer_commands;
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}
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static void onReportCommandHelp (void)
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{
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hal.stream.write("$ODOMETERS - list odometer log" ASCII_EOL);
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hal.stream.write("$ODOMETERS=PREV - list previous odometer log when available" ASCII_EOL);
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hal.stream.write("$ODOMETERS=RST - copy current log to previous and clear current" ASCII_EOL);
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if(on_report_command_help)
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on_report_command_help();
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}
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static void onReportOptions (bool newopt)
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{
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on_report_options(newopt);
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if(newopt)
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hal.stream.write(",ODO");
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else
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hal.stream.write("[PLUGIN:ODOMETERS v0.02]" ASCII_EOL);
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}
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static void odometer_warning1 (uint_fast16_t state)
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{
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report_message("EEPROM or FRAM is required for odometers!", Message_Warning);
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}
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static void odometer_warning2 (uint_fast16_t state)
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{
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report_message("Not enough NVS storage for odometers!", Message_Warning);
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}
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void odometer_init()
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{
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memcpy(&nvs, nvs_buffer_get_physical(), sizeof(nvs_io_t));
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if(!(nvs.type == NVS_EEPROM || nvs.type == NVS_FRAM))
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protocol_enqueue_rt_command(odometer_warning1);
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else if(NVS_SIZE - GRBL_NVS_SIZE - hal.nvs.driver_area.size < ((sizeof(odometer_data_t) + NVS_CRC_BYTES) * 2))
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protocol_enqueue_rt_command(odometer_warning2);
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else {
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odometers_address = NVS_SIZE - (sizeof(odometer_data_t) + NVS_CRC_BYTES);
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odometers_address_prv = odometers_address - (sizeof(odometer_data_t) + NVS_CRC_BYTES);
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if(nvs.memcpy_from_nvs((uint8_t *)&odometers, odometers_address, sizeof(odometer_data_t), true) != NVS_TransferResult_OK)
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odometer_data_reset(false);
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hal.driver_cap.odometers = On;
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odometer_commands.on_get_commands = grbl.on_get_commands;
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grbl.on_get_commands = odometer_get_commands;
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on_state_change = grbl.on_state_change;
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grbl.on_state_change = onStateChanged;
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on_report_options = grbl.on_report_options;
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grbl.on_report_options = onReportOptions;
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on_report_command_help = grbl.on_report_command_help;
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grbl.on_report_command_help = onReportCommandHelp;
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settings_changed = hal.settings_changed;
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hal.settings_changed = onSettingsChanged;
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spindle_set_state_ = hal.spindle.set_state;
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hal.spindle.set_state = onSpindleSetState;
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stepper_pulse_start = hal.stepper.pulse_start;
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hal.stepper.pulse_start = stepperPulseStart;
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}
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}
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#endif
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@ -0,0 +1,29 @@
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/*
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odometer.h - axis odometers including run time
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Part of grblHAL
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||||
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Copyright (c) 2020 Terje Io
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||||
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||||
Grbl is free software: you can redistribute it and/or modify
|
||||
it under the terms of the GNU General Public License as published by
|
||||
the Free Software Foundation, either version 3 of the License, or
|
||||
(at your option) any later version.
|
||||
|
||||
Grbl is distributed in the hope that it will be useful,
|
||||
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
GNU General Public License for more details.
|
||||
|
||||
You should have received a copy of the GNU General Public License
|
||||
along with Grbl. If not, see <http://www.gnu.org/licenses/>.
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*/
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#ifndef _ODOMETER_H_
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#define _ODOMETER_H_
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void odometer_init();
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#endif
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