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Code Issues Releases Wiki Activity

Reverting some spindle changes...

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CLIENT_ALL caused queue issues
This commit is contained in:
bdring
2020-12-09 09:42:40 -06:00
parent 6030d43ef8
commit 76f742682b
3 changed files with 38 additions and 57 deletions
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2
Grbl_Esp32/src/Spindles/H2ASpindle.cpp
View File

@@ -98,7 +98,7 @@ namespace Spindles {
uint16_t rpm = (uint16_t(response[4]) << 8) | uint16_t(response[5]);
vfd->_max_rpm = rpm;
grbl_msg_sendf(CLIENT_ALL, MsgLevel::Info, "H2A spindle is initialized at %d RPM", int(rpm));
grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "H2A spindle is initialized at %d RPM", int(rpm));
return true;
};

82
Grbl_Esp32/src/Spindles/VFDSpindle.cpp
View File

@@ -49,7 +49,6 @@ const int VFD_RS485_POLL_RATE = 200; // in milliseconds between comman
namespace Spindles {
QueueHandle_t VFD::vfd_cmd_queue = nullptr;
TaskHandle_t VFD::vfd_cmdTaskHandle = nullptr;
bool VFD::task_active = true;
// The communications task
void VFD::vfd_cmd_task(void* pvParameters) {
@@ -61,12 +60,6 @@ namespace Spindles {
uint8_t rx_message[VFD_RS485_MAX_MSG_SIZE];
while (true) {
if (!task_active) {
uart_driver_delete(VFD_RS485_UART_PORT);
xQueueReset(vfd_cmd_queue);
vTaskDelete(NULL);
}
response_parser parser = nullptr;
next_cmd.msg[0] = VFD_RS485_ADDR; // Always default to this
@@ -165,7 +158,7 @@ namespace Spindles {
// Not succesful! Now what?
unresponsive = true;
grbl_msg_sendf(CLIENT_ALL, MsgLevel::Info, "Spindle RS485 did not give a satisfying response");
grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "Spindle RS485 did not give a satisfying response");
}
} else {
#ifdef VFD_DEBUG_MODE
@@ -174,18 +167,18 @@ namespace Spindles {
if (read_length != 0) {
if (rx_message[0] != VFD_RS485_ADDR) {
grbl_msg_sendf(CLIENT_ALL, MsgLevel::Info, "RS485 received message from other modbus device");
grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "RS485 received message from other modbus device");
} else if (read_length != next_cmd.rx_length) {
grbl_msg_sendf(CLIENT_ALL,
grbl_msg_sendf(CLIENT_SERIAL,
MsgLevel::Info,
"RS485 received message of unexpected length; expected %d, got %d",
int(next_cmd.rx_length),
int(read_length));
} else {
grbl_msg_sendf(CLIENT_ALL, MsgLevel::Info, "RS485 CRC check failed");
grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "RS485 CRC check failed");
}
} else {
grbl_msg_sendf(CLIENT_ALL, MsgLevel::Info, "RS485 No response");
grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "RS485 No response");
}
#endif
@@ -194,17 +187,15 @@ namespace Spindles {
vTaskDelay(VFD_RS485_POLL_RATE);
static UBaseType_t uxHighWaterMark = 0;
#ifdef DEBUG_TASK_STACK
reportTaskStackSize(uxHighWaterMark);
#endif
}
}
if (retry_count == MAX_RETRIES) {
if (!unresponsive) {
grbl_msg_sendf(CLIENT_ALL, MsgLevel::Info, "Spindle RS485 Unresponsive %d", next_cmd.rx_length);
grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "Spindle RS485 Unresponsive %d", next_cmd.rx_length);
if (next_cmd.critical) {
grbl_msg_sendf(CLIENT_ALL, MsgLevel::Info, "Critical Spindle RS485 Unresponsive");
grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "Critical Spindle RS485 Unresponsive");
sys_rt_exec_alarm = ExecAlarm::SpindleControl;
}
unresponsive = true;
@@ -227,12 +218,12 @@ namespace Spindles {
void VFD::init() {
vfd_ok = false; // initialize
grbl_msg_sendf(CLIENT_ALL, MsgLevel::Info, "Initializing RS485 VFD spindle");
grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "Initializing RS485 VFD spindle");
// fail if required items are not defined
if (!get_pins_and_settings()) {
vfd_ok = false;
grbl_msg_sendf(CLIENT_ALL, MsgLevel::Info, "RS485 VFD spindle errors");
grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "RS485 VFD spindle errors");
return;
}
@@ -255,37 +246,38 @@ namespace Spindles {
uart_config.rx_flow_ctrl_thresh = 122;
if (uart_param_config(VFD_RS485_UART_PORT, &uart_config) != ESP_OK) {
grbl_msg_sendf(CLIENT_ALL, MsgLevel::Info, "RS485 VFD uart parameters failed");
grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "RS485 VFD uart parameters failed");
return;
}
if (uart_set_pin(VFD_RS485_UART_PORT, _txd_pin, _rxd_pin, _rts_pin, UART_PIN_NO_CHANGE) != ESP_OK) {
grbl_msg_sendf(CLIENT_ALL, MsgLevel::Info, "RS485 VFD uart pin config failed");
grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "RS485 VFD uart pin config failed");
return;
}
if (uart_driver_install(VFD_RS485_UART_PORT, VFD_RS485_BUF_SIZE * 2, 0, 0, NULL, 0) != ESP_OK) {
grbl_msg_sendf(CLIENT_ALL, MsgLevel::Info, "RS485 VFD uart driver install failed");
grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "RS485 VFD uart driver install failed");
return;
}
if (uart_set_mode(VFD_RS485_UART_PORT, UART_MODE_RS485_HALF_DUPLEX) != ESP_OK) {
grbl_msg_sendf(CLIENT_ALL, MsgLevel::Info, "RS485 VFD uart set half duplex failed");
grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "RS485 VFD uart set half duplex failed");
return;
}
// Initialization is complete, so now it's okay to run the queue task:
task_active = true;
if (vfd_cmd_queue != nullptr) {
if (!_task_running) { // init can happen many times, we only want to start one task
vfd_cmd_queue = xQueueCreate(VFD_RS485_QUEUE_SIZE, sizeof(ModbusCommand));
xTaskCreatePinnedToCore(vfd_cmd_task, // task
"vfd_cmdTaskHandle", // name for task
2048, // size of task stack
this, // parameters
1, // priority
&vfd_cmdTaskHandle,
SUPPORT_TASK_CORE // core
);
_task_running = true;
}
xTaskCreatePinnedToCore(vfd_cmd_task, // task
"vfd_cmdTaskHandle", // name for task
2048, // size of task stack
this, // parameters
1, // priority
&vfd_cmdTaskHandle,
SUPPORT_TASK_CORE);
is_reversable = true; // these VFDs are always reversable
use_delays = true;
@@ -307,27 +299,26 @@ namespace Spindles {
#ifdef VFD_RS485_TXD_PIN
_txd_pin = VFD_RS485_TXD_PIN;
#else
grbl_msg_sendf(CLIENT_ALL, MsgLevel::Info, "Undefined VFD_RS485_TXD_PIN");
grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "Undefined VFD_RS485_TXD_PIN");
pins_settings_ok = false;
#endif
#ifdef VFD_RS485_RXD_PIN
_rxd_pin = VFD_RS485_RXD_PIN;
#else
grbl_msg_sendf(CLIENT_ALL, MsgLevel::Info, "Undefined VFD_RS485_RXD_PIN");
grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "Undefined VFD_RS485_RXD_PIN");
pins_settings_ok = false;
#endif
#ifdef VFD_RS485_RTS_PIN
_rts_pin = VFD_RS485_RTS_PIN;
#else
grbl_msg_sendf(CLIENT_ALL, MsgLevel::Info, "Undefined VFD_RS485_RTS_PIN");
grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "Undefined VFD_RS485_RTS_PIN");
pins_settings_ok = false;
#endif
// TODO Test no longer required.
if (laser_mode->get()) {
grbl_msg_sendf(CLIENT_ALL, MsgLevel::Info, "VFD spindle disabled in laser mode. Set $GCode/LaserMode=Off and restart");
grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "VFD spindle disabled in laser mode. Set $GCode/LaserMode=Off and restart");
pins_settings_ok = false;
}
@@ -338,7 +329,7 @@ namespace Spindles {
}
void VFD::config_message() {
grbl_msg_sendf(CLIENT_ALL,
grbl_msg_sendf(CLIENT_SERIAL,
MsgLevel::Info,
"VFD RS485 Tx:%s Rx:%s RTS:%s",
pinName(_txd_pin).c_str(),
@@ -391,7 +382,7 @@ namespace Spindles {
if (mode == SpindleState::Disable) {
if (!xQueueReset(vfd_cmd_queue)) {
grbl_msg_sendf(CLIENT_ALL, MsgLevel::Info, "VFD spindle off, queue could not be reset");
grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "VFD spindle off, queue could not be reset");
}
}
@@ -399,7 +390,7 @@ namespace Spindles {
_current_state = mode;
if (xQueueSend(vfd_cmd_queue, &mode_cmd, 0) != pdTRUE) {
grbl_msg_sendf(CLIENT_ALL, MsgLevel::Info, "VFD Queue Full");
grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "VFD Queue Full");
}
return true;
@@ -411,7 +402,7 @@ namespace Spindles {
}
#ifdef VFD_DEBUG_MODE
grbl_msg_sendf(CLIENT_ALL, MsgLevel::Info, "Setting spindle speed to %d rpm (%d, %d)", int(rpm), int(_min_rpm), int(_max_rpm));
grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "Setting spindle speed to %d rpm (%d, %d)", int(rpm), int(_min_rpm), int(_max_rpm));
#endif
// apply override
@@ -442,7 +433,7 @@ namespace Spindles {
rpm_cmd.critical = false;
if (xQueueSend(vfd_cmd_queue, &rpm_cmd, 0) != pdTRUE) {
grbl_msg_sendf(CLIENT_ALL, MsgLevel::Info, "VFD Queue Full");
grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "VFD Queue Full");
}
return rpm;
@@ -474,11 +465,4 @@ namespace Spindles {
return crc;
}
void VFD::deinit() {
_current_state = SpindleState::Disable;
_current_rpm = 0;
task_active = false;
}
}
}

11
Grbl_Esp32/src/Spindles/VFDSpindle.h
View File

@@ -22,6 +22,8 @@
#include <driver/uart.h>
// #define VFD_DEBUG_MODE
namespace Spindles {
class VFD : public Spindle {
@@ -39,18 +41,13 @@ namespace Spindles {
uint32_t _current_rpm = 0;
bool _task_running = false;
bool vfd_ok = true;
static bool task_active;
static QueueHandle_t vfd_cmd_queue;
static TaskHandle_t vfd_cmdTaskHandle;
static void vfd_cmd_task(void* pvParameters);
static uint16_t ModRTU_CRC(uint8_t* buf, int msg_len);
void deinit() override;
protected:
struct ModbusCommand {
bool critical; // TODO SdB: change into `uint8_t critical : 1;`: We want more flags...
@@ -95,4 +92,4 @@ namespace Spindles {
virtual ~VFD() {}
};
}
}