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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]); uint16_t rpm = (uint16_t(response[4]) << 8) | uint16_t(response[5]);
vfd->_max_rpm = rpm; 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; return true;
}; };

70
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 { namespace Spindles {
QueueHandle_t VFD::vfd_cmd_queue = nullptr; QueueHandle_t VFD::vfd_cmd_queue = nullptr;
TaskHandle_t VFD::vfd_cmdTaskHandle = nullptr; TaskHandle_t VFD::vfd_cmdTaskHandle = nullptr;
bool VFD::task_active = true;
// The communications task // The communications task
void VFD::vfd_cmd_task(void* pvParameters) { void VFD::vfd_cmd_task(void* pvParameters) {
@@ -61,12 +60,6 @@ namespace Spindles {
uint8_t rx_message[VFD_RS485_MAX_MSG_SIZE]; uint8_t rx_message[VFD_RS485_MAX_MSG_SIZE];
while (true) { while (true) {
if (!task_active) {
uart_driver_delete(VFD_RS485_UART_PORT);
xQueueReset(vfd_cmd_queue);
vTaskDelete(NULL);
}
response_parser parser = nullptr; response_parser parser = nullptr;
next_cmd.msg[0] = VFD_RS485_ADDR; // Always default to this next_cmd.msg[0] = VFD_RS485_ADDR; // Always default to this
@@ -165,7 +158,7 @@ namespace Spindles {
// Not succesful! Now what? // Not succesful! Now what?
unresponsive = true; 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 { } else {
#ifdef VFD_DEBUG_MODE #ifdef VFD_DEBUG_MODE
@@ -174,18 +167,18 @@ namespace Spindles {
if (read_length != 0) { if (read_length != 0) {
if (rx_message[0] != VFD_RS485_ADDR) { 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) { } else if (read_length != next_cmd.rx_length) {
grbl_msg_sendf(CLIENT_ALL, grbl_msg_sendf(CLIENT_SERIAL,
MsgLevel::Info, MsgLevel::Info,
"RS485 received message of unexpected length; expected %d, got %d", "RS485 received message of unexpected length; expected %d, got %d",
int(next_cmd.rx_length), int(next_cmd.rx_length),
int(read_length)); int(read_length));
} else { } else {
grbl_msg_sendf(CLIENT_ALL, MsgLevel::Info, "RS485 CRC check failed"); grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "RS485 CRC check failed");
} }
} else { } else {
grbl_msg_sendf(CLIENT_ALL, MsgLevel::Info, "RS485 No response"); grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "RS485 No response");
} }
#endif #endif
@@ -194,17 +187,15 @@ namespace Spindles {
vTaskDelay(VFD_RS485_POLL_RATE); vTaskDelay(VFD_RS485_POLL_RATE);
static UBaseType_t uxHighWaterMark = 0; static UBaseType_t uxHighWaterMark = 0;
#ifdef DEBUG_TASK_STACK
reportTaskStackSize(uxHighWaterMark); reportTaskStackSize(uxHighWaterMark);
#endif
} }
} }
if (retry_count == MAX_RETRIES) { if (retry_count == MAX_RETRIES) {
if (!unresponsive) { 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) { 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; sys_rt_exec_alarm = ExecAlarm::SpindleControl;
} }
unresponsive = true; unresponsive = true;
@@ -227,12 +218,12 @@ namespace Spindles {
void VFD::init() { void VFD::init() {
vfd_ok = false; // initialize 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 // fail if required items are not defined
if (!get_pins_and_settings()) { if (!get_pins_and_settings()) {
vfd_ok = false; 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; return;
} }
@@ -255,37 +246,38 @@ namespace Spindles {
uart_config.rx_flow_ctrl_thresh = 122; uart_config.rx_flow_ctrl_thresh = 122;
if (uart_param_config(VFD_RS485_UART_PORT, &uart_config) != ESP_OK) { 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; return;
} }
if (uart_set_pin(VFD_RS485_UART_PORT, _txd_pin, _rxd_pin, _rts_pin, UART_PIN_NO_CHANGE) != ESP_OK) { 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; return;
} }
if (uart_driver_install(VFD_RS485_UART_PORT, VFD_RS485_BUF_SIZE * 2, 0, 0, NULL, 0) != ESP_OK) { 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; return;
} }
if (uart_set_mode(VFD_RS485_UART_PORT, UART_MODE_RS485_HALF_DUPLEX) != ESP_OK) { 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; return;
} }
// Initialization is complete, so now it's okay to run the queue task: // Initialization is complete, so now it's okay to run the queue task:
task_active = true; if (!_task_running) { // init can happen many times, we only want to start one task
if (vfd_cmd_queue != nullptr) {
vfd_cmd_queue = xQueueCreate(VFD_RS485_QUEUE_SIZE, sizeof(ModbusCommand)); vfd_cmd_queue = xQueueCreate(VFD_RS485_QUEUE_SIZE, sizeof(ModbusCommand));
}
xTaskCreatePinnedToCore(vfd_cmd_task, // task xTaskCreatePinnedToCore(vfd_cmd_task, // task
"vfd_cmdTaskHandle", // name for task "vfd_cmdTaskHandle", // name for task
2048, // size of task stack 2048, // size of task stack
this, // parameters this, // parameters
1, // priority 1, // priority
&vfd_cmdTaskHandle, &vfd_cmdTaskHandle,
SUPPORT_TASK_CORE); SUPPORT_TASK_CORE // core
);
_task_running = true;
}
is_reversable = true; // these VFDs are always reversable is_reversable = true; // these VFDs are always reversable
use_delays = true; use_delays = true;
@@ -307,27 +299,26 @@ namespace Spindles {
#ifdef VFD_RS485_TXD_PIN #ifdef VFD_RS485_TXD_PIN
_txd_pin = VFD_RS485_TXD_PIN; _txd_pin = VFD_RS485_TXD_PIN;
#else #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; pins_settings_ok = false;
#endif #endif
#ifdef VFD_RS485_RXD_PIN #ifdef VFD_RS485_RXD_PIN
_rxd_pin = VFD_RS485_RXD_PIN; _rxd_pin = VFD_RS485_RXD_PIN;
#else #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; pins_settings_ok = false;
#endif #endif
#ifdef VFD_RS485_RTS_PIN #ifdef VFD_RS485_RTS_PIN
_rts_pin = VFD_RS485_RTS_PIN; _rts_pin = VFD_RS485_RTS_PIN;
#else #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; pins_settings_ok = false;
#endif #endif
// TODO Test no longer required.
if (laser_mode->get()) { 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; pins_settings_ok = false;
} }
@@ -338,7 +329,7 @@ namespace Spindles {
} }
void VFD::config_message() { void VFD::config_message() {
grbl_msg_sendf(CLIENT_ALL, grbl_msg_sendf(CLIENT_SERIAL,
MsgLevel::Info, MsgLevel::Info,
"VFD RS485 Tx:%s Rx:%s RTS:%s", "VFD RS485 Tx:%s Rx:%s RTS:%s",
pinName(_txd_pin).c_str(), pinName(_txd_pin).c_str(),
@@ -391,7 +382,7 @@ namespace Spindles {
if (mode == SpindleState::Disable) { if (mode == SpindleState::Disable) {
if (!xQueueReset(vfd_cmd_queue)) { 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; _current_state = mode;
if (xQueueSend(vfd_cmd_queue, &mode_cmd, 0) != pdTRUE) { 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; return true;
@@ -411,7 +402,7 @@ namespace Spindles {
} }
#ifdef VFD_DEBUG_MODE #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 #endif
// apply override // apply override
@@ -442,7 +433,7 @@ namespace Spindles {
rpm_cmd.critical = false; rpm_cmd.critical = false;
if (xQueueSend(vfd_cmd_queue, &rpm_cmd, 0) != pdTRUE) { 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; return rpm;
@@ -474,11 +465,4 @@ namespace Spindles {
return crc; return crc;
} }
void VFD::deinit() {
_current_state = SpindleState::Disable;
_current_rpm = 0;
task_active = false;
}
} }

7
Grbl_Esp32/src/Spindles/VFDSpindle.h
View File

@@ -22,6 +22,8 @@
#include <driver/uart.h> #include <driver/uart.h>
// #define VFD_DEBUG_MODE
namespace Spindles { namespace Spindles {
class VFD : public Spindle { class VFD : public Spindle {
@@ -40,17 +42,12 @@ namespace Spindles {
bool _task_running = false; bool _task_running = false;
bool vfd_ok = true; bool vfd_ok = true;
static bool task_active;
static QueueHandle_t vfd_cmd_queue; static QueueHandle_t vfd_cmd_queue;
static TaskHandle_t vfd_cmdTaskHandle; static TaskHandle_t vfd_cmdTaskHandle;
static void vfd_cmd_task(void* pvParameters); static void vfd_cmd_task(void* pvParameters);
static uint16_t ModRTU_CRC(uint8_t* buf, int msg_len); static uint16_t ModRTU_CRC(uint8_t* buf, int msg_len);
void deinit() override;
protected: protected:
struct ModbusCommand { struct ModbusCommand {
bool critical; // TODO SdB: change into `uint8_t critical : 1;`: We want more flags... bool critical; // TODO SdB: change into `uint8_t critical : 1;`: We want more flags...