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RTOS but only with "T1 m06". not with g code program

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This commit is contained in:
Jens Hauser
2020-07-31 01:39:40 +02:00
parent f5a5894975
commit a282d33acc
2 changed files with 96 additions and 69 deletions
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128
Grbl_Esp32/Custom/4axis_xyxz.cpp
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@@ -12,18 +12,22 @@
// second Z probe after tool change. Now we can compare
//TODO parameterise this
//TODO correct ifdef/ifndef debugging messages or info messages
//vTaskDelay (0.5 / portTICK_RATE_MS); // 0.5 Sec.
*/
#define DEBUG 0; // do I want debug messages? yes/no
#include <unistd.h>
//#define DEBUG; // do I want debug messages? yes/no
/*
VARIABLES
*/
uint8_t AmountOfToolChanges; // Each new tool increases this by 1. Before first tool, it<69>s 0.
uint8_t currenttoolNo;
float firstZPos, newZPos;
uint8_t currenttoolNo, newtoolNo;
float firstZPos, newZPos, Zdiff;
static TaskHandle_t zProbeSyncTaskHandle = NULL;
// Finite state machine and sequence of steps
uint8_t tc_state; // tool change (tc) state machine
@@ -34,7 +38,7 @@ uint8_t tc_state; // tool change (tc) state machine
#define TOOLCHANGE_ZPROBE_1b 4 // Z probe #1. After button press
#define TOOLCHANGE_MANUAL 5 // Go to tool change position
#define TOOLCHANGE_ZPROBE_2 6 // Z probe #2. Send order to press the Z probe button
#define TOOLCHANGE_FINISH 90 // tool change finish. do some reporting, clean up, etc.
#define TOOLCHANGE_FINISH 99 // tool change finish. do some reporting, clean up, etc.
// declare functions
float getLastZProbePos();
@@ -56,57 +60,54 @@ void machine_init()
// Initialize state machine
tc_state=TOOLCHANGE_IDLE;
// TODO this task runs permanently. Alternative?
xTaskCreatePinnedToCore(zProbeSyncTask, // task
"zProbeSyncTask", // name for task
4096, // size of task stack
NULL, // parameters
1, // priority
&zProbeSyncTaskHandle, // handle
0 // core
);
}
#endif
#ifdef USE_TOOL_CHANGE
/*
user_tool_change() is called when tool change gcode is received,
to perform appropriate actions for your machine.
Prerequisite: add "#define USE_TOOL_CHANGE" to your machine.h file
*/
void user_tool_change(uint8_t new_tool)
// state machine
void zProbeSyncTask(void* pvParameters)
{
// let<65>s start with the state machine
tc_state = TOOLCHANGE_INIT;
TickType_t xLastWakeTime;
// TODO
// if (new_tool == current_tool)
// return;
const TickType_t xProbeFrequency = 100; // in ticks
xLastWakeTime = xTaskGetTickCount(); // Initialise the xLastWakeTime variable with the current time.
//protocol_buffer_synchronize(); // wait for all previous moves to complete
grbl_send (CLIENT_ALL, "we started\r\n");
do
for ( ;; )
{
switch ( tc_state )
{
case TOOLCHANGE_INIT:
// TODO set AmountOfToolChanges to 0 after job finish
// Set amount of tool changes
AmountOfToolChanges++;
#ifdef DEBUG
grbl_sendf (CLIENT_ALL, "zProbeSyncTask. TOOLCHANGE_INIT. State=%d\r\n", tc_state);
grbl_sendf (CLIENT_ALL, "This is the %d. tool change in this job\r\n", AmountOfToolChanges);
grbl_sendf (CLIENT_ALL, "Old tool is #%d (0 means unknown), new tool is #%d\r\n", currenttoolNo, new_tool);
grbl_sendf (CLIENT_ALL, "zProbeSyncTask. TOOLCHANGE_INIT. State=%d\r", tc_state);
grbl_sendf (CLIENT_ALL, "This is the %d. tool change in this job\r", AmountOfToolChanges);
grbl_sendf (CLIENT_ALL, "Old tool is #%d (0 means unknown), new tool is #%d\r", currenttoolNo, newtoolNo);
#endif
// Init
inputBuffer.push("G90 G94\r\n");
inputBuffer.push("G17\r\n");
inputBuffer.push("G21\r\n");
// Switch off spindle
inputBuffer.push("M05\r\n");
inputBuffer.push("M05\r");
tc_state = TOOLCHANGE_START;
break;
case TOOLCHANGE_START:
#ifdef DEBUG
grbl_sendf (CLIENT_ALL, "zProbeSyncTask. TOOLCHANGE_START. State=%d\r\n", tc_state);
grbl_sendf (CLIENT_ALL, "zProbeSyncTask. TOOLCHANGE_START. State=%d\r", tc_state);
#endif
// Measure firstZPos only once. Then adjust G43.2 by comparing firstZPos and newZPos.
@@ -119,35 +120,39 @@ void user_tool_change(uint8_t new_tool)
// First Z Probe
case TOOLCHANGE_ZPROBE_1a:
#ifdef DEBUG
grbl_sendf (CLIENT_ALL, "zProbeSyncTask. TOOLCHANGE_ZPROBE_1a. State=%d\r\n", tc_state);
grbl_sendf (CLIENT_ALL, "zProbeSyncTask. TOOLCHANGE_ZPROBE_1a. State=%d\r", tc_state);
#endif
// Place spindle directly above button in X/Y and at high Z
inputBuffer.push("G53 G0 Z-5\r\n");
inputBuffer.push("G53 G0 X-29 Y-410\r\n");
inputBuffer.push("G53 G0 Z-5\r");
inputBuffer.push("G53 G0 X-29 Y-410\r");
// Z probe
inputBuffer.push("G38.2 Z-100 F500\r\n");
inputBuffer.push("G91 G38.2 Z-100 F500\r");
tc_state = TOOLCHANGE_ZPROBE_1b;
break;
case TOOLCHANGE_ZPROBE_1b: // wait for button press
#ifdef DEBUG
//grbl_sendf (CLIENT_ALL, "zProbeSyncTask. TOOLCHANGE_ZPROBE_1b. State=%d\r\n", tc_state);
grbl_sendf (CLIENT_ALL, "zProbeSyncTask. TOOLCHANGE_ZPROBE_1b. State=%d\r", tc_state);
#endif
// wait until we hit Z probe button
// TODO Error handling. What happens in case the button is not pressed?
if ( probe_get_state() )
{
#ifndef DEBUG
grbl_sendf(CLIENT_ALL, "zProbeSyncTask. TOOLCHANGE_ZPROBE_1b. State=%d\r", tc_state);
#endif
if (AmountOfToolChanges == 1)
firstZPos = getLastZProbePos(); // save Z pos for comparison later
// hit the probe
grbl_sendf(CLIENT_ALL, "Button pressed first time. Z probe pos=%4.3f\r\n", firstZPos);
grbl_sendf(CLIENT_ALL, "Button pressed first time. Z probe pos=%4.3f\r", firstZPos);
inputBuffer.push("G53 G0 Z-5\r\n");
inputBuffer.push("G53 G0 Z-5\r");
tc_state = TOOLCHANGE_MANUAL;
}
@@ -156,23 +161,23 @@ void user_tool_change(uint8_t new_tool)
// go to manual tool change position
case TOOLCHANGE_MANUAL:
#ifdef DEBUG
grbl_sendf (CLIENT_ALL, "zProbeSyncTask. TOOLCHANGE_MANUAL. State=%d\r\n", tc_state);
grbl_sendf (CLIENT_ALL, "zProbeSyncTask. TOOLCHANGE_MANUAL. State=%d\r", tc_state);
#endif
if ( !probe_get_state() ) // button released now
{
// Go to tool change position
inputBuffer.push("G53 G0 X-5 Y-210\r\n");
inputBuffer.push("G53 G0 X-5 Y-210\r");
// Hold
inputBuffer.push("M0\r\n");
inputBuffer.push("M0\r");
// Place spindle directly above button in X/Y and a few mm above Z
inputBuffer.push("G53 G0 Z-5\r\n");
inputBuffer.push("G53 G0 X-29 Y-410\r\n");
inputBuffer.push("G53 G0 Z-5\r");
inputBuffer.push("G53 G0 X-29 Y-410\r");
// Z probe, max. 50mm to press button, quick
inputBuffer.push("G91 G38.2 Z-100 F500\r\n");
inputBuffer.push("G91 G38.2 Z-100 F500\r");
tc_state = TOOLCHANGE_ZPROBE_2;
}
@@ -181,7 +186,7 @@ void user_tool_change(uint8_t new_tool)
case TOOLCHANGE_ZPROBE_2: // wait for button press
#ifdef DEBUG
// grbl_sendf (CLIENT_ALL, "zProbeSyncTask. TOOLCHANGE_ZPROBE_2. State=%d\r\n", tc_state);
// grbl_sendf (CLIENT_ALL, "zProbeSyncTask. TOOLCHANGE_ZPROBE_2. State=%d\r", tc_state);
#endif
// TODO Error handling. What happens in case the button is not pressed?
@@ -191,17 +196,17 @@ void user_tool_change(uint8_t new_tool)
// hit the probe
#ifdef DEBUG
grbl_sendf (CLIENT_ALL, "Button pressed second time. new Z probe pos=%4.3f\r\n", newZPos);
grbl_sendf (CLIENT_ALL, "Button pressed second time. new Z probe pos=%4.3f\r", newZPos);
#endif
// calculate and send out G43.1 adjustment
char gcode_line[20];
sprintf(gcode_line, "G43.1 Z%4.3f\r\n", newZPos-firstZPos);
sprintf(gcode_line, "G43.1 Z%4.3f\r", newZPos-firstZPos);
inputBuffer.push(gcode_line);
grbl_sendf (CLIENT_ALL, gcode_line);
// go up
inputBuffer.push("G53 G0 Z-5\r\n");
inputBuffer.push("G53 G0 Z-5\r");
tc_state = TOOLCHANGE_FINISH;
}
@@ -210,7 +215,7 @@ void user_tool_change(uint8_t new_tool)
// That<61>s it
case TOOLCHANGE_FINISH:
#ifdef DEBUG
grbl_sendf (CLIENT_ALL, "zProbeSyncTask. TOOLCHANGE_FINISH. State=%d\r\n", tc_state);
grbl_sendf (CLIENT_ALL, "zProbeSyncTask. TOOLCHANGE_FINISH. State=%d\r", tc_state);
#endif
// button released, we lift up
@@ -218,21 +223,40 @@ void user_tool_change(uint8_t new_tool)
{
//vTaskDelay (1 / portTICK_RATE_MS); // 1 sec.
grbl_send (CLIENT_ALL, "Tool change procedure finished.\r\n");
grbl_send (CLIENT_ALL, "Go to current WCS origin after hold.\r\n");
grbl_send (CLIENT_ALL, "Tool change procedure finished.\r");
grbl_send (CLIENT_ALL, "Go to current WCS origin after hold.\r");
// go to current WCS origin. This could be G54, but also another one
inputBuffer.push("G0 X0 Y0\r\n");
inputBuffer.push("G0 Z0\r\n");
inputBuffer.push("G0 X0 Y0\r");
inputBuffer.push("G0 Z0\r");
}
tc_state = TOOLCHANGE_IDLE;
break;
}
vTaskDelayUntil(&xLastWakeTime, xProbeFrequency);
}
}
} while (tc_state != TOOLCHANGE_IDLE);
#ifdef USE_TOOL_CHANGE
/*
user_tool_change() is called when tool change gcode is received,
to perform appropriate actions for your machine.
Prerequisite: add "#define USE_TOOL_CHANGE" to your machine.h file
*/
void user_tool_change(uint8_t new_tool)
{
// let<65>s start with the state machine
newtoolNo = new_tool;
tc_state = TOOLCHANGE_INIT;
//TODO
// Nach Aufruf dieser Function wird gleich wieder zurc<72>gkegeben in die aufrufende Function.
// Ziel: Erst return, wenn wirklich beendet (RTOS!)
return;
}
#endif

3
Grbl_Esp32/Machines/4axis_xyxz.h
View File

@@ -72,5 +72,8 @@
* it will call a function void user_tool_change(uint8_t new_tool) when it sees the M6 gcode command.
*/
#define USE_MACHINE_INIT
#define USE_TOOL_CHANGE
void zProbeSyncTask(void* pvParameters);