-
Notifications
You must be signed in to change notification settings - Fork 1
/
panel.c
1234 lines (1004 loc) · 45.9 KB
/
panel.c
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
702
703
704
705
706
707
708
709
710
711
712
713
714
715
716
717
718
719
720
721
722
723
724
725
726
727
728
729
730
731
732
733
734
735
736
737
738
739
740
741
742
743
744
745
746
747
748
749
750
751
752
753
754
755
756
757
758
759
760
761
762
763
764
765
766
767
768
769
770
771
772
773
774
775
776
777
778
779
780
781
782
783
784
785
786
787
788
789
790
791
792
793
794
795
796
797
798
799
800
801
802
803
804
805
806
807
808
809
810
811
812
813
814
815
816
817
818
819
820
821
822
823
824
825
826
827
828
829
830
831
832
833
834
835
836
837
838
839
840
841
842
843
844
845
846
847
848
849
850
851
852
853
854
855
856
857
858
859
860
861
862
863
864
865
866
867
868
869
870
871
872
873
874
875
876
877
878
879
880
881
882
883
884
885
886
887
888
889
890
891
892
893
894
895
896
897
898
899
900
901
902
903
904
905
906
907
908
909
910
911
912
913
914
915
916
917
918
919
920
921
922
923
924
925
926
927
928
929
930
931
932
933
934
935
936
937
938
939
940
941
942
943
944
945
946
947
948
949
950
951
952
953
954
955
956
957
958
959
960
961
962
963
964
965
966
967
968
969
970
971
972
973
974
975
976
977
978
979
980
981
982
983
984
985
986
987
988
989
990
991
992
993
994
995
996
997
998
999
1000
/*
panel.c - Control panel support
Part of grblHAL
Copyright (c) 2021-2023 Jon Escombe
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/>.
*/
#include "panel.h"
#if PANEL_ENABLE == 1 || PANEL_ENABLE == 2
#include <math.h>
#include <string.h>
#include <stdlib.h>
#ifdef ARDUINO
#include "../grbl/hal.h"
#include "../grbl/state_machine.h"
#include "../grbl/report.h"
#include "../grbl/nvs_buffer.h"
#include "../grbl/protocol.h"
#else
#include "grbl/hal.h"
#include "grbl/state_machine.h"
#include "grbl/report.h"
#include "grbl/nvs_buffer.h"
#include "grbl/protocol.h"
#endif
#if PANEL_ENABLE == 1 && !(MODBUS_ENABLE)
#error "This Control panel configuration requires the Modbus plugin to be enabled!"
#endif
#if PANEL_ENABLE == 2 && !(CANBUS_ENABLE)
#error "This Control panel configuration requires the CAN bus plugin to be enabled!"
#endif
static on_report_options_ptr on_report_options;
static on_execute_realtime_ptr on_execute_realtime;
static void processKeypad(uint16_t[]);
static void processEncoder(int);
static void processDisplayData(panel_displaydata_t *);
// Globals
static uint16_t grbl_state;
static uint8_t mpg_axis = 0;
static panel_jog_mode_t jog_mode = jog_mode_x10;
static const char* axis[] = { "X", "Y", "Z", "A", "B", "C", "U", "V" }; // do we need a 'null' axis to disable mpg control?
static const char* wcs_strings[] = { "G54", "G55", "G56", "G57", "G58", "G59", "G59.1", "G59.2", "G59.3" };
static uint16_t keydata[N_KEYDATAS] = { 0 };
static panel_encoder_data_t encoder_data[N_ENCODERS] = { 0 };
static char sys_cmd_buffer[LINE_BUFFER_SIZE];
/*
* Start of settings specific code
*/
static nvs_address_t nvs_address;
static panel_settings_t panel_settings = { 0 };
static const setting_group_detail_t panel_groups [] = {
{ Group_Root, Group_Panel, "Control panel"}
};
static const char encoder_mode[] = "Unused,"
"Spindle override,"
"Feed override,"
"Rapid override,"
"MPG jog,"
"X jog,"
"Y jog,"
"Z jog,"
#if N_AXIS > 3
"A jog,"
#endif
#if N_AXIS > 4
"B jog,"
#endif
#if N_AXIS > 5
"C jog,"
#endif
#if N_AXIS > 6
"U jog,"
#endif
#if N_AXIS > 7
"V jog"
#endif
;
static const setting_detail_t panel_setting_detail[] = {
{ Setting_Panel_ModbusAddress, Group_Panel, "Control panel ModBus address", NULL, Format_Int8, "##0", NULL, "255", Setting_NonCore, &panel_settings.modbus_address, NULL, NULL },
{ Setting_Panel_UpdateInterval, Group_Panel, "Control panel update interval (ms)", NULL, Format_Int16, "###0", "25", "1000", Setting_NonCore, &panel_settings.update_interval, NULL , NULL },
{ Setting_Panel_SpindleSpeed, Group_Panel, "Control panel spindle start speed", NULL, Format_Int16, "####0", "1000", "24000", Setting_NonCore, &panel_settings.spindle_speed, NULL , NULL },
{ Setting_Panel_JogSpeed_x1, Group_Panel, "Control panel x1 jog speed", NULL, Format_Int16, "####0", "1", "10000", Setting_NonCore, &panel_settings.jog_speed_x1, NULL , NULL },
{ Setting_Panel_JogSpeed_x10, Group_Panel, "Control panel x10 jog speed", NULL, Format_Int16, "####0", "1", "10000", Setting_NonCore, &panel_settings.jog_speed_x10, NULL , NULL },
{ Setting_Panel_JogSpeed_x100, Group_Panel, "Control panel x100 jog speed", NULL, Format_Int16, "####0", "1", "10000", Setting_NonCore, &panel_settings.jog_speed_x100, NULL , NULL },
{ Setting_Panel_JogSpeed_Keypad, Group_Panel, "Control panel keypad jog speed", NULL, Format_Int16, "####0", "1", "10000", Setting_NonCore, &panel_settings.jog_speed_keypad, NULL , NULL },
{ Setting_Panel_JogDistance_x1, Group_Panel, "Control panel x1 jog distance", NULL, Format_Decimal, "###0", "0.001", "10", Setting_NonCore, &panel_settings.jog_distance_x1, NULL , NULL },
{ Setting_Panel_JogDistance_x10, Group_Panel, "Control panel x10 jog distance", NULL, Format_Decimal, "###0", "0.001", "10", Setting_NonCore, &panel_settings.jog_distance_x10, NULL , NULL },
{ Setting_Panel_JogDistance_x100, Group_Panel, "Control panel x100 jog distance", NULL, Format_Decimal, "###0", "0.001", "10", Setting_NonCore, &panel_settings.jog_distance_x100, NULL , NULL },
{ Setting_Panel_JogDistance_Keypad, Group_Panel, "Control panel keypad jog distance", NULL, Format_Decimal, "###0", "0.001", "10", Setting_NonCore, &panel_settings.jog_distance_keypad, NULL , NULL },
{ Setting_Panel_JogAccelRamp, Group_Panel, "Control panel keypad jog acceleration ramp", NULL, Format_Int8, "##0", "10", "100", Setting_NonCore, &panel_settings.jog_accel_ramp, NULL , NULL },
{ Setting_Panel_Encoder0_Mode, Group_Panel, "Control panel encoder #0 mode", NULL, Format_RadioButtons, encoder_mode, NULL, NULL, Setting_NonCore, &panel_settings.encoder_mode[0], NULL, NULL },
{ Setting_Panel_Encoder0_Cpd, Group_Panel, "Control panel encoder #0 counts per detent", NULL, Format_Int8,"#0", "1", "4", Setting_NonCore, &panel_settings.encoder_cpd[0], NULL, NULL },
{ Setting_Panel_Encoder1_Mode, Group_Panel, "Control panel encoder #1 mode", NULL, Format_RadioButtons, encoder_mode, NULL, NULL, Setting_NonCore, &panel_settings.encoder_mode[1], NULL, NULL },
{ Setting_Panel_Encoder1_Cpd, Group_Panel, "Control panel encoder #1 counts per detent", NULL, Format_Int8, "#0", "1", "4", Setting_NonCore, &panel_settings.encoder_cpd[1], NULL, NULL },
{ Setting_Panel_Encoder2_Mode, Group_Panel, "Control panel encoder #2 mode", NULL, Format_RadioButtons, encoder_mode, NULL, NULL, Setting_NonCore, &panel_settings.encoder_mode[2], NULL, NULL },
{ Setting_Panel_Encoder2_Cpd, Group_Panel, "Control panel encoder #2 counts per detent", NULL, Format_Int8, "#0", "1", "4", Setting_NonCore, &panel_settings.encoder_cpd[2], NULL, NULL },
{ Setting_Panel_Encoder3_Mode, Group_Panel, "Control panel encoder #3 mode", NULL, Format_RadioButtons, encoder_mode, NULL, NULL, Setting_NonCore, &panel_settings.encoder_mode[3], NULL, NULL },
{ Setting_Panel_Encoder3_Cpd, Group_Panel, "Control panel encoder #3 counts per detent", NULL, Format_Int8, "#0", "1", "4", Setting_NonCore, &panel_settings.encoder_cpd[3], NULL, NULL },
};
#ifndef NO_SETTINGS_DESCRIPTIONS
static const setting_descr_t panel_settings_descr[] = {
{ Setting_Panel_JogDistance_Keypad, "The distance requested when keypad jogging. "
"If a key is held down, a new jog request is repeated at each panel update interval." },
{ Setting_Panel_JogSpeed_Keypad, "The speed requested when keypad jogging. "
"If a key is held down, a new jog request is repeated at each panel update interval." },
{ Setting_Panel_JogAccelRamp, "If a key is held down, keypad jogging will accelerate to the requested speed over this number of panel updates.\\n"
"Note: for ModBus connections, the number of updates will be doubled, as inputs and outputs are interleaved." },
{ Setting_Panel_Encoder0_Cpd, "Encoder counts per detent. Typically this would be 1, 2, or 4, and would be configured to match the physical detents on the encoder." },
{ Setting_Panel_Encoder1_Cpd, "Encoder counts per detent. Typically this would be 1, 2, or 4, and would be configured to match the physical detents on the encoder." },
{ Setting_Panel_Encoder2_Cpd, "Encoder counts per detent. Typically this would be 1, 2, or 4, and would be configured to match the physical detents on the encoder." },
{ Setting_Panel_Encoder3_Cpd, "Encoder counts per detent. Typically this would be 1, 2, or 4, and would be configured to match the physical detents on the encoder." },
};
#endif
// Restore default settings and write to non volatile storage (NVS).
static void panel_settings_restore (void)
{
//printf("panel_settings_restore()\n");
panel_settings.modbus_address = PANEL_DEFAULT_MODBUS_ADDRESS;
panel_settings.update_interval = PANEL_DEFAULT_UPDATE_INTERVAL;
panel_settings.spindle_speed = PANEL_DEFAULT_SPINDLE_SPEED;
panel_settings.jog_speed_x1 = PANEL_DEFAULT_JOG_SPEED_X1;
panel_settings.jog_speed_x10 = PANEL_DEFAULT_JOG_SPEED_X10;
panel_settings.jog_speed_x100 = PANEL_DEFAULT_JOG_SPEED_X100;
panel_settings.jog_speed_keypad = PANEL_DEFAULT_JOG_SPEED_KEYPAD;
panel_settings.jog_distance_x1 = PANEL_DEFAULT_JOG_DISTANCE_X1;
panel_settings.jog_distance_x10 = PANEL_DEFAULT_JOG_DISTANCE_X10;
panel_settings.jog_distance_x100 = PANEL_DEFAULT_JOG_DISTANCE_X100;
panel_settings.jog_distance_keypad = PANEL_DEFAULT_JOG_DISTANCE_KEYPAD;
panel_settings.jog_accel_ramp = PANEL_DEFAULT_JOG_KEYPAD_RAMP;
panel_settings.encoder_mode[0] = jog_mpg;
panel_settings.encoder_cpd[0] = 4;
panel_settings.encoder_mode[1] = rapid_override;
panel_settings.encoder_cpd[1] = 4;
panel_settings.encoder_mode[2] = spindle_override;
panel_settings.encoder_cpd[2] = 4;
panel_settings.encoder_mode[3] = feed_override;
panel_settings.encoder_cpd[3] = 4;
hal.nvs.memcpy_to_nvs(nvs_address, (uint8_t *)&panel_settings, sizeof(panel_settings_t), true);
}
// Load our settings from non volatile storage (NVS).
// If load fails restore to default values.
static void panel_settings_load (void)
{
//printf("panel_settings_load()\n");
if(hal.nvs.memcpy_from_nvs((uint8_t *)&panel_settings, nvs_address, sizeof(panel_settings_t), true) != NVS_TransferResult_OK) {
panel_settings_restore();
}
}
// Write settings to non volatile storage (NVS).
static void panel_settings_save (void)
{
//printf("panel_settings_save()\n");
hal.nvs.memcpy_to_nvs(nvs_address, (uint8_t *)&panel_settings, sizeof(panel_settings_t), true);
}
// Plugin settings have been changed.
void on_settings_changed (settings_t *settings, settings_changed_flags_t changed)
{
//printf("on_settings_changed()\n");
for (uint8_t i=0; i < N_ENCODERS; i++) {
encoder_data[i].mode = panel_settings.encoder_mode[i];
encoder_data[i].cpd = panel_settings.encoder_cpd[i];
}
}
static setting_details_t setting_details = {
.groups = panel_groups,
.n_groups = sizeof(panel_groups) / sizeof(setting_group_detail_t),
.settings = panel_setting_detail,
.n_settings = sizeof(panel_setting_detail) / sizeof(setting_detail_t),
#ifndef NO_SETTINGS_DESCRIPTIONS
.descriptions = panel_settings_descr,
.n_descriptions = sizeof(panel_settings_descr) / sizeof(setting_descr_t),
#endif
.save = panel_settings_save,
.load = panel_settings_load,
.restore = panel_settings_restore,
.on_changed = on_settings_changed
};
/*
* End of settings specific code
*/
#if PANEL_ENABLE == 1
static void rx_modbus_packet (modbus_message_t *msg);
static void rx_modbus_exception (uint8_t code, void *context);
static const modbus_callbacks_t modbus_callbacks = {
.on_rx_packet = rx_modbus_packet,
.on_rx_exception = rx_modbus_exception
};
static void ReadModbusInputRegisters(bool block)
{
modbus_message_t read_cmd = {
.context = (void *)Panel_ReadInputRegisters,
.crc_check = true,
.adu[0] = panel_settings.modbus_address,
.adu[1] = ModBus_ReadInputRegisters,
.adu[2] = 0x00, // Start address - high byte
.adu[3] = PANEL_MODBUS_START_REG, // Start address - low byte - 100 (0x64)
.adu[4] = 0x00, // No of registers - high byte
.adu[5] = PANEL_MODBUS_READREG_COUNT, // No of registers - low byte
.tx_length = 8, // number of registers, plus 2 checksum bytes
.rx_length = (2*PANEL_MODBUS_READREG_COUNT) + 5 // number of data registers requested,
// plus 3 header bytes (address, function, length),
// plus 2 checksum bytes
// note: rx_length & tx_length must be less than or equal to MODBUS_MAX_ADU_SIZE
};
modbus_send(&read_cmd, &modbus_callbacks, block);
}
static void WriteModbusHoldingRegisters(bool block)
{
static panel_displaydata_t displaydata;
processDisplayData(&displaydata);
modbus_message_t write_cmd = {
.context = (void *)Panel_WriteHoldingRegisters,
.crc_check = true,
.adu[0] = panel_settings.modbus_address,
.adu[1] = ModBus_WriteRegisters,
.adu[2] = 0x00, // Start address - high byte
.adu[3] = PANEL_MODBUS_START_REG, // Start address - low byte - 100 (0x64)
.adu[4] = 0x00, // No of 16bit registers - high byte
.adu[5] = PANEL_MODBUS_WRITEREG_COUNT, // No of 16bit registers - low byte
.adu[6] = PANEL_MODBUS_WRITEREG_COUNT*2, // Number of bytes
.adu[7] = (displaydata.grbl_state >> 8) & 0xFF, // Register 100 - high byte
.adu[8] = displaydata.grbl_state & 0xFF, // Register 100 - low byte
.adu[11] = (displaydata.spindle_speed >> 8) & 0xFF, // Register 102 - high byte
.adu[12] = displaydata.spindle_speed & 0xFF, // Register 102 - low byte
#if VFD_ENABLE
.adu[13] = (displaydata.spindle_load >> 8) & 0xFF, // Register 103 - high byte
.adu[14] = displaydata.spindle_load & 0xFF, // Register 103 - low byte
#endif
.adu[15] = displaydata.wcs, // Register 104 - high byte
.adu[16] = displaydata.spindle_override, // Register 104 - low byte
.adu[17] = displaydata.rapid_override, // Register 105 - high byte
.adu[18] = displaydata.feed_override, // Register 105 - low byte
.adu[19] = displaydata.mpg_mode, // Register 106 - high byte
.adu[20] = displaydata.jog_mode, // Register 106 - low byte
.adu[21] = displaydata.position[0].bytes[1], // Register 107 - x position
.adu[22] = displaydata.position[0].bytes[0], // Register 107 - x position
.adu[23] = displaydata.position[0].bytes[3], // Register 108 - x position
.adu[24] = displaydata.position[0].bytes[2], // Register 108 - x position
.adu[25] = displaydata.position[1].bytes[1], // Register 109 - y position
.adu[26] = displaydata.position[1].bytes[0], // Register 109 - y position
.adu[27] = displaydata.position[1].bytes[3], // Register 110 - y position
.adu[28] = displaydata.position[1].bytes[2], // Register 110 - y position
.adu[29] = displaydata.position[2].bytes[1], // Register 111 - z position
.adu[30] = displaydata.position[2].bytes[0], // Register 111 - z position
.adu[31] = displaydata.position[2].bytes[3], // Register 112 - z position
.adu[32] = displaydata.position[2].bytes[2], // Register 112 - z position
.tx_length = (2*PANEL_MODBUS_WRITEREG_COUNT) + 9, // number of registers written, plus 7 header bytes, plus 2 checksum bytes
.rx_length = 8 // fixed length ACK response?
// note: rx_length & tx_length must be less than or equal to MODBUS_MAX_ADU_SIZE
};
modbus_send(&write_cmd, &modbus_callbacks, block);
}
static void rx_modbus_packet (modbus_message_t *msg)
{
if(!(msg->adu[0] & 0x80)) {
switch((panel_modbus_response_t)msg->context) {
case Panel_ReadInputRegisters:
encoder_data[0].raw_value = (msg->adu[7] << 8) | msg->adu[8]; // Register 102
encoder_data[1].raw_value = (msg->adu[9] << 8) | msg->adu[10]; // Register 103
encoder_data[2].raw_value = (msg->adu[11] << 8) | msg->adu[12]; // Register 104
encoder_data[3].raw_value = (msg->adu[13] << 8) | msg->adu[14]; // Register 105
keydata[0] = (msg->adu[15] << 8) | msg->adu[16]; // Register 106
keydata[1] = (msg->adu[17] << 8) | msg->adu[18]; // Register 107
keydata[2] = (msg->adu[19] << 8) | msg->adu[20]; // Register 108
keydata[3] = (msg->adu[21] << 8) | msg->adu[22]; // Register 109
processKeypad(keydata);
for (int i = 0; i < N_ENCODERS; i++) {
processEncoder(i);
// after first pass through, have populated the initial encoder values..
encoder_data[i].init_ok = true;
}
break;
case Panel_WriteHoldingRegisters:
break;
default:
break;
}
}
}
static void rx_modbus_exception (uint8_t code, void *context)
{
// todo: need a 'Panel' alarm status
system_raise_alarm(Alarm_None);
}
#endif // PANEL_ENABLE == 1
#if PANEL_ENABLE == 2
static dequeue_rx_ptr dequeue_rx;
static canbus_message_t tx_message;
bool panel_dequeue_rx (canbus_message_t message)
{
// process inbound data here..
//printf("panel_dequeue_rx(), CAN message id:%lx\n", message.id);
// fixme: don't try accessing array elements that may not be allocated, respect N_KEYDATAS / N_ENCODERS etc..
switch (message.id) {
case CANBUS_PANEL_KEYPAD_1:
keydata[0] = (message.data[0] << 8) | message.data[1];
keydata[1] = (message.data[2] << 8) | message.data[3];
keydata[2] = (message.data[4] << 8) | message.data[5];
keydata[3] = (message.data[6] << 8) | message.data[7];
processKeypad(keydata);
break;
case CANBUS_PANEL_KEYPAD_2:
keydata[4] = (message.data[0] << 8) | message.data[1];
keydata[5] = (message.data[2] << 8) | message.data[3];
processKeypad(keydata);
break;
case CANBUS_PANEL_ENCODER_1:
encoder_data[0].raw_value = (message.data[0] << 8) | message.data[1];
encoder_data[1].raw_value = (message.data[2] << 8) | message.data[3];
encoder_data[2].raw_value = (message.data[4] << 8) | message.data[5];
encoder_data[3].raw_value = (message.data[6] << 8) | message.data[7];
for (int i = 0; i < 4; i++) {
if (encoder_data[i].function != unused) {
processEncoder(i);
}
}
break;
case CANBUS_PANEL_ENCODER_2:
encoder_data[4].raw_value = (message.data[0] << 8) | message.data[1];
encoder_data[5].raw_value = (message.data[2] << 8) | message.data[3];
encoder_data[6].raw_value = (message.data[4] << 8) | message.data[5];
encoder_data[7].raw_value = (message.data[6] << 8) | message.data[7];
for (int i = 4; i < 8; i++) {
if (encoder_data[i].function != unused) {
processEncoder(i);
}
}
break;
default:
break;
}
/* Call the next rx handler in the chain */
if (dequeue_rx)
dequeue_rx(message);
return(0);
}
void WriteCANbusOutputs()
{
panel_displaydata_t displaydata;
processDisplayData(&displaydata);
// State
memset(&tx_message, 0, sizeof(tx_message));
tx_message.id = CANBUS_PANEL_STATE_1;
tx_message.len = 8;
tx_message.data[0] = 0;
tx_message.data[1] = 0;
tx_message.data[2] = (displaydata.grbl_state >> 8) & 0xFF; // high byte
tx_message.data[3] = displaydata.grbl_state & 0xFF; // low byte
tx_message.data[4] = (displaydata.spindle_speed >> 8) & 0xFF; // high byte
tx_message.data[5] = displaydata.spindle_speed & 0xFF; // low byte
tx_message.data[6] = (displaydata.spindle_load >> 8) & 0xFF; // high byte
tx_message.data[7] = displaydata.spindle_load & 0xFF; // low byte
canbus_queue_tx(tx_message);
memset(&tx_message, 0, sizeof(tx_message));
tx_message.id = CANBUS_PANEL_STATE_2;
tx_message.len = 6;
tx_message.data[0] = displaydata.spindle_override;
tx_message.data[1] = displaydata.feed_override;
tx_message.data[2] = displaydata.rapid_override;
tx_message.data[3] = displaydata.wcs;
tx_message.data[4] = displaydata.mpg_mode;
tx_message.data[5] = displaydata.jog_mode;
canbus_queue_tx(tx_message);
// Machine position - up to 8 axis supported
memset(&tx_message, 0, sizeof(tx_message));
tx_message.id = CANBUS_PANEL_MPOS_1;
tx_message.len = 8;
tx_message.data[0] = (displaydata.position[0].bytes[1]);
tx_message.data[1] = (displaydata.position[0].bytes[0]);
tx_message.data[2] = (displaydata.position[0].bytes[3]);
tx_message.data[3] = (displaydata.position[0].bytes[2]);
tx_message.data[4] = (displaydata.position[1].bytes[1]);
tx_message.data[5] = (displaydata.position[1].bytes[0]);
tx_message.data[6] = (displaydata.position[1].bytes[3]);
tx_message.data[7] = (displaydata.position[1].bytes[2]);
canbus_queue_tx(tx_message);
memset(&tx_message, 0, sizeof(tx_message));
tx_message.id = CANBUS_PANEL_MPOS_2;
tx_message.len = 4;
tx_message.data[0] = (displaydata.position[2].bytes[1]);
tx_message.data[1] = (displaydata.position[2].bytes[0]);
tx_message.data[2] = (displaydata.position[2].bytes[3]);
tx_message.data[3] = (displaydata.position[2].bytes[2]);
#if N_AXIS > 3
tx_message.len = 8;
tx_message.data[4] = (displaydata.position[3].bytes[1]);
tx_message.data[5] = (displaydata.position[3].bytes[0]);
tx_message.data[6] = (displaydata.position[3].bytes[3]);
tx_message.data[7] = (displaydata.position[3].bytes[2]);
#endif
canbus_queue_tx(tx_message);
#if N_AXIS > 4
memset(&tx_message, 0, sizeof(tx_message));
tx_message.id = CANBUS_PANEL_MPOS_3;
tx_message.len = 4;
tx_message.data[0] = (displaydata.position[4].bytes[1]);
tx_message.data[1] = (displaydata.position[4].bytes[0]);
tx_message.data[2] = (displaydata.position[4].bytes[3]);
tx_message.data[3] = (displaydata.position[4].bytes[2]);
#if N_AXIS > 5
tx_message.len = 8;
tx_message.data[4] = (displaydata.position[5].bytes[1]);
tx_message.data[5] = (displaydata.position[5].bytes[0]);
tx_message.data[6] = (displaydata.position[5].bytes[3]);
tx_message.data[7] = (displaydata.position[5].bytes[2]);
#endif
canbus_queue_tx(tx_message);
#endif
#if N_AXIS > 4
memset(&tx_message, 0, sizeof(tx_message));
tx_message.id = CANBUS_PANEL_MPOS_4;
tx_message.len = 4;
tx_message.data[0] = (displaydata.position[4].bytes[1]);
tx_message.data[1] = (displaydata.position[4].bytes[0]);
tx_message.data[2] = (displaydata.position[4].bytes[3]);
tx_message.data[3] = (displaydata.position[4].bytes[2]);
#if N_AXIS > 5
tx_message.len = 8;
tx_message.data[4] = (displaydata.position[5].bytes[1]);
tx_message.data[5] = (displaydata.position[5].bytes[0]);
tx_message.data[6] = (displaydata.position[5].bytes[3]);
tx_message.data[7] = (displaydata.position[5].bytes[2]);
#endif
canbus_queue_tx(tx_message);
#endif
#if N_AXIS > 6
memset(&tx_message, 0, sizeof(tx_message));
tx_message.id = CANBUS_PANEL_MPOS_5;
tx_message.len = 4;
tx_message.data[0] = (displaydata.position[6].bytes[1]);
tx_message.data[1] = (displaydata.position[6].bytes[0]);
tx_message.data[2] = (displaydata.position[6].bytes[3]);
tx_message.data[3] = (displaydata.position[6].bytes[2]);
#if N_AXIS > 7
tx_message.len = 8;
tx_message.data[4] = (displaydata.position[7].bytes[1]);
tx_message.data[5] = (displaydata.position[7].bytes[0]);
tx_message.data[6] = (displaydata.position[7].bytes[3]);
tx_message.data[7] = (displaydata.position[7].bytes[2]);
#endif
canbus_queue_tx(tx_message);
#endif
}
#endif // PANEL_ENABLE == 2
static void processDisplayData(panel_displaydata_t *displaydata)
{
static uint32_t last_ms;
uint32_t ms = hal.get_elapsed_ticks();
// Don't spam the spindle, retrieving the spindle state may generate multiple new modbus requests
// (for instance Huanyang v1 uses seperate requests for RPM and Amps), which can saturate the
// Modbus RX buffer if spindle is offline...
//
// todo: can we set this a bit more intelligently, based on a multiple of the modbus rx timeout?
if (ms - last_ms > 250) {
last_ms = ms;
spindle_ptrs_t *spindle_0;
spindle_state_t spindle_0_state;
spindle_0 = spindle_get(0);
spindle_0_state = spindle_0->get_state(spindle_0);
if(!spindle_0->get_data) {
displaydata->spindle_speed = lroundf(spindle_0_state.on ? spindle_0->param->rpm_overridden : 0);
} else {
displaydata->spindle_speed = lroundf(spindle_0->get_data(SpindleData_RPM)->rpm);
}
#if VFD_ENABLE
const vfd_ptrs_t *vfd_spindle = vfd_get_active();
if (vfd_spindle && vfd_spindle->get_load) {
displaydata->spindle_load = lroundf(vfd_spindle->get_load());
}
#endif
displaydata->spindle_override = spindle_0->param->override_pct;
}
displaydata->grbl_state = grbl_state;
displaydata->wcs = gc_state.modal.coord_system.id;
displaydata->mpg_mode = mpg_axis;
displaydata->jog_mode = jog_mode;
displaydata->feed_override = sys.override.feed_rate;
displaydata->rapid_override = sys.override.rapid_rate;
int32_t raw_position[N_AXIS];
float machine_position[N_AXIS];
memcpy(raw_position, sys.position, sizeof(sys.position));
system_convert_array_steps_to_mpos(machine_position, raw_position);
float wco[N_AXIS];
for (uint_fast8_t idx = 0; idx < N_AXIS; idx++) {
// Apply work coordinate offsets and tool length offset to current position.
wco[idx] = gc_get_offset(idx);
displaydata->position[idx].value = machine_position[idx] - wco[idx];
}
}
static void processKeypad(uint16_t keydata[])
{
static uint16_t last_keydata_1, last_keydata_2, last_keydata_3, last_keydata_4, last_keydata_5;
char command[30] = "";
bool jogRequested = false;
static bool jogInProgress;
static uint8_t jogRampCount;
uint8_t keypad_jog_mode = jog_mode_smooth;
panel_keydata_1_t keydata_1;
panel_keydata_2_t keydata_2;
panel_keydata_3_t keydata_3;
panel_keydata_4_t keydata_4;
panel_keydata_5_t keydata_5;
keydata_1.value = keydata[0];
keydata_2.value = keydata[1];
keydata_3.value = keydata[2];
keydata_4.value = keydata[3];
keydata_5.value = keydata[4];
UNUSED(keydata_5);
UNUSED(last_keydata_5);
//
// keydata_1
// - key repeats not required
// - cycle start/feed hold/stop/reset can be executed in any state
// - unlock only in locked state
// - home only in idle state
// - spindle control only in idle state
// - single block toggle in idle/hold?
//
if (keydata_1.value != last_keydata_1) {
// realtime commands - can be processed in any state
if (keydata_1.stop)
grbl.enqueue_realtime_command(CMD_STOP);
if (keydata_1.feed_hold)
grbl.enqueue_realtime_command(CMD_FEED_HOLD);
if (keydata_1.cycle_start)
grbl.enqueue_realtime_command(CMD_CYCLE_START);
if (keydata_1.reset)
grbl.enqueue_realtime_command(CMD_RESET);
// change active mpg axis - can be processed in any state
if (keydata_1.mpg_axis_x)
mpg_axis = 0;
if (keydata_1.mpg_axis_y)
mpg_axis = 1;
if (keydata_1.mpg_axis_z)
mpg_axis = 2;
if (keydata_1.mpg_axis_a)
mpg_axis = 3;
if (keydata_1.mpg_axis_b)
mpg_axis = 4;
// spindle keys - only from idle state
if (grbl_state == STATE_IDLE) {
if (keydata_1.spindle_off)
grbl.enqueue_gcode("M5");
if (keydata_1.spindle_cw) {
strcat(command, "M3 S");
strcat(command, ftoa(panel_settings.spindle_speed, 0));
grbl.enqueue_gcode(command);
}
if (keydata_1.spindle_ccw) {
strcat(command, "M4 S");
strcat(command, ftoa(panel_settings.spindle_speed, 0));
grbl.enqueue_gcode(command);
}
}
// single block toggle - process only in IDLE or HOLD state
// todo: think a bit more about what states this should be allowed in?
// need to reflect the current state on the display..
if (keydata_1.single_block) {
if (grbl_state == STATE_IDLE || (grbl_state & STATE_HOLD))
grbl.enqueue_gcode("$S");
}
// unlock - only from alarm state
// note: protocol_enqueue_gcode() doesn't accept input in alarm state - use system_execute_line() instead
if (keydata_1.unlock) {
if (grbl_state == STATE_ALARM) {
strcpy(sys_cmd_buffer, "$X");
system_execute_line((char *)sys_cmd_buffer);
}
}
// home - only from idle state
if (keydata_1.home) {
if (grbl_state == STATE_IDLE) {
strcpy(command, "$H");
grbl.enqueue_gcode((char *)command);
}
}
}
last_keydata_1 = keydata_1.value;
//
// keydata_2
// - key repeats not required
// - set wcs, zero work offsets, move to zero - only from idle state
//
if (keydata_2.value != last_keydata_2) {
if (grbl_state == STATE_IDLE) {
// need to know the current WCS in order to set
uint8_t wcs = gc_state.modal.coord_system.id;
if (keydata_2.wcs_g54)
grbl.enqueue_gcode("G54");
if (keydata_2.wcs_g55)
grbl.enqueue_gcode("G55");
if (keydata_2.wcs_g56)
grbl.enqueue_gcode("G56");
if (keydata_2.wcs_g57)
grbl.enqueue_gcode("G57");
if (keydata_2.move_to_zero_x)
grbl.enqueue_gcode("G0 X0");
if (keydata_2.move_to_zero_y)
grbl.enqueue_gcode("G0 Y0");
if (keydata_2.move_to_zero_z)
grbl.enqueue_gcode("G0 Z0");
if (keydata_2.move_to_zero_a)
grbl.enqueue_gcode("G0 A0");
if (keydata_2.zero_work_offset_x) {
strcpy(command, "G10 L20 ");
strcat(command, wcs_strings[wcs]);
strcat(command," X0");
grbl.enqueue_gcode(command);
} else if (keydata_2.zero_work_offset_y) {
strcpy(command, "G10 L20 ");
strcat(command, wcs_strings[wcs]);
strcat(command," Y0");
grbl.enqueue_gcode(command);
} else if (keydata_2.zero_work_offset_z) {
strcpy(command, "G10 L20 ");
strcat(command, wcs_strings[wcs]);
strcat(command," Z0");
grbl.enqueue_gcode(command);
} else if (keydata_2.zero_work_offset_a) {
strcpy(command, "G10 L20 ");
strcat(command, wcs_strings[wcs]);
strcat(command," A0");
grbl.enqueue_gcode(command);
}
}
}
last_keydata_2 = keydata_2.value;
//
// keydata_3
// - update mpg jog mode from any state
// - jogging ony in jog or idle states
//
// update mpg jog mode from any state
if (keydata_3.value != last_keydata_3) {
if (keydata_3.jog_step_x1)
jog_mode = jog_mode_x1;
if (keydata_3.jog_step_x10)
jog_mode = jog_mode_x10;
if (keydata_3.jog_step_x100)
jog_mode = jog_mode_x100;
if (keydata_3.jog_step_smooth)
jog_mode = jog_mode_smooth;
}
// check for jogging key states even without change, as we want to keep jogging while pressed
// only jog in idle or an existing jog state
bool jogOkay = (grbl_state == STATE_IDLE || (grbl_state & STATE_JOG));
if (jogOkay)
{
if (keydata_3.jog_positive_x) {
strcpy(command, "$J=G91X");
jogRequested = true;
} else if (keydata_3.jog_negative_x) {
strcpy(command, "$J=G91X-");
jogRequested = true;
} else if (keydata_3.jog_positive_y) {
strcpy(command, "$J=G91Y");
jogRequested = true;
} else if (keydata_3.jog_negative_y) {
strcpy(command, "$J=G91Y-");
jogRequested = true;
} else if (keydata_3.jog_positive_z) {
strcpy(command, "$J=G91Z");
jogRequested = true;
} else if (keydata_3.jog_negative_z) {
strcpy(command, "$J=G91Z-");
jogRequested = true;
} else if (keydata_3.jog_positive_a) {
strcpy(command, "$J=G91A");
jogRequested = true;
} else if (keydata_3.jog_negative_a) {
strcpy(command, "$J=G91A-");
jogRequested = true;
} else if (keydata_3.jog_positive_b) {
strcpy(command, "$J=G91B");
jogRequested = true;
} else if (keydata_3.jog_negative_b) {
strcpy(command, "$J=G91B-");
jogRequested = true;
}
if (jogRequested && !plan_check_full_buffer())
{
// note: keypad jogging is currently always in smooth mode..
switch (keypad_jog_mode) {
case (jog_mode_x1):
strcat(command, ftoa(panel_settings.jog_distance_x1, 3));
strcat(command, "F");
strcat(command, ftoa(panel_settings.jog_speed_x1, 0));
break;
case (jog_mode_x10):
strcat(command, ftoa(panel_settings.jog_distance_x10, 3));
strcat(command, "F");
strcat(command, ftoa(panel_settings.jog_speed_x10, 0));
break;
case (jog_mode_x100):
strcat(command, ftoa(panel_settings.jog_distance_x100, 3));
strcat(command, "F");
strcat(command, ftoa(panel_settings.jog_speed_x100, 0));
break;
case (jog_mode_smooth):
// Initial attempt at acceleration ramp for smooth keypad jogging..
if (!jogInProgress)
jogRampCount = panel_settings.jog_accel_ramp;
else if (jogRampCount)
jogRampCount--;
float jogAccel = (panel_settings.jog_accel_ramp - jogRampCount) / (float)panel_settings.jog_accel_ramp;
strcat(command, ftoa(panel_settings.jog_distance_keypad * jogAccel, 3));
strcat(command, "F");
strcat(command, ftoa(panel_settings.jog_speed_keypad * jogAccel, 0));
break;
default:
break;
}
// don't repeat jog commands if in single step mode
if ((keypad_jog_mode == jog_mode_smooth || !jogInProgress))
jogInProgress = grbl.enqueue_gcode((char *)command);
}
// cancel jog immediately key released if smooth jogging
if ((!jogRequested) && (keypad_jog_mode == jog_mode_smooth) && jogInProgress)
{
grbl.enqueue_realtime_command(CMD_JOG_CANCEL);
jogInProgress = false;
jogRampCount = panel_settings.jog_accel_ramp;
}
// set jogInProgress back to 0 at end of move in single-step
if ((!jogRequested) && (grbl_state == STATE_IDLE) && jogInProgress)
jogInProgress = false;
}
last_keydata_3 = keydata_3.value;
//
// keydata_4
// - key repeats not required
// - overrides & resets from any state
//
if (keydata_4.value != last_keydata_4) {
if (keydata_4.feed_override_reset)
grbl.enqueue_realtime_command(CMD_OVERRIDE_FEED_RESET);
if (keydata_4.spindle_override_reset)
grbl.enqueue_realtime_command(CMD_OVERRIDE_SPINDLE_RESET);
if (keydata_4.rapid_override_100)
grbl.enqueue_realtime_command(CMD_OVERRIDE_RAPID_RESET);
}
last_keydata_4 = keydata_4.value;
}
static void processEncoderOverride(uint8_t encoder_index)
{
int16_t signed_value;
uint16_t cmd_override_minus = 0, cmd_override_plus = 0;
int8_t modulo;
switch (encoder_data[encoder_index].mode) {
case (spindle_override):
cmd_override_minus = CMD_OVERRIDE_SPINDLE_FINE_MINUS;
cmd_override_plus = CMD_OVERRIDE_SPINDLE_FINE_PLUS;
break;
case (feed_override):
cmd_override_minus = CMD_OVERRIDE_FEED_FINE_MINUS;
cmd_override_plus = CMD_OVERRIDE_FEED_FINE_PLUS;
break;
case (rapid_override):
break;
default:
return;
}
signed_value = encoder_data[encoder_index].raw_value - encoder_data[encoder_index].last_raw_value;
signed_value = signed_value / encoder_data[encoder_index].cpd;
modulo = encoder_data[encoder_index].raw_value % encoder_data[encoder_index].cpd;
if (modulo && signed_value < 0) {
modulo = (encoder_data[encoder_index].cpd - modulo) * -1;
}
// don't do any overrides if not initialised, just store the initial reading
if (!encoder_data[encoder_index].init_ok) {
encoder_data[encoder_index].last_raw_value = encoder_data[encoder_index].raw_value;
return;
}
if (signed_value) {
if (encoder_data[encoder_index].mode == rapid_override) {
// rapid overrides are handled a bit differently, as only thee possible values..
if (signed_value < 0) {
switch (sys.override.rapid_rate) {
case RAPID_OVERRIDE_LOW:
break;
case RAPID_OVERRIDE_MEDIUM:
grbl.enqueue_realtime_command(CMD_OVERRIDE_RAPID_LOW);
break;
case DEFAULT_RAPID_OVERRIDE:
grbl.enqueue_realtime_command(CMD_OVERRIDE_RAPID_MEDIUM);
break;
default:
break;
}
} else {
switch (sys.override.rapid_rate) {
case RAPID_OVERRIDE_LOW:
grbl.enqueue_realtime_command(CMD_OVERRIDE_RAPID_MEDIUM);
break;
case RAPID_OVERRIDE_MEDIUM:
grbl.enqueue_realtime_command(CMD_OVERRIDE_RAPID_RESET);
break;
case DEFAULT_RAPID_OVERRIDE:
break;
default:
break;
}
}
} else {
uint16_t count = abs(signed_value);
bool is_negative = false;
if (signed_value < 0)
is_negative = true;
for (uint16_t i = 0 ; i < count; i++) {
if (is_negative)
grbl.enqueue_realtime_command(cmd_override_minus);
else
grbl.enqueue_realtime_command(cmd_override_plus);
}