Added $RTC system command for outputting or setting current real time clock date and time. Uses ISO8601 format.

Driver developers: check the changelog!

CMakeLists.txt

@@ -5,7 +5,7 @@ target_sources(grbl INTERFACE
  ${CMAKE_CURRENT_LIST_DIR}/coolant_control.c
  ${CMAKE_CURRENT_LIST_DIR}/nvs_buffer.c
  ${CMAKE_CURRENT_LIST_DIR}/gcode.c
- ${CMAKE_CURRENT_LIST_DIR}/limits.c
+ ${CMAKE_CURRENT_LIST_DIR}/machine_limits.c
  ${CMAKE_CURRENT_LIST_DIR}/motion_control.c
  ${CMAKE_CURRENT_LIST_DIR}/my_plugin.c
  ${CMAKE_CURRENT_LIST_DIR}/nuts_bolts.c

README.md

@@ -11,7 +11,7 @@ It has been written to complement grblHAL and has features such as proper keyboa
 
 ---
 
-Latest build date is 20220904, see the [changelog](changelog.md) for details.  
+Latest build date is 20220907, see the [changelog](changelog.md) for details.  
 __NOTE:__ A settings reset will be performed on an update for versions earlier than 20211122. Backup and restore of settings is recommended.  
 __IMPORTANT!__  A new setting has been introduced for ganged axes motors in version 20211121.  
 I have only bench tested this for a couple of drivers, correct function should be verified after updating by those who have more than three motors configured.  
@@ -84,4 +84,4 @@ List of Supported G-Codes:
 Some [plugins](https://github.com/grblHAL/plugins) implements additional M-codes.
 
 ---
-2022-09-04
+2022-09-07

changelog.md

@@ -1,20 +1,46 @@
 ## grblHAL changelog
 
+20220905:
+
+Core:
+
+* Added `$RTC` system command for outputting or setting current real time clock date and time. Uses ISO8601 format.  
+__Driver developers:__  
+_grbl/limits.h_ has been renamed to _grbl/machine_limits.h_ (along with the _.c_ counterpart).  
+[hal.enumerate_pins](http://svn.io-engineering.com/grblHAL/html/structgrbl__hal__t.html#a661c9aa458a2e6fc5fb1657e121999a3) and the associated [callback function](http://svn.io-engineering.com/grblHAL/html/hal_8h.html#a41e902cfc3da615f9494aba956d895ba) parameter has a new signature, a void pointer has been added. Driver implementations should pass this on to the callback.  
+The HAL version number has been increased to 10 due to this, update _driver.c_ to match!
+
+Plugins:
+
+* WebUI: added many ESP commands to v3 command handler, some code refactoring. Still WIP.
+
+* Networking: some minor bug fixes.
+
+Drivers:
+
+* All: updated for _grbl/limits.h_ name change and HAL version number increase.
+
+* iMXRT1062, STM32F4xx, STM32F7xx and ESP32: Added RTC support.
+
+* ESP32: WebUI backend support improved.
+
+---
+
 20220904:
 
 Core:
 
-* Added optional RTC (Real Time Clock) support to the HAL. VFS improvements.
+* Added optional RTC \(Real Time Clock\) support to the HAL. VFS improvements.
 
 Plugins:
 
-* Networking: improved websocket protocol handling. 
+* Networking: improved websocket subprotocol handling. 
 
 * WebUI: separated command handlers for v2 and v3 and improved detection of v3 clients. Now sets RTC from ESP800 if HAL allows.
 
 Drivers:
 
-* RP2040: Added RTC support++.  
+* RP2040: Added RTC support++.
 
 * iMXRT1062: updated uSDFS patch - needed for VFS changes.
 

grbl.h

@@ -34,7 +34,7 @@
 #else
 #define GRBL_VERSION "1.1f"
 #endif
-#define GRBL_BUILD 20220904
+#define GRBL_BUILD 20220906
 
 // The following symbols are set here if not already set by the compiler or in config.h
 // Do NOT change here!

grbllib.c

@@ -30,7 +30,7 @@
 #include "tool_change.h"
 #include "override.h"
 #include "protocol.h"
-#include "limits.h"
+#include "machine_limits.h"
 #include "report.h"
 #include "state_machine.h"
 #include "nvs_buffer.h"

hal.h

@@ -40,7 +40,7 @@
 #include "ioports.h"
 #include "plugins.h"
 
-#define HAL_VERSION 9
+#define HAL_VERSION 10
 
 /// Bitmap flags for driver capabilities, to be set by driver in driver_init(), flags may be cleared after to switch off option.
 typedef union {
@@ -104,14 +104,15 @@ typedef struct {
 /*! \brief Pointer to callback function for pin enumerations.
 \param pin pointer to the \a xbar_t structure holding the pin information.
 */
-typedef void (*pin_info_ptr)(xbar_t *pin);
+typedef void (*pin_info_ptr)(xbar_t *pin, void *data);
 
 /*! \brief Pointer to function for enumerate pin information.
 \param low_level true if low level information is required, false if used for reporting.
 \param callback pointer to a \a pin_info_ptr type function to receive the pin information.
 The callback function will be called for each pin.
 */
-typedef void (*enumerate_pins_ptr)(bool low_level, pin_info_ptr callback);
+typedef void (*enumerate_pins_ptr)(bool low_level, pin_info_ptr callback, void *data);
+
 
 /*************
  *  Coolant  *
@@ -359,6 +360,7 @@ typedef struct {
     probe_connected_toggle_ptr connected_toggle;    //!< Optional handler for toggling probe connected status.
 } probe_ptrs_t;
 
+
 /*******************************
  *  Tool selection and change  *
  *******************************/
@@ -385,6 +387,7 @@ typedef struct {
     tool_change_ptr change; //!< Optional handler for executing a tool change (M6).
 } tool_ptrs_t;
 
+
 /*****************
  *  User M-code  *
  *****************/
@@ -439,6 +442,7 @@ typedef struct {
     user_mcode_execute_ptr execute;     //!< Handler for executing a user defined M-code.
 } user_mcode_ptrs_t;
 
+
 /*******************
  *  Encoder input  *
  *******************/

machine_limits.c

@@ -1,5 +1,5 @@
 /*
-  limits.c - code pertaining to limit-switches and performing the homing cycle
+  machine_limits.c - code pertaining to limit-switches and performing the homing cycle
 
   Part of grblHAL
 
@@ -29,7 +29,7 @@
 #include "nuts_bolts.h"
 #include "protocol.h"
 #include "motion_control.h"
-#include "limits.h"
+#include "machine_limits.h"
 #include "tool_change.h"
 #include "state_machine.h"
 #ifdef KINEMATICS_API

machine_limits.h

@@ -1,9 +1,9 @@
 /*
-  limits.h - code pertaining to limit-switches and performing the homing cycle
+  machine_limits.h - code pertaining to limit-switches and performing the homing cycle
 
   Part of grblHAL
 
-  Copyright (c) 2017-2018 Terje Io
+  Copyright (c) 2017-2022 Terje Io
   Copyright (c) 2012-2015 Sungeun K. Jeon
   Copyright (c) 2009-2011 Simen Svale Skogsrud
 
@@ -21,8 +21,8 @@
   along with Grbl.  If not, see <http://www.gnu.org/licenses/>.
 */
 
-#ifndef _LIMITS_H_
-#define _LIMITS_H_
+#ifndef _MACHINE_LIMITS_H_
+#define _MACHINE_LIMITS_H_
 
 #include "nuts_bolts.h"
 

motion_control.c

@@ -32,7 +32,7 @@
 #include "hal.h"
 #include "nuts_bolts.h"
 #include "protocol.h"
-#include "limits.h"
+#include "machine_limits.h"
 #include "state_machine.h"
 #include "motion_control.h"
 #include "tool_change.h"

nuts_bolts.c

@@ -3,7 +3,7 @@
 
   Part of grblHAL
 
-  Copyright (c) 2017-2021 Terje Io
+  Copyright (c) 2017-2022 Terje Io
   Copyright (c) 2011-2016 Sungeun K. Jeon for Gnea Research LLC
   Copyright (c) 2009-2011 Simen Svale Skogsrud
 
@@ -24,6 +24,8 @@
 #include <math.h>
 #include <stdint.h>
 #include <stdbool.h>
+#include <string.h>
+#include <ctype.h>
 
 #include "hal.h"
 #include "protocol.h"
@@ -263,6 +265,66 @@ float convert_delta_vector_to_unit_vector (float *vector)
     return magnitude;
 }
 
+// parse ISO8601 datetime: YYYY-MM-DDTHH:MM:SSZxxx
+struct tm *get_datetime (const char *s)
+{
+    static struct tm dt;
+    PROGMEM static const uint8_t mdays[] = {31, 28, 31, 30, 31, 30, 31, 31, 30, 31, 30, 31};
+
+    char *s1 = (char *)s, c;
+    uint_fast16_t idx = 0, value = 0;
+
+    memset(&dt, 0, sizeof(struct tm));
+    dt.tm_year = dt.tm_mon = dt.tm_mday = dt.tm_hour = dt.tm_min = dt.tm_sec = -1;
+
+    do {
+        c = *s1++;
+
+        if(isdigit(c))
+            value = (value * 10) + c - '0';
+
+        else if(!(c == '-' || c == ':' || c == 'T' || c == 'Z' || c == '\0'))
+            break;
+
+        else {
+            switch(idx) {
+                case 0:
+                    if(c == '-' && value >= 1970 && value <= 2099)
+                        dt.tm_year = value - 1900;
+                    break;
+
+                case 1:
+                    if(c == '-' && value >= 1 && value <= 12)
+                        dt.tm_mon = value - 1;
+                    break;
+
+                case 2:
+                    if(c == 'T' && value >= 1 && value <= (mdays[dt.tm_mon >= 0 ? dt.tm_mon : 0] + (dt.tm_mon == 1 && dt.tm_year != 100 && (dt.tm_year % 4) == 0 ? 1 : 0)))
+                        dt.tm_mday = value;
+                    break;
+
+                case 3:
+                    if(c == ':' && value <= 23)
+                        dt.tm_hour = value;
+                    break;
+
+                case 4:
+                    if(c == ':' && value <= 59)
+                        dt.tm_min = value;
+                    break;
+
+                case 5:
+                    if((c == 'Z' || c == '\0') && value <= 59)
+                        dt.tm_sec = value;
+                    break;
+            }
+            idx++;
+            value = 0;
+        }
+    } while(c);
+
+    return (dt.tm_year | dt.tm_mon | dt.tm_mday | dt.tm_hour | dt.tm_min | dt.tm_sec) > 0 ? &dt : NULL;
+}
 
 // calculate checksum byte for data
 uint8_t calc_checksum (uint8_t *data, uint32_t size) {

nuts_bolts.h

@@ -206,6 +206,9 @@ void delay_sec(float seconds, delaymode_t mode);
 
 float convert_delta_vector_to_unit_vector(float *vector);
 
+// parse ISO8601 datetime
+struct tm *get_datetime (const char *s);
+
 // calculate checksum byte for data
 uint8_t calc_checksum (uint8_t *data, uint32_t size);
 

plugins.h

@@ -67,6 +67,7 @@ typedef union {
 typedef char ssid_t[65];
 typedef char password_t[33];
 typedef char hostname_t[33];
+typedef char sntp_server_t[129]; // URI
 
 typedef struct {
     char ip[16];

protocol.c

@@ -32,7 +32,7 @@
 #include "motion_control.h"
 #include "sleep.h"
 #include "protocol.h"
-#include "limits.h"
+#include "machine_limits.h"
 
 #ifndef RT_QUEUE_SIZE
 #define RT_QUEUE_SIZE 8 // must be a power of 2

report.c

@@ -36,7 +36,7 @@
 #include "hal.h"
 #include "report.h"
 #include "nvs_buffer.h"
-#include "limits.h"
+#include "machine_limits.h"
 #include "state_machine.h"
 #include "regex.h"
 
@@ -842,6 +842,8 @@ void report_execute_startup_message (char *line, status_code_t status_code)
 // Prints build info line
 void report_build_info (char *line, bool extended)
 {
+    char buf[100];
+
     hal.stream.write("[VER:" GRBL_VERSION ".");
     hal.stream.write(uitoa(GRBL_BUILD));
     hal.stream.write(":");
@@ -997,6 +999,9 @@ void report_build_info (char *line, bool extended)
         strcat(buf, "SED,");
     #endif
 
+        if(hal.rtc.get_datetime)
+            strcat(buf, "RTC,");
+
     #ifdef PID_LOG
         strcat(buf, "PID,");
     #endif
@@ -2072,7 +2077,7 @@ static const char *get_pinname (pin_function_t function)
     return name ? name : "N/A";
 }
 
-static void report_pin (xbar_t *pin)
+static void report_pin (xbar_t *pin, void *data)
 {
     hal.stream.write("[PIN:");
     if(pin->port)
@@ -2090,11 +2095,40 @@ static void report_pin (xbar_t *pin)
 status_code_t report_pins (sys_state_t state, char *args)
 {
     if(hal.enumerate_pins)
-        hal.enumerate_pins(false, report_pin);
+        hal.enumerate_pins(false, report_pin, NULL);
 
     return Status_OK;
 }
 
+static void print_uito2a (char *prefix, uint32_t v)
+{
+    hal.stream.write(prefix);
+    if(v < 10)
+        hal.stream.write("0");
+    hal.stream.write(uitoa(v));
+}
+
+status_code_t report_time (void)
+{
+    bool ok = false;
+
+    if(hal.rtc.get_datetime) {
+        struct tm time;
+        if((ok = !!hal.rtc.get_datetime(&time))) {
+            hal.stream.write("[RTC:");
+            hal.stream.write(uitoa(time.tm_year + 1900));
+            print_uito2a("-", time.tm_mon + 1);
+            print_uito2a("-", time.tm_mday);
+            print_uito2a("T", time.tm_hour);
+            print_uito2a(":", time.tm_min);
+            print_uito2a(":", time.tm_sec);
+            hal.stream.write("]" ASCII_EOL);
+        }
+    }
+
+    return ok ? Status_OK : Status_InvalidStatement;
+}
+
 void report_pid_log (void)
 {
 #ifdef PID_LOG

report.h

@@ -117,6 +117,9 @@ status_code_t report_spindle_data (sys_state_t state, char *args);
 // Prints pin assignments
 status_code_t report_pins (sys_state_t state, char *args);
 
+// Prints current RTC datetime in ISO8601 format (when available)
+status_code_t report_time (void);
+
 // Prints current PID log.
 void report_pid_log (void);
 

settings.c

@@ -29,7 +29,7 @@
 
 #include "hal.h"
 #include "defaults.h"
-#include "limits.h"
+#include "machine_limits.h"
 #include "nvs_buffer.h"
 #include "tool_change.h"
 #include "state_machine.h"

settings.h

@@ -197,6 +197,11 @@ typedef enum {
 
     Setting_AdminPassword = 330,
     Setting_UserPassword = 331,
+    Setting_NTPServerURI = 332,
+    Setting_NTPServerURI_2 = 333,
+    Setting_NTPServerURI_3 = 334,
+    Setting_Timezone = 335,
+    Setting_DSTActive = 336,
 
     Setting_TrinamicDriver = 338,
     Setting_TrinamicHoming = 339,
@@ -344,7 +349,7 @@ typedef union {
     struct {
         uint16_t report_inches                   :1,
                  restore_overrides               :1,
-                 unused0                         :1,
+                 dst_active                      :1, // Daylight savings time
                  sleep_enable                    :1,
                  disable_laser_during_hold       :1,
                  force_initialization_alarm      :1,

stream.h

@@ -82,8 +82,8 @@ typedef enum {
     StreamType_Bluetooth,
     StreamType_Telnet,
     StreamType_WebSocket,
-    StreamType_SDCard,
-    StreamType_FlashFs,
+    StreamType_SDCard, // deprecated, use StreamType_File instead
+    StreamType_File = StreamType_SDCard,
     StreamType_Redirected,
     StreamType_Null
 } stream_type_t;

system.c

@@ -28,7 +28,7 @@
 #include "protocol.h"
 #include "tool_change.h"
 #include "state_machine.h"
-#include "limits.h"
+#include "machine_limits.h"
 #ifdef KINEMATICS_API
 #include "kinematics.h"
 #endif
@@ -79,6 +79,7 @@ static status_code_t settings_reset (sys_state_t state, char *args);
 static status_code_t output_startup_lines (sys_state_t state, char *args);
 static status_code_t set_startup_line0 (sys_state_t state, char *args);
 static status_code_t set_startup_line1 (sys_state_t state, char *args);
+static status_code_t rtc_action (sys_state_t state, char *args);
 #ifdef DEBUGOUT
 static status_code_t output_memmap (sys_state_t state, char *args);
 #endif
@@ -232,6 +233,7 @@ PROGMEM static const sys_command_t sys_commands[] = {
     { "LIM", true, report_current_limit_state },
     { "SD", false, report_spindle_data },
     { "SR", false, spindle_reset_data },
+    { "RTC", false, rtc_action },
 #ifdef DEBUGOUT
     { "Q", true, output_memmap },
 #endif
@@ -286,6 +288,10 @@ void system_command_help (void)
         hal.stream.write("$PINS - enumerate pin bindings" ASCII_EOL);
     hal.stream.write("$LEV - output last control signal events" ASCII_EOL);
     hal.stream.write("$LIM - output current limit pins state" ASCII_EOL);
+    if(hal.rtc.get_datetime) {
+        hal.stream.write("$RTC - output current time" ASCII_EOL);
+        hal.stream.write("$RTC=<ISO8601 datetime> - set current time" ASCII_EOL);
+    }
 #ifndef NO_SETTINGS_DESCRIPTIONS
     hal.stream.write("$SED=<n> - output settings description for setting <n>" ASCII_EOL);
 #endif
@@ -869,6 +875,24 @@ static status_code_t set_startup_line1 (sys_state_t state, char *args)
     return set_startup_line(state, args, 1);
 }
 
+static status_code_t rtc_action (sys_state_t state, char *args)
+{
+    status_code_t retval = Status_OK;
+
+    if(args) {
+
+        struct tm *time = get_datetime(args);
+
+        if(time)
+            hal.rtc.set_datetime(time);
+        else
+            retval = Status_BadNumberFormat;
+    } else
+        retval = report_time();
+
+    return retval;
+}
+
 #ifdef DEBUGOUT
 
 #include "nvs_buffer.h"

vfs.c

@@ -101,6 +101,9 @@ static char *fs_getcwd (char *buf, size_t size)
 }
 
 static const vfs_t fs_null = {
+    .mode.directory = true,
+    .mode.hidden = true,
+    .mode.read_only = true,
     .fopen = fs_open,
     .fclose = fs_close,
     .fread = fs_read,
@@ -412,19 +415,73 @@ bool vfs_unmount (const char *path)
     return true;
 }
 
-#endif
-
-/*
-struct tm *gmtime (const time_t *c_t)
+vfs_drives_t *vfs_drives_open (void)
 {
-    static struct tm dummy = {
-        .tm_year = 70,
-        .tm_mon  = 0,
-        .tm_mday = 1,
-        .tm_hour = 0,
-        .tm_min  = 0
-    };
+    vfs_drives_t *handle;
+    vfs_mount_t *mount = &root;
 
-    return &dummy;
+    if((handle = malloc(sizeof(vfs_drives_t)))) {
+
+        handle->mount = NULL;
+        do {
+            if(mount->vfs->mode.hidden)
+                mount = mount->next;
+            else
+                handle->mount = mount;
+        } while(mount && handle->mount == NULL);
+
+        if(handle->mount == NULL) {
+            free(handle);
+            handle = NULL;
+        }
+    }
+
+    return handle;
 }
-*/
+
+vfs_drive_t *vfs_drives_read (vfs_drives_t *handle)
+{
+    static vfs_drive_t drive;
+
+    bool ok;
+
+    if((ok = handle->mount != NULL)) {
+
+        drive.name = handle->mount->vfs->fs_name;
+        drive.path = (const char *)handle->mount->path;
+        drive.mode = handle->mount->vfs->mode;
+        drive.fs = handle->mount->vfs;
+
+        handle->mount = handle->mount->next;
+
+        if(handle->mount) do {
+            if(!handle->mount->vfs->mode.hidden && handle->mount->vfs->fs_name)
+                break;
+        } while((handle->mount = handle->mount->next));
+    }
+
+    return ok ? &drive : NULL;
+}
+
+void vfs_drives_close (vfs_drives_t *handle)
+{
+    free(handle);
+}
+
+vfs_free_t *vfs_drive_getfree (vfs_drive_t *drive)
+{
+    static vfs_free_t free;
+
+    const vfs_t *fs = drive->fs;
+
+    return fs->fgetfree && fs->fgetfree(&free) ? &free : NULL;
+}
+
+int vfs_drive_format (vfs_drive_t *drive)
+{
+    const vfs_t *fs = drive->fs;
+
+    return fs->format ? fs->format() : -1;
+}
+
+#endif

vfs.h

@@ -92,8 +92,8 @@ typedef struct {
 } vfs_dirent_t;
 
 typedef struct {
-    uint64_t size;
-    uint64_t used;
+    size_t size;
+    size_t used;
 } vfs_free_t;
 
 typedef struct {
@@ -123,6 +123,7 @@ typedef int (*vfs_stat_ptr)(const char *filename, vfs_stat_t *st);
 typedef int (*vfs_utime_ptr)(const char *filename, struct tm *modified);
 
 typedef bool (*vfs_getfree_ptr)(vfs_free_t *free);
+typedef int (*vfs_format_ptr)(void);
 
 typedef struct
 {
@@ -147,6 +148,7 @@ typedef struct
     vfs_utime_ptr futime;
     vfs_getcwd_ptr fgetcwd;
     vfs_getfree_ptr fgetfree;
+    vfs_format_ptr format;
 } vfs_t;
 
 typedef struct vfs_mount
@@ -156,6 +158,17 @@ typedef struct vfs_mount
     struct vfs_mount *next;
 } vfs_mount_t;
 
+typedef struct {
+    vfs_mount_t *mount;
+} vfs_drives_t;
+
+typedef struct {
+    const char *name;
+    const char *path;
+    vfs_st_mode_t mode;
+    const void *fs;
+} vfs_drive_t;
+
 extern int vfs_errno;
 
 char *vfs_fixpath (char *path);
@@ -183,4 +196,10 @@ int vfs_stat (const char *filename, vfs_stat_t *st);
 int vfs_utime (const char *filename, struct tm *modified);
 vfs_free_t *vfs_fgetfree (const char *path);
 
-#endif
+vfs_drives_t *vfs_drives_open (void);
+vfs_drive_t *vfs_drives_read (vfs_drives_t *handle);
+void vfs_drives_close (vfs_drives_t *handle);
+vfs_free_t *vfs_drive_getfree (vfs_drive_t *drive);
+int vfs_drive_format (vfs_drive_t *drive);
+
+#endif // INCLUDE_VFS_H