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Correct handling of interlock pin changes

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This commit is contained in:
Rob Giseburt
2020-01-10 19:25:10 -06:00
parent 83fdc1d62c
commit be0efcc175
3 changed files with 53 additions and 41 deletions
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g2core/controller.cpp
+12 -15
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@@ -115,10 +115,10 @@ gpioDigitalInputHandler _limit_input_handler {
gpioDigitalInputHandler _interlock_input_handler{
[&](const bool state, const inputEdgeFlag edge, const uint8_t triggering_pin_number) {
if (edge == INPUT_EDGE_LEADING) {
cm->safety_interlock_disengaged = triggering_pin_number;
if (edge != INPUT_EDGE_LEADING) {
cm1.safety_interlock_disengaged = triggering_pin_number;
} else { // edge == INPUT_EDGE_TRAILING
cm->safety_interlock_reengaged = triggering_pin_number;
cm1.safety_interlock_reengaged = triggering_pin_number;
}
return GPIO_HANDLED;
@@ -636,22 +636,19 @@ static stat_t _interlock_estop_handler(void)
#else
static stat_t _interlock_handler(void)
{
if (cm->safety_interlock_enable) {
// interlock broken
if (cm->safety_interlock_disengaged != 0) {
cm->safety_interlock_disengaged = 0;
cm->safety_interlock_state = SAFETY_INTERLOCK_DISENGAGED;
// NOTE: Always use cm1. directly for interlock state!
if (cm1.safety_interlock_enable) {
// interlock broken
if ((cm1.safety_interlock_disengaged != 0) && (cm1.safety_interlock_state == SAFETY_INTERLOCK_ENGAGED)) {
cm1.safety_interlock_disengaged = 0;
cm1.safety_interlock_state = SAFETY_INTERLOCK_DISENGAGING;
cm_request_feedhold(FEEDHOLD_TYPE_ACTIONS, FEEDHOLD_EXIT_INTERLOCK); // may have already requested STOP as INPUT_ACTION
// feedhold was initiated by input action in gpio
// pause spindle
// pause coolant
}
// interlock restored
if ((cm->safety_interlock_reengaged != 0) && (mp_runtime_is_idle())) {
cm->safety_interlock_reengaged = 0;
cm->safety_interlock_state = SAFETY_INTERLOCK_ENGAGED; // interlock restored
// cm_request_exit_hold(); // use cm_request_exit_hold() instead of just ending +++++
if ((cm1.safety_interlock_reengaged != 0) && mp_runtime_is_idle() && (cm1.safety_interlock_state == SAFETY_INTERLOCK_DISENGAGED)) {
cm1.safety_interlock_reengaged = 0;
cm1.safety_interlock_state = SAFETY_INTERLOCK_ENGAGING; // interlock restored
cm_request_cycle_start(); // proper way to restart the cycle
}
}