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Merge pull request #353 from Paciente8159/352-bug-some-alarms-are-not…
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…-being-printed

352 bug some alarms are not being printed
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@Paciente8159
Paciente8159 committed Jan 11, 2023
2 parents 3f2b4f4 + 8ee286a commit 563861f
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Showing 11 changed files with 284 additions and 157 deletions.
166 changes: 95 additions & 71 deletions uCNC/src/cnc.c
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Original file line number Diff line number Diff line change
Expand Up @@ -24,7 +24,8 @@

#define LOOP_STARTUP_RESET 0
#define LOOP_RUNNING 1
#define LOOP_ERROR_RESET 2
#define LOOP_FAULT 2
#define LOOP_REQUIRE_RESET 4

#define UNLOCK_OK 0
#define UNLOCK_LOCKED 1
Expand Down Expand Up @@ -125,16 +126,18 @@ void cnc_run(void)
{
} while (cnc_exec_cmd());

cnc_state.loop_state = LOOP_ERROR_RESET;
cnc_state.loop_state = LOOP_FAULT;
serial_flush();
if (cnc_state.alarm > 0)
int8_t alarm = cnc_state.alarm;
if (alarm > EXEC_ALARM_NOALARM)
{
protocol_send_alarm(cnc_state.alarm);
}
if (cnc_state.alarm < EXEC_ALARM_PROBE_FAIL_INITIAL)
if (alarm < EXEC_ALARM_PROBE_FAIL_INITIAL && alarm != EXEC_ALARM_NOALARM)
{
io_enable_steppers(~g_settings.step_enable_invert);
cnc_check_fault_systems();
cnc_state.loop_state = LOOP_REQUIRE_RESET;
break;
}
}
Expand All @@ -145,20 +148,18 @@ void cnc_run(void)
{
if (serial_getc() == EOL)
{
protocol_send_feedback(MSG_FEEDBACK_12);
protocol_send_feedback(MSG_FEEDBACK_1);
protocol_send_ok();
}
}
cnc_dotasks();
if (io_get_controls() & ESTOP_MASK)
// a hard/soft reset is pending
if (cnc_state.alarm < 0)
{
cnc_state.loop_state = LOOP_STARTUP_RESET;
cnc_clear_exec_state(EXEC_KILL);
}
else
{
break;
}
} while (1);
} while (cnc_state.loop_state == LOOP_REQUIRE_RESET || cnc_get_exec_state(EXEC_KILL));
}

bool cnc_exec_cmd(void)
Expand Down Expand Up @@ -211,19 +212,19 @@ bool cnc_dotasks(void)

if (cnc_has_alarm())
{
return !cnc_get_exec_state(EXEC_KILL | EXEC_HOMING);
return !cnc_get_exec_state(EXEC_KILL);
}

// µCNC already in error loop. No point in sending the alarms
if (cnc_state.loop_state == LOOP_ERROR_RESET)
if (cnc_state.loop_state >= LOOP_FAULT)
{
return !cnc_get_exec_state(EXEC_KILL);
}

// check security interlocking for any problem
if (!cnc_check_interlocking())
{
return !cnc_get_exec_state(EXEC_KILL);
return !cnc_get_exec_state(EXEC_INTERLOCKING_FAIL);
}

if (!lock_itp)
Expand Down Expand Up @@ -305,17 +306,17 @@ void cnc_alarm(int8_t code)
cnc_state.alarm = code;
#ifdef ENABLE_IO_ALARM_DEBUG
protocol_send_string(MSG_START);
protocol_send_string(__romstr__("LIMITS>"));
protocol_send_string(__romstr__("LIMITS:"));
serial_print_int(io_alarm_limits);
protocol_send_string(__romstr__(" CONTROLS>"));
protocol_send_string(__romstr__("|CONTROLS:"));
serial_print_int(io_alarm_controls);
protocol_send_string(MSG_END);
#endif
}

bool cnc_has_alarm()
{
return ((CHECKFLAG(cnc_state.exec_state, EXEC_ALARM) != EXEC_IDLE) || (cnc_state.alarm != EXEC_ALARM_NOALARM));
return (cnc_get_exec_state(EXEC_KILL) || (cnc_state.alarm != EXEC_ALARM_NOALARM));
}

void cnc_stop(void)
Expand All @@ -331,20 +332,20 @@ void cnc_stop(void)

uint8_t cnc_unlock(bool force)
{
// tries to clear alarms or any active hold state
cnc_clear_exec_state(EXEC_ALARM | EXEC_HOLD);
// tries to clear alarms, door or any active hold state
cnc_clear_exec_state(EXEC_RESET_LOCKED);
// checks all interlocking again
cnc_check_interlocking();

// forces to clear HALT error to allow motion after limit switch trigger
// forces to clear EXEC_UNHOMED error to allow motion after limit switch trigger
if (force)
{
CLEARFLAG(cnc_state.exec_state, EXEC_HALT);
CLEARFLAG(cnc_state.exec_state, EXEC_UNHOMED);
cnc_state.alarm = EXEC_ALARM_NOALARM;
}

// if any alarm state is still active checks system faults
if (cnc_get_exec_state(EXEC_ALARM))
if (cnc_get_exec_state(EXEC_ALARM) || cnc_has_alarm())
{
if (!cnc_get_exec_state(EXEC_KILL))
{
Expand All @@ -359,16 +360,16 @@ uint8_t cnc_unlock(bool force)
else
{
// on unlock any alarm caused by not having homing reference or hitting a limit switch is reset at user request
// this must be done directly beacuse cnc_clear_exec_state will check the limit switch state
// this must be done directly because cnc_clear_exec_state will check the limit switch state
// all other alarm flags remain active if any input is still active
CLEARFLAG(cnc_state.exec_state, EXEC_HALT);
CLEARFLAG(cnc_state.exec_state, EXEC_UNHOMED);
// clears all other locking flags
cnc_clear_exec_state(EXEC_GCODE_LOCKED | EXEC_HOLD);
// signals stepper enable pins

io_set_steps(g_settings.step_invert_mask);
io_enable_steppers(g_settings.step_enable_invert);
parser_reset();
parser_reset(true); // reset stop group only

// hard reset
// if homing not enabled run startup blocks
Expand Down Expand Up @@ -400,6 +401,8 @@ void cnc_clear_exec_state(uint8_t statemask)
if (CHECKFLAG(controls, ESTOP_MASK)) // can't clear the alarm flag if ESTOP is active
{
CLEARFLAG(statemask, EXEC_KILL);
// no point in continuing
return;
}
#endif
#if ASSERT_PIN(SAFETY_DOOR)
Expand All @@ -417,30 +420,24 @@ void cnc_clear_exec_state(uint8_t statemask)
#endif

// has a pending (not cleared by user) alarm
if (cnc_state.alarm)
if (cnc_state.alarm || g_settings.homing_enabled)
{
CLEARFLAG(statemask, EXEC_HALT);
CLEARFLAG(statemask, EXEC_UNHOMED);
}

uint8_t limits = 0;
#if (LIMITS_MASK != 0)
limits = io_get_limits(); // can't clear the EXEC_HALT is any limit is triggered
limits = io_get_limits(); // can't clear the EXEC_UNHOMED is any limit is triggered
#endif
if (g_settings.hard_limits_enabled) // if hardlimits are enabled and limits are triggered
if (g_settings.hard_limits_enabled && limits) // if hardlimits are enabled and limits are triggered
{
if (limits || g_settings.homing_enabled)
{
CLEARFLAG(statemask, EXEC_HALT);
}
CLEARFLAG(statemask, EXEC_UNHOMED);
}

// if releasing from a HOLD state with and active delay in exec
if (CHECKFLAG(statemask, EXEC_HOLD) && CHECKFLAG(cnc_state.exec_state, EXEC_HOLD))
if (CHECKFLAG(statemask, EXEC_HOLD) && cnc_get_exec_state(EXEC_HOLD))
{
SETFLAG(cnc_state.exec_state, EXEC_RESUMING);
CLEARFLAG(cnc_state.exec_state, EXEC_HOLD);
// prevents from clearing twice
CLEARFLAG(statemask, EXEC_HOLD);
#if TOOL_COUNT > 0
// updated the coolant pins
tool_set_coolant(planner_get_coolant());
Expand All @@ -449,7 +446,6 @@ void cnc_clear_exec_state(uint8_t statemask)
{
if (!planner_buffer_is_empty())
{

cnc_delay_ms(DELAY_ON_RESUME_COOLANT * 1000);
}
}
Expand All @@ -467,7 +463,6 @@ void cnc_clear_exec_state(uint8_t statemask)
}
#endif
#endif
CLEARFLAG(cnc_state.exec_state, EXEC_RESUMING);
}

CLEARFLAG(cnc_state.exec_state, statemask);
Expand All @@ -488,7 +483,7 @@ void cnc_reset(void)
cnc_state.rt_cmd = RT_CMD_CLEAR;
cnc_state.feed_ovr_cmd = RT_CMD_CLEAR;
cnc_state.tool_ovr_cmd = RT_CMD_CLEAR;
cnc_state.exec_state = EXEC_ALARM | EXEC_HOLD; // Activates all alarms and hold
cnc_state.exec_state = EXEC_RESET_LOCKED; // Activates all alarms, door and hold
cnc_state.alarm = EXEC_ALARM_NOALARM;

// clear all systems
Expand Down Expand Up @@ -521,7 +516,6 @@ void cnc_call_rt_command(uint8_t command)
{
case CMD_CODE_RESET:
SETFLAG(cnc_state.rt_cmd, RT_CMD_RESET);
// SETFLAG(cnc_state.exec_state, EXEC_KILL);
break;
case CMD_CODE_FEED_HOLD:
SETFLAG(cnc_state.exec_state, EXEC_HOLD);
Expand All @@ -533,16 +527,18 @@ void cnc_call_rt_command(uint8_t command)
#endif
case CMD_CODE_CYCLE_START:
// prevents loop if cycle start is always pressed or unconnected (during cnc_dotasks)
if (!CHECKFLAG(cnc_state.exec_state, EXEC_RESUMING))
if (!cnc_get_exec_state(EXEC_RUN))
{
SETFLAG(cnc_state.rt_cmd, RT_CMD_CYCLE_START); // tries to clear hold if possible
}
break;
#if ASSERT_PIN(SAFETY_DOOR)
case CMD_CODE_SAFETY_DOOR:
SETFLAG(cnc_state.exec_state, (EXEC_HOLD | EXEC_DOOR));
break;
#endif
case CMD_CODE_JOG_CANCEL:
if (CHECKFLAG(cnc_state.exec_state, EXEC_JOG | EXEC_RUN) == (EXEC_JOG | EXEC_RUN))
if (cnc_get_exec_state(EXEC_JOG | EXEC_RUN) == (EXEC_JOG | EXEC_RUN))
{
SETFLAG(cnc_state.exec_state, EXEC_HOLD);
}
Expand Down Expand Up @@ -590,13 +586,25 @@ void cnc_exec_rt_commands(void)
cnc_state.rt_cmd = RT_CMD_CLEAR;
if (command & RT_CMD_RESET)
{
if (cnc_get_exec_state(EXEC_HOMING))
{
cnc_alarm(EXEC_ALARM_HOMING_FAIL_RESET);
return;
}

if (cnc_get_exec_state(EXEC_RUN))
{
cnc_alarm(EXEC_ALARM_ABORT_CYCLE);
return;
}

cnc_alarm(EXEC_ALARM_SOFTRESET);
return;
}

if (command & RT_CMD_CYCLE_START)
{
cnc_clear_exec_state(EXEC_HOLD);
cnc_clear_exec_state(EXEC_HOLD | EXEC_DOOR);
}
}

Expand Down Expand Up @@ -762,8 +770,12 @@ void cnc_check_fault_systems(void)
bool cnc_check_interlocking(void)
{
// check all flags
// if kill leave
if (CHECKFLAG(cnc_state.exec_state, EXEC_KILL))

// an existing KILL condition can be due to:
// - ESTOP trigger
// - soft reset command
// - any cnc_alarm call
if (cnc_get_exec_state(EXEC_KILL))
{
#if ASSERT_PIN(ESTOP)
// the emergency stop is pressed.
Expand All @@ -773,58 +785,70 @@ bool cnc_check_interlocking(void)
return false;
}
#endif
if (CHECKFLAG(cnc_state.exec_state, EXEC_HOMING)) // reset or emergency stop during a homing cycle
{
cnc_alarm(EXEC_ALARM_HOMING_FAIL_RESET);
}
else if (CHECKFLAG(cnc_state.exec_state, EXEC_RUN)) // reset or emergency stop during a running cycle
// something caused the motion to stop abruptly
if (cnc_get_exec_state(EXEC_UNHOMED))
{
cnc_alarm(EXEC_ALARM_ABORT_CYCLE);
}
return false;
}

if (CHECKFLAG(cnc_state.exec_state, EXEC_DOOR) && CHECKFLAG(cnc_state.exec_state, EXEC_HOMING)) // door opened during a homing cycle
// an HALT condition or a limit switch was triggered
// this can be due to any abrupt stop while in motion
if (cnc_get_exec_state(EXEC_LIMITS))
{
cnc_alarm(EXEC_ALARM_HOMING_FAIL_DOOR);
if (!cnc_get_exec_state(EXEC_HOMING)) // if a motion is being performed allow trigger the limit switch alarm
{
if (cnc_get_exec_state(EXEC_UNHOMED))
{
cnc_alarm(EXEC_ALARM_HARD_LIMIT);
}
else
{
cnc_alarm(EXEC_ALARM_HARD_LIMIT_NOMOTION);
}
}

return false;
}

if (CHECKFLAG(cnc_state.exec_state, EXEC_HALT) && CHECKFLAG(cnc_state.exec_state, EXEC_RUN))
// an hold condition is active and motion as stopped
if (cnc_get_exec_state(EXEC_HOLD) && !cnc_get_exec_state(EXEC_RUN))
{
if (!CHECKFLAG(cnc_state.exec_state, EXEC_HOMING) && io_get_limits()) // if a motion is being performed allow trigger the limit switch alarm
{
cnc_alarm(EXEC_ALARM_HARD_LIMIT);
}
else
itp_stop(); // stop motion

if (cnc_get_exec_state(EXEC_HOMING | EXEC_JOG)) // flushes the buffers if motions was homing or jog
{
CLEARFLAG(cnc_state.exec_state, EXEC_RUN);
itp_clear();
planner_clear();
CLEARFLAG(cnc_state.exec_state, EXEC_HOMING | EXEC_JOG | EXEC_HOLD);
}

return false;
}

// opened door or hold with the machine still moving
if (CHECKFLAG(cnc_state.exec_state, EXEC_DOOR | EXEC_HOLD) && !CHECKFLAG(cnc_state.exec_state, EXEC_RUN))
#if ASSERT_PIN(SAFETY_DOOR)
// the safety door condition is active
if (cnc_get_exec_state(EXEC_DOOR))
{
if (CHECKFLAG(cnc_state.exec_state, EXEC_DOOR))
// door opened during a homing cycle exit with alarm
if (cnc_get_exec_state(EXEC_HOMING))
{
cnc_stop(); // stop all tools not only motion
cnc_alarm(EXEC_ALARM_HOMING_FAIL_DOOR);
}
else
else if (cnc_get_exec_state(EXEC_RUN)) // if the machined is running
{
itp_stop(); // stop motion
// with the door opened put machine on HOLD
cnc_set_exec_state(EXEC_HOLD);
}

if (CHECKFLAG(cnc_state.exec_state, EXEC_HOMING | EXEC_JOG)) // flushes the buffers if motions was homing or jog
else // if the machined is not moving stop the tool too
{
itp_clear();
planner_clear();
CLEARFLAG(cnc_state.exec_state, EXEC_HOMING | EXEC_JOG | EXEC_HOLD);
cnc_stop();
}

return false;
}
#endif

return true;
}
Expand Down
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