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352 bug some alarms are not being printed #353

Merged
merged 10 commits into from
Jan 11, 2023
Merged

352 bug some alarms are not being printed #353

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e3e35b9
redesign internal machine states
Paciente8159 Jan 8, 2023
3a28d51
redesigned internal machine states
Paciente8159 Jan 9, 2023
38d245d
redesigned internal machine states
Paciente8159 Jan 9, 2023
eb4a2a2
redesigned internal machine states
Paciente8159 Jan 9, 2023
6a5d33f
fixed probing motion
Paciente8159 Jan 10, 2023
f9861b0
modified SAFETY_DOOR code
Paciente8159 Jan 10, 2023
9a0f745
fixed JOG stop after DOOR
Paciente8159 Jan 10, 2023
656f60d
fixed EXEC_UNHOMED clearing at unlock
Paciente8159 Jan 11, 2023
52c2f53
Update mcu_virtual.c
Paciente8159 Jan 11, 2023
8ee286a
fixed parser state print and unlock parser reset
Paciente8159 Jan 11, 2023
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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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