Merge pull request #496 from bdring/ControlPinRework

ControlPin rework

FluidNC/src/Control.cpp

@@ -5,47 +5,64 @@
 
 #include "Protocol.h"  // rtSafetyDoor, etc
 
-Control::Control() :
-    _safetyDoor(rtSafetyDoor, "Door", 'D'), _reset(rtReset, "Reset", 'R'), _feedHold(rtFeedHold, "FeedHold", 'H'),
-    _cycleStart(rtCycleStart, "CycleStart", 'S'), _macro0(rtButtonMacro0, "Macro 0", '0'), _macro1(rtButtonMacro1, "Macro 1", '1'),
-    _macro2(rtButtonMacro2, "Macro 2", '2'), _macro3(rtButtonMacro3, "Macro 3", '3') {}
+Control::Control() {
+    // The SafetyDoor pin must be defined first because it is checked explicity in safety_door_ajar()
+    _pins.push_back(new ControlPin(rtSafetyDoor, "safety_door_pin", 'D'));
+    _pins.push_back(new ControlPin(rtReset, "reset_pin", 'R'));
+    _pins.push_back(new ControlPin(rtFeedHold, "feed_hold_pin", 'H'));
+    _pins.push_back(new ControlPin(rtCycleStart, "cycle_start_pin", 'S'));
+    _pins.push_back(new ControlPin(rtButtonMacro0, "macro0_pin", '0'));
+    _pins.push_back(new ControlPin(rtButtonMacro1, "macro1_pin", '1'));
+    _pins.push_back(new ControlPin(rtButtonMacro2, "macro2_pin", '2'));
+    _pins.push_back(new ControlPin(rtButtonMacro3, "macro3_pin", '3'));
+}
 
 void Control::init() {
-    _safetyDoor.init();
-    _reset.init();
-    _feedHold.init();
-    _cycleStart.init();
-    _macro0.init();
-    _macro1.init();
-    _macro2.init();
-    _macro3.init();
+    for (auto pin : _pins) {
+        pin->init();
+    }
 }
 
 void Control::group(Configuration::HandlerBase& handler) {
-    handler.item("safety_door_pin", _safetyDoor._pin);
-    handler.item("reset_pin", _reset._pin);
-    handler.item("feed_hold_pin", _feedHold._pin);
-    handler.item("cycle_start_pin", _cycleStart._pin);
-    handler.item("macro0_pin", _macro0._pin);
-    handler.item("macro1_pin", _macro1._pin);
-    handler.item("macro2_pin", _macro2._pin);
-    handler.item("macro3_pin", _macro3._pin);
+    for (auto pin : _pins) {
+        handler.item(pin->_legend, pin->_pin);
+    }
 }
 
-String Control::report() {
-    return _safetyDoor.report() + _reset.report() + _feedHold.report() + _cycleStart.report() + _macro0.report() + _macro1.report() +
-           _macro2.report() + _macro3.report();
+String Control::report_status() {
+    String ret = "";
+    for (auto pin : _pins) {
+        if (pin->get()) {
+            ret += pin->_letter;
+        }
+    }
+    return ret;
 }
 
 bool Control::stuck() {
-    return _safetyDoor.get() || _reset.get() || _feedHold.get() || _cycleStart.get() || _macro0.get() || _macro1.get() || _macro2.get() ||
-           _macro3.get();
+    for (auto pin : _pins) {
+        if (pin->get()) {
+            return true;
+        }
+    }
+    return false;
+}
+
+bool Control::startup_check() {
+    bool ret = false;
+    for (auto pin : _pins) {
+        if (pin->get()) {
+            log_error(pin->_legend << " is active at startup");
+            ret = true;
+        }
+    }
+    return ret;
 }
 
 // Returns if safety door is ajar(T) or closed(F), based on pin state.
-bool Control::system_check_safety_door_ajar() {
+bool Control::safety_door_ajar() {
     // If a safety door pin is not defined, this will return false
     // because that is the default for the value field, which will
     // never be changed for an undefined pin.
-    return _safetyDoor.get();
+    return _pins[0]->get();
 }

FluidNC/src/Control.h

@@ -5,32 +5,25 @@
 
 #include "Configuration/Configurable.h"
 #include "ControlPin.h"
+#include <vector>
 
 class Control : public Configuration::Configurable {
-// private:
-    // TODO: Should we not just put this in an array so we can enumerate it easily?
-public:
-    ControlPin _safetyDoor;
-    ControlPin _reset;
-    ControlPin _feedHold;
-    ControlPin _cycleStart;
-    ControlPin _macro0;
-    ControlPin _macro1;
-    ControlPin _macro2;
-    ControlPin _macro3;
-
 public:
     Control();
 
+    std::vector<ControlPin*> _pins;
+
     // Initializes control pins.
     void init();
 
     // Configuration handlers.
     void group(Configuration::HandlerBase& handler) override;
 
     bool   stuck();
-    bool   system_check_safety_door_ajar();
-    String report();
+    bool   safety_door_ajar();
+    String report_status();
+
+    bool startup_check();
 
     ~Control() = default;
 };

FluidNC/src/ControlPin.cpp

@@ -8,8 +8,16 @@
 void IRAM_ATTR ControlPin::handleISR() {
     bool pinState = _pin.read();
     _value        = pinState;
-    if (pinState) {
-        _rtVariable = pinState;
+
+    // Rate limit control pin events so switch bounce does not cause multiple events
+    if (pinState && (_debounceEnd == 0 || ((getCpuTicks() - _debounceEnd) >= 0))) {
+        _debounceEnd = usToEndTicks(debounceUs);
+        // We use 0 to mean that the debounce lockout is inactive,
+        // so if the end time happens to be 0, bump it up by one tick.
+        if (_debounceEnd == 0) {
+            _debounceEnd = 1;
+        }
+        _rtVariable = true;
     }
 }
 
@@ -25,16 +33,7 @@ void ControlPin::init() {
     _pin.setAttr(attr);
     _pin.attachInterrupt(ISRHandler, CHANGE, this);
     _rtVariable = false;
-    _value                            = _pin.read();
-    // Control pins must start in inactive state
-    if (_value) {
-        log_error(_legend << " pin is active at startup");
-        rtAlarm = ExecAlarm::ControlPin;
-    }
-}
-
-String ControlPin::report() {
-    return get() ? String(_letter) : String("");
+    _value      = _pin.read();
 }
 
 ControlPin::~ControlPin() {

FluidNC/src/ControlPin.h

@@ -6,14 +6,19 @@
 class ControlPin {
 private:
     bool           _value;
-    const char     _letter;
-    volatile bool& _rtVariable;
-    const char*    _legend;
+    volatile bool& _rtVariable;  // The variable that is set when the pin is asserted
+    int32_t        _debounceEnd = 0;
 
     void IRAM_ATTR handleISR();
     CreateISRHandlerFor(ControlPin, handleISR);
 
+    // Interval during which we ignore repeated control pin activations
+    const int debounceUs = 10000;  // 10000 us = 10 ms
+
 public:
+    const char* _legend;  // The name that appears in init() messages and the name of the configuration item
+    const char  _letter;  // The letter that appears in status reports when the pin is active
+
     ControlPin(volatile bool& rtVariable, const char* legend, char letter) :
         _value(false), _letter(letter), _rtVariable(rtVariable), _legend(legend) {
         _rtVariable = _value;
@@ -24,7 +29,5 @@ class ControlPin {
     void init();
     bool get() { return _value; }
 
-    String report();
-
     ~ControlPin();
 };

FluidNC/src/Custom/oled_basic.cpp

@@ -133,27 +133,13 @@ static void oledDRO() {
         draw_checkbox(120, oled_y_pos + 3, 7, 7, prb_pin_state);
         oled_y_pos += 10;
     }
-    if (ctrl_pins->_feedHold._pin.defined()) {
-        oled->drawString(110, oled_y_pos, "H");
-        draw_checkbox(120, oled_y_pos + 3, 7, 7, ctrl_pins->_feedHold.get());
-        oled_y_pos += 10;
-    }
-    if (ctrl_pins->_cycleStart._pin.defined()) {
-        oled->drawString(110, oled_y_pos, "S");
-        draw_checkbox(120, oled_y_pos + 3, 7, 7, ctrl_pins->_cycleStart.get());
-        oled_y_pos += 10;
-    }
-
-    if (ctrl_pins->_reset._pin.defined()) {
-        oled->drawString(110, oled_y_pos, "R");
-        draw_checkbox(120, oled_y_pos + 3, 7, 7, ctrl_pins->_reset.get());
-        oled_y_pos += 10;
-    }
-
-    if (ctrl_pins->_safetyDoor._pin.defined()) {
-        oled->drawString(110, oled_y_pos, "D");
-        draw_checkbox(120, oled_y_pos + 3, 7, 7, ctrl_pins->_safetyDoor.get());
-        oled_y_pos += 10;
+    for (auto pin : ctrl_pins->_pins) {
+        char letter = pin->_letter;
+        if (!isdigit(letter)) {
+            oled->drawString(110, oled_y_pos, String(letter));
+            draw_checkbox(120, oled_y_pos + 3, 7, 7, pin->get());
+            oled_y_pos += 10;
+        }
     }
 }
 

FluidNC/src/ProcessSettings.cpp

@@ -262,12 +262,12 @@ static Error toggle_check_mode(const char* value, WebUI::AuthenticationLevel aut
 }
 static Error isStuck() {
     // Block if a control pin is stuck on
-    if (config->_control->system_check_safety_door_ajar()) {
+    if (config->_control->safety_door_ajar()) {
         rtAlarm = ExecAlarm::ControlPin;
         return Error::CheckDoor;
     }
     if (config->_control->stuck()) {
-        log_info("Control pins:" << config->_control->report());
+        log_info("Control pins:" << config->_control->report_status());
         rtAlarm = ExecAlarm::ControlPin;
         return Error::CheckControlPins;
     }
@@ -313,7 +313,7 @@ static Error home(int cycle) {
         return Error::SettingDisabled;
     }
 
-    if (config->_control->system_check_safety_door_ajar()) {
+    if (config->_control->safety_door_ajar()) {
         return Error::CheckDoor;  // Block if safety door is ajar.
     }
 

FluidNC/src/Protocol.cpp

@@ -132,14 +132,17 @@ void protocol_main_loop() {
                 report_feedback_message(Message::CheckLimits);
             }
         }
+        if (config->_control->startup_check()) {
+            rtAlarm = ExecAlarm::ControlPin;
+        }
 
         if (sys.state == State::Alarm || sys.state == State::Sleep) {
             report_feedback_message(Message::AlarmLock);
             sys.state = State::Alarm;  // Ensure alarm state is set.
         } else {
             // Check if the safety door is open.
             sys.state = State::Idle;
-            if (config->_control->system_check_safety_door_ajar()) {
+            if (config->_control->safety_door_ajar()) {
                 rtSafetyDoor = true;
                 protocol_execute_realtime();  // Enter safety door mode. Should return as IDLE state.
             }
@@ -924,7 +927,7 @@ static void protocol_exec_rt_suspend() {
                     }
                     // Allows resuming from parking/safety door. Actively checks if safety door is closed and ready to resume.
                     if (sys.state == State::SafetyDoor) {
-                        if (!config->_control->system_check_safety_door_ajar()) {
+                        if (!config->_control->safety_door_ajar()) {
                             sys.suspend.bit.safetyDoorAjar = false;  // Reset door ajar flag to denote ready to resume.
                         }
                     }

FluidNC/src/Report.cpp

@@ -563,7 +563,7 @@ static void pinString(Print& channel) {
         }
     }
 
-    String ctrl_pin_report = config->_control->report();
+    String ctrl_pin_report = config->_control->report_status();
     if (ctrl_pin_report.length()) {
         if (prefixNeeded) {
             prefixNeeded = false;