More improvements - better handling of port assignments, THC M-code control

and new mode for arc ok signal only (no THC control).

Author: terjeio

thc.c

@@ -49,8 +49,9 @@
 
 typedef enum {
  Plasma_ModeOff = 0,
- Plasma_ModeVoltage = 1,
- Plasma_ModeUpDown = 2
+ Plasma_ModeVoltage,
+ Plasma_ModeUpDown,
+ Plasma_ModeArcOK
 } plasma_mode_t;
 
 typedef union {
@@ -115,9 +116,10 @@ static void state_idle (void);
 static void state_thc_delay (void);
 static void state_thc_pid (void);
 static void state_thc_adjust (void);
+static void state_arc_monitor (void);
 static void state_vad_lock (void);
 
-static bool set_feed_override = false, updown_enabled = false, init_ok = false;
+static bool set_feed_override = false, updown_enabled = false, init_ok = false, thc_disabled = false;
 static uint8_t n_ain, n_din;
 static uint8_t port_arc_ok, port_arc_voltage;
 static uint_fast8_t feed_override, segment_id = 0;
@@ -129,10 +131,11 @@ static float fr_pgm, fr_actual, fr_thr_99, fr_thr_vad;
 static thc_signals_t thc = {0};
 static pidf_t pid;
 static nvs_address_t nvs_address;
-static char thc_modes[] = "Off,Voltage,Up/down";
+static char thc_modes[] = "Off,Voltage,Up/down,Arc ok";
 static plasma_settings_t plasma;
 static st2_motor_t *z_motor;
 static void (*volatile stateHandler)(void) = state_idle;
+static plasma_mode_t mode = Plasma_ModeOff;
 static xbar_t arc_ok, cutter_down, cutter_up, parc_voltage;
 
 static settings_changed_ptr settings_changed;
@@ -260,10 +263,13 @@ static void enumeratePins (bool low_level, pin_info_ptr pin_info, void *data)
 static void digital_out (uint8_t portnum, bool on)
 {
  if(portnum == PLASMA_THC_DISABLE_PORT) {
- if(!(thc.enabled = !on))
- stateHandler = state_idle;
- else if(thc.arc_ok)
- stateHandler = plasma.mode == Plasma_ModeUpDown ? state_thc_adjust : state_thc_pid;
+ thc_disabled = on;
+ if(thc.arc_ok && mode != Plasma_ModeArcOK) {
+ if(!(thc.enabled = !thc_disabled))
+ stateHandler = state_arc_monitor;
+ else
+ stateHandler = mode == Plasma_ModeUpDown ? state_thc_adjust : state_thc_pid;
+ }
  } else if(portnum == PLASMA_TORCH_DISABLE_PORT) {
  // PLASMA_TORCH_DISABLE_PORT:
  // TODO
@@ -377,12 +383,12 @@ static void pause_on_error (void)
 
 static void state_idle (void)
 {
- if(plasma.mode == Plasma_ModeVoltage)
+ if(mode == Plasma_ModeVoltage)
  arc_voltage = parc_voltage.get_value(&parc_voltage) * plasma.arc_voltage_scale - plasma.arc_voltage_offset;
 
  if(plasma.option.sync_pos && state_get() == STATE_IDLE) {
 
- if(plasma.mode != Plasma_ModeUpDown)
+ if(mode != Plasma_ModeUpDown)
  step_count =(uint32_t)st2_get_position(z_motor);
 
  if(step_count && state_get() == STATE_IDLE) {
@@ -397,8 +403,10 @@ static void state_idle (void)
 static void state_thc_delay (void)
 {
  if(hal.get_elapsed_ticks() >= thc_delay) {
- thc.enabled = On;
- if(plasma.mode == Plasma_ModeUpDown) {
+
+ if(!(thc.enabled = !(thc_disabled || mode == Plasma_ModeArcOK)))
+ stateHandler = state_arc_monitor;
+ else if(mode == Plasma_ModeUpDown) {
  step_count = 0;
  stateHandler = state_thc_adjust;
  } else {
@@ -411,6 +419,12 @@ static void state_thc_delay (void)
  }
 }
 
+static void state_arc_monitor (void)
+{
+ if(!(thc.arc_ok = arc_ok.get_value(&arc_ok) == 1.0f))
+ pause_on_error();
+}
+
 static void state_thc_adjust (void)
 {
  if((thc.arc_ok = arc_ok.get_value(&arc_ok) == 1.0f)) {
@@ -550,7 +564,7 @@ static void arcSetState (spindle_ptrs_t *spindle, spindle_state_t state, float r
  spindle_set_state_(spindle, state, rpm);
  thc.torch_on = On;
  report_message("arc on", Message_Plain);
- if((thc.arc_ok = rport.wait_on_input(Port_Digital, port_arc_ok, WaitMode_High, plasma.arc_fail_timeout) != -1)) {
+ if((thc.arc_ok = hal.port.wait_on_input(Port_Digital, port_arc_ok, WaitMode_High, plasma.arc_fail_timeout) != -1)) {
  report_message("arc ok", Message_Plain);
  retries = 0;
  thc_delay = hal.get_elapsed_ticks() + (uint32_t)ceilf(1000.0f * plasma.thc_delay); // handle overflow!
@@ -647,31 +661,6 @@ static void onRealtimeReport (stream_write_ptr stream_write, report_tracking_fla
  stream_write(buf);
 
  thc.report_up = thc.report_down = Off;
-/*
- if(thc.value) {
- *append++ = ',';
- if(thc.arc_ok)
- *append++ = 'A';
- if(thc.enabled)
- *append++ = 'E';
- if(thc.active)
- *append++ = 'R';
- if(thc.torch_on)
- *append++ = 'T';
- if(thc.ohmic_probe)
- *append++ = 'O';
- if(thc.velocity_lock)
- *append++ = 'V';
- if(thc.void_lock)
- *append++ = 'H';
- if(thc.report_down)
- *append++ = 'D';
- if(thc.report_up)
- *append++ = 'U';
- thc.report_up = thc.report_down = Off;
- }
- *append = '\0';
-*/
 
  if(on_realtime_report)
  on_realtime_report(stream_write, report);
@@ -682,7 +671,10 @@ static void onSpindleSelected (spindle_ptrs_t *spindle)
  spindle_set_state_ = spindle->set_state;
 
  spindle->set_state = arcSetState;
- spindle->cap.at_speed = Off; // TODO: only disable if PWM spindle active?
+ // TODO: only change caps if PWM spindle active?
+ spindle->cap.at_speed = Off;
+//?? spindle->cap.laser = Off;
+ spindle->cap.torch = On;
 
  if(on_spindle_selected)
  on_spindle_selected(spindle);
@@ -697,6 +689,9 @@ static void plasma_setup (settings_t *settings, settings_changed_flags_t changed
  driver_reset = hal.driver_reset;
  hal.driver_reset = reset;
 
+ on_spindle_selected = grbl.on_spindle_selected;
+ grbl.on_spindle_selected = onSpindleSelected;
+
  on_realtime_report = grbl.on_realtime_report;
  grbl.on_realtime_report = onRealtimeReport;
 
@@ -869,7 +864,7 @@ static void plasma_settings_save (void)
 
 static void plasma_settings_restore (void)
 {
- plasma.mode = updown_enabled ? Plasma_ModeUpDown : Plasma_ModeVoltage;
+ plasma.mode = mode;
  plasma.option.flags = 0;
  plasma.thc_delay = 3.0f;
  plasma.thc_threshold = 1.0f;
@@ -903,7 +898,7 @@ static bool plasma_claim_digital_in (xbar_t *target, uint8_t port, const char *d
  xbar_t *p;
  bool ok = false;
 
- if((p = ioport_get_info(Port_Digital, Port_Input, port)) && p->get_value && !p->mode.claimed) {
+ if(port != 255 && (p = ioport_get_info(Port_Digital, Port_Input, port)) && p->get_value && !p->mode.claimed) {
  memcpy(target, p, sizeof(xbar_t));
  if((ok = ioport_claim(Port_Digital, Port_Input, &port, description)) && target == &arc_ok)
  port_arc_ok = port;
@@ -919,45 +914,47 @@ static void plasma_settings_load (void)
  plasma_settings_restore();
  }
 
- port_arc_voltage = plasma.port_arc_voltage;
+ if((mode = plasma.mode) == Plasma_ModeOff)
+ return;
 
- if(!(init_ok = n_ain == 0)) {
+ if(!(init_ok = mode != Plasma_ModeVoltage)) {
 
- xbar_t *p;
+ if(plasma.port_arc_voltage != 255) {
 
- if(port_arc_voltage == 255)
- plasma.port_arc_voltage = port_arc_voltage = 0;
+ xbar_t *p;
 
- if((p = ioport_get_info(Port_Analog, Port_Input, port_arc_voltage)) && p->get_value && !p->mode.claimed) {
- memcpy(&parc_voltage, p, sizeof(xbar_t));
- init_ok = ioport_claim(Port_Analog, Port_Input, &port_arc_voltage, "Arc voltage");
+ if((p = ioport_get_info(Port_Analog, Port_Input, port_arc_voltage)) && p->get_value && !p->mode.claimed) {
+ memcpy(&parc_voltage, p, sizeof(xbar_t));
+ init_ok = ioport_claim(Port_Analog, Port_Input, &port_arc_voltage, "Arc voltage");
+ }
  }
 
-// init_ok = ioport_claim(Port_Analog, Port_Input, &port_arc_voltage, "Arc voltage");
+ if(!init_ok) {
+ init_ok = true;
+ mode = Plasma_ModeUpDown;
+ }
  }
 
  init_ok = init_ok && plasma_claim_digital_in(&arc_ok, plasma.port_arc_ok, "Arc ok");
- if(init_ok && n_din > 2 && plasma.port_cutter_down != 255) {
- init_ok = plasma_claim_digital_in(&cutter_down, plasma.port_cutter_down, "Cutter down");
- init_ok = init_ok && plasma_claim_digital_in(&cutter_up, plasma.port_cutter_up, "Cutter up");
+
+ if(init_ok && mode == Plasma_ModeUpDown) {
+ if(!(plasma_claim_digital_in(&cutter_down, plasma.port_cutter_down, "Cutter down") &&
+ plasma_claim_digital_in(&cutter_up, plasma.port_cutter_up, "Cutter up")))
+ mode = Plasma_ModeArcOK;
  }
 
  if(init_ok) {
 
- if(n_ain == 0 && plasma.mode == Plasma_ModeVoltage)
- plasma.mode = Plasma_ModeUpDown;
-
- if(n_din < 3 && plasma.mode == Plasma_ModeUpDown)
- plasma.mode = n_ain >= 1 ? Plasma_ModeVoltage : Plasma_ModeOff;
-
- updown_enabled = plasma.mode == Plasma_ModeUpDown;
+ updown_enabled = mode == Plasma_ModeUpDown;
 
  settings_changed = hal.settings_changed;
  hal.settings_changed = plasma_setup;
 
+ if(plasma.mode != mode)
+ protocol_enqueue_foreground_task(report_warning, "Plasma mode changed due to lack of inputs!");
+
  if(plasma.option.virtual_ports)
  protocol_enqueue_foreground_task(add_virtual_ports, NULL);
-
  } else
  protocol_enqueue_foreground_task(report_warning, "Plasma mode failed to initialize!");
 }
@@ -971,9 +968,25 @@ static void onReportOptions (bool newopt)
 {
  on_report_options(newopt);
 
- if(!newopt)
- report_plugin("PLASMA", "0.17");
- else if(driver_reset) // non-null when successfully enabled
+ if(!newopt) {
+
+ plasma_mode_t i = Plasma_ModeOff;
+ char buf[30] = "PLASMA (", *s1 = &buf[8], *s2 = thc_modes, c;
+
+ while((c = *s2++)) {
+ if(i == mode) {
+ if(c == ',')
+ break;
+ *s1++ = c;
+ } else if(c == ',')
+ i++;
+ }
+ *s1++ = ')';
+ *s1 = '\0';
+
+ report_plugin(buf, "0.18");
+
+ } else if(mode != Plasma_ModeOff)
  hal.stream.write(",THC");
 }
 
@@ -1018,19 +1031,16 @@ void plasma_init (void)
  on_report_options = grbl.on_report_options;
  grbl.on_report_options = onReportOptions;
 
- on_spindle_selected = grbl.on_spindle_selected;
- grbl.on_spindle_selected = onSpindleSelected;
-
 /*
  control_interrupt_callback = hal.control_interrupt_callback;
  hal.control_interrupt_callback = trap_control_interrupts;
 */
 
  if(n_ain == 0)
- setting_remove_elements(Setting_THC_Mode, 0b101);
+ setting_remove_elements(Setting_THC_Mode, 0b1101);
 
  if(n_din < 3)
- setting_remove_elements(Setting_THC_Mode, 0b011);
+ setting_remove_elements(Setting_THC_Mode, 0b1011);
 
  } else
  protocol_enqueue_foreground_task(report_warning, "Plasma mode failed to initialize!");