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Diffstat (limited to 'Arduino/ems/SafetyThird.h')
| -rwxr-xr-x | Arduino/ems/SafetyThird.h | 179 |
1 files changed, 179 insertions, 0 deletions
diff --git a/Arduino/ems/SafetyThird.h b/Arduino/ems/SafetyThird.h new file mode 100755 index 0000000..ea3956c --- /dev/null +++ b/Arduino/ems/SafetyThird.h @@ -0,0 +1,179 @@ +/*-----------------------------------------------------------------SafetyThird.h + * + * *********************** Don't put safety third !!!! ************************* + * + * This is a reminder not to put safety third like your workplace does. + * (after corporate profits and management whim) + * + * Author: Donald Delmar Davis, Suspect Devices + * Liscence: "Simplified BSD License" + * + * Copyright (c) 2016, Donald Delmar Davis, Suspect Devices + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in thedocumentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *-----------------------------------------------------------------------------*/ +/* + * The safteyThird module is a place for items relating to the safety of machines. + * Examples include: + * Watchdog timer (a mechanism for keeping code from running away from its job) + * K1, K2 ( in large machinery a pair of Kontactors designed to drop power ) + * E-stop ( A big red button or a lanyard for emergencies) + * Light Curtain (a device to keep fingers from getting into dangerous areas) + * red. (lights or other indicators that there may be problems. + */ + +#ifndef SafetyThird_h +#define SafetyThird_h + + +#include "Common.h" +#include "Monitor.h" + +class SafetyThird; +extern SafetyThird safety; +#if 0 +#define SAFE_STATE_TO_RUN(S) (\ +(S)==STATE_SELF_TEST_INIT\ +||(S)==STATE_WARM_UP||\ +(S)==STATE_NORMAL_OPERATION\ +) +#else +#define SAFE_STATE_TO_RUN(S) machine.inSafeStateToRun +#endif + +// preprocessor logic for core specific WDT implimentation here.... +#include <Adafruit_SleepyDog.h> + +static void RED (uint8_t kwIndex, uint8_t verb,char *args) ; + +class SafetyThird { + + private: + bool _eStop; + bool _prevEStop; + bool _prevLightCurtain; + + Task _doDoRunRun; + + public: + + bool _lightCurtain; + bool _lightCurtainReset; + + static void LCS(uint8_t kwIndex, uint8_t verb, char *args) { + safety.first(); + monitor.update("LCS","%s",safety._lightCurtain?"ON":"OFF"); + } + + static void LCR(uint8_t kwIndex, uint8_t verb, char *args) { + if (verb=='!') { + safety._lightCurtainReset = (atoi(args)); + digitalWrite(START_PIN,safety._lightCurtainReset); + } + safety.first(); + monitor.update("LCR","%s",safety._lightCurtainReset?"ON":"OFF"); + } + + static void run() {safety.first();} + + void first () { // could also be called paranoia. +#ifdef CAN_READ_ESTOP + _eStop = (digitalRead(E_STOP_PIN)==E_STOP_PULLED ); +#else + _eStop = ! E_STOP_PULLED; +#endif + _lightCurtain = (digitalRead(OSDD_PIN) == CURTAIN_NOT_CLEAR); + int state = machine.state(); + if ((SAFE_STATE_TO_RUN (state)) + && !(_eStop) + && !(_lightCurtain) + ) + { + if (!_prevEStop){ + monitor.update("STP","0 E-STOP Released: Contactors are ON"); + } + if (!_prevLightCurtain){ + monitor.update("LCS","1 WORK AREA CLEARED: Contactors are ON"); + } + + digitalWrite(K1_PIN,KONTACTOR_ON); + } + if (_eStop){ + digitalWrite(K1_PIN,KONTACTOR_OFF); // in most cases this would already be done + if (!_prevEStop){ + monitor.update("STP","1 ESTOP Pushed: Contactors are OFF"); + // fatal.... + + } + } + if (_lightCurtain) { + digitalWrite(K1_PIN,KONTACTOR_OFF); // in most cases this would already be done + if(!_prevLightCurtain){ + + monitor.update("LCS","1 WORK AREA NOT CLEAR: Contactors are OFF"); + // safety pause + + } + } + + _prevEStop=_eStop; + _prevLightCurtain=_lightCurtain; + } + + uint8_t redLed; // red led value prolly bad style + + void init() { + pinMode (E_STOP_PIN, INPUT_PULLUP); + pinMode (OSDD_PIN, INPUT_PULLUP); + pinMode (START_PIN, OUTPUT); + digitalWrite(START_PIN, OK_TO_START); + pinMode (K1_PIN, OUTPUT); + digitalWrite(K1_PIN, KONTACTOR_OFF); + + // http://www.arduino.org/learning/reference/analogwriteresolution + analogWriteResolution(ANALOG_WRITE_RESOLUTION); + analogWrite(LAMP_PIN, redLed * (1 << (ANALOG_WRITE_RESOLUTION - 8) ) ); + + _doDoRunRun.set(77L, TASK_FOREVER, &run); + machine.todolist.addTask(_doDoRunRun); + _doDoRunRun.enable(); + + monitor.registerAction(_RED_, &RED); + monitor.registerAction(_LCS_, &LCS); + monitor.registerAction(_LCR_, &LCR); + } +// bool cleanShutdown(); // let modules know if we are starting normally +// void everythingOff(); +// void run(); +}; + + +static void RED (uint8_t kwIndex, uint8_t verb,char *args) { + safety.redLed = atol(args); + analogWrite(LAMP_PIN, safety.redLed * (1 << (ANALOG_WRITE_RESOLUTION - 8) ) ); +} + + +#endif + |