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Diffstat (limited to 'src/SafetyThird.h')
| -rwxr-xr-x | src/SafetyThird.h | 198 |
1 files changed, 198 insertions, 0 deletions
diff --git a/src/SafetyThird.h b/src/SafetyThird.h new file mode 100755 index 0000000..3b318a5 --- /dev/null +++ b/src/SafetyThird.h @@ -0,0 +1,198 @@ +/*-----------------------------------------------------------------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 "Configuration.h" +#include "Monitor.h" + +class SafetyThird; +extern SafetyThird safety; +#define RED_FULL_ON (255 * (1 << (ANALOG_WRITE_RESOLUTION - 8))) +#define RED_OFF 0 + +// 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; + // put the contactor variables back here + // mebby look at the light curtain as well + Task _doDoRunRun; + +public: + + bool _lightCurtain; + bool _lightCurtainReset; + +#ifdef LIGHT_CURTAIN_START_PIN + static void LCS(uint8_t kwIndex, uint8_t verb, char *args) { + // + // set logic here + // + monitor.update("LCS","%s",safety._lightCurtain?"ON":"OFF"); + safety.first(); + } + + static void LCR(uint8_t kwIndex, uint8_t verb, char *args) { + if (verb=='!') { + safety._lightCurtainReset = (atoi(args)); + digitalWrite(LIGHT_CURTAIN_START_PIN,safety._lightCurtainReset); + } + safety.first(); + monitor.update("LCR","%s",safety._lightCurtainReset?"ON":"OFF"); + } +#endif + + static void run() {safety.first();} + + void first () { // could also be called paranoia. + +#ifdef E_STOP_PIN + _eStop = (digitalRead(E_STOP_PIN)==E_STOP_PULLED ); +#else + _eStop = false; +#endif + +#ifdef LIGHT_CURTAIN_OSDD_PIN + _lightCurtain = (digitalRead(LIGHT_CURTAIN_OSDD_PIN) == LIGHT_CURTAIN_NOT_CLEAR); +#else + _lightCurtain = false; +#endif + if ((machine.inSafeStateToRun) + && (_eStop) + ) + { + monitor.update("STP","1 ESTOP Pushed: Initiating Emergency Stop"); + machine.setState(STATE_E_SHUTDOWN); + } + if (_eStop!=_prevEStop) { + _eStop = _prevEStop; + if (_eStop){ + // probably should warn or alert! + monitor.update("STP","1 ESTOP Pushed: Contactors are OFF"); +#ifdef K1_PIN + digitalWrite(K1_PIN,KONTACTOR_OFF); +#endif + } else { + monitor.update("STP","0 E-STOP Released: Contactors are ON"); +#ifdef K1_PIN + digitalWrite(K1_PIN,KONTACTOR_ON); +#endif + } + } + // + // this is rough... Fix when there is hardware to test with + // + if(_lightCurtain!=_prevLightCurtain) { + if (_lightCurtain) { +#ifdef K1_PIN + digitalWrite(K1_PIN,KONTACTOR_OFF); +#endif + } else { +#ifdef K1_PIN + digitalWrite(K1_PIN,KONTACTOR_OFF); +#endifâ„ + } + monitor.update("LCS","%s",_lightCurtain?"ON":"OFF"); + } + _prevLightCurtain=_lightCurtain; + _prevEStop=_eStop; + } + uint redLightVal; // red led value prolly bad style + + void redLight(int newVal) { + if(newVal!=redLightVal) { + redLightVal=newVal; + monitor.update("RED","%d",redLightVal); + } +#ifdef SAFETY_LAMP_PIN + analogWrite(SAFETY_LAMP_PIN, safety.redLightVal * (1 << (ANALOG_WRITE_RESOLUTION - 8) ) ); +#endif + } + + void init() { +#ifdef E_STOP_PIN + pinMode (E_STOP_PIN, INPUT_PULLUP); +#endif + + // Might move this to machine or other more generic place. + // http://www.arduino.org/learning/reference/analogwriteresolution + analogWriteResolution(ANALOG_WRITE_RESOLUTION); +#ifdef LIGHT_CURTAIN_RESET_PIN + _lightCurtainReset = true; + digitalWrite(LIGHT_CURTAIN_START_PIN,LIGHT_CURTAIN_START); +#else + _lightCurtainReset = false; +#endif + _prevLightCurtain=false; + _prevEStop=false; + + redLight(redLightVal=RED_OFF); + _doDoRunRun.set(77L, TASK_FOREVER, &run); + machine.todolist.addTask(_doDoRunRun); + _doDoRunRun.enable(); + + monitor.registerAction(_RED_, &RED); + } +}; + +static void RED (uint8_t kwIndex, uint8_t verb,char *args) { + // monitor update? + safety.redLight(atol(args)); + +} + + +#endif + |