Merge pull request #34 from Paciente8159/debouncing

Added limit switch software debouncing option to µCNC (on AVR is built around RTC functions)
Paciente8159 · Jun 17, 2021 · b0d8816 · b0d8816
2 parents 91e4599 + ae830f5
commit b0d8816
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Showing 11 changed files with 49 additions and 17 deletions.
diff --git a/uCNC/defaults.h b/uCNC/defaults.h
@@ -80,4 +80,6 @@
 #define DEFAULT_HARD_LIMITS_ENABLED 0
 #define DEFAULT_SOFT_LIMITS_ENABLED 0
 
+#define DEFAULT_DEBOUNCE_MS 250
+
 #endif
diff --git a/uCNC/mcu.h b/uCNC/mcu.h
@@ -105,12 +105,16 @@ void mcu_change_step_ISR(uint16_t ticks, uint16_t prescaller);
 void mcu_step_stop_ISR(void);
 
 //Custom delay function
-//void mcu_delay_ms(uint16_t miliseconds);
 #ifdef RTC_ENABLE
 //gets the mcu running time in ms
 uint32_t mcu_millis();
 #endif
 
+#ifndef mcu_delay_ms
+//Custom delay function
+void mcu_delay_ms(uint32_t miliseconds);
+#endif
+
 //Non volatile memory
 uint8_t mcu_eeprom_getc(uint16_t address);
 void mcu_eeprom_putc(uint16_t address, uint8_t value);

diff --git a/uCNC/mcus/avr/mcu_avr.c b/uCNC/mcus/avr/mcu_avr.c
@@ -943,7 +943,7 @@ static __attribute__((always_inline)) void mcu_delay_1ms(void)
 	}while(--loop);
 }*/
 
-/*void mcu_delay_ms(uint16_t miliseconds)
+/*void mcu_delay_ms(uint32_t miliseconds)
 {
 	do{
 		_delay_ms(1);
@@ -959,6 +959,16 @@ uint32_t mcu_millis()
     return val;
 }
 
+void mcu_delay_ms(uint32_t miliseconds)
+{
+    uint32_t t_start = mcu_runtime_ms;
+    uint32_t t_end = mcu_runtime_ms;
+    while (t_end - t_start < miliseconds)
+    {
+        t_end = mcu_runtime_ms;
+    }
+}
+
 void mcu_start_rtc()
 {
 #if (F_CPU <= 16000000UL)

diff --git a/uCNC/mcus/stm32f10x/mcu_stm32f10x.c b/uCNC/mcus/stm32f10x/mcu_stm32f10x.c
@@ -842,7 +842,7 @@ void mcu_step_stop_ISR(void)
 }
 
 //Custom delay function
-//void mcu_delay_ms(uint16_t miliseconds);
+//void mcu_delay_ms(uint32_t miliseconds);
 
 #ifdef RTC_ENABLE
 //gets the mcu running time in ms

diff --git a/uCNC/mcus/stm32f10x/mcumap_stm32f10x.h b/uCNC/mcus/stm32f10x/mcumap_stm32f10x.h
@@ -29,7 +29,9 @@
 #include "stm32f1xx_hal.h"
 
 //defines the frequency of the mcu
+#ifndef F_CPU
 #define F_CPU 72000000UL
+#endif
 //defines the maximum and minimum step rates
 #define F_STEP_MAX 30000
 #define F_STEP_MIN 4
@@ -3029,4 +3031,6 @@
 #define mcu_enable_interrupts __enable_irq
 #define mcu_disable_interrupts __disable_irq
 
+#define mcu_delay_ms(x) HAL_Delay(x)
+
 #endif
diff --git a/uCNC/mcus/virtual/mcu_virtual.c b/uCNC/mcus/virtual/mcu_virtual.c
@@ -119,9 +119,9 @@ void *comsimul(void)
 		{
 			uart_char = c;
 			serial_rx_isr(c);
-			if(c == '\n' | c=='\r')
+			if (c == '\n' | c == '\r')
 			{
-				while(!serial_rx_is_empty())
+				while (!serial_rx_is_empty())
 				{
 					usleep(1);
 				}
@@ -397,7 +397,7 @@ void mcu_step_stop_ISR(void)
 	pulse_enabled = false;
 }
 
-void mcu_delay_ms(uint16_t miliseconds)
+void mcu_delay_ms(uint32_t miliseconds)
 {
 }
 

diff --git a/uCNC/mcus/virtual/mcumap_virtual.h b/uCNC/mcus/virtual/mcumap_virtual.h
@@ -88,4 +88,6 @@ extern virtports_t virtualports;
 #define COM_INREG virtualports->uart
 #define COM_OUTREG virtualports->uart
 
+#define mcu_dealy_ms(x) delay(x)
+
 #endif
diff --git a/uCNC/motion_control.c b/uCNC/motion_control.c
@@ -72,7 +72,7 @@ bool mc_toogle_checkmode(void)
 // 2. applies all kinematic transformations to the target
 // 3. converts the target in actuator position
 // 4. calculates motion change from the previous line
-uint8_t mc_line(float *target, motion_data_t* block_data)
+uint8_t mc_line(float *target, motion_data_t *block_data)
 {
     uint32_t step_new_pos[STEPPER_COUNT];
     float feed = block_data->feed;
@@ -212,7 +212,7 @@ uint8_t mc_line(float *target, motion_data_t* block_data)
 }
 
 //applies an algorithm similar to grbl with slight changes
-uint8_t mc_arc(float *target, float center_offset_a, float center_offset_b, float radius, uint8_t axis_0, uint8_t axis_1, bool isclockwise, motion_data_t* block_data)
+uint8_t mc_arc(float *target, float center_offset_a, float center_offset_b, float radius, uint8_t axis_0, uint8_t axis_1, bool isclockwise, motion_data_t *block_data)
 {
     float mc_position[AXIS_COUNT];
 
@@ -253,7 +253,7 @@ uint8_t mc_arc(float *target, float center_offset_a, float center_offset_b, floa
     radiusangle = fast_flt_div2(radiusangle);
     float diameter = fast_flt_mul2(radius);
     uint16_t segment_count = floor(fabs(radiusangle) / sqrt(g_settings.arc_tolerance * (diameter - g_settings.arc_tolerance)));
-    float arc_per_sgm = (segment_count != 0) ? arc_angle/segment_count : arc_angle;
+    float arc_per_sgm = (segment_count != 0) ? arc_angle / segment_count : arc_angle;
     float dist_sgm = 0;
 
     //for all other axis finds the linear motion distance
@@ -343,7 +343,7 @@ uint8_t mc_arc(float *target, float center_offset_a, float center_offset_b, floa
     return mc_line(target, block_data);
 }
 
-uint8_t mc_dwell(motion_data_t* block_data)
+uint8_t mc_dwell(motion_data_t *block_data)
 {
     if (mc_checkmode) // check mode (gcode simulation) doesn't send code to planner
     {
@@ -433,6 +433,7 @@ uint8_t mc_home_axis(uint8_t axis, uint8_t axis_limit)
         return EXEC_ALARM_HOMING_FAIL_RESET;
     }
 
+    mcu_delay_ms(g_settings.debounce_ms); //adds a delay before reading io pin (debounce)
     limits_flags = io_get_limits();
 
     //the wrong switch was activated bails
@@ -473,6 +474,7 @@ uint8_t mc_home_axis(uint8_t axis, uint8_t axis_limit)
         }
     } while (cnc_get_exec_state(EXEC_RUN));
 
+    mcu_delay_ms(g_settings.debounce_ms); //adds a delay before reading io pin (debounce)
     //resets limit mask
     g_settings.limits_invert_mask ^= axis_limit;
     //stops, flushes buffers and clears the hold if active
@@ -486,6 +488,7 @@ uint8_t mc_home_axis(uint8_t axis, uint8_t axis_limit)
         return EXEC_ALARM_HOMING_FAIL_RESET;
     }
 
+    mcu_delay_ms(g_settings.debounce_ms); //adds a delay before reading io pin (debounce)
     limits_flags = io_get_limits();
 
     if (CHECKFLAG(limits_flags, axis_limit))
@@ -496,7 +499,7 @@ uint8_t mc_home_axis(uint8_t axis, uint8_t axis_limit)
     return STATUS_OK;
 }
 
-uint8_t mc_update_tools(motion_data_t* block_data)
+uint8_t mc_update_tools(motion_data_t *block_data)
 {
     if (mc_checkmode) // check mode (gcode simulation) doesn't send code to planner
     {
@@ -516,7 +519,7 @@ uint8_t mc_update_tools(motion_data_t* block_data)
     return STATUS_OK;
 }
 
-uint8_t mc_probe(float *target, bool invert_probe, motion_data_t* block_data)
+uint8_t mc_probe(float *target, bool invert_probe, motion_data_t *block_data)
 {
 #ifdef PROBE
     uint8_t prev_state = cnc_get_exec_state(EXEC_HOLD);
@@ -531,8 +534,8 @@ uint8_t mc_probe(float *target, bool invert_probe, motion_data_t* block_data)
             return STATUS_CRITICAL_FAIL;
         }
 
-        #if(defined(FORCE_SOFT_POLLING) || (PROBEEN_MASK!=PROBEISR_MASK))
-        if(io_get_probe())
+#if (defined(FORCE_SOFT_POLLING) || (PROBEEN_MASK != PROBEISR_MASK))
+        if (io_get_probe())
         {
             io_probe_isr();
             break;
@@ -545,6 +548,7 @@ uint8_t mc_probe(float *target, bool invert_probe, motion_data_t* block_data)
     itp_clear();
     planner_clear();
     cnc_clear_exec_state(~prev_state & EXEC_HOLD); //restores HOLD previous state
+    mcu_delay_ms(g_settings.debounce_ms);          //adds a delay before reading io pin (debounce)
     bool probe_notok = (!invert_probe) ? io_get_probe() : !io_get_probe();
     if (probe_notok)
     {

diff --git a/uCNC/protocol.c b/uCNC/protocol.c
@@ -501,6 +501,7 @@ void protocol_send_ucnc_settings(void)
     protocol_send_gcode_setting_line_int(23, g_settings.homing_dir_invert_mask);
     protocol_send_gcode_setting_line_flt(24, g_settings.homing_slow_feed_rate);
     protocol_send_gcode_setting_line_flt(25, g_settings.homing_fast_feed_rate);
+    protocol_send_gcode_setting_line_int(26, g_settings.debounce_ms);
     protocol_send_gcode_setting_line_flt(27, g_settings.homing_offset);
     protocol_send_gcode_setting_line_flt(30, g_settings.spindle_max_rpm);
     protocol_send_gcode_setting_line_flt(31, g_settings.spindle_min_rpm);

diff --git a/uCNC/settings.c b/uCNC/settings.c
@@ -27,8 +27,8 @@
 #include "parser.h"
 #include "cnc.h"
 
-//if settings struct is changed this version has to change too
-#define SETTINGS_VERSION "V02"
+//if settings struct is changed this version should change too
+#define SETTINGS_VERSION "V03"
 
 settings_t g_settings;
 
@@ -189,7 +189,8 @@ const settings_t __rom__ default_settings =
         .hard_limits_enabled = DEFAULT_HARD_LIMITS_ENABLED,
         .homing_enabled = DEFAULT_HOMING_ENABLED,
         .spindle_max_rpm = DEFAULT_SPINDLE_MAX_RPM,
-        .spindle_min_rpm = DEFAULT_SPINDLE_MIN_RPM};
+        .spindle_min_rpm = DEFAULT_SPINDLE_MIN_RPM,
+        .debounce_ms = DEFAULT_DEBOUNCE_MS};
 
 //static uint8_t settings_crc;
 
@@ -357,6 +358,9 @@ uint8_t settings_change(uint8_t setting, float value)
     case 25:
         g_settings.homing_fast_feed_rate = value;
         break;
+    case 26:
+        g_settings.debounce_ms = value16;
+        break;
     case 27:
         g_settings.homing_offset = value;
         break;

diff --git a/uCNC/settings.h b/uCNC/settings.h
@@ -42,6 +42,7 @@ typedef struct
     bool soft_limits_enabled;
     bool hard_limits_enabled;
     bool homing_enabled;
+    uint16_t debounce_ms;
     uint8_t homing_dir_invert_mask;
     float homing_fast_feed_rate;
     float homing_slow_feed_rate;