From 8328827059b229c0b6938b05f45364b2b1b37b96 Mon Sep 17 00:00:00 2001
From: Stefan Hechenberger <stefan@nortd.com>
Date: Sun, 12 Feb 2012 20:14:48 +0100
Subject: [PATCH] merging, pausing on external input

---
 flash.py        |  2 +-
 gcode.c         |  2 +-
 main.c          |  2 +-
 sense_control.c |  6 +++---
 sense_control.h |  6 +++---
 stepper.c       | 10 ++++++++--
 stepper.h       |  2 +-
 7 files changed, 18 insertions(+), 12 deletions(-)

diff --git a/flash.py b/flash.py
index 5e90e00dc..dc0e421e7 100644
--- a/flash.py
+++ b/flash.py
@@ -70,7 +70,7 @@ def build():
     BITRATE = "115200"
 
     BUILDNAME = "LasaurGrbl"
-    OBJECTS  = ["main", "serial", "gcode", "planner", "io_control", "stepper"]
+    OBJECTS  = ["main", "serial", "gcode", "planner", "sense_control", "stepper"]
              
     COMPILE = AVRGCCAPP + " -Wall -Os -DF_CPU=" + CLOCK + " -mmcu=" + DEVICE + " -I. -ffunction-sections"
 
diff --git a/gcode.c b/gcode.c
index b10f0b0b5..16ccf4a61 100644
--- a/gcode.c
+++ b/gcode.c
@@ -28,7 +28,7 @@
 #include "gcode.h"
 #include "config.h"
 #include "serial.h"
-#include "io_control.h"
+#include "sense_control.h"
 #include "planner.h"
 #include "stepper.h"
 
diff --git a/main.c b/main.c
index 3ed768bb8..1c445237d 100644
--- a/main.c
+++ b/main.c
@@ -22,7 +22,7 @@
 #include "config.h"
 #include "planner.h"
 #include "stepper.h"
-#include "io_control.h"
+#include "sense_control.h"
 #include "gcode.h"
 #include "serial.h"
 
diff --git a/sense_control.c b/sense_control.c
index d85f9511d..4fa720f54 100644
--- a/sense_control.c
+++ b/sense_control.c
@@ -1,5 +1,5 @@
 /*
-  io_control.h - controlling sensors and actuators
+  sense_control.h - sensing and controlling inputs and outputs
   Part of LasaurGrbl
 
   Copyright (c) 2011 Stefan Hechenberger
@@ -19,7 +19,7 @@
 #include <util/delay.h>
 #include <math.h>
 #include <stdlib.h>
-#include "io_control.h"
+#include "sense_control.h"
 #include "stepper.h"
 #include "planner.h"
 
@@ -57,7 +57,7 @@ void control_init() {
   
   //// limits overwrite control
   LIMITS_OVERWRITE_DDR |= 1<<LIMITS_OVERWRITE_BIT;  // define as output pin
-  control_limits_overwrite(false);    
+  control_limits_overwrite(true);  // do not use hardware logic to stop steppers    
 }
 
 
diff --git a/sense_control.h b/sense_control.h
index 2136552b9..f973eb6e9 100644
--- a/sense_control.h
+++ b/sense_control.h
@@ -1,5 +1,5 @@
 /*
-  io_control.h - controlling sensors and actuators
+  sense_control.h - sensing and controlling inputs and outputs
   Part of LasaurGrbl
 
   Copyright (c) 2011 Stefan Hechenberger
@@ -15,8 +15,8 @@
   GNU General Public License for more details.
 */
 
-#ifndef io_control_h
-#define io_control_h
+#ifndef sense_control_h
+#define sense_control_h
 
 #include <stdbool.h>
 
diff --git a/stepper.c b/stepper.c
index 681c194bc..444fc159c 100644
--- a/stepper.c
+++ b/stepper.c
@@ -1,5 +1,5 @@
 /*
-  stepper.c - stepper motor driver
+  stepper.c - stepper motor pulse generation
   Processes block from the queue generated by the planer and pulses
   steppers accordingly via a dynamically adapted timer interrupt.
   Part of LasaurGrbl
@@ -48,7 +48,7 @@
 #include "stepper.h"
 #include "config.h"
 #include "planner.h"
-#include "io_control.h"
+#include "sense_control.h"
 
 
 #define CYCLES_PER_MICROSECOND (F_CPU/1000000)  //16000000/1000000 = 16
@@ -189,6 +189,12 @@ ISR(TIMER1_COMPA_vect) {
   if (busy) { return; } // The busy-flag is used to avoid reentering this interrupt
   if (stop_requested) { stepper_go_idle(); stop_requested = false; }
   
+  if (SENSE_ANY) {
+    // no power (e-stop), no chiller, door open, limit switch situation
+    // pause operation
+    return;
+  }
+  
   // pulse steppers
   STEPPING_PORT = (STEPPING_PORT & ~DIRECTION_MASK) | (out_bits & DIRECTION_MASK);
   STEPPING_PORT = (STEPPING_PORT & ~STEPPING_MASK) | out_bits;
diff --git a/stepper.h b/stepper.h
index 07b3cdd9c..ad0876d56 100644
--- a/stepper.h
+++ b/stepper.h
@@ -1,5 +1,5 @@
 /*
-  stepper.c - stepper motor driver
+  stepper.c - stepper motor pulse generation
   Processes block from the queue generated by the planer and pulses
   steppers accordingly via a dynamically adapted timer interrupt.
   Part of LasaurGrbl