From 943a92869f8e46316110b49dbdc599abbbb0c995 Mon Sep 17 00:00:00 2001
From: bartoolina <bartoolina@gmail.com>
Date: Fri, 30 May 2025 18:50:13 +0200
Subject: [PATCH] add estop trigger indicator

---
 src/main.c | 53 +++++++++++++++++++++++++++++++++++++++++++++--------
 1 file changed, 45 insertions(+), 8 deletions(-)

diff --git a/src/main.c b/src/main.c
index f058162..0c21fd4 100644
--- a/src/main.c
+++ b/src/main.c
@@ -54,12 +54,20 @@ ButtonKey_t *inputs[3] = {
 
 uint8_t ext_probe_connected = 0;
 uint8_t estop_triggered = 0;
+uint8_t blink_state = 0;
+uint16_t last_blink_time = 0;
 
 int main(void)
 {
 	LED12_SW_DDR |= (1 << LED12_SW_PIN);
 	LED34_SW_DDR |= (1 << LED34_SW_PIN);
 
+	PROBE_OUT_DDR |= (1<< PROBE_OUT_PIN);
+	ESTOP_OUT_DDR |= (1<< ESTOP_OUT_PIN);
+	
+	PROBE_OUT_PORT |= (1<< PROBE_OUT_PIN);
+	ESTOP_OUT_PORT |= (1<< ESTOP_OUT_PIN);
+
 	led_pwm();
 	timer0_init();
 	adc_init();
@@ -68,15 +76,34 @@ int main(void)
 
 	while (1)
 	{
-		// if (estop_triggered)
-		// {
-		// 	LED12_SW_PORT |= (1 << LED12_SW_PIN);
-		// 	LED34_SW_PORT &= ~(1 << LED34_SW_PIN);
+		if (estop_triggered)
+		{
+			// LED12_SW_PORT |= (1 << LED12_SW_PIN);
+			// LED34_SW_PORT &= ~(1 << LED34_SW_PIN);
 
-		// 	LED12_SW_PORT &= ~(1 << LED12_SW_PIN);
-		// 	LED34_SW_PORT |= (1 << LED34_SW_PIN);
-		// }
-		if (ext_probe_connected != is_device_connected())
+			// LED12_SW_PORT &= ~(1 << LED12_SW_PIN);
+			// LED34_SW_PORT |= (1 << LED34_SW_PIN);
+
+			uint16_t now = ticks100us(); // Musisz mieć funkcję zwracającą czas w ms, np. z timer0
+            if (now - last_blink_time >= 5000) // 0.5 sekundy
+            {
+                last_blink_time = now;
+                blink_state = !blink_state;
+                if (blink_state)
+                {
+                    LED12_SW_PORT |= (1 << LED12_SW_PIN);
+                    LED34_SW_PORT &= ~(1 << LED34_SW_PIN);
+                }
+                else
+                {
+                    LED12_SW_PORT &= ~(1 << LED12_SW_PIN);
+                    LED34_SW_PORT |= (1 << LED34_SW_PIN);
+                }
+            }
+		
+		
+		}
+		else if (ext_probe_connected != is_device_connected())
 		{
 			ext_probe_connected = is_device_connected();
 			if (ext_probe_connected)
@@ -110,7 +137,9 @@ void led_pwm(void)
 
 void probe_int_on(ButtonKey_t *key)
 {
+	PROBE_OUT_PORT &= ~(1 << PROBE_OUT_PIN);
 	LED12_SW_PORT |= (1 << LED12_SW_PIN);
+	
 	if (!ext_probe_connected)
 	{
 		LED34_SW_PORT |= (1 << LED34_SW_PIN);
@@ -119,7 +148,10 @@ void probe_int_on(ButtonKey_t *key)
 
 void probe_int_off(ButtonKey_t *key)
 {
+	estop_triggered = 0; // Reset estop when probe back to normal
+	PROBE_OUT_PORT |= (1 << PROBE_OUT_PIN);
 	LED12_SW_PORT &= ~(1 << LED12_SW_PIN);
+
 	if (!ext_probe_connected)
 	{
 		LED34_SW_PORT &= ~(1 << LED34_SW_PIN);
@@ -128,23 +160,28 @@ void probe_int_off(ButtonKey_t *key)
 
 void probe_ext_on(ButtonKey_t *key)
 {
+	PROBE_OUT_PORT &= ~(1 << PROBE_OUT_PIN);
 	LED34_SW_PORT &= ~(1 << LED34_SW_PIN);
 }
 
 void probe_ext_off(ButtonKey_t *key)
 {
+	estop_triggered = 0; // Reset estop when probe back to normal
+	PROBE_OUT_PORT |= (1 << PROBE_OUT_PIN);
 	LED34_SW_PORT |= (1 << LED34_SW_PIN);
 }
 
 void estop_on(ButtonKey_t *key)
 {
 	estop_triggered = 1;
+	ESTOP_OUT_PORT &= ~(1 << ESTOP_OUT_PIN);
 	// TCCR1A &= ~(1 << COM1A1); // Wyłącz PWM
 	// LED_PWM_PORT &= ~(1 << LED_PWM1_PIN);
 }
 
 void estop_off(ButtonKey_t *key)
 {
+	ESTOP_OUT_PORT |= (1 << ESTOP_OUT_PIN);
 	// TCCR1A |= (1 << COM1A1); // Włącz PWM
 	// LED_PWM_PORT |= (1 << LED_PWM_PIN);
 }
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