honor timeouts during calibration

README.md

@@ -221,6 +221,7 @@ Value |Description
 1     |Emergency stop
 2     |Timeout
 3     |Stall detected
+4     |Calibration error
 14    |Invalid command
 15    |No config
 

src/Config.h

@@ -9,7 +9,7 @@
 #ifndef CONFIG_H_
 #define CONFIG_H_
 
-  const char SOFTWARE_VERSION[] = "6.5.5\0";
+  const char SOFTWARE_VERSION[] = "6.5.6\0";
 
   const int LOGGING = 0;
 

src/CurrentState.h

@@ -16,6 +16,7 @@ enum ErrorListEnum
   ERR_EMERGENCY_STOP = 1,
   ERR_TIMEOUT = 2,
   ERR_STALL_DETECTED = 3,
+  ERR_CALIBRATION_ERROR = 4,
 
   ERR_INVALID_COMMAND = 14,
   ERR_PARAMS_NOT_OK = 15,

src/Movement.cpp

@@ -928,7 +928,7 @@ int Movement::calibrateAxis(int axis)
   loadMotorSettings();
   loadEncoderSettings();
 
-  //unsigned long timeStart             = millis();
+  unsigned long timeStart = millis();
 
   bool movementDone = false;
 
@@ -1004,7 +1004,7 @@ int Movement::calibrateAxis(int axis)
     break;
   default:
     Serial.print("R99 Calibration error: invalid axis selected\r\n");
-    error = 1;
+    error = ERR_CALIBRATION_ERROR;
     CurrentState::getInstance()->setLastError(error);
     return error;
   }
@@ -1014,7 +1014,7 @@ int Movement::calibrateAxis(int axis)
   if (calibAxis->endStopMin() || calibAxis->endStopMax())
   {
     Serial.print("R99 Calibration error: end stop active before start\r\n");
-    error = 1;
+    error = ERR_CALIBRATION_ERROR;
     CurrentState::getInstance()->setLastError(error);
     return error;
   }
@@ -1059,6 +1059,41 @@ int Movement::calibrateAxis(int axis)
 
     checkAxisVsEncoder(calibAxis, calibEncoder, &motorConsMissedSteps[axis], &motorLastPosition[axis], &motorConsEncoderLastPosition[axis], &motorConsEncoderUseForPos[axis], &motorConsMissedStepsDecay[axis], &motorConsEncoderEnabled[axis]);
 
+    // Check timeouts
+    if (!movementDone && ((millis() >= timeStart && millis() - timeStart > timeOut[axis] * 1000) || (millis() < timeStart && millis() > timeOut[axis] * 1000)))
+    {
+      calibAxis->disableMotor();
+      switch (axis)
+      {
+      case 0:
+        Serial.print(COMM_REPORT_TIMEOUT_X);
+        CurrentState::getInstance()->printQAndNewLine();
+        Serial.print("R99 timeout X axis\r\n");
+        error = ERR_TIMEOUT;
+        CurrentState::getInstance()->setLastError(error);
+        return error;
+      case 1:
+        Serial.print(COMM_REPORT_TIMEOUT_Y);
+        CurrentState::getInstance()->printQAndNewLine();
+        Serial.print("R99 timeout Y axis\r\n");
+        error = ERR_TIMEOUT;
+        CurrentState::getInstance()->setLastError(error);
+        return error;
+      case 2:
+        Serial.print(COMM_REPORT_TIMEOUT_Z);
+        CurrentState::getInstance()->printQAndNewLine();
+        Serial.print("R99 timeout Z axis\r\n");
+        error = ERR_TIMEOUT;
+        CurrentState::getInstance()->setLastError(error);
+        return error;
+      default:
+        Serial.print("R99 Calibration error: invalid axis selected\r\n");
+        error = ERR_CALIBRATION_ERROR;
+        CurrentState::getInstance()->setLastError(error);
+        return error;
+      }
+    }
+
     // Check if there is an emergency stop command
     if (Serial.available() > 0)
     {
@@ -1070,7 +1105,7 @@ int Movement::calibrateAxis(int axis)
         CurrentState::getInstance()->setEmergencyStop();
         Serial.print(COMM_REPORT_EMERGENCY_STOP);
         CurrentState::getInstance()->printQAndNewLine();
-        error = 1;
+        error = ERR_EMERGENCY_STOP;
       }
     }
 
@@ -1175,6 +1210,8 @@ int Movement::calibrateAxis(int axis)
   Serial.print(" calibrating length");
   Serial.print("\r\n");
 
+  timeStart = millis();
+
   stepsCount = 0;
   movementDone = false;
   *missedSteps = 0;
@@ -1201,6 +1238,41 @@ int Movement::calibrateAxis(int axis)
 
     checkAxisVsEncoder(calibAxis, calibEncoder, &motorConsMissedSteps[axis], &motorLastPosition[axis], &motorConsEncoderLastPosition[axis], &motorConsEncoderUseForPos[axis], &motorConsMissedStepsDecay[axis], &motorConsEncoderEnabled[axis]);
 
+    // Check timeouts
+    if (!movementDone && ((millis() >= timeStart && millis() - timeStart > timeOut[axis] * 1000) || (millis() < timeStart && millis() > timeOut[axis] * 1000)))
+    {
+      calibAxis->disableMotor();
+      switch (axis)
+      {
+      case 0:
+        Serial.print(COMM_REPORT_TIMEOUT_X);
+        CurrentState::getInstance()->printQAndNewLine();
+        Serial.print("R99 timeout X axis\r\n");
+        error = ERR_TIMEOUT;
+        CurrentState::getInstance()->setLastError(error);
+        return error;
+      case 1:
+        Serial.print(COMM_REPORT_TIMEOUT_Y);
+        CurrentState::getInstance()->printQAndNewLine();
+        Serial.print("R99 timeout Y axis\r\n");
+        error = ERR_TIMEOUT;
+        CurrentState::getInstance()->setLastError(error);
+        return error;
+      case 2:
+        Serial.print(COMM_REPORT_TIMEOUT_Z);
+        CurrentState::getInstance()->printQAndNewLine();
+        Serial.print("R99 timeout Z axis\r\n");
+        error = ERR_TIMEOUT;
+        CurrentState::getInstance()->setLastError(error);
+        return error;
+      default:
+        Serial.print("R99 Calibration error: invalid axis selected\r\n");
+        error = ERR_CALIBRATION_ERROR;
+        CurrentState::getInstance()->setLastError(error);
+        return error;
+      }
+    }
+
     // Check if there is an emergency stop command
     if (Serial.available() > 0)
     {
@@ -1212,7 +1284,7 @@ int Movement::calibrateAxis(int axis)
         CurrentState::getInstance()->setEmergencyStop();
         Serial.print(COMM_REPORT_EMERGENCY_STOP);
         CurrentState::getInstance()->printQAndNewLine();
-        error = 1;
+        error = ERR_EMERGENCY_STOP;
       }
     }