From 9a5864f6335e9db313e2039a424d614769712e95 Mon Sep 17 00:00:00 2001
From: "Mikhail Basov (NeedleFile)" <mikhail[at]basov[dot]net>
Date: Fri, 24 Dec 2021 00:11:14 +0300
Subject: [PATCH] Add emergency endstop support

---
 PETCTL.ino   | 21 ++++++++++++++++++++-
 PETCTL_cfg.h |  2 ++
 2 files changed, 22 insertions(+), 1 deletion(-)

diff --git a/PETCTL.ino b/PETCTL.ino
index 606c70d..024a933 100644
--- a/PETCTL.ino
+++ b/PETCTL.ino
@@ -64,6 +64,7 @@ void setup() {
 #endif //SERIAL_DEBUG_STEPPER
 
   pinMode(CFG_ENDSTOP_PIN, INPUT_PULLUP);
+  pinMode(CFG_EMENDSTOP_PIN, INPUT_PULLUP);
   pinMode(CFG_SOUND_PIN, OUTPUT);
   
   stepper.setRunMode(KEEP_SPEED);   // режим поддержания скорости
@@ -93,7 +94,7 @@ void setup() {
   oled.println("PETCTL");
   oled.setScale(1);
   oled.setCursor(20, 7);
-  oled.print("mvb    V 0.9");
+  oled.print("mvb   V 0.10");
   delay(3000);
  
   oled.clear();
@@ -233,6 +234,24 @@ void loop() {
       oled.println("   ");
       finalLength = 0;
     }
+    
+    oled.setCursorXY(112, 24);
+    if(!digitalRead(CFG_EMENDSTOP_PIN)) {
+      if(!runMotor) {
+        oled.setScale(2);
+        oled.println("X");
+      } else {
+        runMotor = false;
+        motorCTL(-1);
+        Heat = false;
+        printHeaterStatus(Heat);
+        beepI();
+        beepI();
+       }
+    } else {
+      oled.setScale(2);
+      oled.println(" ");
+    } 
 }
 
 void debugTemp(float temp, int out) {
diff --git a/PETCTL_cfg.h b/PETCTL_cfg.h
index 00a7d1b..ec05461 100644
--- a/PETCTL_cfg.h
+++ b/PETCTL_cfg.h
@@ -36,6 +36,8 @@
 #define CFG_ENDSTOP_PIN 8
 /* Extra length to pull after end stop triggered [m] */
 #define CFG_PULL_EXTRA_LENGTH 0.07
+/* Which pin emergency endstop connected to */
+#define CFG_EMENDSTOP_PIN 11
 /* PID regulator coefficients */
 //PID p: 12.69  PID i: 0.71 PID d: 57.11
 #define CFG_PID_P 12.69