Handle expander errors during pin initialization

bdring · Mar 10, 2025 · b585b4d · b585b4d
1 parent 18aff2e
commit b585b4d
Show file tree

Hide file tree

Showing 3 changed files with 22 additions and 10 deletions.
diff --git a/FluidNC/src/Channel.cpp b/FluidNC/src/Channel.cpp
@@ -180,14 +180,11 @@ void Channel::handleRealtimeCharacter(uint8_t ch) {
 
     _active = true;
     if (cmd == PinACK) {
-        // log_debug("ACK");
-        _ackwait = false;
+        _ackwait = 0;
         return;
     }
     if (cmd == PinNAK) {
-        log_error("Channel device rejected config");
-        // log_debug("NAK");
-        _ackwait = false;
+        _ackwait = -1;
         return;
     }
 
@@ -247,11 +244,23 @@ Error Channel::pollLine(char* line) {
     return Error::NoData;
 }
 
-void Channel::setAttr(int index, bool* value, const std::string& attrString, const char* tag) {
+bool Channel::setAttr(int index, bool* value, const std::string& attrString, const char* tag) {
     if (value) {
         _pin_values[index] = value;
     }
-    out_acked(attrString, tag);
+    // out_acked(attrString, tag);
+    out(attrString, tag);
+    _ackwait = 1;
+    for (int i = 0; i < 20; i++) {
+        pollLine(nullptr);
+        if (_ackwait < 1) {
+            return _ackwait == 0;
+        }
+        delay_us(100);
+    }
+    _ackwait = 0;
+    log_error("IO Expander is unresponsive");
+    return false;
 }
 
 void Channel::out(const char* s, const char* tag) {

diff --git a/FluidNC/src/Channel.h b/FluidNC/src/Channel.h
@@ -94,7 +94,7 @@ class Channel : public Stream {
     Channel(const char* name, int num, bool addCR = false);
     virtual ~Channel() = default;
 
-    bool _ackwait = false;
+    int _ackwait = 0;  // 1 - waiting, 0 - ACKed, -1 - NAKed
 
     virtual void       handle() {};
     virtual Error      pollLine(char* line);
@@ -191,7 +191,7 @@ class Channel : public Stream {
     virtual void out(const std::string& s, const char* tag);
     virtual void out_acked(const std::string& s, const char* tag);
 
-    void setAttr(int index, bool* valuep, const std::string& s, const char* tag);
+    bool setAttr(int index, bool* valuep, const std::string& s, const char* tag);
 
     void ready();
     void registerEvent(uint8_t code, EventPin* obj);

diff --git a/FluidNC/src/Pins/ChannelPinDetail.cpp b/FluidNC/src/Pins/ChannelPinDetail.cpp
@@ -79,7 +79,10 @@ namespace Pins {
         }
 
         // The second parameter is used to maintain a list of pin values in the Channel
-        _channel->setAttr(_index, _attributes.has(Pins::PinAttributes::Input) ? &this->_value : nullptr, s, "INI:");
+        Assert(_channel->setAttr(_index, _attributes.has(Pins::PinAttributes::Input) ? &this->_value : nullptr, s, "INI:"),
+               "Expander pin configuration failed: %s %s",
+               _channel->name().c_str(),
+               s.c_str());
     }
     PinAttributes ChannelPinDetail::getAttr() const {
         return _attributes;