Merge pull request #494 from ashelly/homing-alarm
Alarm if limits engaged on homing start.
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commit
041109410a
@ -240,6 +240,18 @@ void mc_dwell(float seconds)
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// executing the homing cycle. This prevents incorrect buffered plans after homing.
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// executing the homing cycle. This prevents incorrect buffered plans after homing.
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void mc_homing_cycle()
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void mc_homing_cycle()
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{
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{
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uint8_t limits_on;
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if (bit_istrue(settings.flags,BITFLAG_INVERT_LIMIT_PINS)) {
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limits_on = ((~LIMIT_PIN) & LIMIT_MASK);
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} else {
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limits_on = (LIMIT_PIN & LIMIT_MASK);
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}
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if (limits_on) {
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mc_reset(); // Issue system reset and ensure spindle and coolant are shutdown.
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bit_true_atomic(sys.execute, (EXEC_ALARM | EXEC_CRIT_EVENT)); // Indicate homing limit critical event
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return;
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}
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sys.state = STATE_HOMING; // Set system state variable
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sys.state = STATE_HOMING; // Set system state variable
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limits_disable(); // Disable hard limits pin change register for cycle duration
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limits_disable(); // Disable hard limits pin change register for cycle duration
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