Minor changes and added notes to soft limits routines.

- Changed up mc_line to accept an array rather than individual x,y,z
coordinates. Makes some of the position data handling more effective,
especially for a 4th-axis later on.

- Changed up some soft limits variable names.

gcode.c

@@ -321,14 +321,14 @@ uint8_t gc_execute_line(char *line)
             target[i] = gc.position[i];
           }
         }
-        mc_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], -1.0, false);
+        mc_line(target, -1.0, false);
       }
       // Retreive G28/30 go-home position data (in machine coordinates) from EEPROM
       float coord_data[N_AXIS];
       uint8_t home_select = SETTING_INDEX_G28;
       if (non_modal_action == NON_MODAL_GO_HOME_1) { home_select = SETTING_INDEX_G30; }
       if (!settings_read_coord_data(home_select,coord_data)) { return(STATUS_SETTING_READ_FAIL); }
-      mc_line(coord_data[X_AXIS], coord_data[Y_AXIS], coord_data[Z_AXIS], -1.0, false); 
+      mc_line(coord_data, -1.0, false); 
       memcpy(gc.position, coord_data, sizeof(coord_data)); // gc.position[] = coord_data[];
       axis_words = 0; // Axis words used. Lock out from motion modes by clearing flags.
       break;
@@ -399,7 +399,7 @@ uint8_t gc_execute_line(char *line)
         break;
       case MOTION_MODE_SEEK:
         if (!axis_words) { FAIL(STATUS_INVALID_STATEMENT);} 
-        else { mc_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], -1.0, false); }
+        else { mc_line(target, -1.0, false); }
         break;
       case MOTION_MODE_LINEAR:
         // TODO: Inverse time requires F-word with each statement. Need to do a check. Also need
@@ -407,8 +407,7 @@ uint8_t gc_execute_line(char *line)
         // and after an inverse time move and then check for non-zero feed rate each time. This
         // should be efficient and effective.
         if (!axis_words) { FAIL(STATUS_INVALID_STATEMENT);} 
-        else { mc_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], 
+        else { mc_line(target, (gc.inverse_feed_rate_mode) ? inverse_feed_rate : gc.feed_rate, gc.inverse_feed_rate_mode); }
-          (gc.inverse_feed_rate_mode) ? inverse_feed_rate : gc.feed_rate, gc.inverse_feed_rate_mode); }
         break;
       case MOTION_MODE_CW_ARC: case MOTION_MODE_CCW_ARC:
         // Check if at least one of the axes of the selected plane has been specified. If in center 

motion_control.c

@@ -48,24 +48,31 @@
 // However, this keeps the memory requirements lower since it doesn't have to call and hold two 
 // plan_buffer_lines in memory. Grbl only has to retain the original line input variables during a
 // backlash segment(s).
-void mc_line(float x, float y, float z, float feed_rate, uint8_t invert_feed_rate)
+void mc_line(float *target, float feed_rate, uint8_t invert_feed_rate)
 {
   // TO TEST: Perform soft limit check here. Just check if the target x,y,z values are outside the 
   // work envelope. Should be straightforward and efficient. By placing it here, rather than in 
   // the g-code parser, it directly picks up motions from everywhere in Grbl.
-  if (bit_istrue(settings.flags,BITFLAG_SOFT_LIMIT_ENABLE)) {
+  // TODO: Eventually move the soft limit check into limits.c.
-    if(  (x> settings.mm_soft_limit[X_AXIS])||(y>settings.mm_soft_limit[Y_AXIS])||(z>settings.mm_soft_limit[Z_AXIS])) {
+  if (bit_istrue(settings.flags,BITFLAG_SOFT_LIMIT_ENABLE)) { 
-            if (sys.state != STATE_ALARM) { 
+    uint8_t i;
-                if (bit_isfalse(sys.execute,EXEC_ALARM)) {
+    for (i=0; i<N_AXIS; i++) {
-                    mc_reset(); // Initiate system kill.
+      if ((target[i] < 0) || (target[i] > settings.max_travel[i])) {
-                    report_alarm_message(ALARM_SOFT_LIMIT);
+        // TODO: Need to make this more in-line with the rest of the alarm and runtime execution handling.
-                    sys.state = STATE_ALARM;
+        // Not quite right. Also this should force Grbl to feed hold and exit, rather than stopping and alarm
-                    sys.execute |= EXEC_CRIT_EVENT; // Indicate hard limit critical event 
+        // out. This would help retain machine position, but is this really required?
-                }
+        if (sys.state != STATE_ALARM) { 
-            }
+          if (bit_isfalse(sys.execute,EXEC_ALARM)) {
+            mc_reset(); // Initiate system kill.
+            report_alarm_message(ALARM_SOFT_LIMIT);
+            sys.state = STATE_ALARM;
+            sys.execute |= EXEC_CRIT_EVENT; // Indicate hard limit critical event 
+          }
         }
+      }
+    }
   }
-
+  
   // If in check gcode mode, prevent motion by blocking planner.
   if (sys.state == STATE_CHECK_MODE) { return; }
     
@@ -82,7 +89,7 @@ void mc_line(float x, float y, float z, float feed_rate, uint8_t invert_feed_rat
     protocol_execute_runtime(); // Check for any run-time commands
     if (sys.abort) { return; } // Bail, if system abort.
   } while ( plan_check_full_buffer() );
-  plan_buffer_line(x, y, z, feed_rate, invert_feed_rate);
+  plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], feed_rate, invert_feed_rate);
 
   // If idle, indicate to the system there is now a planned block in the buffer ready to cycle 
   // start. Otherwise ignore and continue on.
@@ -96,6 +103,9 @@ void mc_line(float x, float y, float z, float feed_rate, uint8_t invert_feed_rat
   // when the buffer is completely full and primed; auto-starting, if there was only one g-code 
   // command sent during manual operation; or if a system is prone to buffer starvation, auto-start
   // helps make sure it minimizes any dwelling/motion hiccups and keeps the cycle going. 
+  // NOTE: Moved into main loop and plan_check_full_buffer() as a test. This forces Grbl to process
+  // all of the commands in the serial read buffer or until the planner buffer is full before auto 
+  // cycle starting. Will eventually need to remove the following command.
   // if (sys.auto_start) { st_cycle_start(); }
 }
 
@@ -204,14 +214,14 @@ void mc_arc(float *position, float *target, float *offset, uint8_t axis_0, uint8
       arc_target[axis_0] = center_axis0 + r_axis0;
       arc_target[axis_1] = center_axis1 + r_axis1;
       arc_target[axis_linear] += linear_per_segment;
-      mc_line(arc_target[X_AXIS], arc_target[Y_AXIS], arc_target[Z_AXIS], feed_rate, invert_feed_rate);
+      mc_line(arc_target, feed_rate, invert_feed_rate);
       
       // Bail mid-circle on system abort. Runtime command check already performed by mc_line.
       if (sys.abort) { return; }
     }
   }
   // Ensure last segment arrives at target location.
-  mc_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], feed_rate, invert_feed_rate);
+  mc_line(target, feed_rate, invert_feed_rate);
 }
 
 
@@ -252,22 +262,18 @@ void mc_go_home()
   // Pull-off axes (that have been homed) from limit switches before continuing motion. 
   // This provides some initial clearance off the switches and should also help prevent them 
   // from falsely tripping when hard limits are enabled.
-  int8_t x_dir, y_dir, z_dir;
+  float target[N_AXIS];
-  x_dir = y_dir = z_dir = 0;
+  target[X_AXIS] = target[Y_AXIS] = target[Z_AXIS] = settings.homing_pulloff;
   if (HOMING_LOCATE_CYCLE & (1<<X_AXIS)) { 
-    if (settings.homing_dir_mask & (1<<X_DIRECTION_BIT)) { x_dir = 1; }
+    if (bit_isfalse(settings.homing_dir_mask,(1<<X_DIRECTION_BIT))) { target[X_AXIS] *= -1; }
-    else { x_dir = -1; }
   }
   if (HOMING_LOCATE_CYCLE & (1<<Y_AXIS)) { 
-    if (settings.homing_dir_mask & (1<<Y_DIRECTION_BIT)) { y_dir = 1; }
+    if (bit_isfalse(settings.homing_dir_mask,(1<<Y_DIRECTION_BIT))) { target[Y_AXIS] *= -1; }
-    else { y_dir = -1; }
   }
   if (HOMING_LOCATE_CYCLE & (1<<Z_AXIS)) { 
-    if (settings.homing_dir_mask & (1<<Z_DIRECTION_BIT)) { z_dir = 1; }
+    if (bit_isfalse(settings.homing_dir_mask,(1<<Z_DIRECTION_BIT))) { target[Z_AXIS] *= -1; }
-    else { z_dir = -1; }
   }
-  mc_line(x_dir*settings.homing_pulloff, y_dir*settings.homing_pulloff, 
+  mc_line(target, settings.homing_seek_rate, false);
-          z_dir*settings.homing_pulloff, settings.homing_seek_rate, false);
   st_cycle_start(); // Move it. Nothing should be in the buffer except this motion. 
   plan_synchronize(); // Make sure the motion completes.
   

motion_control.h

@@ -28,7 +28,7 @@
 // Execute linear motion in absolute millimeter coordinates. Feed rate given in millimeters/second
 // unless invert_feed_rate is true. Then the feed_rate means that the motion should be completed in
 // (1 minute)/feed_rate time.
-void mc_line(float x, float y, float z, float feed_rate, uint8_t invert_feed_rate);
+void mc_line(float *target, float feed_rate, uint8_t invert_feed_rate);
 
 // Execute an arc in offset mode format. position == current xyz, target == target xyz, 
 // offset == offset from current xyz, axis_XXX defines circle plane in tool space, axis_linear is

report.c

@@ -174,11 +174,11 @@ void report_grbl_settings() {
   printPgmString(PSTR(" (homing feed, mm/min)\r\n$23=")); printFloat(settings.homing_seek_rate);
   printPgmString(PSTR(" (homing seek, mm/min)\r\n$24=")); printInteger(settings.homing_debounce_delay);
   printPgmString(PSTR(" (homing debounce, msec)\r\n$25=")); printFloat(settings.homing_pulloff);
-  printPgmString(PSTR(" (homing pull-off, mm)\r\n$26=")); printFloat(settings.mm_soft_limit[X_AXIS]);
+  printPgmString(PSTR(" (homing pull-off, mm)\r\n$26=")); printFloat(settings.max_travel[X_AXIS]);
-  printPgmString(PSTR(" (x, max travel)\r\n$27=")); printFloat(settings.mm_soft_limit[Y_AXIS]);
+  printPgmString(PSTR(" (x travel, mm)\r\n$27=")); printFloat(settings.max_travel[Y_AXIS]);
-  printPgmString(PSTR(" (y, max travel)\r\n$28=")); printFloat(settings.mm_soft_limit[Z_AXIS]);
+  printPgmString(PSTR(" (y travel, mm)\r\n$28=")); printFloat(settings.max_travel[Z_AXIS]);
-  printPgmString(PSTR(" (z, max travel)\r\n$29=")); printInteger(bit_istrue(settings.flags,BITFLAG_SOFT_LIMIT_ENABLE));
+  printPgmString(PSTR(" (z travel, mm)\r\n$29=")); printInteger(bit_istrue(settings.flags,BITFLAG_SOFT_LIMIT_ENABLE));
-  printPgmString(PSTR(" (soft limits enabled, bool)\r\n"));  
+  printPgmString(PSTR(" (soft limits, bool)\r\n"));  
 }
 
 

settings.c

@@ -201,10 +201,10 @@ uint8_t settings_store_global_setting(int parameter, float value) {
     case 24: settings.homing_debounce_delay = round(value); break;
     case 25: settings.homing_pulloff = value; break;
     case 26: case 27: case 28:
-    if (value <= 0.0) { return(STATUS_SETTING_VALUE_NEG); } 
+      if (value <= 0.0) { return(STATUS_SETTING_VALUE_NEG); } 
-      settings.mm_soft_limit[parameter-26] = value; break;
+      settings.max_travel[parameter-26] = value; break;
     case 29:
-    if (value) { settings.flags |= BITFLAG_SOFT_LIMIT_ENABLE; }
+      if (value) { settings.flags |= BITFLAG_SOFT_LIMIT_ENABLE; }
       else { settings.flags &= ~BITFLAG_SOFT_LIMIT_ENABLE; }
       break;
     default: 

settings.h

@@ -36,8 +36,8 @@
 #define BITFLAG_AUTO_START         bit(1)
 #define BITFLAG_INVERT_ST_ENABLE   bit(2)
 #define BITFLAG_HARD_LIMIT_ENABLE  bit(3)
-#define BITFLAG_HOMING_ENABLE      bit(4)
+#define BITFLAG_SOFT_LIMIT_ENABLE  bit(4)
-#define BITFLAG_SOFT_LIMIT_ENABLE  bit(5)
+#define BITFLAG_HOMING_ENABLE      bit(5)
 
 // Define EEPROM memory address location values for Grbl settings and parameters
 // NOTE: The Atmega328p has 1KB EEPROM. The upper half is reserved for parameters and
@@ -75,7 +75,7 @@ typedef struct {
   uint8_t stepper_idle_lock_time; // If max value 255, steppers do not disable.
   uint8_t decimal_places;
   float max_velocity[N_AXIS];
-  float mm_soft_limit[N_AXIS];
+  float max_travel[N_AXIS];
 //  uint8_t status_report_mask; // Mask to indicate desired report data.
 } settings_t;
 extern settings_t settings;