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Merge pull request #494 from ashelly/homing-alarm

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Alarm if limits engaged on homing start.
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Sonny Jeon 2014-09-20 08:52:15 -06:00
commit 041109410a
1 changed files with 12 additions and 0 deletions
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12
motion_control.c
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@ -240,6 +240,18 @@ void mc_dwell(float seconds)
// executing the homing cycle. This prevents incorrect buffered plans after homing.
void mc_homing_cycle()
{
uint8_t limits_on;
if (bit_istrue(settings.flags,BITFLAG_INVERT_LIMIT_PINS)) {
limits_on = ((~LIMIT_PIN) & LIMIT_MASK);
} else {
limits_on = (LIMIT_PIN & LIMIT_MASK);
}
if (limits_on) {
mc_reset(); // Issue system reset and ensure spindle and coolant are shutdown.
bit_true_atomic(sys.execute, (EXEC_ALARM | EXEC_CRIT_EVENT)); // Indicate homing limit critical event
return;
}
sys.state = STATE_HOMING; // Set system state variable
limits_disable(); // Disable hard limits pin change register for cycle duration