SoftLimits do not require $x

bdring · Aug 4, 2023 · 3b4cc9f · 3b4cc9f
1 parent 50f06ab
commit 3b4cc9f
Showing 1 changed file with 13 additions and 3 deletions.
diff --git a/FluidNC/src/Protocol.cpp b/FluidNC/src/Protocol.cpp
@@ -418,10 +418,16 @@ static void protocol_do_alarm(void* alarmVoid) {
  spindle->stop();
  }
  alarm_msg(lastAlarm);
- if (lastAlarm == ExecAlarm::HardLimit || lastAlarm == ExecAlarm::SoftLimit || lastAlarm == ExecAlarm::HardStop) {
+ if (lastAlarm == ExecAlarm::HardLimit || lastAlarm == ExecAlarm::HardStop) {
  sys.state = State::Critical; // Set system alarm state
  report_error_message(Message::CriticalEvent);
  protocol_disable_steppers();
+ Homing::set_all_axes_unhomed();
+ return;
+ }
+ if (lastAlarm == ExecAlarm::SoftLimit) {
+ sys.state = State::Critical; // Set system alarm state
+ report_error_message(Message::CriticalEvent);
  return;
  }
  sys.state = State::Alarm;
@@ -1045,8 +1051,12 @@ void protocol_do_rt_reset() {
  Stepper::stop_stepping(); // Stop stepping immediately, possibly losing position
  protocol_do_alarm((void*)ExecAlarm::AbortCycle);
  } else if (sys.state == State::Critical) {
- sys.state = State::Alarm;
- } else {
+ if (Homing::unhomed_axes()) {
+ protocol_do_alarm((void*)ExecAlarm::Unhomed);
+ } else {
+ sys.state = State::Idle;
+ }
+ } else if (sys.state != State::Alarm) {
  sys.state = State::Idle;
  }
  protocol_do_late_reset();