Allow non contigous definition of ABC homing endstops

diff --git a/src/modules/communication/GcodeDispatch.cpp b/src/modules/communication/GcodeDispatch.cpp
index 94a6283..147038f 100644 (file)
--- a/src/modules/communication/GcodeDispatch.cpp
+++ b/src/modules/communication/GcodeDispatch.cpp
@@ -260,7 +260,7 @@ try_again:
                                 delete gcode;
                                 return;
 
-                            case 115: // M115 Get firmware version and capabilities
+                            case 115: { // M115 Get firmware version and capabilities
                                 Version vers;
 
                                 new_message.stream->printf("FIRMWARE_NAME:Smoothieware, FIRMWARE_URL:http%%3A//smoothieware.org, X-SOURCE_CODE_URL:https://github.com/Smoothieware/Smoothieware, FIRMWARE_VERSION:%s, X-FIRMWARE_BUILD_DATE:%s, X-SYSTEM_CLOCK:%ldMHz, X-AXES:%d", vers.get_build(), vers.get_build_date(), SystemCoreClock / 1000000, MAX_ROBOT_ACTUATORS);
@@ -279,6 +279,7 @@ try_again:
 
                                 new_message.stream->printf("\nok\n");
                                 return;
+                            }
 
                             case 117: // M117 is a special non compliant Gcode as it allows arbitrary text on the line following the command
                             {    // concatenate the command again and send to panel if enabled

diff --git a/src/modules/tools/endstops/Endstops.cpp b/src/modules/tools/endstops/Endstops.cpp
index 26681ef..efc7d15 100644 (file)
--- a/src/modules/tools/endstops/Endstops.cpp
+++ b/src/modules/tools/endstops/Endstops.cpp
@@ -228,6 +228,7 @@ bool Endstops::load_old_config()
 bool Endstops::load_config()
 {
     bool limit_enabled= false;
+    size_t max_index= 0;
 
     std::array<homing_info_t, k_max_actuators> temp_axis_array; // needs to be at least XYZ, but allow for ABC
     {
@@ -273,6 +274,9 @@ bool Endstops::load_config()
                 continue;
         }
 
+        // keep track of the maximum index that has been defined
+        if(i > max_index) max_index= i;
+
         // init pin struct
         pin_info->debounce= 0;
         pin_info->axis= toupper(axis[0]);
@@ -330,7 +334,8 @@ bool Endstops::load_config()
     // if no pins defined then disable the module
     if(endstops.empty()) return false;
 
-    // copy to the homing_axis array
+    // copy to the homing_axis array, make sure that undefined entries are filled in as well
+    // as the order is important and all slots must be filled upto the max_index
     for (size_t i = 0; i < temp_axis_array.size(); ++i) {
         if(temp_axis_array[i].axis == 0) {
             // was not configured above, if it is XYZ then we need to force a dummy entry
@@ -340,6 +345,14 @@ bool Endstops::load_config()
                 t.axis_index= i;
                 t.pin_info= nullptr; // this tells it that it cannot be used for homing
                 homing_axis.push_back(t);
+
+            }else if(i <= max_index) {
+                // for instance case where we defined C without A or B
+                homing_info_t t;
+                t.axis= 'A' + i;
+                t.axis_index= i;
+                t.pin_info= nullptr; // this tells it that it cannot be used for homing
+                homing_axis.push_back(t);
             }
 
         }else{