Allow non contigous definition of ABC homing endstops

[clinton/Smoothieware.git] / src / modules / tools / endstops / Endstops.cpp

diff --git a/src/modules/tools/endstops/Endstops.cpp b/src/modules/tools/endstops/Endstops.cpp
index 57d105d..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{
@@ -471,7 +484,7 @@ void Endstops::back_off_home(axis_bitmap_t axis)
         slow_rate= homing_axis[Z_AXIS].slow_rate;
 
     } else {
-        // cartesians, concatenate all the moves we need to do into one gcode
+        // cartesians concatenate all the moves we need to do into one gcode
         for( auto& e : homing_axis) {
             if(!axis[e.axis_index]) continue; // only for axes we asked to move
 
@@ -821,7 +834,7 @@ void Endstops::process_home_command(Gcode* gcode)
     // check if on_halt (eg kill or fail)
     if(THEKERNEL->is_halted()) {
         if(!THEKERNEL->is_grbl_mode()) {
-            THEKERNEL->streams->printf("ERROR: Homing cycle failed\n");
+            THEKERNEL->streams->printf("ERROR: Homing cycle failed - check the max_travel settings\n");
         }else{
             THEKERNEL->streams->printf("ALARM: Homing fail\n");
         }
@@ -907,7 +920,7 @@ void Endstops::process_home_command(Gcode* gcode)
         // if limit switches are enabled we must back off endstop after setting home
         back_off_home(haxis);
 
-    } else if(this->move_to_origin_after_home || homing_axis[X_AXIS].pin_info->limit_enable) {
+    } else if(haxis[Z_AXIS] && (this->move_to_origin_after_home || homing_axis[X_AXIS].pin_info->limit_enable)) {
         // deltas are not left at 0,0 because of the trim settings, so move to 0,0 if requested, but we need to back off endstops first
         // also need to back off endstops if limits are enabled
         back_off_home(haxis);
@@ -1167,6 +1180,13 @@ void Endstops::on_get_public_data(void* argument)
         bool *homing = static_cast<bool *>(pdr->get_data_ptr());
         *homing = this->status != NOT_HOMING;
         pdr->set_taken();
+
+    } else if(pdr->second_element_is(get_homed_status_checksum)) {
+        bool *homed = static_cast<bool *>(pdr->get_data_ptr());
+        for (int i = 0; i < 3; ++i) {
+            homed[i]= homing_axis[i].homed;
+        }
+        pdr->set_taken();
     }
 }