added option to ignore limits in rotation axis

- added option to ignore limits in rotation axis
Paciente8159 · Jan 15, 2025 · 0b000ba · 0b000ba
1 parent 1ed8542
commit 0b000ba
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Showing 3 changed files with 59 additions and 36 deletions.
diff --git a/uCNC/cnc_hal_config.h b/uCNC/cnc_hal_config.h
@@ -107,6 +107,14 @@ extern "C"
  */
 // #define ENABLE_XY_SIMULTANEOUS_HOMING
 
+/**
+ * Rotational axis - disable limits after homing
+ * Enable this option if you want to disable the limits for rotation axis to work
+ * allowing them to rotatle freely
+ *
+ */
+// #define DISABLE_ROTATIONAL_AXIS_LIMITS_AFTER_HOMING
+
 /**
  * Rotational axis - force relative distances
  * Enable this option if you want the rotation axis to work in relative distance mode only

diff --git a/uCNC/src/cnc_hal_config_helper.h b/uCNC/src/cnc_hal_config_helper.h
@@ -2002,6 +2002,14 @@ extern "C"
 #define LIMITS_INV_MASK (LIMIT_X_INV_MASK | LIMIT_Y_INV_MASK | LIMIT_Z_INV_MASK | LIMIT_A_INV_MASK | LIMIT_B_INV_MASK | LIMIT_C_INV_MASK)
 #define LIMITS_DUAL_INV_MASK (LIMIT_X2_INV_MASK | LIMIT_Y2_INV_MASK | LIMIT_Z2_INV_MASK)
 
+#ifndef LIMITS_NORMAL_OPERATION_MASK
+#ifdef DISABLE_ROTATIONAL_AXIS_LIMITS_AFTER_HOMING
+#define LIMITS_NORMAL_OPERATION_MASK (LIMIT_A_IO_MASK | LIMIT_B_IO_MASK | LIMIT_C_IO_MASK)
+#else
+#define LIMITS_NORMAL_OPERATION_MASK 0
+#endif
+#endif
+
 #if (ASSERT_PIN(DIN0) && defined(DIN0_ISR))
 #define DIN0_MASK 1
 #else

diff --git a/uCNC/src/core/io_control.c b/uCNC/src/core/io_control.c
@@ -360,6 +360,13 @@ uint8_t io_get_limits(void)
 		result ^= io_invert_limits_mask;
 	}
 
+#if (LIMITS_NORMAL_OPERATION_MASK != 0)
+	if (!cnc_get_exec_state(EXEC_HOMING))
+	{
+		result &= ~LIMITS_NORMAL_OPERATION_MASK;
+	}
+#endif
+
 	return result;
 }
 
@@ -2366,76 +2373,76 @@ int16_t io_get_pinvalue(uint8_t pin)
 		return (io_get_input(DIN31) != 0);
 #endif
 #if ASSERT_PIN(DIN32)
-    case DIN32:
-        return (io_get_input(DIN32) != 0);
+	case DIN32:
+		return (io_get_input(DIN32) != 0);
 #endif
 #if ASSERT_PIN(DIN33)
-    case DIN33:
-        return (io_get_input(DIN33) != 0);
+	case DIN33:
+		return (io_get_input(DIN33) != 0);
 #endif
 #if ASSERT_PIN(DIN34)
-    case DIN34:
-        return (io_get_input(DIN34) != 0);
+	case DIN34:
+		return (io_get_input(DIN34) != 0);
 #endif
 #if ASSERT_PIN(DIN35)
-    case DIN35:
-        return (io_get_input(DIN35) != 0);
+	case DIN35:
+		return (io_get_input(DIN35) != 0);
 #endif
 #if ASSERT_PIN(DIN36)
-    case DIN36:
-        return (io_get_input(DIN36) != 0);
+	case DIN36:
+		return (io_get_input(DIN36) != 0);
 #endif
 #if ASSERT_PIN(DIN37)
-    case DIN37:
-        return (io_get_input(DIN37) != 0);
+	case DIN37:
+		return (io_get_input(DIN37) != 0);
 #endif
 #if ASSERT_PIN(DIN38)
-    case DIN38:
-        return (io_get_input(DIN38) != 0);
+	case DIN38:
+		return (io_get_input(DIN38) != 0);
 #endif
 #if ASSERT_PIN(DIN39)
-    case DIN39:
-        return (io_get_input(DIN39) != 0);
+	case DIN39:
+		return (io_get_input(DIN39) != 0);
 #endif
 #if ASSERT_PIN(DIN40)
-    case DIN40:
-        return (io_get_input(DIN40) != 0);
+	case DIN40:
+		return (io_get_input(DIN40) != 0);
 #endif
 #if ASSERT_PIN(DIN41)
-    case DIN41:
-        return (io_get_input(DIN41) != 0);
+	case DIN41:
+		return (io_get_input(DIN41) != 0);
 #endif
 #if ASSERT_PIN(DIN42)
-    case DIN42:
-        return (io_get_input(DIN42) != 0);
+	case DIN42:
+		return (io_get_input(DIN42) != 0);
 #endif
 #if ASSERT_PIN(DIN43)
-    case DIN43:
-        return (io_get_input(DIN43) != 0);
+	case DIN43:
+		return (io_get_input(DIN43) != 0);
 #endif
 #if ASSERT_PIN(DIN44)
-    case DIN44:
-        return (io_get_input(DIN44) != 0);
+	case DIN44:
+		return (io_get_input(DIN44) != 0);
 #endif
 #if ASSERT_PIN(DIN45)
-    case DIN45:
-        return (io_get_input(DIN45) != 0);
+	case DIN45:
+		return (io_get_input(DIN45) != 0);
 #endif
 #if ASSERT_PIN(DIN46)
-    case DIN46:
-        return (io_get_input(DIN46) != 0);
+	case DIN46:
+		return (io_get_input(DIN46) != 0);
 #endif
 #if ASSERT_PIN(DIN47)
-    case DIN47:
-        return (io_get_input(DIN47) != 0);
+	case DIN47:
+		return (io_get_input(DIN47) != 0);
 #endif
 #if ASSERT_PIN(DIN48)
-    case DIN48:
-        return (io_get_input(DIN48) != 0);
+	case DIN48:
+		return (io_get_input(DIN48) != 0);
 #endif
 #if ASSERT_PIN(DIN49)
-    case DIN49:
-        return (io_get_input(DIN49) != 0);
+	case DIN49:
+		return (io_get_input(DIN49) != 0);
 #endif
 #if ASSERT_PIN(SERVO0)
 	case SERVO0: