Core xy soft limits (#960)

* Soft limit fix

* Update Grbl.h

Grbl_Esp32/Custom/CoreXY.cpp

@@ -312,11 +312,6 @@ void kinematics_post_homing() {
     memcpy(gc_state.position, last_cartesian, n_axis * sizeof(last_cartesian[0]));
 }
 
-// this is used used by Limits.cpp to see if the range of the machine is exceeded.
-bool limitsCheckTravel(float* target) {
-    return false;
-}
-
 void user_m30() {}
 
 // ================ Local Helper functions =================

Grbl_Esp32/src/GCode.cpp

@@ -1483,8 +1483,10 @@ Error gc_execute_line(char* line, uint8_t client) {
             // and absolute and incremental modes.
             pl_data->motion.rapidMotion = 1;  // Set rapid motion flag.
             if (axis_command != AxisCommand::None) {
+                limitsCheckSoft(gc_block.values.xyz);
                 cartesian_to_motors(gc_block.values.xyz, pl_data, gc_state.position);
             }
+            limitsCheckSoft(coord_data);
             cartesian_to_motors(coord_data, pl_data, gc_state.position);
             memcpy(gc_state.position, coord_data, sizeof(gc_state.position));
             break;
@@ -1513,9 +1515,11 @@ Error gc_execute_line(char* line, uint8_t client) {
         if (axis_command == AxisCommand::MotionMode) {
             GCUpdatePos gc_update_pos = GCUpdatePos::Target;
             if (gc_state.modal.motion == Motion::Linear) {
+                limitsCheckSoft(gc_block.values.xyz);
                 cartesian_to_motors(gc_block.values.xyz, pl_data, gc_state.position);
             } else if (gc_state.modal.motion == Motion::Seek) {
                 pl_data->motion.rapidMotion = 1;  // Set rapid motion flag.
+                limitsCheckSoft(gc_block.values.xyz);
                 cartesian_to_motors(gc_block.values.xyz, pl_data, gc_state.position);
             } else if ((gc_state.modal.motion == Motion::CwArc) || (gc_state.modal.motion == Motion::CcwArc)) {
                 mc_arc(gc_block.values.xyz,

Grbl_Esp32/src/Grbl.h

@@ -22,7 +22,7 @@
 
 // Grbl versioning system
 const char* const GRBL_VERSION       = "1.3a";
-const char* const GRBL_VERSION_BUILD = "20210816";
+const char* const GRBL_VERSION_BUILD = "20210825";
 
 //#include <sdkconfig.h>
 #include <Arduino.h>

Grbl_Esp32/src/Limits.cpp

@@ -416,3 +416,12 @@ bool limitsSwitchDefined(uint8_t axis, uint8_t gang_index) {
 bool __attribute__((weak)) user_defined_homing(uint8_t cycle_mask) {
     return false;
 }
+
+void limitsCheckSoft(float* target) {
+    if (soft_limits->get()) {
+        // NOTE: Block jog state. Jogging is a special case and soft limits are handled independently.
+        if (sys.state != State::Jog && sys.state != State::Homing) {
+            limits_soft_check(target);
+        }
+    }
+}

Grbl_Esp32/src/Limits.h

@@ -57,3 +57,5 @@ bool limitsCheckTravel(float* target);
 
 // check if a switch has been defined
 bool limitsSwitchDefined(uint8_t axis, uint8_t gang_index);
+
+void limitsCheckSoft(float* target);

Grbl_Esp32/src/MotionControl.cpp

@@ -45,14 +45,7 @@ bool mc_line(float* target, plan_line_data_t* pl_data) {
     bool submitted_result = false;
     // store the plan data so it can be cancelled by the protocol system if needed
     sys_pl_data_inflight = pl_data;
-    // If enabled, check for soft limit violations. Placed here all line motions are picked up
+
-    // from everywhere in Grbl.
-    if (soft_limits->get()) {
-        // NOTE: Block jog state. Jogging is a special case and soft limits are handled independently.
-        if (sys.state != State::Jog) {
-            limits_soft_check(target);
-        }
-    }
     // If in check gcode mode, prevent motion by blocking planner. Soft limits still work.
     if (sys.state == State::CheckMode) {
         sys_pl_data_inflight = NULL;
@@ -222,6 +215,7 @@ void mc_arc(float*            target,
             position[axis_1] = center_axis1 + r_axis1;
             position[axis_linear] += linear_per_segment;
             pl_data->feed_rate = original_feedrate;  // This restores the feedrate kinematics may have altered
+            limitsCheckSoft(position);
             cartesian_to_motors(position, pl_data, previous_position);
             previous_position[axis_0]      = position[axis_0];
             previous_position[axis_1]      = position[axis_1];
@@ -233,6 +227,7 @@ void mc_arc(float*            target,
         }
     }
     // Ensure last segment arrives at target location.
+    limitsCheckSoft(target);
     cartesian_to_motors(target, pl_data, previous_position);
 }
 
@@ -419,6 +414,7 @@ GCUpdatePos mc_probe_cycle(float* target, plan_line_data_t* pl_data, uint8_t par
     }
     // Setup and queue probing motion. Auto cycle-start should not start the cycle.
     grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "Found");
+    limitsCheckSoft(target);
     cartesian_to_motors(target, pl_data, gc_state.position);
     // Activate the probing state monitor in the stepper module.
     sys_probe_state = Probe::Active;