Moved a few more defines to the machine config.

Grbl_Esp32/src/Config.h

@@ -130,14 +130,6 @@ static const uint8_t NHomingLocateCycle = 1;  // Integer (1-128)
 // NOTE: Must be an integer value from 0 to ~4. More than 4 may exhibit round-off errors.
 // ESP32 Note: These are mostly hard coded, so these values will not change anything
 
-// If your machine has two limits switches wired in parallel to one axis, you will need to enable
-// this feature. Since the two switches are sharing a single pin, there is no way for Grbl to tell
-// which one is enabled. This option only effects homing, where if a limit is engaged, Grbl will
-// alarm out and force the user to manually disengage the limit switch. Otherwise, if you have one
-// limit switch for each axis, don't enable this option. By keeping it disabled, you can perform a
-// homing cycle while on the limit switch and not have to move the machine off of it.
-// #define LIMITS_TWO_SWITCHES_ON_AXES
-
 // Allows GRBL to track and report gcode line numbers.  Enabling this means that the planning buffer
 // goes from 16 to 15 to make room for the additional line number data in the plan_block_t struct
 // #define USE_LINE_NUMBERS // Disabled by default. Uncomment to enable.
@@ -162,12 +154,6 @@ static const uint8_t NHomingLocateCycle = 1;  // Integer (1-128)
 // OEMs and LinuxCNC users that would like this power-cycle behavior.
 // #define FORCE_INITIALIZATION_ALARM // Default disabled. Uncomment to enable.
 
-// At power-up or a reset, Grbl will check the limit switch states to ensure they are not active
-// before initialization. If it detects a problem and the hard limits setting is enabled, Grbl will
-// simply message the user to check the limits and enter an alarm state, rather than idle. Grbl will
-// not throw an alarm message.
-#define CHECK_LIMITS_AT_INIT
-
 // ---------------------------------------------------------------------------------------
 // ADVANCED CONFIGURATION OPTIONS:
 

Grbl_Esp32/src/MachineConfig.cpp

@@ -419,6 +419,9 @@ void MachineConfig::group(Configuration::HandlerBase& handler) {
     handler.item("homing_init_lock", _homingInitLock);
     handler.item("enable_parking_override_control", _enableParkingOverrideControl);
     handler.item("deactivate_parking_upon_init", _deactivateParkingUponInit);
+    handler.item("check_limits_at_init", _checkLimitsAtInit);
+    handler.item("homing_single_axis_commands", _homingSingleAxisCommands);
+    handler.item("limits_two_switches_on_axis", _limitsTwoSwitchesOnAxis);
 
     Spindles::SpindleFactory::factory(handler, _spindle);
 }

Grbl_Esp32/src/MachineConfig.h

@@ -364,6 +364,21 @@ public:
 
     bool _enableParkingOverrideControl = false;
     bool _deactivateParkingUponInit    = false;
+    bool _homingSingleAxisCommands     = false;
+
+    // At power-up or a reset, Grbl will check the limit switch states to ensure they are not active
+    // before initialization. If it detects a problem and the hard limits setting is enabled, Grbl will
+    // simply message the user to check the limits and enter an alarm state, rather than idle. Grbl will
+    // not throw an alarm message.
+    bool _checkLimitsAtInit        = true;
+
+    // If your machine has two limits switches wired in parallel to one axis, you will need to enable
+    // this feature. Since the two switches are sharing a single pin, there is no way for Grbl to tell
+    // which one is enabled. This option only effects homing, where if a limit is engaged, Grbl will
+    // alarm out and force the user to manually disengage the limit switch. Otherwise, if you have one
+    // limit switch for each axis, don't enable this option. By keeping it disabled, you can perform a
+    // homing cycle while on the limit switch and not have to move the machine off of it.
+    bool _limitsTwoSwitchesOnAxis = false;
 
     String _board = "None";
     String _name  = "None";

Grbl_Esp32/src/MotionControl.cpp

@@ -343,13 +343,12 @@ void mc_homing_cycle(AxisMask axis_mask) {
     // Check and abort homing cycle, if hard limits are already enabled. Helps prevent problems
     // with machines with limits wired on both ends of travel to one limit pin.
     // TODO: Move the pin-specific LIMIT_PIN call to Limits.cpp as a function.
-#ifdef LIMITS_TWO_SWITCHES_ON_AXES
-    if (limits_get_state()) {
+    if (config->_limitsTwoSwitchesOnAxis && limits_get_state()) {
         mc_reset();  // Issue system reset and ensure spindle and coolant are shutdown.
         sys_rt_exec_alarm = ExecAlarm::HardLimit;
         return;
     }
-#endif
+
     limits_disable();  // Disable hard limits pin change register for cycle duration
     // -------------------------------------------------------------------------------------
     // Perform homing routine. NOTE: Special motion case. Only system reset works.

Grbl_Esp32/src/ProcessSettings.cpp

@@ -490,14 +490,15 @@ void make_grbl_commands() {
     new GrblCommand("H", "Home", home_all, idleOrAlarm);
     new GrblCommand("MD", "Motor/Disable", motor_disable, idleOrAlarm);
 
-#ifdef HOMING_SINGLE_AXIS_COMMANDS
-    new GrblCommand("HX", "Home/X", home_x, idleOrAlarm);
-    new GrblCommand("HY", "Home/Y", home_y, idleOrAlarm);
-    new GrblCommand("HZ", "Home/Z", home_z, idleOrAlarm);
-    new GrblCommand("HA", "Home/A", home_a, idleOrAlarm);
-    new GrblCommand("HB", "Home/B", home_b, idleOrAlarm);
-    new GrblCommand("HC", "Home/C", home_c, idleOrAlarm);
-#endif
+    if (config->_homingSingleAxisCommands) {
+        new GrblCommand("HX", "Home/X", home_x, idleOrAlarm);
+        new GrblCommand("HY", "Home/Y", home_y, idleOrAlarm);
+        new GrblCommand("HZ", "Home/Z", home_z, idleOrAlarm);
+        new GrblCommand("HA", "Home/A", home_a, idleOrAlarm);
+        new GrblCommand("HB", "Home/B", home_b, idleOrAlarm);
+        new GrblCommand("HC", "Home/C", home_c, idleOrAlarm);
+    }
+
     new GrblCommand("SLP", "System/Sleep", sleep_grbl, idleOrAlarm);
     new GrblCommand("I", "Build/Info", get_report_build_info, idleOrAlarm);
     new GrblCommand("N", "GCode/StartupLines", report_startup_lines, idleOrAlarm);

Grbl_Esp32/src/Protocol.cpp

@@ -125,15 +125,15 @@ void protocol_main_loop() {
     client_reset_read_buffer(CLIENT_ALL);
     empty_lines();
     //uint8_t client = CLIENT_SERIAL; // default client
+
     // Perform some machine checks to make sure everything is good to go.
-#ifdef CHECK_LIMITS_AT_INIT
-    if (config->_axes->hasHardLimits()) {
+    if (config->_checkLimitsAtInit && config->_axes->hasHardLimits()) {
         if (limits_get_state()) {
             sys.state = State::Alarm;  // Ensure alarm state is active.
             report_feedback_message(Message::CheckLimits);
         }
     }
-#endif
+
     // Check for and report alarm state after a reset, error, or an initial power up.
     // NOTE: Sleep mode disables the stepper drivers and position can't be guaranteed.
     // Re-initialize the sleep state as an ALARM mode to ensure user homes or acknowledges.

Grbl_Esp32/src/Report.cpp

@@ -534,12 +534,12 @@ void report_build_info(const char* line, uint8_t client) {
         grbl_send(client, "M");  // TODO Need to deal with M8...it could be disabled
     }
     grbl_send(client, "P");
-#ifdef HOMING_SINGLE_AXIS_COMMANDS
-    grbl_send(client, "H");
-#endif
-#ifdef LIMITS_TWO_SWITCHES_ON_AXES
-    grbl_send(client, "L");
-#endif
+    if (config->_homingSingleAxisCommands) {
+        grbl_send(client, "H");
+    }
+    if (config->_limitsTwoSwitchesOnAxis) {
+        grbl_send(client, "L");
+    }
 #ifdef ALLOW_FEED_OVERRIDE_DURING_PROBE_CYCLES
     grbl_send(client, "A");
 #endif