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Set motion mode to FREE when volatile joints have been unhomed #3685

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Set motion mode to FREE when volatile joints have been unhomed #3685

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20 changes: 17 additions & 3 deletions src/emc/motion/command.c
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Original file line number Diff line number Diff line change
Expand Up @@ -1376,7 +1376,7 @@ void emcmotCommandHandler_locked(void *arg, long servo_period)
break;

case EMCMOT_JOINT_UNHOME:
/* unhome the specified joint, or all joints if -1 */
/* unhome the specified joint, or all joints if -1, or volatile joints if -2 */
rtapi_print_msg(RTAPI_MSG_DBG, "JOINT_UNHOME");
rtapi_print_msg(RTAPI_MSG_DBG, " %d", joint_num);

Expand All @@ -1386,8 +1386,22 @@ void emcmotCommandHandler_locked(void *arg, long servo_period)
return;
}

//Negative joint_num specifies unhome_method (-1,-2)
set_unhomed(joint_num,emcmotStatus->motion_state);
// For configs that require homing and have joints configured as VOLATILE_HOME
// 'get_allhomed()' will change from TRUE to FALSE. If that happens we need to
// switch motion mode to 'free'.
if ( get_allhomed() && (joint_num == -2) ) {
set_unhomed(joint_num,emcmotStatus->motion_state);
if (!get_allhomed()) {
emcmotInternal->teleoperating = 0;
SET_MOTION_TELEOP_FLAG(0);
emcmotInternal->coordinating = 0;
SET_MOTION_COORD_FLAG(0);
}
}
else {
set_unhomed(joint_num,emcmotStatus->motion_state);
}

break;

case EMCMOT_CLEAR_PROBE_FLAGS:
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