From 7ab56b98122540a225ae48fa041078f51a4322d7 Mon Sep 17 00:00:00 2001
From: "D.R.racer" <drracer@drracer.eu>
Date: Wed, 1 Mar 2023 08:07:28 +0100
Subject: [PATCH] Cleanup HoldOn-Resume code in movables

---
 src/logic/command_base.cpp   | 7 -------
 src/modules/movable_base.cpp | 8 ++++++++
 src/modules/movable_base.h   | 6 ++++--
 3 files changed, 12 insertions(+), 9 deletions(-)

diff --git a/src/logic/command_base.cpp b/src/logic/command_base.cpp
index 5fe0236..6bbd06a 100644
--- a/src/logic/command_base.cpp
+++ b/src/logic/command_base.cpp
@@ -179,15 +179,8 @@ void CommandBase::InvalidateHomingAndFilamentState() {
 }
 
 void CommandBase::HoldIdlerSelector() {
-    mm::motion.AbortPlannedMoves(mm::Idler);
     mi::idler.HoldOn();
-    mm::motion.AbortPlannedMoves(mm::Selector);
     ms::selector.HoldOn();
-
-    // Force turn off motors - prevent overheating and allow servicing during and error state.
-    // And don't worry about TMC2130 creep after axis enabled - we'll rehome both axes later when needed.
-    mm::motion.Disable(mm::Idler);
-    mm::motion.Disable(mm::Selector);
 }
 
 void CommandBase::ResumeIdlerSelector() {
diff --git a/src/modules/movable_base.cpp b/src/modules/movable_base.cpp
index 7a91e7c..1505221 100644
--- a/src/modules/movable_base.cpp
+++ b/src/modules/movable_base.cpp
@@ -31,6 +31,14 @@ void __attribute__((noinline)) MovableBase::SetCurrents(uint8_t iRun, uint8_t iH
     mm::motion.DriverForAxis(axis).SetCurrents(mm::axisParams[axis].params, tempCurrent);
 }
 
+void MovableBase::HoldOn() {
+    state = OnHold;
+    mm::motion.AbortPlannedMoves(axis);
+    // Force turn off motors - prevent overheating and allow servicing during an error state.
+    // And don't worry about TMC2130 creep after axis enabled - we'll rehome both axes later when needed.
+    mm::motion.Disable(axis);
+}
+
 MovableBase::OperationResult MovableBase::InitMovement() {
     if (motion.InitAxis(axis)) {
         return InitMovementNoReinitAxis();
diff --git a/src/modules/movable_base.h b/src/modules/movable_base.h
index 273e850..c32aae7 100644
--- a/src/modules/movable_base.h
+++ b/src/modules/movable_base.h
@@ -75,8 +75,10 @@ public:
     void SetCurrents(uint8_t iRun, uint8_t iHold);
 
     /// Puts the movable on-hold
-    void HoldOn() { state = OnHold; }
-    /// Allows the movable to move/home again
+    /// Also, disables the axis
+    void HoldOn();
+
+    /// Allows the movable to move/home again after begin suspended by HoldOn
     void Resume() { state = Ready; }
 
 #ifndef UNITTEST