From 801bd65edd83b6eb9142075c1ae896cecc5e9bd0 Mon Sep 17 00:00:00 2001
From: Alex Voinea <voinea.dragos.alexandru@gmail.com>
Date: Sun, 9 Oct 2022 23:32:03 +0200
Subject: [PATCH] Abort moves when tmc errors happen

---
 src/modules/movable_base.cpp | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/src/modules/movable_base.cpp b/src/modules/movable_base.cpp
index cf76329..7dca222 100644
--- a/src/modules/movable_base.cpp
+++ b/src/modules/movable_base.cpp
@@ -39,6 +39,7 @@ void MovableBase::PerformMove() {
     if (mm::motion.DriverForAxis(axis).CheckForErrors(axisParams[axis].params)) {
         // TMC2130 entered some error state, the planned move couldn't have been finished - result of operation is Failed
         tmcErrorFlags = mm::motion.DriverForAxis(axis).GetErrorFlags(); // save the failed state
+        mm::motion.AbortPlannedMoves(axis, true);
         state = TMCFailed;
     } else if (mm::motion.QueueEmpty(axis)) {
         // move finished
@@ -91,6 +92,7 @@ void MovableBase::IdleChecks() {
     if (mm::motion.DriverForAxis(axis).CheckForErrors(axisParams[axis].params)) {
         // TMC2130 entered some error state, the planned move couldn't have been finished - result of operation is Failed
         tmcErrorFlags = mm::motion.DriverForAxis(axis).GetErrorFlags(); // save the failed state
+        mm::motion.AbortPlannedMoves(axis, true);
         state = TMCFailed;
     }
 }