Merge fixes.

limits.c

@@ -67,7 +67,6 @@ ISR(LIMIT_INT_vect)
   if (sys.state != STATE_ALARM) { 
     if (bit_isfalse(sys.execute,EXEC_ALARM)) {
       mc_reset(); // Initiate system kill.
-      report_alarm_message(ALARM_HARD_LIMIT);
       sys.execute |= EXEC_CRIT_EVENT; // Indicate hard limit critical event
     }
   }

motion_control.c

@@ -35,7 +35,6 @@
 #include "planner.h"
 #include "limits.h"
 #include "protocol.h"
-#include "report.h"
 
 // Execute linear motion in absolute millimeter coordinates. Feed rate given in millimeters/second
 // unless invert_feed_rate is true. Then the feed_rate means that the motion should be completed in

planner.c

@@ -22,18 +22,14 @@
 
 /* The ring buffer implementation gleaned from the wiring_serial library by David A. Mellis. */
 
-#include <avr/interrupt.h>
-#include <util/atomic.h>
 #include <inttypes.h>    
 #include <stdlib.h>
-#include <stdio.h>
 #include "planner.h"
 #include "nuts_bolts.h"
 #include "stepper.h"
 #include "settings.h"
 #include "config.h"
 #include "protocol.h"
-#include "motion_control.h"
 
 #define SOME_LARGE_VALUE 1.0E+38 // Used by rapids and acceleration maximization calculations. Just needs
                                  // to be larger than any feasible (mm/min)^2 or mm/sec^2 value.
@@ -452,6 +448,7 @@ void plan_buffer_line(float *target, float feed_rate, uint8_t invert_feed_rate)
     }
   }
 
+
   // TODO: Need to check this method handling zero junction speeds when starting from rest.
   if (block_buffer_head == block_buffer_tail) {
   

report.c

@@ -92,8 +92,6 @@ void report_alarm_message(int8_t alarm_code)
     printPgmString(PSTR("Hard/soft limit")); break;
     case ALARM_ABORT_CYCLE: 
     printPgmString(PSTR("Abort during cycle")); break;
-    case ALARM_SOFT_LIMIT: 
-    printPgmString(PSTR("Soft Limit")); break;
   }
   printPgmString(PSTR(". MPos?\r\n"));
   delay_ms(500); // Force delay to ensure message clears serial write buffer.

report.h

@@ -41,7 +41,6 @@
 // Define Grbl alarm codes. Less than zero to distinguish alarm error from status error.
 #define ALARM_LIMIT_ERROR -1
 #define ALARM_ABORT_CYCLE -2
-#define ALARM_SOFT_LIMIT -3
 
 // Define Grbl feedback message codes.
 #define MESSAGE_CRITICAL_EVENT 1

stepper.c

@@ -177,7 +177,6 @@ void st_go_idle()
       STEPPERS_DISABLE_PORT |= (1<<STEPPERS_DISABLE_BIT); 
     }   
   }
-  st.ramp_type = ACCEL_RAMP;
 }
 
 
@@ -702,8 +701,3 @@ void st_fetch_partial_block_parameters(uint8_t block_index, float *millimeters_r
   }
   return;
 }
-
-uint8_t st_is_decelerating() {
-  return st.ramp_type == DECEL_RAMP;
-}
-