1 Bottom: 681cec9bc49d48ceecfc6d5e9eff1c4f7f623fc6
2 Top: eaaf908848a4a0cd0e69f559ed75c700974fc20f
3 Author: Ian Jackson <ijackson@chiark.greenend.org.uk>
4 Date: 2012-08-11 01:35:49 +0100
6 Refresh of m206-always-use-homing-homeing
10 diff --git a/Marlin/Marlin.h b/Marlin/Marlin.h
11 index 75b57d0..b465d85 100644
14 @@ -184,6 +184,8 @@ extern float homing_feedrate[];
15 extern bool axis_relative_modes[];
16 extern float current_position[NUM_AXIS] ;
17 extern float add_homeing[3];
18 +extern float min_pos[3];
19 +extern float max_pos[3];
20 extern unsigned char FanSpeed;
22 // Handling multiple extruders pins
23 diff --git a/Marlin/Marlin.pde b/Marlin/Marlin.pde
24 index 5268a3d..c153298 100644
25 --- a/Marlin/Marlin.pde
26 +++ b/Marlin/Marlin.pde
27 @@ -143,6 +143,8 @@ volatile bool feedmultiplychanged=false;
28 volatile int extrudemultiply=100; //100->1 200->2
29 float current_position[NUM_AXIS] = { 0.0, 0.0, 0.0, 0.0 };
30 float add_homeing[3]={0,0,0};
31 +float min_pos[3] = { X_MIN_POS, Y_MIN_POS, Z_MIN_POS };
32 +float max_pos[3] = { X_MAX_POS, Y_MAX_POS, Z_MAX_POS };
33 uint8_t active_extruder = 0;
34 unsigned char FanSpeed=0;
36 @@ -543,6 +545,28 @@ bool code_seen(char code)
37 return (strchr_pointer != NULL); //Return True if a character was found
40 +#define DEFINE_PGM_READ_ANY(type, reader) \
41 + static inline float pgm_read_any(const type *p) \
42 + { return pgm_read_##reader##_near(p); }
44 +DEFINE_PGM_READ_ANY(float, float);
46 +#define XYZ_CONSTS_FROM_CONFIG(type, array, CONFIG) \
47 +static const PROGMEM type array##_P[3] = \
48 + { X_##CONFIG, Y_##CONFIG, Z_##CONFIG }; \
49 +static inline type array(int axis) \
50 + { return pgm_read_any(&array##_P[axis]); }
52 +XYZ_CONSTS_FROM_CONFIG(float, base_min_pos, MIN_POS);
53 +XYZ_CONSTS_FROM_CONFIG(float, base_max_pos, MAX_POS);
54 +XYZ_CONSTS_FROM_CONFIG(float, base_home_pos, HOME_POS);
56 +static void axis_is_at_home(int axis) {
57 + current_position[axis] = base_home_pos(axis) + add_homeing[axis];
58 + min_pos[axis] = base_min_pos(axis) + add_homeing[axis];
59 + max_pos[axis] = base_max_pos(axis) + add_homeing[axis];
62 #define HOMEAXIS(LETTER) \
63 if ((LETTER##_MIN_PIN > -1 && LETTER##_HOME_DIR==-1) || (LETTER##_MAX_PIN > -1 && LETTER##_HOME_DIR==1))\
65 @@ -564,8 +588,8 @@ bool code_seen(char code)
66 plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder); \
69 - current_position[LETTER##_AXIS] = LETTER##_HOME_POS;\
70 - destination[LETTER##_AXIS] = current_position[LETTER##_AXIS];\
71 + axis_is_at_home(LETTER##_AXIS); \
72 + destination[LETTER##_AXIS] = current_position[LETTER##_AXIS]; \
74 endstops_hit_on_purpose();\
76 @@ -678,8 +702,8 @@ void process_commands()
77 plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
80 - current_position[X_AXIS] = X_HOME_POS;
81 - current_position[Y_AXIS] = Y_HOME_POS;
82 + axis_is_at_home(X_AXIS);
83 + axis_is_at_home(Y_AXIS);
84 plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
85 destination[X_AXIS] = current_position[X_AXIS];
86 destination[Y_AXIS] = current_position[Y_AXIS];
87 @@ -1544,15 +1568,15 @@ void get_arc_coordinates()
88 void clamp_to_software_endstops(float target[3])
90 if (min_software_endstops) {
91 - if (target[X_AXIS] < X_MIN_POS) target[X_AXIS] = X_MIN_POS;
92 - if (target[Y_AXIS] < Y_MIN_POS) target[Y_AXIS] = Y_MIN_POS;
93 - if (target[Z_AXIS] < Z_MIN_POS) target[Z_AXIS] = Z_MIN_POS;
94 + if (target[X_AXIS] < min_pos[X_AXIS]) target[X_AXIS] = min_pos[X_AXIS];
95 + if (target[Y_AXIS] < min_pos[Y_AXIS]) target[Y_AXIS] = min_pos[Y_AXIS];
96 + if (target[Z_AXIS] < min_pos[Z_AXIS]) target[Z_AXIS] = min_pos[Z_AXIS];
99 if (max_software_endstops) {
100 - if (target[X_AXIS] > X_MAX_POS) target[X_AXIS] = X_MAX_POS;
101 - if (target[Y_AXIS] > Y_MAX_POS) target[Y_AXIS] = Y_MAX_POS;
102 - if (target[Z_AXIS] > Z_MAX_POS) target[Z_AXIS] = Z_MAX_POS;
103 + if (target[X_AXIS] > max_pos[X_AXIS]) target[X_AXIS] = max_pos[X_AXIS];
104 + if (target[Y_AXIS] > max_pos[Y_AXIS]) target[Y_AXIS] = max_pos[Y_AXIS];
105 + if (target[Z_AXIS] > max_pos[Z_AXIS]) target[Z_AXIS] = max_pos[Z_AXIS];
109 diff --git a/README.md b/README.md
110 index 86dd93d..fb2c189 100644
113 @@ -152,6 +152,7 @@ Movement variables:
114 * M202 - Set max acceleration in units/s^2 for travel moves (M202 X1000 Y1000) Unused in Marlin!!
\r
115 * M203 - Set maximum feedrate that your machine can sustain (M203 X200 Y200 Z300 E10000) in mm/sec
\r
116 * M204 - Set default acceleration: S normal moves T filament only moves (M204 S3000 T7000) im mm/sec^2 also sets minimum segment time in ms (B20000) to prevent buffer underruns and M20 minimum feedrate
\r
117 +* M206 - set home offsets. This sets the X,Y,Z coordinates of the endstops (and is added to the {X,Y,Z}_HOME_POS configuration options (and is also added to the coordinates, if any, provided to G82, as with earlier firmware)
\r
118 * M220 - set build speed mulitplying S:factor in percent ; aka "realtime tuneing in the gcode". So you can slow down if you have islands in one height-range, and speed up otherwise.
\r
119 * M221 - set the extrude multiplying S:factor in percent
\r
120 * M400 - Finish all buffered moves.