-Bottom: eb35f0d7db096a862ee737a5537019f96d6e6f16
-Top: 380e228cc8d44c90824ca19a55702fc1c536ad59
+Bottom: f59c4f0f543cd186ce17875c743486d2e74e4c3f
+Top: f59c4f0f543cd186ce17875c743486d2e74e4c3f
Author: Ian Jackson <ijackson@chiark.greenend.org.uk>
Date: 2012-08-01 21:12:14 +0100
---
-diff --git a/Marlin/Marlin.h b/Marlin/Marlin.h
-index 4123634..c8115af 100644
---- a/Marlin/Marlin.h
-+++ b/Marlin/Marlin.h
-@@ -183,6 +183,7 @@ extern float homing_feedrate[];
- extern bool axis_relative_modes[];
- extern float current_position[NUM_AXIS] ;
- extern float add_homeing[3];
-+extern float min_pos[3];
- extern unsigned char FanSpeed;
-
- // Handling multiple extruders pins
-diff --git a/Marlin/Marlin.pde b/Marlin/Marlin.pde
-index f38920b..8248132 100644
---- a/Marlin/Marlin.pde
-+++ b/Marlin/Marlin.pde
-@@ -143,6 +143,7 @@ volatile bool feedmultiplychanged=false;
- volatile int extrudemultiply=100; //100->1 200->2
- float current_position[NUM_AXIS] = { 0.0, 0.0, 0.0, 0.0 };
- float add_homeing[3]={0,0,0};
-+float min_pos[3] = { X_MIN_POS, Y_MIN_POS, Z_MIN_POS };
- uint8_t active_extruder = 0;
- unsigned char FanSpeed=0;
-
-@@ -543,6 +544,15 @@ bool code_seen(char code)
- return (strchr_pointer != NULL); //Return True if a character was found
- }
-
-+static const float base_min_pos[3] = { X_MIN_POS, Y_MIN_POS, Z_MIN_POS };
-+static const float base_home_pos[3] = { X_HOME_POS, Y_HOME_POS, Z_HOME_POS };
-+
-+static void axis_is_at_home(int axis) {
-+ current_position[axis] = base_home_pos[axis] + add_homeing[axis];
-+ min_pos[axis] = base_min_pos[axis];
-+ if (add_homeing[axis] < 0) min_pos[axis] += add_homeing[axis];
-+}
-+
- #define HOMEAXIS(LETTER) \
- if ((LETTER##_MIN_PIN > -1 && LETTER##_HOME_DIR==-1) || (LETTER##_MAX_PIN > -1 && LETTER##_HOME_DIR==1))\
- { \
-@@ -564,8 +574,8 @@ bool code_seen(char code)
- plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder); \
- st_synchronize();\
- \
-- current_position[LETTER##_AXIS] = LETTER##_HOME_POS;\
-- destination[LETTER##_AXIS] = current_position[LETTER##_AXIS];\
-+ axis_is_at_home(LETTER##_AXIS); \
-+ destination[LETTER##_AXIS] = current_position[LETTER##_AXIS]; \
- feedrate = 0.0;\
- endstops_hit_on_purpose();\
- }
-@@ -678,8 +688,8 @@ void process_commands()
- plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
- st_synchronize();
-
-- current_position[X_AXIS] = X_HOME_POS;
-- current_position[Y_AXIS] = Y_HOME_POS;
-+ axis_is_at_home(X_AXIS);
-+ axis_is_at_home(Y_AXIS);
- plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
- destination[X_AXIS] = current_position[X_AXIS];
- destination[Y_AXIS] = current_position[Y_AXIS];
-@@ -1544,15 +1554,15 @@ void get_arc_coordinates()
- void prepare_move()
- {
- if (min_software_endstops) {
-- if (destination[X_AXIS] < X_MIN_POS) destination[X_AXIS] = X_MIN_POS;
-- if (destination[Y_AXIS] < Y_MIN_POS) destination[Y_AXIS] = Y_MIN_POS;
-- if (destination[Z_AXIS] < Z_MIN_POS) destination[Z_AXIS] = Z_MIN_POS;
-+ if (destination[X_AXIS] < min_pos[0]) destination[X_AXIS] = min_pos[0];
-+ if (destination[Y_AXIS] < min_pos[1]) destination[Y_AXIS] = min_pos[1];
-+ if (destination[Z_AXIS] < min_pos[2]) destination[Z_AXIS] = min_pos[2];
- }
-
- if (max_software_endstops) {
-- if (destination[X_AXIS] > X_MAX_POS) destination[X_AXIS] = X_MAX_POS;
-- if (destination[Y_AXIS] > Y_MAX_POS) destination[Y_AXIS] = Y_MAX_POS;
-- if (destination[Z_AXIS] > Z_MAX_POS) destination[Z_AXIS] = Z_MAX_POS;
-+ if (destination[X_AXIS] > max_pos[0]) destination[X_AXIS] = max_pos[0];
-+ if (destination[Y_AXIS] > max_pos[1]) destination[Y_AXIS] = max_pos[1];
-+ if (destination[Z_AXIS] > max_pos[2]) destination[Z_AXIS] = max_pos[2];
- }
- previous_millis_cmd = millis();
- plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate*feedmultiply/60/100.0, active_extruder);
-diff --git a/Marlin/motion_control.cpp b/Marlin/motion_control.cpp
-index f11d8c8..450924a 100644
---- a/Marlin/motion_control.cpp
-+++ b/Marlin/motion_control.cpp
-@@ -126,9 +126,9 @@ void mc_arc(float *position, float *target, float *offset, uint8_t axis_0, uint8
- arc_target[E_AXIS] += extruder_per_segment;
-
- if (min_software_endstops) {
-- if (arc_target[X_AXIS] < X_HOME_POS) arc_target[X_AXIS] = X_HOME_POS;
-- if (arc_target[Y_AXIS] < Y_HOME_POS) arc_target[Y_AXIS] = Y_HOME_POS;
-- if (arc_target[Z_AXIS] < Z_HOME_POS) arc_target[Z_AXIS] = Z_HOME_POS;
-+ if (arc_target[X_AXIS] < min_pos[0]) arc_target[X_AXIS] = min_pos[0];
-+ if (arc_target[Y_AXIS] < min_pos[1]) arc_target[Y_AXIS] = min_pos[1];
-+ if (arc_target[Z_AXIS] < min_pos[2]) arc_target[Z_AXIS] = min_pos[2];
- }
-
- if (max_software_endstops) {
-diff --git a/README.md b/README.md
-index 86dd93d..fb2c189 100644
---- a/README.md
-+++ b/README.md
-@@ -152,6 +152,7 @@ Movement variables:
- * M202 - Set max acceleration in units/s^2 for travel moves (M202 X1000 Y1000) Unused in Marlin!!\r
- * M203 - Set maximum feedrate that your machine can sustain (M203 X200 Y200 Z300 E10000) in mm/sec\r
- * 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
-+* 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
- * 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
- * M221 - set the extrude multiplying S:factor in percent\r
- * M400 - Finish all buffered moves.
+
~ianmdlvl / marlin.git / commitdiff