From faccb358508d49d0bef35dc0521043f04508bcc3 Mon Sep 17 00:00:00 2001
From: Ian Jackson <ijackson@chiark.greenend.org.uk>
Date: Thu, 9 Aug 2012 18:15:32 +0100
Subject: [PATCH] software_endstops: use *_MIN_POS and *_MAX_POS for arcs
If [XYZ]_HOME_POS and [XYZ]_MIN_POS aren't 0, these corrections are
wrong. Use the same logic as in Marlin.pde:prepare_move: ie, clamp to
[XYZ]_{MIN,MAX}_POS.
While we're here, put this cut-and-paste code in a function
clamp_to_software_endstops.
Signed-off-by: Ian Jackson <ijackson@chiark.greenend.org.uk>
---
Marlin/Marlin.h | 1 +
Marlin/Marlin.pde | 20 +++++++++++++-------
Marlin/motion_control.cpp | 12 +-----------
3 files changed, 15 insertions(+), 18 deletions(-)
diff --git a/Marlin/Marlin.h b/Marlin/Marlin.h
index 4123634442..75b57d0b91 100644
--- a/Marlin/Marlin.h
+++ b/Marlin/Marlin.h
@@ -169,6 +169,7 @@ bool IsStopped();
void enquecommand(const char *cmd); //put an ascii command at the end of the current buffer.
void prepare_arc_move(char isclockwise);
+void clamp_to_software_endstops(float target[3]);
#ifdef FAST_PWM_FAN
void setPwmFrequency(uint8_t pin, int val);
diff --git a/Marlin/Marlin.pde b/Marlin/Marlin.pde
index f38920b44c..5268a3de35 100644
--- a/Marlin/Marlin.pde
+++ b/Marlin/Marlin.pde
@@ -1541,19 +1541,25 @@ void get_arc_coordinates()
}
}
-void prepare_move()
+void clamp_to_software_endstops(float target[3])
{
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 (target[X_AXIS] < X_MIN_POS) target[X_AXIS] = X_MIN_POS;
+ if (target[Y_AXIS] < Y_MIN_POS) target[Y_AXIS] = Y_MIN_POS;
+ if (target[Z_AXIS] < Z_MIN_POS) target[Z_AXIS] = Z_MIN_POS;
}
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 (target[X_AXIS] > X_MAX_POS) target[X_AXIS] = X_MAX_POS;
+ if (target[Y_AXIS] > Y_MAX_POS) target[Y_AXIS] = Y_MAX_POS;
+ if (target[Z_AXIS] > Z_MAX_POS) target[Z_AXIS] = Z_MAX_POS;
}
+}
+
+void prepare_move()
+{
+ clamp_to_software_endstops(destination);
+
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);
for(int8_t i=0; i < NUM_AXIS; i++) {
diff --git a/Marlin/motion_control.cpp b/Marlin/motion_control.cpp
index f11d8c8b8e..76609054ff 100644
--- a/Marlin/motion_control.cpp
+++ b/Marlin/motion_control.cpp
@@ -125,17 +125,7 @@ void mc_arc(float *position, float *target, float *offset, uint8_t axis_0, uint8
arc_target[axis_linear] += linear_per_segment;
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 (max_software_endstops) {
- if (arc_target[X_AXIS] > X_MAX_LENGTH) arc_target[X_AXIS] = X_MAX_LENGTH;
- if (arc_target[Y_AXIS] > Y_MAX_LENGTH) arc_target[Y_AXIS] = Y_MAX_LENGTH;
- if (arc_target[Z_AXIS] > Z_MAX_LENGTH) arc_target[Z_AXIS] = Z_MAX_LENGTH;
- }
+ clamp_to_software_endstops(arc_target);
plan_buffer_line(arc_target[X_AXIS], arc_target[Y_AXIS], arc_target[Z_AXIS], arc_target[E_AXIS], feed_rate, extruder);
}
--
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