From 915ef2d4a136df67f468917c725d032919e189d4 Mon Sep 17 00:00:00 2001
From: Erik van der Zalm <erik@vdzalm.eu>
Date: Sat, 19 Nov 2011 21:32:47 +0100
Subject: [PATCH] Added software endstops
---
Marlin/Marlin.pde | 12 ++++++++++++
Marlin/planner.h | 2 +-
2 files changed, 13 insertions(+), 1 deletion(-)
diff --git a/Marlin/Marlin.pde b/Marlin/Marlin.pde
index f619854da3..aee00ac4a5 100644
--- a/Marlin/Marlin.pde
+++ b/Marlin/Marlin.pde
@@ -1024,6 +1024,18 @@ inline void get_arc_coordinates()
void prepare_move()
{
+ if (min_software_endstops) {
+ if (destination[X_AXIS] < 0) destination[X_AXIS] = 0.0;
+ if (destination[Y_AXIS] < 0) destination[Y_AXIS] = 0.0;
+ if (destination[Z_AXIS] < 0) destination[Z_AXIS] = 0.0;
+ }
+
+ if (max_software_endstops) {
+ if (destination[X_AXIS] > X_MAX_LENGTH) destination[X_AXIS] = X_MAX_LENGTH;
+ if (destination[Y_AXIS] > Y_MAX_LENGTH) destination[Y_AXIS] = Y_MAX_LENGTH;
+ if (destination[Z_AXIS] > Z_MAX_LENGTH) destination[Z_AXIS] = Z_MAX_LENGTH;
+ }
+
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate*feedmultiply/60/100.0);
for(int8_t i=0; i < NUM_AXIS; i++) {
current_position[i] = destination[i];
diff --git a/Marlin/planner.h b/Marlin/planner.h
index ec497d5064..52a6fba813 100644
--- a/Marlin/planner.h
+++ b/Marlin/planner.h
@@ -31,7 +31,7 @@
typedef struct {
// Fields used by the bresenham algorithm for tracing the line
long steps_x, steps_y, steps_z, steps_e; // Step count along each axis
- long step_event_count; // The number of step events required to complete this block
+ unsigned long step_event_count; // The number of step events required to complete this block
long accelerate_until; // The index of the step event on which to stop acceleration
long decelerate_after; // The index of the step event on which to start decelerating
long acceleration_rate; // The acceleration rate used for acceleration calculation