G32 and G92 improvements

1. G92 with a Z value now sets exactly that Z value even if bed
compensation is in effect.
2. If G32 is run before the Z axis is homed, the first bed probe in the
G32 sequence homes the Z axiws.

Configuration.h

@@ -24,8 +24,8 @@ Licence: GPL
 #define CONFIGURATION_H
 
 #define NAME "RepRapFirmware"
-#define VERSION "0.57k-dc42"
+#define VERSION "0.57l-dc42"
-#define DATE "2014-02-06"
+#define DATE "2014-02-07"
 #define LAST_AUTHOR "reprappro.com"
 
 // Other firmware that we might switch to be compatible with.

GCodes.cpp

@@ -84,7 +84,7 @@ void GCodes::Init()
   active = true;
   longWait = platform->Time();
   dwellTime = longWait;
-  axisIsHomed[0] = axisIsHomed[1] = axisIsHomed[2] = false;
+  axisIsHomed[X_AXIS] = axisIsHomed[Y_AXIS] = axisIsHomed[Z_AXIS] = false;
 }
 
 void GCodes::doFilePrint(GCodeBuffer* gb)
@@ -518,6 +518,9 @@ bool GCodes::SetPositions(GCodeBuffer *gb)
 		return false;
 
 	LoadMoveBufferFromGCode(gb, true, false);
+	// Transform the position so that e.g. if the user does G92 Z0,
+	// the position we report (which gets inverse-transformed) really is Z=0 afterwards
+	reprap.GetMove()->Transform(moveBuffer);
 	reprap.GetMove()->SetLiveCoordinates(moveBuffer);
 	reprap.GetMove()->SetPositions(moveBuffer);
 
@@ -597,7 +600,7 @@ bool GCodes::DoHome(char* reply, bool& error)
 			homeX = false;
 			homeY = false;
 			homeZ = false;
-			axisIsHomed[0] = axisIsHomed[1] = axisIsHomed[2] = true;
+			axisIsHomed[X_AXIS] = axisIsHomed[Y_AXIS] = axisIsHomed[Z_AXIS] = true;
 			return true;
 		}
 		return false;
@@ -609,7 +612,7 @@ bool GCodes::DoHome(char* reply, bool& error)
 		{
 			homeAxisMoveCount = 0;
 			homeX = false;
-			axisIsHomed[0] = true;
+			axisIsHomed[X_AXIS] = true;
 			return NoHome();
 		}
 		return false;
@@ -622,7 +625,7 @@ bool GCodes::DoHome(char* reply, bool& error)
 		{
 			homeAxisMoveCount = 0;
 			homeY = false;
-			axisIsHomed[1] = true;
+			axisIsHomed[Y_AXIS] = true;
 			return NoHome();
 		}
 		return false;
@@ -631,7 +634,7 @@ bool GCodes::DoHome(char* reply, bool& error)
 
 	if(homeZ)
 	{
-		if (!(axisIsHomed[0] && axisIsHomed[1]))
+		if (!(axisIsHomed[X_AXIS] && axisIsHomed[Y_AXIS]))
 		{
 			// We can only home Z if X and Y have already been homed. Possibly this should only be if we are using an IR probe.
 			strncpy(reply, "Must home X and Y before homing Z", STRING_LENGTH);
@@ -643,7 +646,7 @@ bool GCodes::DoHome(char* reply, bool& error)
 		{
 			homeAxisMoveCount = 0;
 			homeZ = false;
-			axisIsHomed[2] = true;
+			axisIsHomed[Z_AXIS] = true;
 			return NoHome();
 		}
 		return false;
@@ -702,7 +705,10 @@ bool GCodes::DoSingleZProbeAtPoint()
 		activeDrive[DRIVES] = true;
 		reprap.GetMove()->SetZProbing(true);
 		if(DoCannedCycleMove(true))
+		{
 			cannedCycleMoveCount++;
+			axisIsHomed[Z_AXIS] = true;		// we now home the Z-axis in Move.cpp it is wasn't already
+		}
 		return false;
 
 	case 3:
@@ -741,7 +747,7 @@ bool GCodes::DoSingleZProbe()
 	{
 		cannedCycleMoveCount = 0;
 		probeCount = 0;
-		axisIsHomed[2] = true;	// we have homed the Z axis
+		axisIsHomed[Z_AXIS] = true;	// we have homed the Z axis
 		return true;
 	}
 	return false;
@@ -1315,7 +1321,7 @@ bool GCodes::ActOnGcode(GCodeBuffer *gb)
     	break;
 
     case 32: // Probe Z at multiple positions and generate the bed transform
-		if (!(axisIsHomed[0] && axisIsHomed[1]))
+		if (!(axisIsHomed[X_AXIS] && axisIsHomed[Y_AXIS]))
 		{
 			// We can only do a Z probe if X and Y have already been homed
 			strncpy(reply, "Must home X and Y before bed probing", STRING_LENGTH);

Move.cpp

@@ -98,8 +98,6 @@ void Move::Init()
   lastMove->Release();
   liveCoordinates[DRIVES] = platform->HomeFeedRate(Z_AXIS);
 
-  checkEndStopsOnNextMove = false;
-
   SetStepHypotenuse();
 
   currentFeedrate = -1.0;
@@ -169,6 +167,7 @@ void Move::Spin()
   // If there's a G Code move available, add it to the look-ahead
   // ring for processing.
 
+  bool checkEndStopsOnNextMove;
   if(gCodes->ReadMove(nextMove, checkEndStopsOnNextMove))
   {
 	Transform(nextMove);

Move.h

@@ -227,7 +227,6 @@ class Move
     float lastTime;
     bool addNoMoreMoves;
     bool active;
-    bool checkEndStopsOnNextMove;
     float currentFeedrate;
     float nextMove[DRIVES + 1];  // Extra is for feedrate
     float stepDistances[(1<<AXES)]; // Index bits: lsb -> dx, dy, dz <- msb
@@ -547,13 +546,25 @@ inline void Move::HitLowStop(int8_t drive, LookAhead* la, DDA* hitDDA)
 	{
 		if(zProbing)
 		{
+			// Executing G32, so record the Z position at which we hit the end stop
+			if (gCodes->GetAxisIsHomed(drive))
+			{
+				// Z-axis has already been homed, so just record the height of the bed at this point
 				lastZHit = ComputeCurrentCoordinate(drive, la, hitDDA);
 				la->SetDriveCoordinateAndZeroEndSpeed(lastZHit, drive);
 				lastZHit = lastZHit - platform->ZProbeStopHeight();
+			}
+			else
+			{
+				// Z axis has not yet been homed, so treat this probe as a homing command
+				la->SetDriveCoordinateAndZeroEndSpeed(platform->ZProbeStopHeight(), drive);
+				lastZHit = 0.0;
+			}
 			return;
 		} else
 		{
-			lastZHit = platform->ZProbeStopHeight(); // Should never be used.
+			// Executing G30, so set the current Z height to the value at which the end stop is triggered
+			lastZHit = platform->ZProbeStopHeight();
 			hitPoint = lastZHit;
 		}
 	}