8 files changed, 77 insertions, 3 deletions

diff --git a/trunk/electronics/Pololu-electronics/pololu-steppers-power-side.brd b/trunk/electronics/Pololu-electronics/pololu-steppers-power-side.brd
index a6a1fc32..2b839d98 100644
--- a/trunk/electronics/Pololu-electronics/pololu-steppers-power-side.brd
+++ b/trunk/electronics/Pololu-electronics/pololu-steppers-power-side.brd
diff --git a/trunk/electronics/Pololu-electronics/pololu-steppers-signal-side.brd b/trunk/electronics/Pololu-electronics/pololu-steppers-signal-side.brd
index b414133d..474adc0d 100644
--- a/trunk/electronics/Pololu-electronics/pololu-steppers-signal-side.brd
+++ b/trunk/electronics/Pololu-electronics/pololu-steppers-signal-side.brd
diff --git a/trunk/electronics/Pololu-electronics/pololu-steppers-signal-side.sch b/trunk/electronics/Pololu-electronics/pololu-steppers-signal-side.sch
index 77890670..67ecd215 100644
--- a/trunk/electronics/Pololu-electronics/pololu-steppers-signal-side.sch
+++ b/trunk/electronics/Pololu-electronics/pololu-steppers-signal-side.sch
diff --git a/trunk/software/firmware/FiveD_GCode/FiveD_GCode_Interpreter/FiveD_GCode_Interpreter.pde b/trunk/software/firmware/FiveD_GCode/FiveD_GCode_Interpreter/FiveD_GCode_Interpreter.pde
index beb5ac66..5ffc9c29 100755
--- a/trunk/software/firmware/FiveD_GCode/FiveD_GCode_Interpreter/FiveD_GCode_Interpreter.pde
+++ b/trunk/software/firmware/FiveD_GCode/FiveD_GCode_Interpreter/FiveD_GCode_Interpreter.pde
@@ -117,6 +117,10 @@ word interruptBlink;
 
 FloatPoint where_i_am;
 
+// The coordinates of the last zero positions
+
+LongPoint zeroHit;
+
 // Our interrupt function
 
 /*
diff --git a/trunk/software/firmware/FiveD_GCode/FiveD_GCode_Interpreter/cartesian_dda.h b/trunk/software/firmware/FiveD_GCode/FiveD_GCode_Interpreter/cartesian_dda.h
index 946a2541..2095601a 100755
--- a/trunk/software/firmware/FiveD_GCode/FiveD_GCode_Interpreter/cartesian_dda.h
+++ b/trunk/software/firmware/FiveD_GCode/FiveD_GCode_Interpreter/cartesian_dda.h
@@ -113,6 +113,8 @@ public:
   void set_units();
   bool get_units();
   
+  FloatPoint returnUnits();
+  
   // Kill - stop all activity and turn off steppers
   
   void shutdown();
@@ -121,6 +123,10 @@ public:
 
 // Short functions inline to save memory; particularly useful in the Arduino
 
+inline FloatPoint cartesian_dda::returnUnits()
+{
+  return units;
+}
 
 inline bool cartesian_dda::get_units()
 {
@@ -185,10 +191,16 @@ inline bool cartesian_dda::xCanStep(long current, long target, bool dir)
 #if ENDSTOPS_MIN_ENABLED == 1
 #if X_ENDSTOP_INVERTING
 	if(!dir && !digitalRead(X_MIN_PIN) )
+        {
+                zeroHit.x = current;
 		return false;
+        }
 #else
 	if(!dir && digitalRead(X_MIN_PIN) )
+        {
+                zeroHit.x = current;
 		return false;
+        }
 #endif
 #endif
 
@@ -221,10 +233,16 @@ inline bool cartesian_dda::yCanStep(long current, long target, bool dir)
 #if ENDSTOPS_MIN_ENABLED == 1
 #if Y_ENDSTOP_INVERTING
 	if(!dir && !digitalRead(Y_MIN_PIN) )
+        {
+                zeroHit.y = current;
 		return false;
+        }
 #else
 	if(!dir && digitalRead(Y_MIN_PIN) )
+        {
+                zeroHit.y = current;
 		return false;
+        }
 #endif
 #endif
 
@@ -257,10 +275,16 @@ inline bool cartesian_dda::zCanStep(long current, long target, bool dir)
 #if ENDSTOPS_MIN_ENABLED == 1
 #if Z_ENDSTOP_INVERTING
 	if(!dir && !digitalRead(Z_MIN_PIN) )
+        {
+                zeroHit.z = current;
 		return false;
+        }
 #else
 	if(!dir && digitalRead(Z_MIN_PIN) )
+        {
+                zeroHit.z = current;
 		return false;
+        }
 #endif
 #endif
 
diff --git a/trunk/software/firmware/FiveD_GCode/FiveD_GCode_Interpreter/configuration.h.dist b/trunk/software/firmware/FiveD_GCode/FiveD_GCode_Interpreter/configuration.h.dist
index 0d9faad9..d028af06 100755
--- a/trunk/software/firmware/FiveD_GCode/FiveD_GCode_Interpreter/configuration.h.dist
+++ b/trunk/software/firmware/FiveD_GCode/FiveD_GCode_Interpreter/configuration.h.dist
@@ -96,7 +96,7 @@
 
 // Comment out the next line if you are running a Darwin with a MOTHERBOARD > 1
 
-#define MENDEL 1
+//#define MENDEL 1
 
 // Set to 1 if enable pins are inverting
 // For RepRap stepper boards version 1.x the enable pins are *not* inverting.
@@ -149,7 +149,7 @@
 
 #if MOTHERBOARD == 3
 
-#define MENDEL 1
+//#define MENDEL 1
 
 // Comment out this if you are using a thermocouple
 #define USE_THERMISTOR
@@ -322,6 +322,8 @@ inline void resetTimer()
   TCNT2 = 0;
 }
 
+extern LongPoint zeroHit;
+
 #endif
 
 //*************************************************************************
diff --git a/trunk/software/firmware/FiveD_GCode/FiveD_GCode_Interpreter/process_g_code.pde b/trunk/software/firmware/FiveD_GCode/FiveD_GCode_Interpreter/process_g_code.pde
index 1656f0f2..648c3b1d 100755
--- a/trunk/software/firmware/FiveD_GCode/FiveD_GCode_Interpreter/process_g_code.pde
+++ b/trunk/software/firmware/FiveD_GCode/FiveD_GCode_Interpreter/process_g_code.pde
@@ -595,11 +595,21 @@ void process_string(char instruction[], int size)
                                 talkToHost.setCoords(where_i_am);
 				break;
 
+			//Reserved for return version number
+			case 115:
+                                //talkToHost.sendVersion();
+				break;
+
 
                         // TODO: make this work properly
                         case 116:
                              ex[extruder_in_use]->waitForTemperature();
-				break;   
+				break; 
+
+			//custom code for returning zero-hit coordinates
+			case 117:
+                                talkToHost.setCoords(from_steps(cdda[0]->returnUnits(), zeroHit));
+				break;
 
 // The valve (real, or virtual...) is now the way to control any extruder (such as
 // a pressurised paste extruder) that cannot move using E codes.
diff --git a/trunk/software/firmware/FiveD_GCode/FiveD_GCode_Interpreter/vectors.h b/trunk/software/firmware/FiveD_GCode/FiveD_GCode_Interpreter/vectors.h
index 938cfe0c..4bb97ce9 100755
--- a/trunk/software/firmware/FiveD_GCode/FiveD_GCode_Interpreter/vectors.h
+++ b/trunk/software/firmware/FiveD_GCode/FiveD_GCode_Interpreter/vectors.h
@@ -6,6 +6,8 @@
 
 #define round(x) ((x)>=0?(long)((x)+0.5):(long)((x)-0.5))
 
+struct LongPoint;
+
 // Real-world units
 struct FloatPoint
 {
@@ -14,8 +16,20 @@ struct FloatPoint
 	float z;
         float e;   // Extrude length
         float f;   // Feedrate
+        FloatPoint();
+        FloatPoint(const LongPoint& a);
 };
 
+inline FloatPoint::FloatPoint()
+{
+  x = 0;
+  y = 0;
+  z = 0;
+  e = 0;
+  f = 0;
+}  
+
+
 inline FloatPoint operator+(const FloatPoint& a, const FloatPoint& b)
 {
   FloatPoint result;
@@ -127,4 +141,24 @@ inline LongPoint to_steps(const FloatPoint& units, const FloatPoint& position)
         return roundv(units*position);
 }
 
+inline FloatPoint from_steps(const FloatPoint& units, const LongPoint& position)
+{
+        FloatPoint inv = units;
+        inv.x = 1.0/inv.x;
+        inv.y = 1.0/inv.y;
+        inv.z = 1.0/inv.z;
+        inv.e = 1.0/inv.e;
+        inv.f = 1.0/inv.f;
+        return roundv(inv*position);
+}
+
+inline FloatPoint::FloatPoint(const LongPoint& a)
+{
+  x = a.x;
+  y = a.y;
+  z = a.z;
+  e = a.e;
+  f = a.f;
+}  
+
 #endif