From 76730176da0ddee2f31aea3e28e2df54342629c9 Mon Sep 17 00:00:00 2001
From: Sonny Jeon <chamnit@gmail.com>
Date: Wed, 4 Mar 2015 06:50:26 -0700
Subject: [PATCH] Arduino IDE compatibility and minor homing fixes

- Added an include in the right spot, if a user tries to compile and
upload Grbl through the Arduino IDE with the old way.

- Fixed a minor bug with homing max travel calculations. It was causing
simultaneous axes homing to move slow than it did before.
---
 README.md       |  2 +-
 grbl/config.h   |  1 +
 grbl/grbl.h     |  2 +-
 grbl/limits.c   | 25 +++++++++++++++----------
 grbl/protocol.c |  4 ++++
 5 files changed, 22 insertions(+), 12 deletions(-)

diff --git a/README.md b/README.md
index 962d932..afad1bb 100644
--- a/README.md
+++ b/README.md
@@ -82,5 +82,5 @@ List of Supported G-Codes in Grbl v0.9
 -------------
 Grbl is an open-source project and fueled by the free-time of our intrepid administrators and altruistic users. If you'd like to donate, all proceeds will be used to help fund supporting hardware and testing equipment. Thank you!
 
-[![Donate](https://www.paypalobjects.com/en_US/i/btn/btn_donate_LG.gif)](https://www.paypal.com/cgi-bin/webscr?cmd=_s-xclick&hosted_button_id=EBQWAWQAAT878)
+[![Donate](https://www.paypalobjects.com/en_US/i/btn/btn_donate_LG.gif)](https://www.paypal.com/cgi-bin/webscr?cmd=_s-xclick&hosted_button_id=CUGXJHXA36BYW)
 
diff --git a/grbl/config.h b/grbl/config.h
index cde5065..2d6cb7c 100644
--- a/grbl/config.h
+++ b/grbl/config.h
@@ -27,6 +27,7 @@
 
 #ifndef config_h
 #define config_h
+#include "grbl.h" // For Arduino IDE compatibility.
 
 
 // Default settings. Used when resetting EEPROM. Change to desired name in defaults.h
diff --git a/grbl/grbl.h b/grbl/grbl.h
index ff92269..2122a50 100644
--- a/grbl/grbl.h
+++ b/grbl/grbl.h
@@ -23,7 +23,7 @@
 
 // Grbl versioning system
 #define GRBL_VERSION "0.9i"
-#define GRBL_VERSION_BUILD "20150223"
+#define GRBL_VERSION_BUILD "20150302"
 
 // Define standard libraries used by Grbl.
 #include <avr/io.h>
diff --git a/grbl/limits.c b/grbl/limits.c
index 75b9f82..155aba5 100644
--- a/grbl/limits.c
+++ b/grbl/limits.c
@@ -134,7 +134,8 @@ void limits_go_home(uint8_t cycle_mask)
   float target[N_AXIS];
   
   uint8_t limit_pin[N_AXIS], step_pin[N_AXIS];
-  float max_travel;
+
+  float max_travel = 0.0;
   for (idx=0; idx<N_AXIS; idx++) {  
     // Initialize limit and step pin masks
     limit_pin[idx] = get_limit_pin_mask(idx);
@@ -142,6 +143,13 @@ void limits_go_home(uint8_t cycle_mask)
     #ifdef COREXY    
       if ((idx==A_MOTOR)||(idx==B_MOTOR)) { step_pin[idx] = (get_step_pin_mask(X_AXIS)|get_step_pin_mask(Y_AXIS)); } 
     #endif
+
+    if (bit_istrue(cycle_mask,bit(idx))) { 
+      // Set target based on max_travel setting. Ensure homing switches engaged with search scalar.
+      // NOTE: settings.max_travel[] is stored as a negative value.
+      max_travel = max(max_travel,(-HOMING_AXIS_SEARCH_SCALAR)*settings.max_travel[idx]);
+    }
+
   }
   
   plan_reset(); // Reset planner buffer to zero planner current position and to clear previous motions.
@@ -153,25 +161,22 @@ void limits_go_home(uint8_t cycle_mask)
     else { invert_pin = !approach; }
 
     // Initialize and declare variables needed for homing routine.
-    uint8_t n_active_axis = 0;
     uint8_t axislock = 0;
-
+    uint8_t n_active_axis = 0;
     system_convert_array_steps_to_mpos(target,sys.position);      
     for (idx=0; idx<N_AXIS; idx++) {
       // Set target location for active axes and setup computation for homing rate.
       if (bit_istrue(cycle_mask,bit(idx))) { 
         n_active_axis++;
-       // Set target based on max_travel setting. Ensure homing switches engaged with search scalar.
-       // NOTE: settings.max_travel[] is stored as a negative value.
-        max_travel = (-HOMING_AXIS_SEARCH_SCALAR)*settings.max_travel[idx];
         if (bit_istrue(settings.homing_dir_mask,bit(idx))) { max_travel = -max_travel; }
         if (!approach) { max_travel = -max_travel; }
         target[idx] += max_travel;
+
+        // Apply axislock to the step port pins active in this cycle.
+        axislock |= step_pin[idx];
       }
 
-      // Apply axislock to the step port pins active in this cycle.
-      if (bit_istrue(cycle_mask,bit(idx))) { axislock |= step_pin[idx]; }
-    }      
+    }
     homing_rate *= sqrt(n_active_axis); // [sqrt(N_AXIS)] Adjust so individual axes all move at homing rate.
     sys.homing_axis_lock = axislock;
   
@@ -197,9 +202,9 @@ void limits_go_home(uint8_t cycle_mask)
       }
       sys.homing_axis_lock = axislock;
       st_prep_buffer(); // Check and prep segment buffer. NOTE: Should take no longer than 200us.
-      // Check only for user reset. No time to run protocol_execute_realtime() in this loop.
 
       // Exit routines: User abort homing and alarm upon safety door or no limit switch found.
+      // No time to run protocol_execute_realtime() in this loop.
       if (sys.rt_exec_state & (EXEC_SAFETY_DOOR | EXEC_RESET | EXEC_CYCLE_STOP)) { 
         if (sys.rt_exec_state & (EXEC_SAFETY_DOOR | EXEC_CYCLE_STOP)) { mc_reset(); }  
         protocol_execute_realtime();
diff --git a/grbl/protocol.c b/grbl/protocol.c
index 2b81f00..dc70f50 100644
--- a/grbl/protocol.c
+++ b/grbl/protocol.c
@@ -206,6 +206,10 @@ void protocol_execute_realtime()
         // to do what is needed before resetting, like killing the incoming stream. The 
         // same could be said about soft limits. While the position is not lost, the incoming
         // stream could be still engaged and cause a serious crash if it continues afterwards.
+//         if (sys.rt_exec_state & EXEC_STATUS_REPORT) { 
+//           report_realtime_status();
+//           bit_false_atomic(sys.rt_exec_state,EXEC_STATUS_REPORT); 
+//         }
       } while (bit_isfalse(sys.rt_exec_state,EXEC_RESET));
     }
     bit_false_atomic(sys.rt_exec_alarm,0xFF); // Clear all alarm flags