result of G92 also affects planner

gcode.c

@@ -97,6 +97,7 @@ static float to_millimeters(double value) {
   return(gc.inches_mode ? (value * MM_PER_INCH) : value);
 }
 
+#ifdef __AVR_ATmega328P__        
 // Find the angle in radians of deviance from the positive y axis. negative angles to the left of y-axis, 
 // positive to the right.
 static double theta(double x, double y)
@@ -113,6 +114,7 @@ static double theta(double x, double y)
     }
   }
 }
+#endif
 
 // Executes one line of 0-terminated G-Code. The line is assumed to contain only uppercase
 // characters and signed floating point values (no whitespace).
@@ -236,7 +238,9 @@ uint8_t gc_execute_line(char *line) {
   switch (next_action) {
     case NEXT_ACTION_GO_HOME: mc_go_home(); clear_vector(gc.position); break;
     case NEXT_ACTION_DWELL: mc_dwell(trunc(p*1000)); break;   
-    case NEXT_ACTION_SET_COORDINATE_OFFSET: break; // no action needed
+    case NEXT_ACTION_SET_COORDINATE_OFFSET: 
+    mc_set_current_position(target[X_AXIS], target[Y_AXIS], target[Z_AXIS]);
+    break;
     case NEXT_ACTION_DEFAULT: 
     switch (gc.motion_mode) {
       case MOTION_MODE_CANCEL: break;

motion_control.h

@@ -24,14 +24,16 @@
 #include <avr/io.h>
 #include "planner.h"
 
+// NOTE: Although the following functions structurally belongs in this module, there is nothing to do but
+// to forward the request to the planner.
+
 // Execute linear motion in absolute millimeter coordinates. Feed rate given in millimeters/second
 // unless invert_feed_rate is true. Then the feed_rate means that the motion should be completed in
 // (1 minute)/feed_rate time.
-// NOTE: Although this function structurally belongs in this module, there is nothing to do but
-// to forward the request to the planner. For efficiency the function is implemented with a macro.
-
 #define mc_line(x, y, z, feed_rate, invert_feed_rate) plan_buffer_line(x, y, z, feed_rate, invert_feed_rate) 
 
+#define mc_set_current_position(x, y, z) plan_set_current_position(x, y, z) 
+
 #ifdef __AVR_ATmega328P__
 // Execute an arc. theta == start angle, angular_travel == number of radians to go along the arc,
 // positive angular_travel means clockwise, negative means counterclockwise. Radius == the radius of the

planner.c

@@ -391,9 +391,9 @@ void plan_buffer_line(double x, double y, double z, double feed_rate, int invert
   st_wake_up();
 }
 
-// Reset the position vector
+// Reset the planner position vector
 void plan_set_current_position(double x, double y, double z) {
-  position[X_AXIS] = x;
+  position[X_AXIS] = lround(x*settings.steps_per_mm[X_AXIS]);
-  position[Y_AXIS] = y;
+  position[Y_AXIS] = lround(y*settings.steps_per_mm[Y_AXIS]);
-  position[Z_AXIS] = z;
+  position[Z_AXIS] = lround(z*settings.steps_per_mm[Z_AXIS]);     
 }