Merge pull request #1014 from wolfmanjm/upstreamedge

Fix G28.2 (and grbl G28) to use mm when in inch mode

diff --git a/src/modules/tools/endstops/Endstops.cpp b/src/modules/tools/endstops/Endstops.cpp
index 0aaec30..a011266 100644 (file)
--- a/src/modules/tools/endstops/Endstops.cpp
+++ b/src/modules/tools/endstops/Endstops.cpp
@@ -385,6 +385,7 @@ void Endstops::move_to_origin(std::bitset<3> axis)
     char buf[32];
     THEROBOT->push_state();
     THEROBOT->inch_mode = false;     // needs to be in mm
+    THEROBOT->absolute_mode = true;
     snprintf(buf, sizeof(buf), "G53 G0 X0 Y0 F%1.4f", rate); // must use machine coordinates in case G92 or WCS is in effect
     struct SerialMessage message;
     message.message = buf;
@@ -555,12 +556,18 @@ void Endstops::process_home_command(Gcode* gcode)
     if( (gcode->subcode == 0 && THEKERNEL->is_grbl_mode()) || (gcode->subcode == 2 && !THEKERNEL->is_grbl_mode()) ) {
         // G28 in grbl mode or G28.2 in normal mode will do a rapid to the predefined position
         // TODO spec says if XYZ specified move to them first then move to MCS of specifed axis
+        THEROBOT->push_state();
+        THEROBOT->inch_mode = false;     // needs to be in mm
+        THEROBOT->absolute_mode = true;
         char buf[32];
         snprintf(buf, sizeof(buf), "G53 G0 X%f Y%f", saved_position[X_AXIS], saved_position[Y_AXIS]); // must use machine coordinates in case G92 or WCS is in effect
         struct SerialMessage message;
         message.message = buf;
         message.stream = &(StreamOutput::NullStream);
         THEKERNEL->call_event(ON_CONSOLE_LINE_RECEIVED, &message ); // as it is a multi G code command
+        // Wait for above to finish
+        THECONVEYOR->wait_for_idle();
+        THEROBOT->pop_state();
         return;
 
     } else if(THEKERNEL->is_grbl_mode() && gcode->subcode == 2) { // G28.2 in grbl mode forces homing (triggered by $H)