Made configuration setting for E-axis that chooses between absolute and relative behaviour.

Changed default to absolute mode as pronterface's demo file expects so.

Author: modmaker

bebopr.h

@@ -14,6 +14,8 @@ extern int bebopr_pre_init( void);
 
 // Configuration
 
+extern int config_e_axis_is_always_relative( void);
+
 // determines stepper driver control
 extern int config_use_pololu_drivers( void);
 

bebopr_r2.c

@@ -317,3 +317,10 @@ double config_get_home_max_feed( axis_e axis)
   }
 }
 
+/*
+ *  Specify is the E axis is being fed relative coordinates only
+ */
+int config_e_axis_is_always_relative( void)
+{
+  return 0;
+}

gcode_parse.c

@@ -364,14 +364,13 @@ void gcode_parse_char(uint8_t c) {
 
 		if (next_target.option_relative) {
 			next_target.target.X = next_target.target.Y = next_target.target.Z = 0;
-			#ifdef	E_ABSOLUTE
+			if (!config_e_axis_is_always_relative()) {
 				next_target.target.E = 0;
-			#endif
+			}
 		}
-		#ifndef	E_ABSOLUTE
-			// E always relative
+		if (config_e_axis_is_always_relative()) {
 			next_target.target.E = 0;
-		#endif
+		}
 		newline = 1;
 	} else {
 		newline = 0;

gcode_process.c

@@ -76,15 +76,15 @@ static void enqueue_pos( TARGET* target)
     /* make the move */
     traject_delta_on_all_axes( &traj);
     /* update our sense of position */
-#ifndef	E_ABSOLUTE
-    /*
-     * For a 3D printer, an E-axis coordinate is often a relative setting,
-     * independant of the absolute or relative mode. (This way it doesn't
-     * overflow because it is mostly moving in one direction.)
-     * This requires special handling here.
-     */
-    target->E = gcode_home_pos.E;
-#endif
+    if (config_e_axis_is_always_relative()) {
+      /*
+       * For a 3D printer, an E-axis coordinate is often a relative setting,
+       * independant of the absolute or relative mode. (This way it doesn't
+       * overflow because it is mostly moving in one direction.)
+       * This requires special handling here.
+       */
+      target->E = gcode_home_pos.E;
+    }
     memcpy( &gcode_current_pos, target, sizeof( TARGET));
   }
 }
@@ -110,12 +110,6 @@ void process_gcode_command() {
 		next_target.target.Z += gcode_current_pos.Z;
 		next_target.target.E += gcode_current_pos.E;
 	}
-	// E ALWAYS relative, otherwise we overflow our registers after only a few layers
-	// 	next_target.target.E += startpoint.E;
-	// easier way to do this
-	// 	startpoint.E = 0;
-	// moved to dda.c, end of dda_create() and dda_queue.c, next_move()
-
 	// implement axis limits
 	if (config_axis_has_min_limit_switch( x_axis)) {
 		double x_min = config_axis_get_min_pos( x_axis);

traject.c

@@ -356,7 +356,9 @@ void traject_delta_on_all_axes( traject5D* traject)
   if (ramp_de != 0.0) {
     pruss_queue_adjust_for_ramp( 4, (int32_t)(1.0E9 * ramp_de));
   }
-  pruss_queue_adjust_origin( 4);
+  if (config_e_axis_is_always_relative()) {
+    pruss_queue_adjust_origin( 4);
+  }
 }
 
 static void pruss_axis_config( int axis, double step_size, int reverse)