Added hard reset; Backlash bug fixes

HAL/STM32/stm32f4xx_it.c

@@ -297,6 +297,7 @@ void USART2_IRQHandler(void)
 		switch(c)
 		{
 		case CMD_RESET:         MC_Reset(); break; // Call motion control reset routine.
+		case CMD_RESET_HARD:    NVIC_SystemReset();     // Perform hard reset
 		case CMD_STATUS_REPORT: System_SetExecStateFlag(EXEC_STATUS_REPORT);break;
 		case CMD_CYCLE_START:   System_SetExecStateFlag(EXEC_CYCLE_START); break; // Set as true
 		case CMD_FEED_HOLD:     System_SetExecStateFlag(EXEC_FEED_HOLD); break; // Set as true

README.md

@@ -11,6 +11,7 @@ Grbl-Advanced includes full acceleration management with look ahead. That means
 
 ***
 
+### Extras:
 #### Backlash Compensation:
 Backlash compensation enabled by default. You can switch it off in Config.h.
 Edit defaults.h to your needs.
@@ -22,6 +23,10 @@ Edit defaults.h to your needs.
 #### Canned Drill Cycles (G81-G83):
 Added Canned Drill Cycles G81-G83 as experimental features. They are roughly tested and seem to work, but may contain still errors. Use at own risk!
 
+#### Hard Reset
+0x19 (CTRL-Y): Perform a hard reset.
+
+***
 
 ### Build Environment:
 

grbl/Config.h

@@ -51,6 +51,7 @@
 // g-code programs, maybe selected for interface programs.
 // NOTE: If changed, manually update help message in report.c.
 #define CMD_RESET 				0x18 // ctrl-x.
+#define CMD_RESET_HARD			0x19 // ctrl-y.
 #define CMD_STATUS_REPORT 		'?'
 #define CMD_CYCLE_START 		'~'
 #define CMD_FEED_HOLD 			'!'

grbl/MotionControl.c

@@ -45,13 +45,19 @@ static uint8_t dir_negative[N_AXIS] = {DIR_NEGATIV};
 
 void MC_Init(void)
 {
-    int32_t current_position[N_AXIS] = {0};
-
     for(uint8_t i = 0; i < N_AXIS; i++)
     {
         dir_negative[i] = DIR_NEGATIV ^ (settings.homing_dir_mask & (1<<i));
     }
 
+    MC_SyncBacklashPosition();
+}
+
+
+void MC_SyncBacklashPosition(void)
+{
+    int32_t current_position[N_AXIS] = {0};
+
     // Copy current state of the system position variable
 	memcpy(current_position, sys_position, sizeof(sys_position));
 
@@ -465,6 +471,7 @@ uint8_t MC_ProbeCycle(float *target, Planner_LineData_t *pl_data, uint8_t parser
 	Stepper_Reset(); // Reset step segment buffer.
 	Planner_Reset(); // Reset planner buffer. Zero planner positions. Ensure probing motion is cleared.
 	Planner_SyncPosition(); // Sync planner position to current machine position.
+	MC_SyncBacklashPosition();
 
 #ifdef MESSAGE_PROBE_COORDINATES
 	// All done! Output the probe position as message.

grbl/MotionControl.h

@@ -37,6 +37,8 @@
 
 void MC_Init(void);
 
+void MC_SyncBacklashPosition(void);
+
 
 // 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

grbl/Stepper.c

@@ -237,6 +237,9 @@ void Stepper_WakeUp(void)
 		GPIO_ResetBits(GPIO_ENABLE_PORT, GPIO_ENABLE_PIN);
 	}
 
+    // Give steppers some time to wake up
+	Delay_ms(10);
+
 	// Initialize stepper output bits to ensure first ISR call does not step.
 	//st.step_outbits = step_port_invert_mask;
 	st.step_outbits = 0;