Fixed homing on CoreXY machines only.

- The homing routine for CoreXY/H-Bot CNC machines has been fixed.

- Version date bumped, but this update does NOT effect any normal
users. Only CoreXY users.

doc/log/commit_log_v0.9j.txt

@@ -1,3 +1,32 @@
+----------------
+Date: 2016-07-26
+Author: chamnit
+Subject: Merge branch 'master-corexy'
+
+
+----------------
+Date: 2016-07-25
+Author: chamnit
+Subject: CoreXY homing bug fix attempt 2.
+
+
+----------------
+Date: 2016-07-25
+Author: chamnit
+Subject: CoreXY homing fix attempt.
+
+
+----------------
+Date: 2016-03-17
+Author: Sonny Jeon
+Subject: No variable spindle and spindle speed fix.
+
+- When VARIABLE_SPINDLE output is disabled in config.h, the last commit
+would keep the spindle enable pin disabled when spindle speed is not
+defined (S0). This is now ignored and will enable with S0, as spindle
+speed is ignored in this mode.
+
+
 ----------------
 Date: 2016-03-16
 Author: Sonny Jeon

grbl/config.h

@@ -72,8 +72,8 @@
 // on separate pin, but homed in one cycle. Also, it should be noted that the function of hard limits 
 // will not be affected by pin sharing.
 // NOTE: Defaults are set for a traditional 3-axis CNC machine. Z-axis first to clear, followed by X & Y.
-#define HOMING_CYCLE_0 (1<<X_AXIS)                // REQUIRED: First move Z to clear workspace.
+#define HOMING_CYCLE_0 (1<<Z_AXIS)                // REQUIRED: First move Z to clear workspace.
-#define HOMING_CYCLE_1 (1<<Y_AXIS)  // OPTIONAL: Then move X,Y at the same time.
+#define HOMING_CYCLE_1 ((1<<X_AXIS)|(1<<Y_AXIS))  // OPTIONAL: Then move X,Y at the same time.
 // #define HOMING_CYCLE_2                         // OPTIONAL: Uncomment and add axes mask to enable
 
 // Number of homing cycles performed after when the machine initially jogs to limit switches.
@@ -147,9 +147,9 @@
 // #define HOMING_CYCLE_0 (1<<X_AXIS) and #define HOMING_CYCLE_1 (1<<Y_AXIS)
 // NOTE: This configuration option alters the motion of the X and Y axes to principle of operation
 // defined at (http://corexy.com/theory.html). Motors are assumed to positioned and wired exactly as
-// described, if not, motions may move in strange directions. Grbl assumes the CoreXY A and B motors
+// described, if not, motions may move in strange directions. Grbl requires the CoreXY A and B motors
 // have the same steps per mm internally.
-#define COREXY // Default disabled. Uncomment to enable.
+// #define COREXY // Default disabled. Uncomment to enable.
 
 // Inverts pin logic of the control command pins. This essentially means when this option is enabled
 // you can use normally-closed switches, rather than the default normally-open switches.

grbl/grbl.h

@@ -23,7 +23,7 @@
 
 // Grbl versioning system
 #define GRBL_VERSION "0.9j"
-#define GRBL_VERSION_BUILD "20160317"
+#define GRBL_VERSION_BUILD "20160726"
 
 // Define standard libraries used by Grbl.
 #include <avr/io.h>

grbl/system.c

@@ -265,9 +265,9 @@ float system_convert_axis_steps_to_mpos(int32_t *steps, uint8_t idx)
   float pos;
   #ifdef COREXY
     if (idx==X_AXIS) { 
-      pos = (float)system_convert_corexy_to_x_axis_steps(steps) / settings.steps_per_mm[idx];
+      pos = (float)system_convert_corexy_to_x_axis_steps(steps) / settings.steps_per_mm[A_MOTOR];
     } else if (idx==Y_AXIS) {
-      pos = (float)system_convert_corexy_to_y_axis_steps(steps) / settings.steps_per_mm[idx];
+      pos = (float)system_convert_corexy_to_y_axis_steps(steps) / settings.steps_per_mm[B_MOTOR];
     } else {
       pos = steps[idx]/settings.steps_per_mm[idx];
     }