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Store current position in EEPROM

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Previously, we held our position in EEPROM so it
persisted even across power cycles.  This seems to have been lost,
so I'm restoring it.
This commit is contained in:
Richard Bowman 2023-02-22 12:17:45 +00:00
parent 40439a0ead
commit 3e4b3e97eb
1 changed files with 6 additions and 4 deletions
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10
src/modules/stage/stage.cpp
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@ -12,12 +12,13 @@
// The array below has 3 stepper objects, for X,Y,Z respectively // The array below has 3 stepper objects, for X,Y,Z respectively
const uint8_t n_motors = STAGE_N_MOTORS; const uint8_t n_motors = STAGE_N_MOTORS;
const uint8_t stage_position_eeprom = 0;
long min_step_delay = -1; long min_step_delay = -1;
const uint8_t min_step_delay_eeprom = sizeof(long) * n_motors; const uint8_t min_step_delay_eeprom = stage_position_eeprom + sizeof(long) * n_motors;
long ramp_time = -1; long ramp_time = -1;
const uint8_t ramp_time_eeprom = sizeof(long) * (n_motors + 1); const uint8_t ramp_time_eeprom = min_step_delay_eeprom + sizeof(long);
const uint8_t axis_max_eeprom = sizeof(long) * (n_motors + 2); const uint8_t axis_max_eeprom = ramp_time_eeprom + sizeof(long);
const uint8_t non_blocking_moves_eeprom = sizeof(long) * (n_motors + 3); const uint8_t non_blocking_moves_eeprom = axis_max_eeprom + sizeof(long);
Stepper *motors[n_motors]; Stepper *motors[n_motors];
signed long current_pos[n_motors]; signed long current_pos[n_motors];
long steps_remaining[n_motors]; long steps_remaining[n_motors];
@ -181,6 +182,7 @@ void stage_loop()
} }
} }
} }
EEPROM.put(0, current_pos); // ensure our position is held in EEPROM so it persists
if (!stage_moving && notify_on_stop) if (!stage_moving && notify_on_stop)
{ {