From 834ad14c8d43dd3496280717fcd428c88f870942 Mon Sep 17 00:00:00 2001
From: Scott Lahteine <sourcetree@thinkyhead.com>
Date: Wed, 6 Jul 2016 12:00:28 -0700
Subject: [PATCH] Add quickstop_stepper to update current position with
 stepper.quick_stop()

---
 Marlin/Marlin.h         |  4 +---
 Marlin/MarlinSerial.cpp |  3 ++-
 Marlin/Marlin_main.cpp  | 18 +++++++-----------
 Marlin/endstops.cpp     |  5 +----
 Marlin/ultralcd.cpp     |  5 +----
 5 files changed, 12 insertions(+), 23 deletions(-)

diff --git a/Marlin/Marlin.h b/Marlin/Marlin.h
index 9d40ce161..2159fb019 100644
--- a/Marlin/Marlin.h
+++ b/Marlin/Marlin.h
@@ -230,9 +230,7 @@ void ok_to_send();
 void reset_bed_level();
 void kill(const char*);
 
-#if DISABLED(DELTA) && DISABLED(SCARA)
-  void set_current_position_from_planner();
-#endif
+void quickstop_stepper();
 
 #if ENABLED(FILAMENT_RUNOUT_SENSOR)
   void handle_filament_runout();
diff --git a/Marlin/MarlinSerial.cpp b/Marlin/MarlinSerial.cpp
index 7f1920528..82812986b 100644
--- a/Marlin/MarlinSerial.cpp
+++ b/Marlin/MarlinSerial.cpp
@@ -450,7 +450,8 @@ MarlinSerial customizedSerial;
       case state_M41:
         switch (c) {
           case '0':
-            { state = state_RESET; stepper.quick_stop(); }
+            state = state_RESET;
+            quickstop_stepper();
             break;
           case ';':
             state = state_IGNORE;
diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp
index c4cdbb731..3d8ba8443 100644
--- a/Marlin/Marlin_main.cpp
+++ b/Marlin/Marlin_main.cpp
@@ -1109,7 +1109,7 @@ inline void get_serial_commands() {
         // If command was e-stop process now
         if (strcmp(command, "M108") == 0) wait_for_heatup = false;
         if (strcmp(command, "M112") == 0) kill(PSTR(MSG_KILLED));
-        if (strcmp(command, "M410") == 0) stepper.quick_stop();
+        if (strcmp(command, "M410") == 0) { quickstop_stepper(); }
       #endif
 
       #if defined(NO_TIMEOUTS) && NO_TIMEOUTS > 0
@@ -4556,12 +4556,7 @@ inline void gcode_M105() {
    * This will stop the carriages mid-move, so most likely they
    * will be out of sync with the stepper position after this.
    */
-  inline void gcode_M410() {
-    stepper.quick_stop();
-    #if DISABLED(DELTA) && DISABLED(SCARA)
-      set_current_position_from_planner();
-    #endif
-  }
+  inline void gcode_M410() { quickstop_stepper(); }
 
 #endif
 
@@ -5990,8 +5985,9 @@ inline void gcode_M400() { stepper.synchronize(); }
 
 #endif // FILAMENT_WIDTH_SENSOR
 
-#if DISABLED(DELTA) && DISABLED(SCARA)
-  void set_current_position_from_planner() {
+void quickstop_stepper() {
+  stepper.quick_stop();
+  #if DISABLED(DELTA) && DISABLED(SCARA)
     stepper.synchronize();
     #if ENABLED(AUTO_BED_LEVELING_FEATURE)
       vector_3 pos = planner.adjusted_position(); // values directly from steppers...
@@ -6004,8 +6000,8 @@ inline void gcode_M400() { stepper.synchronize(); }
       current_position[Z_AXIS] = stepper.get_axis_position_mm(Z_AXIS);
     #endif
     sync_plan_position();                       // ...re-apply to planner position
-  }
-#endif
+  #endif
+}
 
 #if ENABLED(MESH_BED_LEVELING)
 
diff --git a/Marlin/endstops.cpp b/Marlin/endstops.cpp
index 81a080ebf..3bfb67a11 100644
--- a/Marlin/endstops.cpp
+++ b/Marlin/endstops.cpp
@@ -186,10 +186,7 @@ void Endstops::report_state() {
       if (stepper.abort_on_endstop_hit) {
         card.sdprinting = false;
         card.closefile();
-        stepper.quick_stop();
-        #if DISABLED(DELTA) && DISABLED(SCARA)
-          set_current_position_from_planner();
-        #endif
+        quickstop_stepper();
         thermalManager.disable_all_heaters(); // switch off all heaters.
       }
     #endif
diff --git a/Marlin/ultralcd.cpp b/Marlin/ultralcd.cpp
index ca0db6d67..87104d87e 100755
--- a/Marlin/ultralcd.cpp
+++ b/Marlin/ultralcd.cpp
@@ -556,14 +556,11 @@ static void lcd_status_screen() {
     static void lcd_sdcard_stop() {
       card.stopSDPrint();
       clear_command_queue();
-      stepper.quick_stop();
+      quickstop_stepper();
       print_job_timer.stop();
       thermalManager.autotempShutdown();
       wait_for_heatup = false;
       lcd_setstatus(MSG_PRINT_ABORTED, true);
-      #if DISABLED(DELTA) && DISABLED(SCARA)
-        set_current_position_from_planner();
-      #endif // !DELTA && !SCARA
     }
 
   #endif //SDSUPPORT