M114 returns millimeters instead of steps

dda.h

@@ -5,6 +5,16 @@
 
 #include	"config.h"
 
+// Used in distance calculation during DDA setup
+/// micrometers per step X
+#define	UM_PER_STEP_X		1000L / ((uint32_t) STEPS_PER_MM_X)
+/// micrometers per step Y
+#define	UM_PER_STEP_Y		1000L / ((uint32_t) STEPS_PER_MM_Y)
+/// micrometers per step Z
+#define	UM_PER_STEP_Z		1000L / ((uint32_t) STEPS_PER_MM_Z)
+/// micrometers per step E
+#define	UM_PER_STEP_E		1000L / ((uint32_t) STEPS_PER_MM_E)
+
 #ifdef ACCELERATION_REPRAP
 	#ifdef ACCELERATION_RAMPING
 		#error Cant use ACCELERATION_REPRAP and ACCELERATION_RAMPING together.

gcode_process.c

@@ -392,7 +392,7 @@ void process_gcode_command() {
 				// M113- extruder PWM
 			// M114- report XYZEF to host
 			case 114:
-				sersendf_P(PSTR("X:%ld,Y:%ld,Z:%ld,E:%ld,F:%ld"), current_position.X, current_position.Y, current_position.Z, current_position.E, current_position.F);
+				sersendf_P(PSTR("X:%lq,Y:%lq,Z:%lq,E:%lq,F:%ld"), current_position.X * UM_PER_STEP_X, current_position.Y * UM_PER_STEP_Y, current_position.Z * UM_PER_STEP_Z, current_position.E * UM_PER_STEP_E, current_position.F);
 				// newline is sent from gcode_parse after we return
 				break;
 			// M115- capabilities string

sermsg.c

@@ -74,3 +74,39 @@ void serwrite_int32(int32_t v) {
 
 	serwrite_uint32(v);
 }
+
+/** write decimal digits from a long unsigned int
+\param v number to send
+*/
+void serwrite_uint32_vf(uint32_t v, uint8_t fp) {
+	uint8_t e, t;
+
+	for (e = 9; e > 0; e--) {
+		if (v >= powers[e])
+			break;
+	}
+
+	if (e < fp)
+		e = fp;
+
+	do
+	{
+		for (t = 0; v >= powers[e]; v -= powers[e], t++);
+		serial_writechar(t + '0');
+		if (e == fp)
+			serial_writechar('.');
+	}
+	while (e--);
+}
+
+/** write decimal digits from a long signed int
+\param v number to send
+*/
+void serwrite_int32_vf(int32_t v, uint8_t fp) {
+	if (v < 0) {
+		serial_writechar('-');
+		v = -v;
+	}
+
+	serwrite_uint32_vf(v, fp);
+}

sermsg.h

@@ -18,4 +18,7 @@ void serwrite_hex32(uint32_t v);
 void serwrite_uint32(uint32_t v);
 void serwrite_int32(int32_t v);
 
+void serwrite_uint32_vf(uint32_t v, uint8_t fp);
+void serwrite_int32_vf(int32_t v, uint8_t fp);
+
 #endif	/* _SERMSG_H */

sersendf.c

@@ -141,6 +141,10 @@ void sersendf_P(PGM_P format, ...) {
 					break;
 /*				case 'p':
 					serwrite_hex16(va_arg(args, uint16_t));*/
+				case 'q':
+					serwrite_int32_vf(va_arg(args, int32_t), 3);
+					j = 0;
+					break;
 				default:
 					serial_writechar(c);
 					j = 0;