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Added experimental support for M70-M73, save and restore of modal state.
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Added experimental support of LinuxCNC style subroutines.
Available for gcode run from local filesystem such as on a SD card or in littlefs.
Improved handling of G92 when G92 offset is changed while motion is ongoing. Ref. issue #241.
Fix for issue #521, crash when running G65 macro on ESP32.
"Hardened" stream switching code, likely fix for discussion #456.
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@terjeio
terjeio committed May 26, 2024
1 parent 1de8d7b commit 299eab7
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7 changes: 4 additions & 3 deletions README.md
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Expand Up @@ -13,7 +13,7 @@ It has been written to complement grblHAL and has features such as proper keyboa

---

Latest build date is 20240513, see the [changelog](changelog.md) for details.
Latest build date is 20240526, see the [changelog](changelog.md) for details.

__NOTE:__ Build 20240222 has moved the probe input to the ioPorts pool of inputs and will be allocated from it when configured.
The change is major and _potentially dangerous_, it may damage your probe, so please _verify correct operation_ after installing this, or later, builds.
Expand Down Expand Up @@ -78,8 +78,9 @@ This is a port/rewrite of [grbl 1.1f](https://github.com/gnea/grbl) and should b
- Tool Change: M6* (Two modes possible: manual** - supports jogging, ATC), M61
- Switches: M48, M49, M50, M51, M53
- Input/output control***: M62, M63, M64, M65, M66, M67, M68
- Modal state handling*: M70, M71, M72, M73
- Return from macro*****: M99
- Valid Non-Command Words: A*, B*, C*, D, E*, F, H*, I, J, K, L, N, P, Q*, R, S, T, U*, V*, W*, X, Y, Z
- Valid Non-Command Words: A*, B*, C*, D, E*, F, H*, I, J, K, L, N, O*, P, Q*, R, S, T, U*, V*, W*, X, Y, Z
* driver/configuration dependent. W axis only available when ABC axes are remapped to UVW or when lathe UVW mode is enabled.
** requires compatible GCode sender due to protocol extensions, new state and RT command.
Expand All @@ -93,4 +94,4 @@ G/M-codes not supported by [legacy Grbl](https://github.com/gnea/grbl/wiki) are
Some [plugins](https://github.com/grblHAL/plugins) implements additional M-codes.

---
20240402
20240523
30 changes: 30 additions & 0 deletions changelog.md
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@@ -1,5 +1,35 @@
## grblHAL changelog

<a name="20240526"/>Build 20240526

Core:

* Added experimental support for M70-M73, save and restore of modal state.

* Added experimental support of LinuxCNC style subroutines.
Available for gcode run from local filesystem such as on a SD card or in littlefs.

* Improved handling of G92 when G92 offset is changed while motion is ongoing.
Position and WCO offset in the realtime report will now be the actual realtime values and not
the values based on the parser state which may be quite a bit ahead of the machine. Ref. [issue #241](https://github.com/grblHAL/core/discussions/241#discussioncomment-9463390).

* Fix for [issue #521](https://github.com/grblHAL/core/issues/521), crash when running G65 macro on ESP32.

* "Hardened" stream switching code, likely fix for [discussion #456](https://github.com/grblHAL/core/discussions/456#discussioncomment-9533613).

Drivers:

* STM32F7xx: added initial support for WizNet W5500 and W5100S ethernet modules. Stack starts up but fails later, likely due to SPI issue?.
To be completed later.

Plugins:

* Keypad, OpenPNP and Encoder: updated for core signature change related to improved G92 handling.

* Networking: fixed incorrect signature of WizNet ethernet init function.

---

<a name="20240513"/>Build 20240513

Core:
Expand Down
154 changes: 116 additions & 38 deletions gcode.c
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Original file line number Diff line number Diff line change
Expand Up @@ -105,7 +105,7 @@ typedef union {
} ijk_words_t;

// Declare gc extern struct
parser_state_t gc_state, *saved_state = NULL;
parser_state_t gc_state;

#define FAIL(status) return(status);

Expand Down Expand Up @@ -186,9 +186,16 @@ axes_signals_t gc_get_g51_state (void)
return scaled;
}

float gc_get_offset (uint_fast8_t idx)
float gc_get_offset (uint_fast8_t idx, bool real_time)
{
return gc_state.modal.coord_system.xyz[idx] + gc_state.g92_coord_offset[idx] + gc_state.tool_length_offset[idx];
offset_id_t offset_id;

if(real_time &&
!(settings.status_report.machine_position && settings.status_report.sync_on_wco_change) &&
(offset_id = st_get_offset_id()) >= 0)
return gc_state.modal.coord_system.xyz[idx] + gc_state.offset_queue[offset_id].values[idx] + gc_state.tool_length_offset[idx];
else
return gc_state.modal.coord_system.xyz[idx] + gc_state.g92_coord_offset[idx] + gc_state.tool_length_offset[idx];
}

inline static float gc_get_block_offset (parser_block_t *gc_block, uint_fast8_t idx)
Expand Down Expand Up @@ -299,8 +306,12 @@ void gc_init (void)
if (!settings_read_coord_data(gc_state.modal.coord_system.id, &gc_state.modal.coord_system.xyz))
grbl.report.status_message(Status_SettingReadFail);

if (sys.cold_start && !settings.flags.g92_is_volatile && !settings_read_coord_data(CoordinateSystem_G92, &gc_state.g92_coord_offset))
grbl.report.status_message(Status_SettingReadFail);
if(sys.cold_start && !settings.flags.g92_is_volatile) {
if(!settings_read_coord_data(CoordinateSystem_G92, &gc_state.g92_coord_offset))
grbl.report.status_message(Status_SettingReadFail);
else
memcpy(&gc_state.offset_queue[gc_state.offset_id], &gc_state.g92_coord_offset, sizeof(coord_data_t));
}

if(grbl.on_wco_changed && (!sys.cold_start ||
!is0_position_vector(gc_state.modal.coord_system.xyz) ||
Expand All @@ -310,6 +321,9 @@ void gc_init (void)
#if NGC_EXPRESSIONS_ENABLE
ngc_flowctrl_init();
#endif
#if NGC_PARAMETERS_ENABLE
ngc_modal_state_invalidate();
#endif

// if(settings.flags.lathe_mode)
// gc_state.modal.plane_select = PlaneSelect_ZX;
Expand Down Expand Up @@ -349,6 +363,13 @@ spindle_ptrs_t *gc_spindle_get (void)
return gc_state.spindle.hal;
}

static void add_offset (void)
{
gc_state.offset_id = (gc_state.offset_id + 1) & (MAX_OFFSET_ENTRIES - 1);
memcpy(&gc_state.offset_queue[gc_state.offset_id], &gc_state.g92_coord_offset, sizeof(coord_data_t));
system_flag_wco_change();
}

static tool_data_t *tool_get_pending (tool_id_t tool_id)
{
static tool_data_t tool_data = {0};
Expand Down Expand Up @@ -454,8 +475,15 @@ static status_code_t read_parameter (char *line, uint_fast8_t *char_counter, flo
(*char_counter)++;
char *pos = line = line + *char_counter;

while(*line && *line != '>')
line++;
while(*line && *line != '>') {
if(*line == ' ') {
char *s1 = line, *s2 = line + 1;
while(*s2)
*s1++ = *s2++;
*(--s2) = '\0';
} else
line++;
}

*char_counter += line - pos + 1;

Expand All @@ -467,7 +495,7 @@ static status_code_t read_parameter (char *line, uint_fast8_t *char_counter, flo
} else
status = Status_BadNumberFormat;

} else if (read_float(line, char_counter, value)) {
} else if(read_float(line, char_counter, value)) {
if(!ngc_param_get((ngc_param_id_t)*value, value))
status = Status_BadNumberFormat;
} else
Expand All @@ -481,8 +509,39 @@ static status_code_t read_parameter (char *line, uint_fast8_t *char_counter, flo
return status;
}


#endif // NGC_EXPRESSIONS_ENABLE

#if NGC_PARAMETERS_ENABLE

bool gc_modal_state_restore (gc_modal_t *copy)
{
bool ok = false;

if((ok = !!copy && !ABORTED)) {

copy->auto_restore = false;
copy->motion = gc_state.modal.motion;

if(copy->coolant.value != gc_state.modal.coolant.value) {
hal.coolant.set_state(copy->coolant);
delay_sec(settings.safety_door.coolant_on_delay, DelayMode_SysSuspend);
}

if(copy->spindle.state.value != gc_state.modal.spindle.state.value || copy->rpm != gc_state.modal.rpm)
spindle_restore(gc_state.spindle.hal, copy->spindle.state, copy->rpm);

memcpy(&gc_state.modal, copy, sizeof(gc_modal_t));

gc_state.spindle.rpm = gc_state.modal.rpm;
gc_state.feed_rate = gc_state.modal.feed_rate;
}

return ok;
}

#endif // NGC_PARAMETERS_ENABLE

// Remove whitespace, control characters, comments and if block delete is active block delete lines
// else the block delete character. Remaining characters are converted to upper case.
// If the driver handles message comments then the first is extracted and returned in a dynamically
Expand Down Expand Up @@ -561,7 +620,7 @@ char *gc_normalize_block (char *block, char **message)
if(c == '#') {
char_counter--;
if(read_parameter(comment, &char_counter, &value) == Status_OK)
len += strlen(ftoa(value, 6));
len += strlen(trim_float(ftoa(value, 6)));
else
len += 3; // "N/A"
} else
Expand All @@ -578,7 +637,7 @@ char *gc_normalize_block (char *block, char **message)
if(c == '#') {
char_counter--;
if(read_parameter(comment, &char_counter, &value) == Status_OK)
strcat(s3, ftoa(value, 6));
strcat(s3, trim_float(ftoa(value, 6)));
else
strcat(s3, "N/A");
s3 = strchr(s3, '\0');
Expand Down Expand Up @@ -1263,30 +1322,13 @@ status_code_t gc_execute_block (char *block)
word_bit.modal_group.M10 = On;
port_command = (io_mcode_t)int_value;
break;
/*
case 70:
if(!saved_state)
saved_state = malloc(sizeof(parser_state_t));
if(!saved_state)
FAIL(Status_GcodeUnsupportedCommand); // [Unsupported M command]
memcpy(saved_state, &gc_state, sizeof(parser_state_t));
return Status_OK;

case 71: // Invalidate saved state
if(saved_state) {
free(saved_state);
saved_state = NULL;
}
return Status_OK; // Should fail if no state is saved...
case 72:
if(saved_state) {
// TODO: restore state, need to split out execution part of parser to separate functions first?
free(saved_state);
saved_state = NULL;
}
return Status_OK;
*/
#if NGC_PARAMETERS_ENABLE
case 70: case 71: case 72: case 73:
//word_bit.modal_group.G0 = On; ??
gc_block.state_action = (modal_state_action_t)int_value;
break;
#endif

case 99:
word_bit.modal_group.M4 = On;
Expand Down Expand Up @@ -2348,6 +2390,10 @@ status_code_t gc_execute_block (char *block)
FAIL(Status_GcodeValueWordMissing); // [P word missing]
if(gc_block.values.p > 65535.0f)
FAIL(Status_GcodeValueOutOfRange); // [P word out of range]
#if NGC_PARAMETERS_ENABLE
if(!ngc_call_push(&gc_state + ngc_call_level()))
FAIL(Status_FlowControlStackOverflow); // [Call level too deep]
#endif
#if NGC_EXPRESSIONS_ENABLE
// TODO: add context for local storage?
{
Expand Down Expand Up @@ -2934,6 +2980,7 @@ status_code_t gc_execute_block (char *block)
// Initialize planner data struct for motion blocks.
plan_line_data_t plan_data;
memset(&plan_data, 0, sizeof(plan_line_data_t)); // Zero plan_data struct
plan_data.offset_id = gc_state.offset_id;
plan_data.condition.target_validated = plan_data.condition.target_valid = sys.soft_limits.mask == 0;

// Intercept jog commands and complete error checking for valid jog commands and execute.
Expand Down Expand Up @@ -3011,7 +3058,7 @@ status_code_t gc_execute_block (char *block)
if(gc_block.modal.motion != MotionMode_None && gc_block.modal.motion != MotionMode_Seek) {
gc_state.spindle.css = &gc_state.spindle.hal->param->css;
gc_state.spindle.css->axis = plane.axis_1;
gc_state.spindle.css->tool_offset = gc_get_offset(gc_state.spindle.css->axis);
gc_state.spindle.css->tool_offset = gc_get_offset(gc_state.spindle.css->axis, false);
float pos = gc_state.position[gc_state.spindle.css->axis] - gc_state.spindle.css->tool_offset;
gc_block.values.s = pos <= 0.0f ? gc_state.spindle.css->max_rpm : min(gc_state.spindle.css->max_rpm, gc_state.spindle.css->surface_speed / (pos * (float)(2.0f * M_PI)));
//?? gc_parser_flags.spindle_force_sync = On;
Expand Down Expand Up @@ -3198,6 +3245,33 @@ status_code_t gc_execute_block (char *block)
plan_data.condition.is_rpm_rate_adjusted = gc_state.is_rpm_rate_adjusted;
plan_data.condition.is_laser_ppi_mode = gc_state.is_rpm_rate_adjusted && gc_state.is_laser_ppi_mode;

#if NGC_PARAMETERS_ENABLE

// [7a. Modal state actions ]:
switch(gc_block.state_action) {

case ModalState_Save:
case ModalState_SaveAutoRestore:
gc_state.modal.rpm = gc_state.spindle.rpm;
gc_state.modal.feed_rate = gc_state.feed_rate;
if(!ngc_modal_state_save(&gc_state.modal, gc_block.state_action == ModalState_SaveAutoRestore))
FAIL(Status_FlowControlOutOfMemory); // [Out of memory] TODO: allocate memory during validation? Static allocation?
break;

case ModalState_Invalidate:
ngc_modal_state_invalidate();
break;

case ModalState_Restore:
ngc_modal_state_restore();
break;

default:
break;
}

#endif // NGC_PARAMETERS_ENABLE

// [8. Coolant control ]:
if (gc_parser_flags.set_coolant && gc_state.modal.coolant.value != gc_block.modal.coolant.value) {
// NOTE: Coolant M-codes are modal. Only one command per line is allowed. But, multiple states
Expand Down Expand Up @@ -3370,27 +3444,27 @@ status_code_t gc_execute_block (char *block)
memcpy(gc_state.g92_coord_offset, gc_block.values.xyz, sizeof(gc_state.g92_coord_offset));
if(!settings.flags.g92_is_volatile)
settings_write_coord_data(CoordinateSystem_G92, &gc_state.g92_coord_offset); // Save G92 offsets to non-volatile storage
system_flag_wco_change();
add_offset();
break;

case NonModal_ResetCoordinateOffset: // G92.1
gc_state.g92_coord_offset_applied = false;
clear_vector(gc_state.g92_coord_offset); // Disable G92 offsets by zeroing offset vector.
if(!settings.flags.g92_is_volatile)
settings_write_coord_data(CoordinateSystem_G92, &gc_state.g92_coord_offset); // Save G92 offsets to non-volatile storage
system_flag_wco_change();
add_offset();
break;

case NonModal_ClearCoordinateOffset: // G92.2
gc_state.g92_coord_offset_applied = false;
clear_vector(gc_state.g92_coord_offset); // Disable G92 offsets by zeroing offset vector.
system_flag_wco_change();
add_offset();
break;

case NonModal_RestoreCoordinateOffset: // G92.3
gc_state.g92_coord_offset_applied = true; // TODO: check for all zero?
settings_read_coord_data(CoordinateSystem_G92, &gc_state.g92_coord_offset); // Restore G92 offsets from non-volatile storage
system_flag_wco_change();
add_offset();
break;

default:
Expand Down Expand Up @@ -3647,6 +3721,10 @@ status_code_t gc_execute_block (char *block)
output_commands = next;
}

#if NGC_PARAMETERS_ENABLE
ngc_modal_state_invalidate();
#endif

grbl.report.feedback_message(Message_ProgramEnd);
}
gc_state.modal.program_flow = ProgramFlow_Running; // Reset program flow.
Expand Down
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