Added limits override input and handling to core and iMXRT1062 driver

and some other extensions. See the changelog for details.

README.md

@@ -7,7 +7,7 @@ It has been written to complement grblHAL and has features such as proper keyboa
 
 ---
 
-Latest build date is 20201205, see the [changelog](changelog.md) for details.
+Latest build date is 20201212, see the [changelog](changelog.md) for details.
 
 ---
 

changelog.md

@@ -1,5 +1,15 @@
 ## grblHAL changelog
 
+Build 20201212 (test only):
+* Error 7 is no longer issued on startup if non-volatile storage \(Flash/EEPROM/FRAM\) for settings is not available.
+* [Alarm substate](https://github.com/terjeio/grblHAL/wiki/Report-extensions#realtime-report) \(if available\) is always added to the real-time report if a complete report is requested by sending `0x87`.
+* Added input signal and handling for limit switches override.  
+The pin is pulled high and requires a normally open \(NO\) push switch for operation. When closed limit pins are excluded from the status report and alarm 12 will not be raised if a limit switch is asserted _on a soft reset_ when "Hard limits" and "Strict mode" is enabled with `$21`.
+This allows normal operation so that a manual pull-off can be done before e.g. homing the machine.  
+Currently only the iMXRT1062 \(Teensy 4.x\) driver has support for this, for now by reassigning the safety door input when this is not used for its intended purpose.  
+__NOTE:__ A override will _not_ affect handling of homing and limit switch events elsewhere.
+* Now adds `ODO` to `NEWOPT` tag values if odometer data is available.
+
 Build 20201205 (test only):
 * Updated _[my_plugin.c](templates/my_plugin.c)_ [template](templates/README.md) with settings details for `$HELP` and `$ES`/`$EG` enumerations.
 * Settings/setting groups handling enhanced, moved some to plugins and added sorting (requres enough heap).

drivers/IMXRT1062/grblHAL_Teensy4/src/driver.c

@@ -74,6 +74,15 @@ static void ppi_timeout_isr (void);
 #include "usb_serial_pjrc.h"
 #endif
 
+#if defined(ENABLE_SAFETY_DOOR_INPUT_PIN) && defined(SAFETY_DOOR_PIN)
+#define SAFETY_DOOR_ENABLE 1
+#else
+#define SAFETY_DOOR_ENABLE 0
+#ifdef SAFETY_DOOR_PIN
+//#define LIMITS_OVERRIDE_PIN SAFETY_DOOR_PIN
+#endif
+#endif
+
 #define DEBOUNCE_QUEUE 8 // Must be a power of 2
 
 #define F_BUS_MHZ (F_BUS_ACTUAL / 1000000)
@@ -145,9 +154,12 @@ static gpio_t spindleEnable, spindleDir;
 #endif
 
 // Optional I/O
-#ifdef SAFETY_DOOR_PIN
+#if SAFETY_DOOR_ENABLE
 static gpio_t SafetyDoor;
 #endif
+#ifdef LIMITS_OVERRIDE_PIN
+static gpio_t LimitsOverride;
+#endif
 #ifdef A_AXIS
 static gpio_t stepA, dirA, LimitA;
 #endif
@@ -235,51 +247,54 @@ static gpio_t QEI_A, QEI_B;
 
 static input_signal_t inputpin[] = {
 #if ESTOP_ENABLE
-    { .id = Input_EStop,        .port = &Reset,        .pin = RESET_PIN,         .group = INPUT_GROUP_CONTROL },
+    { .id = Input_EStop,          .port = &Reset,          .pin = RESET_PIN,           .group = INPUT_GROUP_CONTROL },
 #else
-    { .id = Input_Reset,        .port = &Reset,        .pin = RESET_PIN,         .group = INPUT_GROUP_CONTROL },
+    { .id = Input_Reset,          .port = &Reset,          .pin = RESET_PIN,           .group = INPUT_GROUP_CONTROL },
 #endif
-    { .id = Input_FeedHold,     .port = &FeedHold,     .pin = FEED_HOLD_PIN,     .group = INPUT_GROUP_CONTROL },
-    { .id = Input_CycleStart,   .port = &CycleStart,   .pin = CYCLE_START_PIN,   .group = INPUT_GROUP_CONTROL },
-#ifdef SAFETY_DOOR_PIN
-    { .id = Input_SafetyDoor,   .port = &SafetyDoor ,  .pin = SAFETY_DOOR_PIN,   .group = INPUT_GROUP_CONTROL },
+    { .id = Input_FeedHold,       .port = &FeedHold,       .pin = FEED_HOLD_PIN,       .group = INPUT_GROUP_CONTROL },
+    { .id = Input_CycleStart,     .port = &CycleStart,     .pin = CYCLE_START_PIN,     .group = INPUT_GROUP_CONTROL },
+#if SAFETY_DOOR_ENABLE
+    { .id = Input_SafetyDoor,     .port = &SafetyDoor,     .pin = SAFETY_DOOR_PIN,     .group = INPUT_GROUP_CONTROL },
+#endif
+#if defined(LIMITS_OVERRIDE_PIN)
+    { .id = Input_LimitsOverride, .port = &LimitsOverride, .pin = LIMITS_OVERRIDE_PIN, .group = INPUT_GROUP_CONTROL },
 #endif
-    { .id = Input_Probe,        .port = &Probe,        .pin = PROBE_PIN,         .group = INPUT_GROUP_PROBE },
-    { .id = Input_LimitX,       .port = &LimitX,       .pin = X_LIMIT_PIN,       .group = INPUT_GROUP_LIMIT },
+    { .id = Input_Probe,          .port = &Probe,          .pin = PROBE_PIN,           .group = INPUT_GROUP_PROBE },
+    { .id = Input_LimitX,         .port = &LimitX,         .pin = X_LIMIT_PIN,         .group = INPUT_GROUP_LIMIT },
 #ifdef X2_LIMIT_PIN
-    { .id = Input_LimitX_Max,   .port = &LimitX2,      .pin = X2_LIMIT_PIN,      .group = INPUT_GROUP_LIMIT },
+    { .id = Input_LimitX_Max,     .port = &LimitX2,        .pin = X2_LIMIT_PIN,        .group = INPUT_GROUP_LIMIT },
 #endif
-    { .id = Input_LimitY,       .port = &LimitY,       .pin = Y_LIMIT_PIN,       .group = INPUT_GROUP_LIMIT },
+    { .id = Input_LimitY,         .port = &LimitY,         .pin = Y_LIMIT_PIN,         .group = INPUT_GROUP_LIMIT },
 #ifdef Y2_LIMIT_PIN
-    { .id = Input_LimitY_Max,   .port = &LimitY2,      .pin = Y2_LIMIT_PIN,      .group = INPUT_GROUP_LIMIT },
+    { .id = Input_LimitY_Max,     .port = &LimitY2,        .pin = Y2_LIMIT_PIN,        .group = INPUT_GROUP_LIMIT },
 #endif
-    { .id = Input_LimitZ,       .port = &LimitZ,       .pin = Z_LIMIT_PIN,       .group = INPUT_GROUP_LIMIT }
+    { .id = Input_LimitZ,         .port = &LimitZ,         .pin = Z_LIMIT_PIN,         .group = INPUT_GROUP_LIMIT }
 #ifdef Z2_LIMIT_PIN
-  , { .id = Input_LimitZ_Max,   .port = &LimitZ2,      .pin = Z2_LIMIT_PIN,      .group = INPUT_GROUP_LIMIT }
+  , { .id = Input_LimitZ_Max,     .port = &LimitZ2,        .pin = Z2_LIMIT_PIN,        .group = INPUT_GROUP_LIMIT }
 #endif
 #ifdef A_LIMIT_PIN
-  , { .id = Input_LimitA,       .port = &LimitA,       .pin = A_LIMIT_PIN,       .group = INPUT_GROUP_LIMIT }
+  , { .id = Input_LimitA,         .port = &LimitA,         .pin = A_LIMIT_PIN,         .group = INPUT_GROUP_LIMIT }
 #endif
 #ifdef B_LIMIT_PIN
-  , { .id = Input_LimitB,       .port = &LimitB,       .pin = B_LIMIT_PIN,       .group = INPUT_GROUP_LIMIT }
+  , { .id = Input_LimitB,         .port = &LimitB,         .pin = B_LIMIT_PIN,         .group = INPUT_GROUP_LIMIT }
 #endif
 #if MPG_MODE_ENABLE
-  ,  { .id = Input_ModeSelect,  .port = &ModeSelect,   .pin = MODE_PIN,          .group = INPUT_GROUP_MPG }
+  ,  { .id = Input_ModeSelect,    .port = &ModeSelect,     .pin = MODE_PIN,            .group = INPUT_GROUP_MPG }
 #endif
 #if KEYPAD_ENABLE && defined(KEYPAD_STROBE_PIN)
-  , { .id = Input_KeypadStrobe, .port = &KeypadStrobe, .pin = KEYPAD_STROBE_PIN, .group = INPUT_GROUP_KEYPAD }
+  , { .id = Input_KeypadStrobe,   .port = &KeypadStrobe,   .pin = KEYPAD_STROBE_PIN,   .group = INPUT_GROUP_KEYPAD }
 #endif
 #ifdef SPINDLE_INDEX_PIN
-  , { .id = Input_SpindleIndex, .port = &SpindleIndex, .pin = SPINDLE_INDEX_PIN, .group = INPUT_GROUP_SPINDLE_INDEX }
+  , { .id = Input_SpindleIndex,   .port = &SpindleIndex,   .pin = SPINDLE_INDEX_PIN,   .group = INPUT_GROUP_SPINDLE_INDEX }
 #endif
 #if QEI_ENABLE
-  , { .id = Input_QEI_A,        .port = &QEI_A,        .pin = QEI_A_PIN,         .group = INPUT_GROUP_QEI }
-  , { .id = Input_QEI_B,        .port = &QEI_B,        .pin = QEI_B_PIN,         .group = INPUT_GROUP_QEI }
+  , { .id = Input_QEI_A,          .port = &QEI_A,          .pin = QEI_A_PIN,           .group = INPUT_GROUP_QEI }
+  , { .id = Input_QEI_B,          .port = &QEI_B,          .pin = QEI_B_PIN,           .group = INPUT_GROUP_QEI }
   #if QEI_SELECT_ENABLED
-  , { .id = Input_QEI_Select,   .port = &QEI_Select,   .pin = QEI_SELECT_PIN,    .group = INPUT_GROUP_QEI_SELECT }
+  , { .id = Input_QEI_Select,     .port = &QEI_Select,     .pin = QEI_SELECT_PIN,      .group = INPUT_GROUP_QEI_SELECT }
   #endif
   #if QEI_INDEX_ENABLED
-  , { .id = Input_QEI_Index,    .port = &QEI_Index,    .pin = QEI_INDEX_PIN,     .group = INPUT_GROUP_QEI }
+  , { .id = Input_QEI_Index,      .port = &QEI_Index,      .pin = QEI_INDEX_PIN,       .group = INPUT_GROUP_QEI }
   #endif
 #endif
 };
@@ -1016,13 +1031,17 @@ inline static control_signals_t systemGetState (void)
 #endif
     signals.feed_hold = (FeedHold.reg->DR & FeedHold.bit) != 0;
     signals.cycle_start = (CycleStart.reg->DR & CycleStart.bit) != 0;
-#if defined(ENABLE_SAFETY_DOOR_INPUT_PIN) && defined(SAFETY_DOOR_PIN)
+#if SAFETY_DOOR_ENABLE
     signals.safety_door_ajar = (SafetyDoor.reg->DR & SafetyDoor.bit) != 0;
 #endif
 
     if(settings.control_invert.value)
         signals.value ^= settings.control_invert.value;
 
+#ifdef LIMITS_OVERRIDE_PIN
+    signals.limits_override = (LimitsOverride.reg->DR & LimitsOverride.bit) == 0;
+#endif
+
     return signals;
 }
 
@@ -1479,12 +1498,19 @@ static void settings_changed (settings_t *settings)
                     signal->irq_mode = control_fei.cycle_start ? IRQ_Mode_Falling : IRQ_Mode_Rising;
                     break;
 
+#if SAFETY_DOOR_ENABLE
                 case Input_SafetyDoor:
                     pullup = !settings->control_disable_pullup.safety_door_ajar;
                     signal->debounce = hal.driver_cap.software_debounce;
                     signal->irq_mode = control_fei.safety_door_ajar ? IRQ_Mode_Falling : IRQ_Mode_Rising;
                     break;
-
+#endif
+#ifdef LIMITS_OVERRIDE_PIN
+                case Input_LimitsOverride:
+                    pullup = true;
+                    signal->debounce = false;
+                    break;
+#endif
                 case Input_Probe:
                     pullup = hal.driver_cap.probe_pull_up;
                     break;
@@ -2042,7 +2068,7 @@ bool driver_init (void)
         options[strlen(options) - 1] = '\0';
 
     hal.info = "iMXRT1062";
-    hal.driver_version = "201025";
+    hal.driver_version = "201212";
 #ifdef BOARD_NAME
     hal.board = BOARD_NAME;
 #endif
@@ -2162,8 +2188,11 @@ bool driver_init (void)
 #if ESTOP_ENABLE
     hal.driver_cap.e_stop = On;
 #endif
-#ifdef SAFETY_DOOR_PIN
+#if SAFETY_DOOR_ENABLE
     hal.driver_cap.safety_door = On;
+#endif
+#ifdef LIMITS_OVERRIDE_PIN
+    hal.driver_cap.limits_override = On;
 #endif
     hal.driver_cap.software_debounce = On;
     hal.driver_cap.step_pulse_delay = On;

drivers/IMXRT1062/grblHAL_Teensy4/src/driver.h

@@ -241,6 +241,7 @@ typedef enum {
     Input_FeedHold,
     Input_CycleStart,
     Input_SafetyDoor,
+    Input_LimitsOverride,
     Input_EStop,
     Input_ModeSelect,
     Input_LimitX,

drivers/MSP432/driver.c

@@ -460,11 +460,6 @@ inline static axes_signals_t limitsGetState()
     if (settings.limits.invert.mask)
         signals.value ^= settings.limits.invert.mask;
 
-#if LIMITS_OVERRIDE_ENABLE
-    if(!BITBAND_PERI(LIMITS_OVERRIDE_PORT->IN, LIMITS_OVERRIDE_SWITCH_PIN))
-        signals.value = 0;
-#endif
-
     return signals;
 }
 
@@ -529,6 +524,10 @@ static control_signals_t systemGetState (void)
     if(settings.control_invert.mask)
         signals.value ^= settings.control_invert.mask;
 
+#if LIMITS_OVERRIDE_ENABLE
+    signals.limits_override = BITBAND_PERI(LIMITS_OVERRIDE_PORT->IN, LIMITS_OVERRIDE_SWITCH_PIN) == 0;
+#endif
+
     return signals;
 }
 
@@ -1415,7 +1414,7 @@ bool driver_init (void)
 #endif
 
     hal.info = "MSP432";
-    hal.driver_version = "201125";
+    hal.driver_version = "201212";
 #ifdef BOARD_NAME
     hal.board = BOARD_NAME;
 #endif
@@ -1498,6 +1497,9 @@ bool driver_init (void)
     hal.driver_cap.e_stop = On;
 #endif
     hal.driver_cap.safety_door = On;
+#if LIMITS_OVERRIDE_ENABLE
+    hal.driver_cap.limits_override = On;
+#endif
     hal.driver_cap.control_pull_up = On;
     hal.driver_cap.limits_pull_up = On;
     hal.driver_cap.probe_pull_up = On;

drivers/MSP432/driver.h

@@ -77,6 +77,9 @@
 #ifndef CNC_BOOSTERPACK_A4998
 #define CNC_BOOSTERPACK_A4998   0
 #endif
+#ifndef LIMITS_OVERRIDE_ENABLE
+#define LIMITS_OVERRIDE_ENABLE  0
+#endif
 
 #define CNC_BOOSTERPACK         0
 

grbl/grbl.h

@@ -34,7 +34,7 @@
 #else
 #define GRBL_VERSION "1.1f"
 #endif
-#define GRBL_VERSION_BUILD "20201205"
+#define GRBL_VERSION_BUILD "20201212"
 
 // The following symbols are set here if not already set by the compiler or in config.h
 // Do NOT change here!

grbl/hal.h

@@ -69,7 +69,9 @@ typedef union {
                  atc                       :1,
                  no_gcode_message_handling :1,
                  dual_spindle              :1,
-                 unassigned                :3;
+                 limits_override           :1,
+                 odometers                 :1,
+                 unassigned                :1;
     };
 } driver_cap_t;
 

grbl/nvs_buffer.c

@@ -229,7 +229,8 @@ bool nvs_buffer_init (void)
                 physical_nvs.memcpy_to_flash(nvsbuffer);
             else if(physical_nvs.memcpy_to_nvs)
                 physical_nvs.memcpy_to_nvs(0, nvsbuffer, GRBL_NVS_SIZE + hal.nvs.driver_area.size, false);
-            grbl.report.status_message(Status_SettingReadFail);
+            if(physical_nvs.type != NVS_None)
+                grbl.report.status_message(Status_SettingReadFail);
         }
     } else
         protocol_enqueue_rt_command(nvs_warning);

grbl/protocol.c

@@ -110,9 +110,13 @@ bool protocol_main_loop (void)
         system_raise_alarm(Alarm_HomingRequried);
         grbl.report.feedback_message(Message_HomingCycleRequired);
     } else if (settings.limits.flags.hard_enabled && settings.limits.flags.check_at_init && hal.limits.get_state().value) {
-        // Check that no limit switches are engaged to make sure everything is good to go.
-        system_raise_alarm(Alarm_LimitsEngaged);
-        grbl.report.feedback_message(Message_CheckLimits);
+        if(sys.alarm == Alarm_LimitsEngaged && hal.control.get_state().limits_override)
+            set_state(STATE_IDLE); // Clear alarm state to enable limit switch pulloff.
+        else {
+            // Check that no limit switches are engaged to make sure everything is good to go.
+            system_raise_alarm(Alarm_LimitsEngaged);
+            grbl.report.feedback_message(Message_CheckLimits);
+        }
     } else if(sys.cold_start && (settings.flags.force_initialization_alarm || hal.control.get_state().reset)) {
         set_state(STATE_ALARM); // Ensure alarm state is set.
         grbl.report.feedback_message(Message_AlarmLock);

grbl/report.c

@@ -508,7 +508,7 @@ void report_grbl_settings (bool all)
     if(all)
         report_uint_setting(Setting_StatusReportMask, (uint32_t)settings.status_report.mask);
     else
-        report_uint_setting(Setting_StatusReportMask, settings.status_report.mask & 0x3);
+        report_uint_setting(Setting_StatusReportMask, settings.status_report.mask & ~0b11);
     report_float_setting(Setting_JunctionDeviation, settings.junction_deviation, N_DECIMAL_SETTINGVALUE);
     report_float_setting(Setting_ArcTolerance, settings.arc_tolerance, N_DECIMAL_SETTINGVALUE);
     report_uint_setting(Setting_ReportInches, settings.flags.report_inches);
@@ -1151,6 +1151,9 @@ void report_build_info (char *line, bool extended)
         if(hal.driver_cap.spindle_sync)
             strcat(buf, "SS,");
 
+        if(hal.driver_cap.odometers)
+            strcat(buf, "ODO,");
+
     #ifdef PID_LOG
         strcat(buf, "PID,");
     #endif
@@ -1352,7 +1355,7 @@ void report_realtime_status (void)
             if(!probe_state.connected)
                 *append++ = 'O';
 
-            if (lim_pin_state.value)
+            if (lim_pin_state.value && !hal.control.get_state().limits_override)
                 append = axis_signals_tostring(append, lim_pin_state);
 
             if (ctrl_pin_state.value) {

grbl/settings.c

@@ -293,7 +293,11 @@ static const setting_detail_t setting_detail[] = {
     { Setting_InvertStepperEnable, Group_Stepper, "Invert step enable pin(s)", NULL, Format_AxisMask, NULL, NULL, NULL },
     { Setting_LimitPinsInvertMask, Group_Limits, "Invert limit pins", NULL, Format_AxisMask, NULL, NULL, NULL },
     { Setting_InvertProbePin, Group_Probing, "Invert probe pin", NULL, Format_Bool, NULL, NULL, NULL },
+#if COMPATIBILITY_LEVEL <= 1
     { Setting_StatusReportMask, Group_General, "Status report options", NULL, Format_Bitfield, "Position in machine coordinate,Buffer state,Line numbers,Feed & speed,Pin state,Work coordinate offset,Overrides,Probe coordinates,Buffer sync on WCO change,Parser state,Alarm substatus,Run substatus", NULL, NULL },
+#else
+    { Setting_StatusReportMask, Group_General, "Status report options", NULL, Format_Bitfield, "Position in machine coordinate,Buffer state", NULL, NULL },
+#endif
     { Setting_JunctionDeviation, Group_General, "Junction deviation", "mm", Format_Decimal, "#####0.000", NULL, NULL },
     { Setting_ArcTolerance, Group_General, "Arc tolerance", "mm", Format_Decimal, "#####0.000", NULL, NULL },
     { Setting_ReportInches, Group_General, "Report in inches", NULL, Format_Bool, NULL, NULL, NULL },
@@ -304,8 +308,16 @@ static const setting_detail_t setting_detail[] = {
     { Setting_LimitPullUpDisableMask, Group_Limits, "Pullup disable limit pins", NULL, Format_AxisMask, NULL, NULL, NULL },
     { Setting_ProbePullUpDisable, Group_Probing, "Pullup disable probe pin", NULL, Format_Bool, NULL, NULL, NULL },
     { Setting_SoftLimitsEnable, Group_Limits, "Soft limits enable", NULL, Format_Bool, NULL, NULL, NULL },
+#if COMPATIBILITY_LEVEL <= 1
     { Setting_HardLimitsEnable, Group_Limits, "Hard limits enable", NULL, Format_XBitfield, "Enable,Strict mode", NULL, NULL },
+#else
+    { Setting_HardLimitsEnable, Group_Limits, "Hard limits enable", NULL, Format_Bool, NULL, NULL, NULL },
+#endif
+#if COMPATIBILITY_LEVEL <= 1
     { Setting_HomingEnable, Group_Homing, "Homing cycle", NULL, Format_XBitfield, "Enable,Enable single axis commands,Homing on startup required,Set machine origin to 0,Two switches shares one input pin,Allow manual,Override locks", NULL, NULL },
+#else
+    { Setting_HomingEnable, Group_Homing, "Homing cycle enable", NULL, Format_Bool, NULL, NULL, NULL },
+#endif
     { Setting_HomingDirMask, Group_Homing, "Homing direction invert", NULL, Format_AxisMask, NULL, NULL, NULL },
     { Setting_HomingFeedRate, Group_Homing, "Homing locate feed rate", "mm/min", Format_Decimal, "#####0.0", NULL, NULL },
     { Setting_HomingSeekRate, Group_Homing, "Homing search seek rate", "mm/min", Format_Decimal, "#####0.0", NULL, NULL },
@@ -870,8 +882,8 @@ status_code_t settings_store_global_setting (setting_type_t setting, char *svalu
 #if COMPATIBILITY_LEVEL <= 1
                 settings.status_report.mask = int_value;
 #else
-                int_value &= 0b111;
-                settings.status_report.mask = (settings.status_report.mask & ~0b111) | int_value;
+                int_value &= 0b11;
+                settings.status_report.mask = (settings.status_report.mask & ~0b11) | int_value;
 #endif
                 break;
 
@@ -1243,7 +1255,8 @@ void settings_init() {
     if(!read_global_settings()) {
         settings_restore_t settings = settings_all;
         settings.defaults = 1; // Ensure global settings get restored
-        grbl.report.status_message(Status_SettingReadFail);
+        if(hal.nvs.type != NVS_None)
+            grbl.report.status_message(Status_SettingReadFail);
         settings_restore(settings); // Force restore all non-volatile storage data.
         report_init();
 #if COMPATIBILITY_LEVEL <= 1

grbl/stream.h

@@ -47,7 +47,7 @@
 #endif
 
 #ifndef BLOCK_TX_BUFFER_SIZE
-#define BLOCK_TX_BUFFER_SIZE 200
+#define BLOCK_TX_BUFFER_SIZE 256
 #endif
 
 // Serial baud rate

grbl/system.h

@@ -125,7 +125,8 @@ typedef union {
                  probe_disconnected :1,
                  motor_fault        :1,
                  motor_warning      :1,
-                 unassigned         :4,
+                 limits_override    :1,
+                 unassigned         :3,
                  probe_triggered    :1, // used for probe protection
                  deasserted         :1; // this flag is set if signals are deasserted. Note: do NOT pass on to Grbl control_interrupt_handler if set.
     };