Changed core tool change routine to play nice with plugins subscribing to probe event.

2026-03-27 10:47:56 +08:00 · 2025-01-26 07:13:37 +01:00
parent 4dc17753bb
commit 0462c97dc9
7 changed files with 51 additions and 25 deletions
--- a/changelog.md
+++ b/changelog.md
@@ -1,5 +1,23 @@
 ## grblHAL changelog

+<a name="20250126">Build 20250126
+
+Core:
+
+* Changed core tool change routine to play nice with plugins subscribing to probe event.
+
+* Fixed typos in PR [#660](https://github.com/grblHAL/core/pull/660).
+
+Drivers:
+
+* STM32F4xx: updated the SuperLongBoard map.
+
+Plugins:
+
+* BLTouch: added `$BLRESET` command to reset the probe and stow of probe on soft reset.
+
+---
+
 <a name="20250124">Build 20250124

 Core:
--- a/grbl.h
+++ b/grbl.h
@@ -42,7 +42,7 @@
 #else
 #define GRBL_VERSION "1.1f"
 #endif
-#define GRBL_BUILD 20250124
+#define GRBL_BUILD 20250126

 #define GRBL_URL "https://github.com/grblHAL"

--- a/pin_bits_masks.h
+++ b/pin_bits_masks.h
@@ -219,27 +219,27 @@ static aux_ctrl_t aux_ctrl[] = {
 // The following pins are bound explicitly to aux input pins
 #if PROBE_ENABLE && defined(PROBE_PIN) && defined(AUX_DEVICES)
 #ifdef PROBE_PORT
-    { .function = Input_Probe, .aux_port = 0xFF, .irq_mode = (pin_irq_mode_t)(IRQ_Mode_Rising|IRQ_Mode_Falling), .cap = { .value = 0 }, .pin = PROBE_PIN, .port = PROBE_PORT },
+    { .function = Input_Probe, .aux_port = 0xFF, .irq_mode = (pin_irq_mode_t)(IRQ_Mode_Rising|IRQ_Mode_Falling), .cap = { .value = 0 }, .pin = PROBE_PIN, .port = (void *)PROBE_PORT },
 #else
    { .function = Input_Probe, .aux_port = 0xFF, .irq_mode = (pin_irq_mode_t)(IRQ_Mode_Rising|IRQ_Mode_Falling), .cap = { .value = 0 }, .pin = PROBE_PIN, .port = NULL },
 #endif
 #endif
 #if SAFETY_DOOR_ENABLE && defined(SAFETY_DOOR_PIN)
 #ifdef SAFETY_DOOR_PORT
-    { .function = Input_SafetyDoor, .aux_port = 0xFF, .irq_mode = (pin_irq_mode_t)(IRQ_Mode_Rising|IRQ_Mode_Falling), .cap = { .safety_door_ajar = On }, .pin = SAFETY_DOOR_PIN, .port = SAFETY_DOOR_PORT },
+    { .function = Input_SafetyDoor, .aux_port = 0xFF, .irq_mode = (pin_irq_mode_t)(IRQ_Mode_Rising|IRQ_Mode_Falling), .cap = { .safety_door_ajar = On }, .pin = SAFETY_DOOR_PIN, .port = (void *)SAFETY_DOOR_PORT },
 #else
    { .function = Input_SafetyDoor, .aux_port = 0xFF, .irq_mode = (pin_irq_mode_t)(IRQ_Mode_Rising|IRQ_Mode_Falling), .cap = { .safety_door_ajar = On }, .pin = SAFETY_DOOR_PIN, .port = NULL },
 #endif
 #endif
 #if MOTOR_FAULT_ENABLE && defined(MOTOR_FAULT_PIN)
 #ifdef MOTOR_FAULT_PORT
-    { .function = Input_MotorFault, .aux_port = 0xFF, .irq_mode = (pin_irq_mode_t)(IRQ_Mode_Rising|IRQ_Mode_Falling), .cap = { .motor_fault = On }, .pin = MOTOR_FAULT_PIN, .port = MOTOR_FAULT_PORT },
+    { .function = Input_MotorFault, .aux_port = 0xFF, .irq_mode = (pin_irq_mode_t)(IRQ_Mode_Rising|IRQ_Mode_Falling), .cap = { .motor_fault = On }, .pin = MOTOR_FAULT_PIN, .port = (void *)MOTOR_FAULT_PORT },
 #else
    { .function = Input_MotorFault, .aux_port = 0xFF, .irq_mode = (pin_irq_mode_t)(IRQ_Mode_Rising|IRQ_Mode_Falling), .cap = { .motor_fault = On }, .pin = MOTOR_FAULT_PIN, .port = NULL },
 #endif
 #if MOTOR_WARNING_ENABLE && defined(MOTOR_WARNING_PIN)
 #ifdef MOTOR_WARNING_PORT
-    { .function = Input_MotorWarning, .aux_port = 0xFF, .irq_mode = (pin_irq_mode_t)(IRQ_Mode_Rising|IRQ_Mode_Falling), .cap = { .motor_fault = On }, .pin = MOTOR_WARNING_PIN, .port = MOTOR_WARNING_PORT },
+    { .function = Input_MotorWarning, .aux_port = 0xFF, .irq_mode = (pin_irq_mode_t)(IRQ_Mode_Rising|IRQ_Mode_Falling), .cap = { .motor_fault = On }, .pin = MOTOR_WARNING_PIN, .port = (void *)MOTOR_WARNING_PORT },
 #else
    { .function = Input_MotorWarning, .aux_port = 0xFF, .irq_mode = (pin_irq_mode_t)(IRQ_Mode_Rising|IRQ_Mode_Falling), .cap = { .motor_warning = On }, .pin = MOTOR_WARNING_PIN, .port = NULL },
 #endif
@@ -247,21 +247,21 @@ static aux_ctrl_t aux_ctrl[] = {
 #endif
 #if I2C_STROBE_ENABLE && defined(I2C_STROBE_PIN) && defined(AUX_DEVICES)
 #ifdef I2C_STROBE_PORT
-    { .function = Input_I2CStrobe, .aux_port = 0xFF, .irq_mode = (pin_irq_mode_t)(IRQ_Mode_Change), .cap = { .value = 0 }, .pin = I2C_STROBE_PIN, .port = I2C_STROBE_PORT },
+    { .function = Input_I2CStrobe, .aux_port = 0xFF, .irq_mode = (pin_irq_mode_t)(IRQ_Mode_Change), .cap = { .value = 0 }, .pin = I2C_STROBE_PIN, .port = (void *)I2C_STROBE_PORT },
 #else
    { .function = Input_I2CStrobe, .aux_port = 0xFF, .irq_mode = (pin_irq_mode_t)(IRQ_Mode_Change), .cap = { .value = 0 }, .pin = I2C_STROBE_PIN, .port = NULL },
 #endif
 #endif
 #if MPG_ENABLE == 1 && defined(MPG_MODE_PIN) && defined(AUX_DEVICES)
 #ifdef MPG_MODE_PORT
-    { .function = Input_MPGSelect, .aux_port = 0xFF, .irq_mode = (pin_irq_mode_t)(IRQ_Mode_Change), .cap = { .value = 0 }, .pin = MPG_MODE_PIN, .port = MPG_MODE_PORT },
+    { .function = Input_MPGSelect, .aux_port = 0xFF, .irq_mode = (pin_irq_mode_t)(IRQ_Mode_Change), .cap = { .value = 0 }, .pin = MPG_MODE_PIN, .port = (void *)MPG_MODE_PORT },
 #else
    { .function = Input_MPGSelect, .aux_port = 0xFF, .irq_mode = (pin_irq_mode_t)(IRQ_Mode_Change), .cap = { .value = 0 }, .pin = MPG_MODE_PIN, .port = NULL },
 #endif
 #endif
 #if QEI_SELECT_ENABLE && defined(QEI_SELECT_PIN) && defined(AUX_DEVICES)
 #ifdef QEI_SELECT_PORT
-    { .function = Input_QEI_Select, .aux_port = 0xFF, .irq_mode = (pin_irq_mode_t)(IRQ_Mode_Rising|IRQ_Mode_Falling), .cap = { .value = 0 }, .pin = QEI_SELECT_PIN, .port = QEI_SELECT_PORT },
+    { .function = Input_QEI_Select, .aux_port = 0xFF, .irq_mode = (pin_irq_mode_t)(IRQ_Mode_Rising|IRQ_Mode_Falling), .cap = { .value = 0 }, .pin = QEI_SELECT_PIN, .port = (void *)QEI_SELECT_PORT },
 #else
    { .function = Input_QEI_Select, .aux_port = 0xFF, .irq_mode = (pin_irq_mode_t)(IRQ_Mode_Rising|IRQ_Mode_Falling), .cap = { .value = 0 }, .pin = QEI_SELECT_PIN, .port = NULL },
 #endif
@@ -415,38 +415,38 @@ static aux_ctrl_out_t aux_ctrl_out[] = {
 #ifndef SPINDLE_ENABLE_PORT
  #define SPINDLE_ENABLE_PORT NULL
 #endif
-    { .function = Output_SpindleOn,    .aux_port = 0xFF, .pin = SPINDLE_ENABLE_PIN,     .port = SPINDLE_ENABLE_PORT },
+    { .function = Output_SpindleOn,    .aux_port = 0xFF, .pin = SPINDLE_ENABLE_PIN,     .port = (void *)SPINDLE_ENABLE_PORT },
 #endif
 #ifdef SPINDLE_PWM_PIN
 #ifndef SPINDLE_PWM_PORT
  #define SPINDLE_PWM_PORT NULL
 #endif
-    { .function = Output_SpindlePWM,   .aux_port = 0xFF, .pin = SPINDLE_PWM_PIN,        .port = SPINDLE_PWM_PORT },
+    { .function = Output_SpindlePWM,   .aux_port = 0xFF, .pin = SPINDLE_PWM_PIN,        .port = (void *)SPINDLE_PWM_PORT },
 #endif
 #ifdef SPINDLE_DIRECTION_PIN
 #ifndef SPINDLE_DIRECTION_PORT
  #define SPINDLE_DIRECTION_PORT NULL
 #endif
-    { .function = Output_SpindleDir,   .aux_port = 0xFF, .pin = SPINDLE_DIRECTION_PIN,  .port = SPINDLE_DIRECTION_PORT },
+    { .function = Output_SpindleDir,   .aux_port = 0xFF, .pin = SPINDLE_DIRECTION_PIN,  .port = (void *)SPINDLE_DIRECTION_PORT },
 #endif

 #ifdef SPINDLE1_ENABLE_PIN
 #ifndef SPINDLE1_ENABLE_PORT
  #define SPINDLE1_ENABLE_PORT NULL
 #endif
-    { .function = Output_Spindle1On,   .aux_port = 0xFF, .pin = SPINDLE1_ENABLE_PIN,    .port = SPINDLE1_ENABLE_PORT },
+    { .function = Output_Spindle1On,   .aux_port = 0xFF, .pin = SPINDLE1_ENABLE_PIN,    .port = (void *)SPINDLE1_ENABLE_PORT },
 #endif
 #ifdef SPINDLE1_PWM_PIN
 #ifndef SPINDLE1_PWM_PORT
  #define SPINDLE1_PWM_PORT NULL
 #endif
-    { .function = Output_Spindle1PWM,  .aux_port = 0xFF, .pin = SPINDLE1_PWM_PIN,       .port = SPINDLE1_PWM_PORT },
+    { .function = Output_Spindle1PWM,  .aux_port = 0xFF, .pin = SPINDLE1_PWM_PIN,       .port = (void *)SPINDLE1_PWM_PORT },
 #endif
 #ifdef SPINDLE1_DIRECTION_PIN
 #ifndef SPINDLE1_DIRECTION_PORT
  #define SPINDLE1_DIRECTION_PORT NULL
 #endif
-    { .function = Output_Spindle1Dir,  .aux_port = 0xFF, .pin = SPINDLE1_DIRECTION_PIN, .port = SPINDLE1_DIRECTION_PORT },
+    { .function = Output_Spindle1Dir,  .aux_port = 0xFF, .pin = SPINDLE1_DIRECTION_PIN, .port = (void *)SPINDLE1_DIRECTION_PORT },
 #endif
 #endif // SPINDLES

@@ -455,13 +455,13 @@ static aux_ctrl_out_t aux_ctrl_out[] = {
 #ifndef COOLANT_FLOOD_PORT
  #define COOLANT_FLOOD_PORT NULL
 #endif
-    { .function = Output_CoolantFlood, .aux_port = 0xFF, .pin = COOLANT_FLOOD_PIN,      .port = COOLANT_FLOOD_PORT },
+    { .function = Output_CoolantFlood, .aux_port = 0xFF, .pin = COOLANT_FLOOD_PIN,      .port = (void *)COOLANT_FLOOD_PORT },
 #endif
 #ifdef COOLANT_MIST_PIN
 #ifndef COOLANT_MIST_PORT
  #define COOLANT_MIST_PORT NULL
 #endif
-    { .function = Output_CoolantMist,  .aux_port = 0xFF, .pin = COOLANT_MIST_PIN,       .port = COOLANT_MIST_PORT },
+    { .function = Output_CoolantMist,  .aux_port = 0xFF, .pin = COOLANT_MIST_PIN,       .port = (void *)COOLANT_MIST_PORT },
 #endif
 #endif // COOLANT

@@ -469,13 +469,13 @@ static aux_ctrl_out_t aux_ctrl_out[] = {
 #ifndef COPROC_RESET_PORT
  #define COPROC_RESET_PORT NULL
 #endif
-    { .function = Output_CoProc_Reset, .aux_port = 0xFF, .pin = COPROC_RESET_PIN,       .port = COPROC_RESET_PORT },
+    { .function = Output_CoProc_Reset, .aux_port = 0xFF, .pin = COPROC_RESET_PIN,       .port = (void *)COPROC_RESET_PORT },
 #endif
 #ifdef COPROC_BOOT0_PIN
 #ifndef COPROC_BOOT0_PORT
  #define COPROC_BOOT0_PORT NULL
 #endif
-    { .function = Output_CoProc_Boot0, .aux_port = 0xFF, .pin = COPROC_BOOT0_PIN,       .port = COPROC_BOOT0_PORT },
+    { .function = Output_CoProc_Boot0, .aux_port = 0xFF, .pin = COPROC_BOOT0_PIN,       .port = (void *)COPROC_BOOT0_PORT },
 #endif
 };

--- a/planner.c
+++ b/planner.c
@@ -556,7 +556,7 @@ bool plan_buffer_line (float *target, plan_line_data_t *pl_data)
    // Profiles are calculated as symmetrical (calculate to 1/2 programmed rate, then double)
    float time_to_max_accel = block->max_acceleration / block->jerk;    // unit: min - time it takes to reach max acceleration 
    float speed_after_jerkramp = 0.5f * block->jerk * time_to_max_accel * time_to_max_accel;   // unit: mm / min - velocity after one completed jerk ramp up - Vt = V0 + A0T + 1/2 jerk*T
-    if (0.5*block->programmed_rate > speed_after_jerkramp)
+    if(0.5f * block->programmed_rate > speed_after_jerkramp)
        // Profile time = 2x (1 complete jerk ramp + additional time at max_accel to reach desired speed)
        block->acceleration = block->programmed_rate / (2.0f *(time_to_max_accel + (0.5f * block->programmed_rate - speed_after_jerkramp) / block->max_acceleration));     
    else 
--- a/spindle_control.c
+++ b/spindle_control.c
@@ -23,6 +23,9 @@

 #include <math.h>
 #include <string.h>
+#if ENABLE_SPINDLE_LINEARIZATION
+#include <stdio.h>
+#endif

 #include "hal.h"
 #include "protocol.h"
--- a/stepper.c
+++ b/stepper.c
@@ -875,7 +875,7 @@ void st_prep_buffer (void)
        float speed_var; // Speed worker variable
        float mm_remaining = pl_block->millimeters; // New segment distance from end of block.
        float minimum_mm = mm_remaining - prep.req_mm_increment; // Guarantee at least one step.
-#if ENABLE_ACCELERATION_PROFILES
+#if ENABLE_JERK_ACCELERATION
        float time_to_jerk;     // time needed for jerk ramp
        float jerk_rampdown;    // calculated startpoint of jerk rampdown
 #endif
--- a/tool_change.c
+++ b/tool_change.c
@@ -48,6 +48,7 @@ static driver_reset_ptr driver_reset = NULL;
 static enqueue_realtime_command_ptr enqueue_realtime_command = NULL;
 static control_signals_callback_ptr control_interrupt_callback = NULL;
 static on_homing_completed_ptr on_homing_completed = NULL;
+static on_probe_completed_ptr on_probe_completed;

 // Clear tool length offset on homing
 static void tc_on_homing_complete (axes_signals_t homing_cycle, bool success)
@@ -61,7 +62,7 @@ static void tc_on_homing_complete (axes_signals_t homing_cycle, bool success)

 // Set tool offset on successful $TPW probe, prompt for retry on failure.
 // Called via probe completed event.
-static void on_probe_completed (void)
+static void onProbeCompleted (void)
 {
    if(!sys.flags.probe_succeeded)
        grbl.report.feedback_message(Message_ProbeFailedRetry);
@@ -92,7 +93,9 @@ static void change_completed (void)
    if(probe_toolsetter)
        grbl.on_probe_toolsetter(&current_tool, NULL, true, false);

-    grbl.on_probe_completed = NULL;
+    if(grbl.on_probe_completed == onProbeCompleted)
+        grbl.on_probe_completed = on_probe_completed;
+
    gc_state.tool_change = probe_toolsetter = false;

 #ifndef NO_SAFETY_DOOR_SUPPORT
@@ -358,8 +361,10 @@ static status_code_t tool_change (parser_state_t *parser_state)
    if((sys.homed.mask & homed_req) != homed_req)
        return Status_HomingRequired;

-    if(settings.tool_change.mode != ToolChange_SemiAutomatic)
-        grbl.on_probe_completed = on_probe_completed;
+    if(settings.tool_change.mode != ToolChange_SemiAutomatic && grbl.on_probe_completed != onProbeCompleted) {
+        on_probe_completed = grbl.on_probe_completed;
+        grbl.on_probe_completed = onProbeCompleted;
+    }

    block_cycle_start = settings.tool_change.mode != ToolChange_SemiAutomatic;

@@ -474,7 +479,7 @@ void tc_init (void)
 }

 // Perform a probe cycle: set tool length offset and restart job if successful.
-// Note: tool length offset is set by the on_probe_completed event handler.
+// Note: tool length offset is set by the onProbeCompleted event handler.
 // Called by the $TPW system command.
 status_code_t tc_probe_workpiece (void)
 {