Added initial support for macro based automatic tool changes (ATC).

Currently macros has to be stored on a SD card or in littlefs and expression support has to be enabled.

README.md

@@ -13,7 +13,7 @@ It has been written to complement grblHAL and has features such as proper keyboa
 
 ---
 
-Latest build date is 20230606, see the [changelog](changelog.md) for details.  
+Latest build date is 20230607, see the [changelog](changelog.md) for details.  
 __NOTE:__ A settings reset will be performed on an update of builds earlier than 20230125. Backup and restore of settings is recommended.  
 __IMPORTANT!__  A new setting has been introduced for ganged axes motors in build 20211121.  
 I have only bench tested this for a couple of drivers, correct function should be verified after updating by those who have more than three motors configured.  
@@ -91,4 +91,4 @@ 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.
 
 ---
-2023-06-06
+2023-06-07

changelog.md

@@ -1,11 +1,28 @@
 ## grblHAL changelog
 
+<a name="20230607"/>Build 20230607
+
+Core:
+
+* Added initial support for macro based automatic tool changes (ATC).  
+Currently macros has to be stored on a SD card or in littlefs and [expression support](https://github.com/grblHAL/core/wiki/Expressions-and-flow-control) has to be enabled.
+
+* Added core events for file system mount/unmount.
+
+Plugins:
+
+* SD Card, macro plugin: Implemented automatic hook to tool change functions when tool change macros are found in the root mount directory.  
+Tool change macro: _tc.macro_, called on `M6`. \(required\)  
+Tool select macro: _ts.macro_, called on `T`. \(optional\).  
+__NOTE:__ This functionality needs to be extensively tested by users having access to ATC hardware! [Discuss here](https://github.com/grblHAL/core/discussions/309).
+
+---
+
 <a name="20230606"/>Build 20230606
 
 Core:
 
 * Fixed regression related to CSS \(Constant Surface Speed for lathes\) mode.
-
 * Improved stream handling for native USB streams when another stream claims/releases full control.
 Depending on the driver some output, such as real-time reports, will now be sent to the USB stream if it is connected to a client \(detected by DTR signal asserted\).
 When a pendant is in control \(via the MPG interface\) the USB interface will no longer block transmission if it is the primary interface and no client is connected.

core_handlers.h

@@ -108,6 +108,8 @@ typedef bool (*on_spindle_select_ptr)(spindle_ptrs_t *spindle);
 typedef void (*on_spindle_selected_ptr)(spindle_ptrs_t *spindle);
 typedef void (*on_gcode_message_ptr)(char *msg);
 typedef void (*on_rt_reports_added_ptr)(report_tracking_flags_t report);
+typedef void (*on_vfs_mount_ptr)(const char *path, const vfs_t *fs);
+typedef void (*on_vfs_unmount_ptr)(const char *path);
 typedef status_code_t (*on_file_open_ptr)(const char *fname, vfs_file_t *handle, bool stream);
 typedef status_code_t (*on_unknown_sys_command_ptr)(sys_state_t state, char *line); // return Status_Unhandled.
 typedef status_code_t (*on_user_command_ptr)(char *line);
@@ -156,6 +158,8 @@ typedef struct {
     on_spindle_select_ptr on_spindle_select;            //!< Called before spindle is selected, hook in HAL overrides here
     on_spindle_selected_ptr on_spindle_selected;        //!< Called when spindle is selected, do not change HAL pointers here!
     on_reset_ptr on_reset;                              //!< Called from interrupt context.
+    on_vfs_mount_ptr on_vfs_mount;                      //!< Called when a file system is mounted.
+    on_vfs_unmount_ptr on_vfs_unmount;                  //!< Called when a file system is unmounted.
     on_file_open_ptr on_file_open;                      //!< Called when a file is opened for streaming.
     // core entry points - set up by core before driver_init() is called.
     enqueue_gcode_ptr enqueue_gcode;

gcode.c

@@ -365,6 +365,29 @@ spindle_ptrs_t *gc_spindle_get (void)
     return gc_state.spindle.hal;
 }
 
+static tool_data_t *tool_get_pending (uint32_t tool)
+{
+#if N_TOOLS
+    return &tool_table[tool];
+#else
+    static tool_data_t tool_data = {0};
+
+    memcpy(&tool_data, gc_state.tool, sizeof(tool_data_t));
+    tool_data.tool = tool;
+
+    return &tool_data;
+#endif
+}
+
+static inline void tool_set (tool_data_t *tool)
+{
+#if N_TOOLS
+    gc_state.tool = tool;
+#else
+    gc_state.tool->tool = tool->tool;
+#endif
+}
+
 // Add output command to linked list
 static bool add_output_command (output_command_t *command)
 {
@@ -441,7 +464,7 @@ static status_code_t read_parameter (char *line, uint_fast8_t *char_counter, flo
         if(*(line + *char_counter) == '<') {
 
             (*char_counter)++;
-            char *pos = line + *char_counter;
+            char *pos = line = line + *char_counter;
 
             while(*line && *line != '>')
                 line++;
@@ -1692,6 +1715,18 @@ status_code_t gc_execute_block (char *block)
 
         gc_block.values.t = (uint32_t)gc_block.values.q;
         gc_block.words.q = Off;
+#if NGC_EXPRESSIONS_ENABLE
+        if(sys.macro_file) {
+            gc_state.tool_pending = 0; // force set tool
+  #if N_TOOLS
+            if(gc_state.g43_pending) {
+                gc_block.values.h = gc_state.g43_pending;
+                command_words.G8 = On;
+            }
+            gc_state.g43_pending = 0;
+  #endif
+        }
+#endif
     } else if (!gc_block.words.t)
         gc_block.values.t = gc_state.tool_pending;
 
@@ -2914,15 +2949,13 @@ status_code_t gc_execute_block (char *block)
     // [5. Select tool ]: Only tracks tool value if ATC or manual tool change is not possible.
     if(gc_state.tool_pending != gc_block.values.t && !check_mode) {
 
-        gc_state.tool_pending = gc_block.values.t;
+        tool_data_t *pending_tool = tool_get_pending((gc_state.tool_pending = gc_block.values.t));
 
         // If M6 not available or M61 commanded set new tool immediately
         if(set_tool || settings.tool_change.mode == ToolChange_Ignore || !(hal.stream.suspend_read || hal.tool.change)) {
-#if N_TOOLS
-            gc_state.tool = &tool_table[gc_state.tool_pending];
-#else
-            gc_state.tool->tool = gc_state.tool_pending;
-#endif
+
+            tool_set(pending_tool);
+
             if(grbl.on_tool_selected) {
 
                 spindle_state_t state = gc_state.modal.spindle.state;
@@ -2937,13 +2970,9 @@ status_code_t gc_execute_block (char *block)
         }
 
         // Prepare tool carousel when available
-        if(hal.tool.select) {
-#if N_TOOLS
-            hal.tool.select(&tool_table[gc_state.tool_pending], !set_tool);
-#else
-            hal.tool.select(gc_state.tool, !set_tool);
-#endif
-        } else
+        if(hal.tool.select)
+            hal.tool.select(pending_tool, !set_tool);
+        else
             system_add_rt_report(Report_Tool);
     }
 
@@ -2981,6 +3010,8 @@ status_code_t gc_execute_block (char *block)
     // [6. Change tool ]: Delegated to (possible) driver implementation
     if (command_words.M6 && !set_tool && !check_mode) {
 
+        tool_data_t *pending_tool = tool_get_pending(gc_state.tool_pending);
+
         protocol_buffer_synchronize();
 
         if(plan_data.message) {
@@ -2988,31 +3019,42 @@ status_code_t gc_execute_block (char *block)
             plan_data.message = NULL;
         }
 
-#if N_TOOLS
-        gc_state.tool = &tool_table[gc_state.tool_pending];
-#else
-        gc_state.tool->tool = gc_state.tool_pending;
-#endif
-
         if(grbl.on_tool_selected) {
 
             spindle_state_t state = gc_state.modal.spindle.state;
 
-            grbl.on_tool_selected(gc_state.tool);
+            grbl.on_tool_selected(pending_tool);
 
             if(state.value != gc_state.modal.spindle.state.value)
                 gc_block.modal.spindle.state = gc_state.modal.spindle.state;
         }
 
         if(hal.tool.change) { // ATC
-            if((int_value = (uint_fast16_t)hal.tool.change(&gc_state)) != Status_OK)
-                FAIL((status_code_t)int_value);
+            if((int_value = (uint_fast16_t)hal.tool.change(&gc_state)) != Status_OK) {
+#if NGC_EXPRESSIONS_ENABLE
+                if(int_value != Status_Unhandled)
+#endif
+                    FAIL((status_code_t)int_value);
+            }
             system_add_rt_report(Report_Tool);
         } else { // Manual
+            int_value = (uint_fast16_t)Status_OK;
             gc_state.tool_change = true;
             system_set_exec_state_flag(EXEC_TOOL_CHANGE);   // Set up program pause for manual tool change
             protocol_execute_realtime();                    // Execute...
         }
+#if NGC_EXPRESSIONS_ENABLE
+        if((status_code_t)int_value != Status_Unhandled)
+            tool_set(pending_tool);
+  #if N_TOOLS
+        else if(command_words.G8 && gc_block.modal.tool_offset_mode && ToolLengthOffset_Enable) {
+            gc_state.g43_pending = gc_block.values.h;
+            command_words.G8 = Off;
+        }
+  #endif
+#else
+        tool_set(pending_tool);
+#endif
     }
 
     // [7. Spindle control ]:

gcode.h

@@ -526,6 +526,9 @@ typedef struct {
     //  float blending_tolerance;       //!< Motion blending tolerance
     int32_t line_number;                //!< Last line number sent
     uint32_t tool_pending;              //!< Tool to be selected on next M6
+#if N_TOOLS && NGC_EXPRESSIONS_ENABLE
+    uint32_t g43_pending;               //!< Tool offset to be selected on next M6, for macro ATC
+#endif
     bool file_run;                      //!< Tracks % command
     bool is_laser_ppi_mode;
     bool is_rpm_rate_adjusted;

grbl.h

@@ -42,7 +42,7 @@
 #else
 #define GRBL_VERSION "1.1f"
 #endif
-#define GRBL_BUILD 20230606
+#define GRBL_BUILD 20230607
 
 #define GRBL_URL "https://github.com/grblHAL"
 

ngc_params.c

@@ -513,7 +513,7 @@ float ngc_named_param_get_by_id (ncg_name_param_id_t id)
             break;
 
         case NGCParam_selected_tool:
-            value = gc_state.tool_change ? (float)gc_state.tool_pending : -1.0f;
+            value = gc_state.tool_pending != gc_state.tool->tool ? (float)gc_state.tool_pending : -1.0f;
             break;
 
         case NGCParam_selected_pocket:

report.c

@@ -953,13 +953,8 @@ void report_build_info (char *line, bool extended)
         strcat(buf, "EXPR,");
     #endif
 
-    #if N_TOOLS
-        if(hal.driver_cap.atc && hal.tool.change)
-            strcat(buf, "ATC,");
-        else
-    #endif
-        if(hal.stream.suspend_read)
-            strcat(buf, "TC,"); // Manual tool change supported (M6)
+        if(hal.tool.change)
+            strcat(buf, hal.driver_cap.atc ? "ATC," : "TC,"); // Tool change supported (M6)
 
         if(hal.driver_cap.spindle_sync)
             strcat(buf, "SS,");

vfs.c

@@ -5,7 +5,7 @@
 
   Part of grblHAL
 
-  Copyright (c) 2022 Terje Io
+  Copyright (c) 2022-2023 Terje Io
 
   Grbl is free software: you can redistribute it and/or modify
   it under the terms of the GNU General Public License as published by
@@ -413,6 +413,9 @@ bool vfs_mount (const char *path, const vfs_t *fs)
         mount->next = vfs;
     }
 
+    if(fs && grbl.on_vfs_mount)
+        grbl.on_vfs_mount(path, fs);
+
     return fs != NULL;
 }
 
@@ -440,6 +443,9 @@ bool vfs_unmount (const char *path)
         }
     }
 
+    if(grbl.on_vfs_unmount)
+        grbl.on_vfs_unmount(path);
+
     return true;
 }