Fix for laser enable not restored after feedhold. Ref. issue #798.

Fix for incorrect direction of motion via second stepper driver used for step injection (plasma THC) and stepper spindle.

README.md

@@ -1,6 +1,6 @@
 ## grblHAL ##
 
-Latest build date is 20250825, see the [changelog](changelog.md) for details.  
+Latest build date is 20250829, see the [changelog](changelog.md) for details.  
 
 > [!NOTE]
 >  A settings reset will be performed on an update of builds prior to 20241208. Backup and restore of settings is recommended.  

changelog.md

@@ -1,5 +1,21 @@
 ## grblHAL changelog
 
+<a name="20250829">Build 20250829
+
+Core:
+
+* Fix for laser enable not restored after feedhold. Ref. issue [#798](https://github.com/grblHAL/core/issues/798).
+
+* Fix for incorrect direction of motion via second stepper driver used for step injection /(plasma THC/) and stepper spindle.
+
+Plugins:
+
+* Keypad, display: workaround for ESP32 defaulting to 32-bit enums, allows use if display plugin.
+
+* Plasma: added setting for controlling Z-axis feedrate from current XY feedrate, changed up/down control to accelerated/decelerated continuous motion.
+
+---
+
 <a name="20250825">Build 20250825
 
 Core:
@@ -40,7 +56,7 @@ Core:
 * Changed signature of limit check functions, [grbl.travel_limits()](https://svn.io-engineering.com/grblHAL/html/core__handlers_8h.html#a56eced06d1c379782d86c2f139cd3f96) et. al. to include a pointer to the work envelope to use.
 This may simplify implementations of plugins that want to alter the envelope.
 
-* Updated spindle off handling to check for "at speed" on deceleration when spindle is "at speed" capable
+* Updated spindle off handling to check for "at speed" on spin down when spindle is "at speed" capable
 
 Drivers:
 

grbl.h

@@ -42,7 +42,7 @@
 #else
 #define GRBL_VERSION "1.1f"
 #endif
-#define GRBL_BUILD 2020825
+#define GRBL_BUILD 2020829
 
 #define GRBL_URL "https://github.com/grblHAL"
 

planner.c

@@ -313,10 +313,11 @@ float plan_compute_profile_nominal_speed (plan_block_t *block)
     if(block->condition.rapid_motion)
         nominal_speed *= (0.01f * (float)sys.override.rapid_rate);
     else {
-		if(nominal_speed > block->rapid_rate)
-            nominal_speed = block->rapid_rate;
-        if(!block->condition.no_feed_override)
+        if(sys.override.feed_rate != 100 && !block->condition.no_feed_override) {
+			if(nominal_speed > block->rapid_rate)
+				nominal_speed = block->rapid_rate;
             nominal_speed *= (0.01f * (float)sys.override.feed_rate);
+		}
         if(nominal_speed > block->rapid_rate)
             nominal_speed = block->rapid_rate;
     }

settings.h

@@ -461,6 +461,7 @@ typedef enum {
     Setting_RelayPortProbe2 = 679,
     Setting_StepperEnableDelay = 680,
     Setting_ModBus_StreamFormat = 681,
+    Setting_THC_FeedFactor = 682,
 
     Setting_SpindlePWMOptions1 = 709,
 

spindle_control.c

@@ -684,8 +684,8 @@ bool spindle_restore (spindle_ptrs_t *spindle, spindle_state_t state, float rpm,
 {
     bool ok;
 
-    if((ok = spindle->cap.laser)) // When in laser mode, ignore spindle spin-up delay. Set to turn on laser when cycle starts.
-        sys.step_control.update_spindle_rpm = On;
+    if(spindle->cap.laser) // When in laser mode, ignore spindle spin-up delay. Set to turn on laser when cycle starts.
+        ok = (sys.step_control.update_spindle_rpm = spindle_set_state(spindle, state, 0.0f));
     else if(!(ok = spindle_check_state(spindle, state)))
         ok = spindle_set_state_wait(spindle, state, rpm, delay_ms, DelayMode_SysSuspend);
 

stepper2.c

@@ -390,15 +390,11 @@ that calls st2_motor_run().
 */
 bool st2_motor_move (st2_motor_t *motor, const float move, const float speed, position_t type)
 {
-    bool dir = move < 0.0f;
-
     if(speed == 0.0f)
         return false;
 
-    if((motor->dir.mask == 0) != dir)
-        motor->dir.mask = dir ? 0 : motor->axis.mask;
-
     motor->ptype = type;
+    motor->dir.bits = (move < 0.0f ? motor->axis.bits : 0);
 
     switch(type) {
 
@@ -417,7 +413,7 @@ bool st2_motor_move (st2_motor_t *motor, const float move, const float speed, po
     if(motor->move == 1 && type == Stepper2_Steps) {
         if(motor->state == State_Idle) {
 
-            if(motor->dir.mask)
+            if(motor->dir.bits)
                 motor->position--;
             else
                 motor->position++;
@@ -561,7 +557,7 @@ __attribute__((always_inline)) static inline bool _motor_run (st2_motor_t *motor
     // output step;
     hal.stepper.output_step(motor->axis, motor->dir);
 
-    if(motor->dir.mask)
+    if(motor->dir.bits)
         motor->position--;
     else
         motor->position++;