Added optional spindle select event to core events, for dual spindle enabled configurations (VFD + PWM spindle).

Attempted fix for weird issue with VFD spindle when spindle at speed tolerance is set > 0 with $340.

changelog.md

@@ -1,5 +1,25 @@
 ## grblHAL changelog
 
+Build 20220109:
+
+Core:
+
+* Added optional spindle select event to core events, for dual spindle enabled configurations \(VFD + PWM spindle\).
+* Attempted fix for weird issue with VFD spindle when spindle at speed tolerance is set > 0 with `$340`.
+
+Plugins:
+
+* Networking: fix for [dependency issue](https://github.com/grblHAL/core/discussions/106) with iMXRT1062 driver when lwIP library was not installed.
+* Spindle: updated Huanyang VFD driver to support the new spindle select event.  
+Added experimental M-code for switching spindles, `M401P0` for PWM spindle, `M401P1` for VFD spindle. Only available in `DUAL_SPINDLE` configurations.
+* Keypad: added many new single character commands, mostly the same as available as standard real time commands.
+
+Drivers:
+* STM32F4xx: fixed name case for FatFs driver directory, added FatFs R0.13c source.
+* iMXRT1062, STM32F4xx and SAM3X8E: added `DUAL_SPINDLE` configuration option \(for testing\).
+
+---
+
 Build 20220105:
 
 Core:

core_handlers.h

@@ -3,7 +3,7 @@
 
   Part of grblHAL
 
-  Copyright (c) 2020-2021 Terje Io
+  Copyright (c) 2020-2022 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
@@ -81,6 +81,7 @@ typedef void (*on_stream_changed_ptr)(stream_type_t type);
 typedef bool (*on_laser_ppi_enable_ptr)(uint_fast16_t ppi, uint_fast16_t pulse_length);
 typedef void (*on_homing_rate_set_ptr)(axes_signals_t axes, float rate, bool pulloff);
 typedef bool (*on_probe_fixture_ptr)(tool_data_t *tool, bool at_g59_3, bool on);
+typedef bool (*on_spindle_select_ptr)(uint_fast8_t spindle_id);
 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);
 typedef sys_commands_t *(*on_get_commands_ptr)(void);
@@ -110,6 +111,7 @@ typedef struct {
     on_homing_rate_set_ptr on_homing_rate_set;
     on_probe_fixture_ptr on_probe_fixture;
     on_laser_ppi_enable_ptr on_laser_ppi_enable;
+    on_spindle_select_ptr on_spindle_select;
     // core entry points - set up by core before driver_init() is called.
     enqueue_gcode_ptr enqueue_gcode;
     enqueue_realtime_command_ptr enqueue_realtime_command;

driver_opts.h

@@ -188,6 +188,10 @@
 #endif
 #endif
 
+#ifndef DUAL_SPINDLE
+#define DUAL_SPINDLE        0
+#endif
+
 #ifndef QEI_ENABLE
 #define QEI_ENABLE          0
 #endif

gcode.c

@@ -3,7 +3,7 @@
 
   Part of grblHAL
 
-  Copyright (c) 2017-2021 Terje Io
+  Copyright (c) 2017-2022 Terje Io
   Copyright (c) 2011-2016 Sungeun K. Jeon for Gnea Research LLC
   Copyright (c) 2009-2011 Simen Svale Skogsrud
 
@@ -330,6 +330,21 @@ bool gc_laser_ppi_enable (uint_fast16_t ppi, uint_fast16_t pulse_length)
     return grbl.on_laser_ppi_enable && grbl.on_laser_ppi_enable(ppi, pulse_length);
 }
 
+void gc_spindle_off (void)
+{
+    gc_state.spindle.rpm = 0.0f;
+    gc_state.modal.spindle.value = 0;
+    spindle_set_state(gc_state.modal.spindle, gc_state.spindle.rpm);
+    sys.report.spindle = On;
+}
+
+void gc_coolant_off (void)
+{
+    gc_state.modal.coolant.value = 0;
+    hal.coolant.set_state(gc_state.modal.coolant);
+    sys.report.coolant = On;
+}
+
 // Add output command to linked list
 static bool add_output_command (output_command_t *command)
 {

gcode.h

@@ -3,7 +3,7 @@
 
   Part of grblHAL
 
-  Copyright (c) 2017-2020 Terje Io
+  Copyright (c) 2017-2022 Terje Io
   Copyright (c) 2011-2016 Sungeun K. Jeon for Gnea Research LLC
   Copyright (c) 2009-2011 Simen Svale Skogsrud
 
@@ -222,7 +222,8 @@ typedef enum {
     Trinamic_ReportPrewarnFlags = 911,  //!< 911 - M122, Marlin format
     Trinamic_ClearPrewarnFlags = 912,   //!< 912 - M122, Marlin format
     Trinamic_HybridThreshold = 913,     //!< 913 - M122, Marlin format
-    Trinamic_HomingSensitivity = 914    //!< 914 - M122, Marlin format
+    Trinamic_HomingSensitivity = 914,   //!< 914 - M122, Marlin format
+    Spindle_Select = UserMCode_Generic4 //!< Value to be assigned later!
 } user_mcode_t;
 
 //! Data for M62, M63 and M67 commands when executed synchronized with motion.
@@ -560,6 +561,9 @@ float *gc_get_scaling (void);
 // Get current axis offset.
 float gc_get_offset (uint_fast8_t idx);
 
+void gc_spindle_off (void);
+void gc_coolant_off (void);
+
 void gc_set_tool_offset (tool_offset_mode_t mode, uint_fast8_t idx, int32_t offset);
 plane_t *gc_get_plane_data (plane_t *plane, plane_select_t select);
 

grbl.h

@@ -34,7 +34,7 @@
 #else
 #define GRBL_VERSION "1.1f"
 #endif
-#define GRBL_BUILD 20220105
+#define GRBL_BUILD 20220109
 
 // The following symbols are set here if not already set by the compiler or in config.h
 // Do NOT change here!

grbllib.c

@@ -3,7 +3,7 @@
 
   Part of grblHAL
 
-  Copyright (c) 2017-2021 Terje Io
+  Copyright (c) 2017-2022 Terje Io
   Copyright (c) 2011-2015 Sungeun K. Jeon
   Copyright (c) 2009-2011 Simen Svale Skogsrud
 
@@ -212,6 +212,9 @@ int grbl_enter (void)
     driver.spindle = (!hal.driver_cap.variable_spindle || (hal.spindle.get_pwm != NULL && hal.spindle.update_pwm != NULL));
 #endif
 
+    if(grbl.on_spindle_select)
+        grbl.on_spindle_select(hal.driver_cap.dual_spindle && settings.mode == Mode_Laser ? 0 : 1);
+
     if(driver.ok != 0xFF) {
         sys.alarm = Alarm_SelftestFailed;
         protocol_enqueue_rt_command(report_driver_error);

motion_control.c

@@ -3,7 +3,7 @@
 
   Part of grblHAL
 
-  Copyright (c) 2017-2021 Terje Io
+  Copyright (c) 2017-2022 Terje Io
   Copyright (c) 2011-2016 Sungeun K. Jeon for Gnea Research LLC
   Copyright (c) 2009-2011 Simen Svale Skogsrud
 
@@ -787,16 +787,11 @@ status_code_t mc_homing_cycle (axes_signals_t cycle)
         hal.limits.enable(false, true); // Disable hard limits pin change register for cycle duration
 
         // Turn off spindle and coolant (and update parser state)
-        if(hal.spindle.get_state().on) {
-            gc_state.spindle.rpm = 0.0f;
-            gc_state.modal.spindle.on = gc_state.modal.spindle.ccw = Off;
-            spindle_set_state(gc_state.modal.spindle, 0.0f);
-        }
+        if(hal.spindle.get_state().on)
+            gc_spindle_off();
 
-        if(hal.coolant.get_state().mask) {
-            gc_state.modal.coolant.mask = 0;
-            coolant_set_state(gc_state.modal.coolant);
-        }
+        if(hal.coolant.get_state().mask)
+            gc_coolant_off();
 
         // ---------------------------------------------------------------------------
         // Perform homing routine. NOTE: Special motion case. Only system reset works.

plugins_init.h

@@ -7,7 +7,7 @@
 
   Part of grblHAL
 
-  Copyright (c) 2021 Terje Io
+  Copyright (c) 2021-2022 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
@@ -36,6 +36,10 @@
 #if VFD_ENABLE
     extern void vfd_init (void);
     vfd_init();
+#if DUAL_SPINDLE
+    extern void spindle_select_init(void);
+    spindle_select_init();
+#endif
 #endif
 
 #ifndef GRBL_ESP32 // ESP32 has its own bluetooth_init

protocol.c

@@ -3,7 +3,7 @@
 
   Part of grblHAL
 
-  Copyright (c) 2017-202 Terje Io
+  Copyright (c) 2017-2022 Terje Io
   Copyright (c) 2011-2016 Sungeun K. Jeon for Gnea Research LLC
   Copyright (c) 2009-2011 Simen Svale Skogsrud
 
@@ -496,15 +496,12 @@ bool protocol_exec_rt_system (void)
                 sys.override.control = gc_state.modal.override_ctrl;
 
             gc_state.tool_change = false;
-            gc_state.modal.coolant.value = 0;
-            gc_state.modal.spindle.value = 0;
-            gc_state.spindle.rpm = sys.spindle_rpm = 0.0f;
             gc_state.modal.spindle_rpm_mode = SpindleSpeedMode_RPM;
 
             // Kill spindle and coolant. TODO: Check Mach3 behaviour?
-            hal.spindle.set_state(gc_state.modal.spindle, 0.0f);
-            hal.coolant.set_state(gc_state.modal.coolant);
-            sys.report.spindle = sys.report.coolant = On; // Set to report change immediately
+            gc_spindle_off();
+            gc_coolant_off();
+
             // Tell driver/plugins about reset.
             hal.driver_reset();
 

settings.c

@@ -3,7 +3,7 @@
 
   Part of grblHAL
 
-  Copyright (c) 2017-2021 Terje Io
+  Copyright (c) 2017-2022 Terje Io
   Copyright (c) 2011-2015 Sungeun K. Jeon
   Copyright (c) 2009-2011 Simen Svale Skogsrud
 
@@ -2122,13 +2122,19 @@ status_code_t settings_store_setting (setting_id_t id, char *svalue)
     }
 
     if(status == Status_OK) {
+
         if(set->save)
             set->save();
+
 #ifdef ENABLE_BACKLASH_COMPENSATION
         mc_backlash_init();
 #endif
+
         if(set->on_changed)
             set->on_changed(&settings);
+
+        if(set == &setting_details && grbl.on_spindle_select)
+            grbl.on_spindle_select(hal.driver_cap.dual_spindle && settings.mode == Mode_Laser ? 0 : 1);
     }
 
     return status;
@@ -2161,6 +2167,7 @@ void settings_init (void)
         mc_backlash_init();
 #endif
         hal.settings_changed(&settings);
+
         if(hal.probe.configure) // Initialize probe invert mask.
             hal.probe.configure(false, false);
     }

spindle_control.c

@@ -84,13 +84,14 @@ bool spindle_sync (spindle_state_t state, float rpm)
 
         // Empty planner buffer to ensure spindle is set when programmed.
         if((ok = protocol_buffer_synchronize()) && spindle_set_state(state, rpm) && !at_speed) {
-            float delay = 0.0f;
+            float on_delay = 0.0f;
             while(!(at_speed = hal.spindle.get_state().at_speed)) {
-                delay_sec(0.1f, DelayMode_Dwell);
-                delay += 0.1f;
+                delay_sec(0.2f, DelayMode_Dwell);
+                on_delay += 0.2f;
                 if(ABORTED)
                     break;
-                if(delay >= settings.safety_door.spindle_on_delay) {
+                if(on_delay >= settings.safety_door.spindle_on_delay) {
+                    gc_spindle_off();
                     system_raise_alarm(Alarm_Spindle);
                     break;
                 }

state_machine.c

@@ -5,7 +5,7 @@
 
   Part of grblHAL
 
-  Copyright (c) 2018-2021 Terje Io
+  Copyright (c) 2018-2022 Terje Io
   Copyright (c) 2011-2016 Sungeun K. Jeon for Gnea Research LLC
   Copyright (c) 2009-2011 Simen Svale Skogsrud
 
@@ -539,10 +539,8 @@ static void state_await_resume (uint_fast16_t rt_exec)
 
             default:
                 if (!settings.flags.restore_after_feed_hold) {
-                    if (!hal.spindle.get_state().on) {
-                        gc_state.spindle.rpm = 0.0f;
-                        gc_state.modal.spindle.on = gc_state.modal.spindle.ccw = Off;
-                    }
+                    if (!hal.spindle.get_state().on)
+                        gc_spindle_off();
                     sys.override.spindle_stop.value = 0; // Clear spindle stop override states
                 } else {