Fix for Arduino compiler issue with build 20230227. Added core event and removed redundant code.

README.md

@@ -13,7 +13,7 @@ It has been written to complement grblHAL and has features such as proper keyboa
 
 ---
 
-Latest build date is 20230227, see the [changelog](changelog.md) for details.  
+Latest build date is 20230228, 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.  

changelog.md

@@ -1,5 +1,21 @@
 ## grblHAL changelog
 
+<a name="20230228"/>20230228
+
+Core:
+
+* Fix for Arduino compiler issue with build 20230227. Added new core event and removed redundant code.
+
+Drivers:
+
+* STM32F4xx:  Fixed missing pullup enable for EStop input. __NOTE:__ this may trigger EStop alarm for those who have not wired a switch to this input.
+
+Plugins:
+
+* Keypad: I2C display protocol plugin updated to allow multiple message extensions, simplified code.
+
+---
+
 <a name="20230227"/>20230227
 
 Core:

core_handlers.h

@@ -81,6 +81,7 @@ typedef bool (*protocol_enqueue_realtime_command_ptr)(char c);
 typedef void (*on_state_change_ptr)(sys_state_t state);
 typedef void (*on_override_changed_ptr)(override_changed_t override);
 typedef void (*on_spindle_programmed_ptr)(spindle_ptrs_t *spindle, spindle_state_t state, float rpm, spindle_rpm_mode_t mode);
+typedef void (*on_wco_changed_ptr)(void);
 typedef void (*on_program_completed_ptr)(program_flow_t program_flow, bool check_mode);
 typedef void (*on_execute_realtime_ptr)(sys_state_t state);
 typedef void (*on_unknown_accessory_override_ptr)(uint8_t cmd);
@@ -117,6 +118,7 @@ typedef struct {
     on_override_changed_ptr on_override_changed;
     on_report_handlers_init_ptr on_report_handlers_init;
     on_spindle_programmed_ptr on_spindle_programmed;
+    on_wco_changed_ptr on_wco_changed;
     on_program_completed_ptr on_program_completed;
     on_execute_realtime_ptr on_execute_realtime;
     on_execute_realtime_ptr on_execute_delay;

gcode.c

@@ -319,6 +319,11 @@ void gc_init (void)
     if (sys.cold_start && !settings.flags.g92_is_volatile && !settings_read_coord_data(CoordinateSystem_G92, &gc_state.g92_coord_offset))
         grbl.report.status_message(Status_SettingReadFail);
 
+    if(grbl.on_wco_changed && (!sys.cold_start ||
+                                !is0_position_vector(gc_state.modal.coord_system.xyz) ||
+                                 !is0_position_vector(gc_state.g92_coord_offset)))
+        grbl.on_wco_changed();
+
 //    if(settings.flags.lathe_mode)
 //        gc_state.modal.plane_select = PlaneSelect_ZX;
 }
@@ -1065,14 +1070,14 @@ status_code_t gc_execute_block (char *block)
                         if(hal.port.digital_out == NULL || hal.port.num_digital_out == 0)
                             FAIL(Status_GcodeUnsupportedCommand); // [Unsupported M command]
                         word_bit.modal_group.M10 = On;
-                        port_command = int_value;
+                        port_command = (io_mcode_t)int_value;
                         break;
 
                     case 66:
                         if(hal.port.wait_on_input == NULL || (hal.port.num_digital_in == 0 && hal.port.num_analog_in == 0))
                             FAIL(Status_GcodeUnsupportedCommand); // [Unsupported M command]
                         word_bit.modal_group.M10 = On;
-                        port_command = int_value;
+                        port_command = (io_mcode_t)int_value;
                         break;
 
                     case 67:
@@ -1080,7 +1085,7 @@ status_code_t gc_execute_block (char *block)
                         if(hal.port.analog_out == NULL || hal.port.num_analog_out == 0)
                             FAIL(Status_GcodeUnsupportedCommand); // [Unsupported M command]
                         word_bit.modal_group.M10 = On;
-                        port_command = int_value;
+                        port_command = (io_mcode_t)int_value;
                         break;
 /*
                     case 70:

gcode.h

@@ -136,9 +136,7 @@ typedef enum {
 Do not alter values!
 */
 
-typedef uint8_t coord_system_id_t;
-
-enum coord_system_id_t {
+typedef enum  {
     CoordinateSystem_G54 = 0,                       //!< 0 - G54 (G12)
     CoordinateSystem_G55,                           //!< 1 - G55 (G12)
     CoordinateSystem_G56,                           //!< 2 - G56 (G12)
@@ -155,7 +153,8 @@ enum coord_system_id_t {
     CoordinateSystem_G30,                           //!< 10 - G30 (G0) when #COMPATIBILITY_LEVEL <= 1, 7 otherwise
     CoordinateSystem_G92,                           //!< 11 - G92 (G0) when #COMPATIBILITY_LEVEL <= 1, 8 otherwise
     N_CoordinateSystems                             //!< 12 when #COMPATIBILITY_LEVEL <= 1, 9 otherwise
-};
+}  __attribute__ ((__packed__)) coord_system_id_t;
+
 
 /*!  Modal Group G13: Control mode
 

grbl.h

@@ -42,7 +42,7 @@
 #else
 #define GRBL_VERSION "1.1f"
 #endif
-#define GRBL_BUILD 20230227
+#define GRBL_BUILD 20230228
 
 #define GRBL_URL "https://github.com/grblHAL"
 

nuts_bolts.h

@@ -180,6 +180,7 @@ typedef enum {
 #endif
 #define clear_vector(a) memset(a, 0, sizeof(a))
 #define isequal_position_vector(a, b) !memcmp(a, b, sizeof(coord_data_t))
+#define is0_position_vector(a) !memcmp(a, &((coord_data_t){0}), sizeof(coord_data_t))
 
 // Bit field and masking macros
 #ifndef bit

report.c

@@ -1067,15 +1067,13 @@ void report_realtime_status (void)
 {
     static bool probing = false;
 
-    int32_t current_position[N_AXIS]; // Copy current state of the system position variable
     float print_position[N_AXIS];
     probe_state_t probe_state = {
         .connected = On,
         .triggered = Off
     };
 
-    memcpy(current_position, sys.position, sizeof(sys.position));
-    system_convert_array_steps_to_mpos(print_position, current_position);
+    system_convert_array_steps_to_mpos(print_position, sys.position);
 
     if(hal.probe.get_state)
         probe_state = hal.probe.get_state();

spindle_control.c

@@ -295,7 +295,7 @@ static spindle_num_t spindle_get_num (spindle_id_t spindle_id)
 
     do {
         idx--;
-        if((setting = setting_get_details(idx == 0 ? Setting_SpindleType : Setting_SpindleEnable0 + idx, NULL))) {
+        if((setting = setting_get_details(idx == 0 ? Setting_SpindleType : (setting_id_t)(Setting_SpindleEnable0 + idx), NULL))) {
             if(setting_get_int_value(setting, 0) == spindle_id)
                 spindle_num = idx;
         }

system.c

@@ -965,6 +965,9 @@ void system_flag_wco_change (void)
     if(!settings.status_report.sync_on_wco_change)
         protocol_buffer_synchronize();
 
+    if(grbl.on_wco_changed)
+        grbl.on_wco_changed();
+
     sys.report.wco = On;
 }