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Refactored offset handling, for improved readability and in preparation for rotation support.

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Added experimental support for G66 (modal macro call) and G67 (end modal macro call).
Made axis letter to axis/motor assignment for axes ABCUVW freely changeable at compile time.
Fix for some G65 arguments being incorrectly validated for normal use (sign, range).
Added repeat support to G65 macro call via the optional L parameter word.
Changed default setting for ABC-axes to rotary.
Changed defaults for jerk settings to 10x acceleration settings.
Disabled jerk for jog, probe and spindle synchronized motion.
Added _active_probe system parameter, returns -1 if no probe inputs available.
Minor bug fix, G5.1 and G33.1 motion commands were not coverted to the correct string equivalent in $G output.
This commit is contained in:
Terje Io
2026-01-25 07:51:44 +01:00
parent f8867e7ea3
commit 64c35930c7
59 changed files with 2899 additions and 2351 deletions
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protocol.c
+6 -15
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@@ -3,7 +3,7 @@
Part of grblHAL
Copyright (c) 2017-2025 Terje Io
Copyright (c) 2017-2026 Terje Io
Copyright (c) 2011-2016 Sungeun K. Jeon for Gnea Research LLC
Copyright (c) 2009-2011 Simen Svale Skogsrud
@@ -388,7 +388,7 @@ void protocol_auto_cycle_start (void)
// from various check points in the main program, primarily where there may be a while loop waiting
// for a buffer to clear space or any point where the execution time from the last check point may
// be more than a fraction of a second. This is a way to execute realtime commands asynchronously
// (aka multitasking) with grbl's g-code parsing and planning functions. This function also serves
// (aka multitasking) with grblHAL's g-code parsing and planning functions. This function also serves
// as an interface for the interrupts to set the system realtime flags, where only the main program
// handles them, removing the need to define more computationally-expensive volatile variables. This
// also provides a controlled way to execute certain tasks without having two or more instances of
@@ -499,7 +499,7 @@ bool protocol_exec_rt_system (void)
if(bit_istrue(sys.rt_exec_state, EXEC_STATUS_REPORT)) {
system_clear_exec_state_flag(EXEC_STATUS_REPORT);
report_realtime_status(hal.stream.write_all);
report_realtime_status(hal.stream.write_all, system_get_rt_report_flags());
}
protocol_poll_cmd();
@@ -599,10 +599,10 @@ bool protocol_exec_rt_system (void)
// Execute and print status to output stream
if (rt_exec & EXEC_STATUS_REPORT)
report_realtime_status(hal.stream.write_all);
report_realtime_status(hal.stream.write_all, system_get_rt_report_flags());
if(rt_exec & EXEC_GCODE_REPORT)
report_gcode_modes();
report_gcode_modes(hal.stream.write);
if(rt_exec & EXEC_TLO_REPORT)
report_tool_offsets();
@@ -860,16 +860,7 @@ ISR_CODE bool ISR_FUNC(protocol_enqueue_realtime_command)(uint8_t c)
#endif
case CMD_STATUS_REPORT_ALL: // Add all statuses to report
{
report_tracking_flags_t report;
report.value = (uint32_t)Report_All;
report.tool_offset = sys.report.tool_offset;
report.m66result = sys.var5399 > -2;
report.probe_id = !!hal.probe.select;
system_add_rt_report((report_tracking_t)report.value);
}
system_add_rt_report(report_get_rt_flags_all().value);
system_set_exec_state_flag(EXEC_STATUS_REPORT);
drop = true;
break;