Moved @ G59.3 probing event call earlier in code, added check for X and Y homed.

Minor "bug fix" for real-time report, no longer sends `WCO` and `Ov` elements in the same response.

README.md

@@ -11,7 +11,7 @@ It has been written to complement grblHAL and has features such as proper keyboa
 
 ---
 
-Latest build date is 20211019, see the [changelog](changelog.md) for details.  
+Latest build date is 20211024, see the [changelog](changelog.md) for details.  
 __NOTE:__ Drivers built with more than three axes configured \(`N_AXIS` > `3`\) will force a settings reset when upgraded. Backup and restore of settings is recommended for these.
 
 ---
@@ -80,4 +80,4 @@ List of Supported G-Codes:
 Some [plugins](https://github.com/grblHAL/plugins) implements additional M-codes.
 
 ---
-2021-10-19
+2021-10-24

changelog.md

@@ -1,5 +1,20 @@
 ## grblHAL changelog
 
+Build 2021024:
+
+Core:
+* Moved @ G59.3 probing event call earlier in code, added check for X and Y homed.
+* Minor "bug fix" for real-time report, no longer sends `WCO` and `Ov` elements in the same response.
+
+Plugins:
+* A bit of cleanup in the websocket protocol code.
+* Fixed some miscopied lines in the Trinamic driver from a manual merge of [PR#3](https://github.com/grblHAL/Plugins_motor/pull/3).
+
+Drivers:
+* Added map file for [GRBLHAL2000](https://github.com/Expatria-Technologies/grblhal_2000_PrintNC) board to iMRXT1062 driver \(Teensy 4.1\) From [PR#23](https://github.com/grblHAL/iMXRT1062/pull/23) by @andrewmarles
+
+---
+
 Build 2021019:
 
 Core:

grbl.h

@@ -34,7 +34,7 @@
 #else
 #define GRBL_VERSION "1.1f"
 #endif
-#define GRBL_VERSION_BUILD "20211019"
+#define GRBL_VERSION_BUILD "20211024"
 
 // The following symbols are set here if not already set by the compiler or in config.h
 // Do NOT change here!

motion_control.c

@@ -866,6 +866,13 @@ gc_probe_t mc_probe_cycle (float *target, plan_line_data_t *pl_data, gc_parser_f
     sys.flags.probe_succeeded = Off; // Re-initialize probe history before beginning cycle.
     hal.probe.configure(parser_flags.probe_is_away, true);
 
+#if COMPATIBILITY_LEVEL <= 1
+    bool at_g59_3 = false, probe_fixture = grbl.on_probe_fixture != NULL && state_get() != STATE_TOOL_CHANGE && (sys.homed.mask & (X_AXIS_BIT|Y_AXIS_BIT));
+
+    if(probe_fixture)
+        grbl.on_probe_fixture(NULL, at_g59_3 = system_xy_at_fixture(CoordinateSystem_G59_3, TOOLSETTER_RADIUS), true);
+#endif
+
     // After syncing, check if probe is already triggered or not connected. If so, halt and issue alarm.
     // NOTE: This probe initialization error applies to all probing cycles.
     probe_state_t probe = hal.probe.get_state();
@@ -883,13 +890,6 @@ gc_probe_t mc_probe_cycle (float *target, plan_line_data_t *pl_data, gc_parser_f
     // Activate the probing state monitor in the stepper module.
     sys.probing_state = Probing_Active;
 
-#if COMPATIBILITY_LEVEL <= 1
-    bool at_g59_3 = false, probe_fixture = grbl.on_probe_fixture != NULL && state_get() != STATE_TOOL_CHANGE;
-
-    if(probe_fixture)
-        grbl.on_probe_fixture(NULL, at_g59_3 = system_xy_at_fixture(CoordinateSystem_G59_3, TOOLSETTER_RADIUS), true);
-#endif
-
     // Perform probing cycle. Wait here until probe is triggered or motion completes.
     system_set_exec_state_flag(EXEC_CYCLE_START);
     do {

nuts_bolts.h

@@ -57,7 +57,7 @@
 #endif
 #endif
 
-#ifdef __MSP430F5529__
+#if defined(__MSP430F5529__) || defined(__MSP432P401R__) || defined(__MSP432E401Y__) || defined(PART_TM4C123GH6PM) ||  defined(PART_TM4C1294NCPDT)
 #define isnanf(x) __isnanf(x)
 #define isinff(x) __isinff(x)
 #endif

protocol.c

@@ -160,7 +160,7 @@ bool protocol_main_loop (void)
     while(true) {
 
         // Process one line of incoming stream data, as the data becomes available. Performs an
-        // initial filtering by removing spaces and comments and capitalizing all letters.
+        // initial filtering by removing leading spaces and control characters.
         while((c = hal.stream.read()) != SERIAL_NO_DATA) {
 
             if(c == ASCII_CAN) {

report.c

@@ -1249,8 +1249,7 @@ void report_realtime_status (void)
 
         if (override_counter > 0 && !sys.report.overrides)
             override_counter--;
-        else {
-            sys.report.overrides = On;
+        else if((sys.report.overrides = !sys.report.wco)) {
             sys.report.spindle = sys.report.spindle || hal.spindle.get_state().on;
             sys.report.coolant = sys.report.coolant || hal.coolant.get_state().value != 0;
             override_counter = state_get() & (STATE_HOMING|STATE_CYCLE|STATE_HOLD|STATE_JOG|STATE_SAFETY_DOOR)

system.c

@@ -240,10 +240,9 @@ PROGMEM static const sys_command_t sys_commands[] = {
 void system_command_help (void)
 {
     hal.stream.write("$I - output system information" ASCII_EOL);
+    hal.stream.write("$I+ - output extended system information" ASCII_EOL);
     hal.stream.write("$<n> - output setting <n> value" ASCII_EOL);
     hal.stream.write("$<n>=<value> - assign <value> to settings <n>" ASCII_EOL);
-    hal.stream.write("$I - output system information" ASCII_EOL);
-    hal.stream.write("$I+ - output extended system information" ASCII_EOL);
     hal.stream.write("$$ - output all setting values" ASCII_EOL);
     hal.stream.write("$+ - output all setting values" ASCII_EOL);
     hal.stream.write("$$=<n> - output setting details for setting <n>" ASCII_EOL);
@@ -259,7 +258,7 @@ void system_command_help (void)
     hal.stream.write("$SLP - enter sleep mode" ASCII_EOL);
     hal.stream.write("$HELP - output help topics" ASCII_EOL);
     hal.stream.write("$HELP <topic> - output help for <topic>" ASCII_EOL);
-    hal.stream.write("$RST=* - restore/reset all" ASCII_EOL);
+    hal.stream.write("$RST=* - restore/reset all settings" ASCII_EOL);
     hal.stream.write("$RST=$ - restore default settings" ASCII_EOL);
     if(settings_get_details()->on_get_settings)
         hal.stream.write("$RST=& - restore driver and plugin default settings" ASCII_EOL);