Limited tool change probe moves to be within machine limits. Ref. issue #542.

Added setting $358 to enable experimental functionality for fast rotary 'rewind' to stored G28 position.
Return move should complete in half a rotation or less.
For developers: added option to redirect debug via driver provided function when DEBUGOUT is set to -1 in config.h. Ref. issue #545.

README.md

@@ -13,7 +13,7 @@ It has been written to complement grblHAL and has features such as proper keyboa
 
 ---
 
-Latest build date is 20240704, see the [changelog](changelog.md) for details.  
+Latest build date is 20240719, see the [changelog](changelog.md) for details.  
 
 __NOTE:__ Build 20240222 has moved the probe input to the ioPorts pool of inputs and will be allocated from it when configured.
 The change is major and _potentially dangerous_, it may damage your probe, so please _verify correct operation_ after installing this, or later, builds.

changelog.md

@@ -1,5 +1,27 @@
 ## grblHAL changelog
 
+<a name="20240715">Build 20240719
+
+Core:
+
+* Limited tool change probe moves to be within machine limits. Ref. [issue #542](https://github.com/grblHAL/core/issues/542).
+
+* Added setting `$358` to enable experimental functionality for fast rotary 'rewind' to stored G28 position. Return move should complete in half a rotation or less.  
+To use program:
+```
+G91G28<axisletter>0
+G90
+```
+where \<axisletter\> is the axisletter of the rotary axis to move.
+
+* For developers: added option to redirect debug via driver provided function when `DEBUGOUT` is set to `-1` in _config.h_. Can be used to send debug output to debugger interfaces.
+
+Plugins:
+
+* WebUI: fix for crash when settings page is opened with macros plugin enabled. Ref. [issue #14](https://github.com/grblHAL/Plugin_WebUI/issues/14).
+
+---
+
 <a name="20240709"/>Build 20240709
 
 Core:

config.h

@@ -1783,6 +1783,18 @@ Timezone offset from UTC in hours, allowed range is -12.0 - 12.0.
 #endif
 ///@}
 
+/*! @name $538 - Setting_RotaryWrap
+Enable fast return to G28 position for rotary axes by \ref axismask.
+Use:
+G91G28<axisletter>0
+G90
+*/
+///@{
+#if !defined DEFAULT_AXIS_ROTARY_WRAP_MASK || defined __DOXYGEN__
+#define DEFAULT_AXIS_ROTARY_WRAP_MASK 0
+#endif
+///@}
+
 // Axis settings (Group_XAxis - Group_VAxis)
 
 /*! @name $10x - Setting_AxisStepsPerMM

gcode.c

@@ -1287,7 +1287,7 @@ status_code_t gc_execute_block (char *block)
                     case 56:
                         if(!settings.parking.flags.enable_override_control) // TODO: check if enabled?
                             FAIL(Status_GcodeUnsupportedCommand); // [Unsupported M command]
-                        // no break;
+                        // no break
                     case 48: case 49: case 50: case 51: case 53:
                         word_bit.modal_group.M9 = On;
                         gc_block.override_command = (override_mode_t)int_value;
@@ -1979,7 +1979,7 @@ status_code_t gc_execute_block (char *block)
     if (gc_block.modal.units_imperial) do { // Axes indices are consistent, so loop may be used.
         idx--;
 #if N_AXIS > 3
-        if (bit_istrue(axis_words.mask, bit(idx)) && bit_isfalse(settings.steppers.is_rotational.mask, bit(idx))) {
+        if (bit_istrue(axis_words.mask, bit(idx)) && bit_isfalse(settings.steppers.is_rotary.mask, bit(idx))) {
 #else
         if (bit_istrue(axis_words.mask, bit(idx))) {
 #endif
@@ -3408,12 +3408,60 @@ status_code_t gc_execute_block (char *block)
             break;
 
         case NonModal_GoHome_0:
+#if N_AXIS > 3
+            {
+                axes_signals_t wrap = { (axis_words.mask & settings.steppers.is_rotary.mask) & settings.steppers.rotary_wrap.mask };
+                if(gc_state.modal.distance_incremental && wrap.mask) {
+                    for(idx = Z_AXIS + 1; idx < N_AXIS; idx++) {
+                        if(bit_istrue(wrap.mask, bit(idx)) && gc_block.values.xyz[idx] == gc_state.position[idx])
+                            gc_block.rotary_wrap.mask |= bit(idx);
+                    }
+                }
+            }
+            // no break
+#endif
+
         case NonModal_GoHome_1:
             // Move to intermediate position before going home. Obeys current coordinate system and offsets
             // and absolute and incremental modes.
             plan_data.condition.rapid_motion = On; // Set rapid motion condition flag.
-            if (axis_command)
+            if(axis_command)
                 mc_line(gc_block.values.xyz, &plan_data);
+#if N_AXIS > 3
+            if(gc_block.rotary_wrap.mask) {
+
+                coord_system_t wrap_target;
+
+                protocol_buffer_synchronize();
+                memcpy(wrap_target.xyz, gc_block.values.coord_data.xyz, sizeof(coord_system_t));
+
+                for(idx = Z_AXIS + 1; idx < N_AXIS; idx++) {
+                    if(bit_istrue(gc_block.rotary_wrap.mask, bit(idx))) {
+                        float position, delta;
+                        if((wrap_target.xyz[idx] = fmodf(wrap_target.xyz[idx], 360.0f)) < 0.0f)
+                            wrap_target.xyz[idx] = 360.0f + wrap_target.xyz[idx];
+                        if((position = fmodf(gc_state.position[idx], 360.0f)) < 0.0)
+                            position = 360.0f + position;
+                        if((delta = position - wrap_target.xyz[idx]) < -180.0f)
+                            position += 360.0f;
+                        else if(delta > 180.0f)
+                            position -= 360.0f;
+                        sys.position[idx] = lroundf(position * settings.axis[idx].steps_per_mm);
+                    }
+                }
+
+                sync_position();
+                mc_line(wrap_target.xyz, &plan_data);
+                protocol_buffer_synchronize();
+
+                for(idx = Z_AXIS + 1; idx < N_AXIS; idx++) {
+                    if(bit_istrue(gc_block.rotary_wrap.mask, bit(idx)))
+                        sys.position[idx] = lroundf(gc_block.values.coord_data.xyz[idx] * settings.axis[idx].steps_per_mm);
+                }
+
+                sync_position();
+            } else
+#endif
             mc_line(gc_block.values.coord_data.xyz, &plan_data);
             memcpy(gc_state.position, gc_block.values.coord_data.xyz, sizeof(gc_state.position));
             set_scaling(1.0f);

gcode.h

@@ -624,6 +624,9 @@ typedef struct {
 #if NGC_PARAMETERS_ENABLE
     modal_state_action_t state_action;  //!< M70-M73 modal state action
 #endif
+#if N_AXIS > 3
+    axes_signals_t rotary_wrap;
+#endif
 } parser_block_t;
 
 // Initialize the parser

grbl.h

@@ -42,7 +42,7 @@
 #else
 #define GRBL_VERSION "1.1f"
 #endif
-#define GRBL_BUILD 20240709
+#define GRBL_BUILD 20240719
 
 #define GRBL_URL "https://github.com/grblHAL"
 

machine_limits.c

@@ -296,7 +296,7 @@ static bool homing_cycle (axes_signals_t cycle, axes_signals_t auto_square)
         // NOTE: settings.axis[].max_travel is stored as a negative value.
         if(bit_istrue(cycle.mask, bit(idx))) {
 #if N_AXIS > 3
-            if(bit_istrue(settings.steppers.is_rotational.mask, bit(idx)))
+            if(bit_istrue(settings.steppers.is_rotary.mask, bit(idx)))
                 max_travel = max(max_travel, (-HOMING_AXIS_SEARCH_SCALAR) * (settings.axis[idx].max_travel < -0.0f ? settings.axis[idx].max_travel : -360.0f));
             else
 #endif

planner.c

@@ -469,13 +469,13 @@ bool plan_buffer_line (float *target, plan_line_data_t *pl_data)
 
     if(!block->condition.inverse_time &&
         !block->condition.rapid_motion &&
-         (motion.mask & settings.steppers.is_rotational.mask) &&
-          (motion.mask & ~settings.steppers.is_rotational.mask)) {
+         (motion.mask & settings.steppers.is_rotary.mask) &&
+          (motion.mask & ~settings.steppers.is_rotary.mask)) {
 
         float linear_magnitude = 0.0f;
 
         idx = 0;
-        motion.mask &= ~settings.steppers.is_rotational.mask;
+        motion.mask &= ~settings.steppers.is_rotary.mask;
 
         while(motion.mask) {
             if(motion.mask & 0x01)

report.c

@@ -118,7 +118,7 @@ static char *get_axis_values_inches (float *axis_values)
         if(idx == X_AXIS && gc_state.modal.diameter_mode)
             strcat(buf, ftoa(axis_values[idx] * INCH_PER_MM * 2.0f, N_DECIMAL_COORDVALUE_INCH));
 #if N_AXIS > 3
-        else if(idx > Z_AXIS && bit_istrue(settings.steppers.is_rotational.mask, bit(idx)))
+        else if(idx > Z_AXIS && bit_istrue(settings.steppers.is_rotary.mask, bit(idx)))
             strcat(buf, ftoa(axis_values[idx], N_DECIMAL_COORDVALUE_MM));
 #endif
         else

settings.c

@@ -103,7 +103,8 @@ PROGMEM const settings_t defaults = {
 #endif
     .steppers.deenergize.mask = DEFAULT_STEPPER_DEENERGIZE_MASK,
 #if N_AXIS > 3
-    .steppers.is_rotational.mask = (DEFAULT_AXIS_ROTATIONAL_MASK & AXES_BITMASK) & 0b11111000,
+    .steppers.is_rotary.mask = (DEFAULT_AXIS_ROTATIONAL_MASK & AXES_BITMASK) & 0b11111000,
+    .steppers.rotary_wrap.mask = (DEFAULT_AXIS_ROTARY_WRAP_MASK & AXES_BITMASK) & 0b11111000,
 #endif
 #if DEFAULT_HOMING_ENABLE
     .homing.flags.enabled = DEFAULT_HOMING_ENABLE,
@@ -406,7 +407,8 @@ static status_code_t set_linear_piece (setting_id_t id, char *svalue);
 static char *get_linear_piece (setting_id_t id);
 #endif
 #if N_AXIS > 3
-static status_code_t set_rotational_axes (setting_id_t id, uint_fast16_t int_value);
+static status_code_t set_rotary_axes (setting_id_t id, uint_fast16_t int_value);
+static status_code_t set_rotary_wrap_axes (setting_id_t id, uint_fast16_t int_value);
 #endif
 #if COMPATIBILITY_LEVEL > 2
 static status_code_t set_enable_invert_mask (setting_id_t id, uint_fast16_t int_value);
@@ -434,6 +436,28 @@ static char control_signals[] = "Reset,Feed hold,Cycle start,Safety door,Block d
 static char spindle_signals[] = "Spindle enable,Spindle direction,PWM";
 static char coolant_signals[] = "Flood,Mist";
 static char ganged_axes[] = "X-Axis,Y-Axis,Z-Axis";
+#if !AXIS_REMAP_ABC2UVW
+  #if N_AXIS == 4
+   static const char rotary_axes[] = "A-Axis";
+  #elif N_AXIS == 5
+   static const char rotary_axes[] = "A-Axis,B-Axis";
+  #elif N_AXIS == 6
+   static const char rotary_axes[] = "A-Axis,B-Axis,C-Axis";
+  #elif N_AXIS == 7
+   static const char rotary_axes[] = "A-Axis,B-Axis,C-Axis,U-Axis";
+  #elif N_AXIS == 8
+   static const char rotary_axes[] = "A-Axis,B-Axis,C-Axis,U-Axis,V-Axis";
+  #endif
+#else
+  #if N_AXIS == 4
+     static const char rotary_axes[] = "U-Axis";
+  #elif N_AXIS == 5
+     static const char rotary_axes[] = "U-Axis,V-Axis";
+  #elif N_AXIS == 6
+     static const char rotary_axes[] = "U-Axis,V-Axis,W-Axis";
+  #endif
+#endif
+
 static char fs_options[] = "Auto mount SD card,Hide LittleFS";
 static char spindle_types[100] = "";
 static char axis_dist[4] = "mm";
@@ -585,26 +609,8 @@ PROGMEM static const setting_detail_t setting_detail[] = {
 #if COMPATIBILITY_LEVEL <= 1
      { Setting_DisableG92Persistence, Group_General, "Disable G92 persistence", NULL, Format_Bool, NULL, NULL, NULL, Setting_IsExtendedFn, set_g92_disable_persistence, get_int, NULL },
 #endif
-#if !AXIS_REMAP_ABC2UVW
-  #if N_AXIS == 4
-   { Settings_Axis_Rotational, Group_Stepper, "Rotational axes", NULL, Format_Bitfield, "A-Axis", NULL, NULL, Setting_IsExtendedFn, set_rotational_axes, get_int, NULL },
-  #elif N_AXIS == 5
-   { Settings_Axis_Rotational, Group_Stepper, "Rotational axes", NULL, Format_Bitfield, "A-Axis,B-Axis", NULL, NULL, Setting_IsExtendedFn, set_rotational_axes, get_int, NULL },
-  #elif N_AXIS == 6
-   { Settings_Axis_Rotational, Group_Stepper, "Rotational axes", NULL, Format_Bitfield, "A-Axis,B-Axis,C-Axis", NULL, NULL, Setting_IsExtendedFn, set_rotational_axes, get_int, NULL },
-  #elif N_AXIS == 7
-   { Settings_Axis_Rotational, Group_Stepper, "Rotational axes", NULL, Format_Bitfield, "A-Axis,B-Axis,C-Axis,U-Axis", NULL, NULL, Setting_IsExtendedFn, set_rotational_axes, get_int, NULL },
-  #elif N_AXIS == 8
-   { Settings_Axis_Rotational, Group_Stepper, "Rotational axes", NULL, Format_Bitfield, "A-Axis,B-Axis,C-Axis,U-Axis,V-Axis", NULL, NULL, Setting_IsExtendedFn, set_rotational_axes, get_int, NULL },
-  #endif
-#else
-  #if N_AXIS == 4
-     { Settings_Axis_Rotational, Group_Stepper, "Rotational axes", NULL, Format_Bitfield, "U-Axis", NULL, NULL, Setting_IsExtendedFn, set_rotational_axes, get_int, NULL },
-  #elif N_AXIS == 5
-     { Settings_Axis_Rotational, Group_Stepper, "Rotational axes", NULL, Format_Bitfield, "U-Axis,V-Axis", NULL, NULL, Setting_IsExtendedFn, set_rotational_axes, get_int, NULL },
-  #elif N_AXIS == 6
-     { Settings_Axis_Rotational, Group_Stepper, "Rotational axes", NULL, Format_Bitfield, "U-Axis,V-Axis,W-Axis", NULL, NULL, Setting_IsExtendedFn, set_rotational_axes, get_int, NULL },
-  #endif
+#if N_AXIS > 3
+     { Settings_RotaryAxes, Group_Stepper, "Rotary axes", NULL, Format_Bitfield, rotary_axes, NULL, NULL, Setting_IsExtendedFn, set_rotary_axes, get_int, NULL },
 #endif
 #ifndef NO_SAFETY_DOOR_SUPPORT
      { Setting_DoorSpindleOnDelay, Group_SafetyDoor, "Spindle on delay", "s", Format_Decimal, "#0.0", "0.5", "20", Setting_IsExtended, &settings.safety_door.spindle_on_delay, NULL, is_setting_available },
@@ -623,6 +629,9 @@ PROGMEM static const setting_detail_t setting_detail[] = {
      { Setting_OffsetLock, Group_General, "Lock coordinate systems", NULL, Format_Bitfield, "G59.1,G59.2,G59.3", NULL, NULL, Setting_IsExtendedFn, set_offset_lock, get_int, NULL },
 #endif
      { Setting_EncoderSpindle, Group_Spindle, "Encoder spindle", NULL, Format_RadioButtons, spindle_types, NULL, NULL, Setting_IsExtendedFn, set_encoder_spindle, get_int, is_setting_available },
+#if N_AXIS > 3
+     { Setting_RotaryWrap, Group_Stepper, "Fast rotary go to G28", NULL, Format_Bitfield, rotary_axes, NULL, NULL, Setting_IsExtendedFn, set_rotary_wrap_axes, get_int, NULL },
+#endif
      { Setting_FSOptions, Group_General, "File systems options", NULL, Format_Bitfield, fs_options, NULL, NULL, Setting_IsExtended, &settings.fs_options.mask, NULL, is_setting_available },
      { Setting_HomePinsInvertMask, Group_Limits, "Invert home pins", NULL, Format_AxisMask, NULL, NULL, NULL, Setting_IsExtended, &settings.home_invert.mask, NULL, is_setting_available },
      { Setting_HoldCoolantOnDelay, Group_Coolant, "Coolant on delay", "s", Format_Decimal, "#0.0", "0.5", "20", Setting_IsExtended, &settings.safety_door.coolant_on_delay, NULL, is_setting_available }
@@ -784,9 +793,12 @@ PROGMEM static const setting_descr_t setting_descr[] = {
 #if COMPATIBILITY_LEVEL <= 1
     { Setting_DisableG92Persistence, "Disables save/restore of G92 offset to non-volatile storage (NVS)." },
 #endif
+#if N_AXIS > 3
+     { Settings_RotaryAxes, "Designates axes as rotary, interpretation some other relevant axis settings is changed accordingly." },
+#endif
 #ifndef NO_SAFETY_DOOR_SUPPORT
-    { Setting_DoorSpindleOnDelay, "Delay to allow spindle to spin up after safety door is opened or feed hold is canceled.." },
-    { Setting_DoorCoolantOnDelay, "Delay to allow coolant to restart after safety door is opened or feed hold is canceled.." },
+    { Setting_DoorSpindleOnDelay, "Delay to allow spindle to spin up after safety door is opened or feed hold is canceled." },
+    { Setting_DoorCoolantOnDelay, "Delay to allow coolant to restart after safety door is opened or feed hold is canceled." },
 #else
     { Setting_DoorSpindleOnDelay, "Delay to allow spindle to spin up when spindle at speed tolerance is > 0." },
 #endif
@@ -803,6 +815,13 @@ PROGMEM static const setting_descr_t setting_descr[] = {
     { Setting_NGCDebugOut, "Example: (debug, metric mode: #<_metric>, coord system: #5220)" },
 #endif
     { Setting_EncoderSpindle, "Specifies which spindle has the encoder attached." },
+#if N_AXIS > 3
+    { Setting_RotaryWrap, "Perform fast move to angle stored in G28 position.\\n"
+                          "Use:\\n"
+                          " G91G28<axisletter>0\\n"
+                          " G90\\n"
+    },
+#endif
     { Setting_FSOptions, "Auto mount SD card on startup." },
     { Setting_HomePinsInvertMask, "Inverts the axis home input signals." },
     { Setting_HoldCoolantOnDelay, "Delay to allow coolant to restart after feed hold is canceled." }
@@ -1128,7 +1147,7 @@ static inline void tmp_set_hard_limits (void)
     sys.hard_limits.mask = settings.limits.flags.hard_enabled ? AXES_BITMASK : 0;
   #if N_AXIS > 3
     if(settings.limits.flags.hard_disabled_rotary)
-        sys.hard_limits.mask &= ~settings.steppers.is_rotational.mask;
+        sys.hard_limits.mask &= ~settings.steppers.is_rotary.mask;
   #endif
 }
 
@@ -1340,16 +1359,23 @@ static inline void set_axis_unit (const setting_detail_t *setting, const char *u
 
 #if N_AXIS > 3
 
-static status_code_t set_rotational_axes (setting_id_t id, uint_fast16_t int_value)
+static status_code_t set_rotary_axes (setting_id_t id, uint_fast16_t int_value)
 {
-    settings.steppers.is_rotational.mask = (int_value << 3) & AXES_BITMASK;
+    settings.steppers.is_rotary.mask = (int_value << 3) & AXES_BITMASK;
+
+    return Status_OK;
+}
+
+static status_code_t set_rotary_wrap_axes (setting_id_t id, uint_fast16_t int_value)
+{
+    settings.steppers.rotary_wrap.mask = (int_value << 3) & AXES_BITMASK;
 
     return Status_OK;
 }
 
 static inline bool axis_is_rotary (uint_fast8_t axis_idx)
 {
-    return bit_istrue(settings.steppers.is_rotational.mask, bit(axis_idx));
+    return bit_istrue(settings.steppers.is_rotary.mask, bit(axis_idx));
 }
 
 static const char *set_axis_setting_unit (setting_id_t setting_id, uint_fast8_t axis_idx)
@@ -1730,8 +1756,12 @@ static uint32_t get_int (setting_id_t id)
             break;
 
 #if N_AXIS > 3
-        case Settings_Axis_Rotational:
-            value = (settings.steppers.is_rotational.mask & AXES_BITMASK) >> 3;
+        case Settings_RotaryAxes:
+            value = (settings.steppers.is_rotary.mask & AXES_BITMASK) >> 3;
+            break;
+
+        case Setting_RotaryWrap:
+            value = (settings.steppers.rotary_wrap.mask & AXES_BITMASK) >> 3;
             break;
 #endif
 
@@ -2184,6 +2214,7 @@ bool read_global_settings ()
     bool ok = hal.nvs.type != NVS_None && SETTINGS_VERSION == hal.nvs.get_byte(0) && hal.nvs.memcpy_from_nvs((uint8_t *)&settings, NVS_ADDR_GLOBAL, sizeof(settings_t), true) == NVS_TransferResult_OK;
 
     // Sanity check of settings, board map could have been changed...
+
 #if LATHE_UVW_OPTION
     settings.mode = Mode_Lathe;
 #else
@@ -2209,6 +2240,10 @@ bool read_global_settings ()
         settings.steppers.enable_invert.mask = AXES_BITMASK;
 #endif
 
+#if N_AXIS > 3
+    settings.steppers.rotary_wrap.mask &= settings.steppers.is_rotary.mask;
+#endif
+
     settings.control_invert.mask |= limits_override.mask;
     settings.control_disable_pullup.mask &= ~limits_override.mask;
 

settings.h

@@ -7,18 +7,18 @@
   Copyright (c) 2011-2016 Sungeun K. Jeon for Gnea Research LLC
   Copyright (c) 2009-2011 Simen Svale Skogsrud
 
-  Grbl is free software: you can redistribute it and/or modify
+  grblHAL is free software: you can redistribute it and/or modify
   it under the terms of the GNU General Public License as published by
   the Free Software Foundation, either version 3 of the License, or
   (at your option) any later version.
 
-  Grbl is distributed in the hope that it will be useful,
+  grblHAL is distributed in the hope that it will be useful,
   but WITHOUT ANY WARRANTY; without even the implied warranty of
-  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
   GNU General Public License for more details.
 
   You should have received a copy of the GNU General Public License
-  along with Grbl.  If not, see <http://www.gnu.org/licenses/>.
+  along with grblHAL. If not, see <http://www.gnu.org/licenses/>.
 */
 
 #ifndef _SETTINGS_H_
@@ -247,7 +247,7 @@ typedef enum {
     Settings_IoPort_OD_Enable = 373,
     Settings_ModBus_BaudRate = 374,
     Settings_ModBus_RXTimeout = 375,
-    Settings_Axis_Rotational = 376,
+    Settings_RotaryAxes = 376,
     Setting_BlueToothInitOK = 377,
     Setting_CoolantOnDelay = 378,
     Setting_CoolantOffDelay = 379,
@@ -370,6 +370,7 @@ typedef enum {
     Setting_NetworkMAC = 535,
     Setting_RGB_StripLengt0 = 536,
     Setting_RGB_StripLengt1 = 537,
+    Setting_RotaryWrap = 538,
 
     Setting_Panel_SpindleSpeed       = 540,  // NOTE: Reserving settings values 540 to 579 for panel settings.
     Setting_Panel_ModbusAddress      = 541,
@@ -664,7 +665,8 @@ typedef struct {
     axes_signals_t enable_invert;
     axes_signals_t deenergize;
 #if N_AXIS > 3
-    axes_signals_t is_rotational; // rotational axes distances are not scaled in imperial mode
+    axes_signals_t is_rotary;   // rotary axes distances are not scaled in imperial mode
+    axes_signals_t rotary_wrap;     // rotary axes that allows G28 wrap for faster move to home position
 #endif
     float pulse_microseconds;
     float pulse_delay_microseconds;

stream.c

@@ -651,6 +651,38 @@ const io_stream_t *stream_null_init (uint32_t baud_rate)
 
 #ifdef DEBUGOUT
 
+#if DEBUGOUT == -1
+
+__attribute__((weak)) void debug_write (const char *s)
+{
+    // NOOP
+}
+
+void debug_writeln (const char *s)
+{
+    debug_write(s);
+    debug_write(ASCII_EOL);
+}
+
+void debug_printf (const char *fmt, ...)
+{
+    char debug_out[DEBUG_BUFFER];
+
+    va_list args;
+    va_start(args, fmt);
+    vsnprintf(debug_out, sizeof(debug_out) - 1, fmt, args);
+    va_end(args);
+
+    debug_writeln(debug_out);
+}
+
+bool debug_stream_init (void)
+{
+    return true;
+}
+
+#else
+
 static stream_write_ptr dbg_write = NULL;
 
 void debug_write (const char *s)
@@ -682,8 +714,6 @@ void debug_printf (const char *fmt, ...)
     va_end(args);
 
     debug_writeln(debug_out);
-    while(hal.stream.get_tx_buffer_count()) // Wait until message is delivered
-        grbl.on_execute_realtime(state_get());
 }
 
 static bool debug_claim_stream (io_stream_properties_t const *stream)
@@ -716,6 +746,8 @@ bool debug_stream_init (void)
     return hal.debug.write == debug_write;
 }
 
+#endif // DEBUGOUT
+
 #elif defined(DEBUG)
 
 void debug_printf (const char *fmt, ...)

tool_change.c

@@ -180,6 +180,15 @@ static void execute_restore (void *data)
         system_set_exec_state_flag(EXEC_CYCLE_START);
 }
 
+// Set and limit probe travel to be within machine limits.
+static void set_probe_target (coord_data_t *target, uint8_t axis)
+{
+    target->values[axis] -= settings.tool_change.probing_distance;
+
+    if(bit_istrue(sys.homed.mask, bit(axis)) && settings.axis[axis].max_travel < -0.0f)
+        target->values[axis] = max(min(target->values[axis], sys.work_envelope.max.values[axis]), sys.work_envelope.min.values[axis]);
+}
+
 // Execute touch off on cycle start event from @ G59.3 position.
 // Used in SemiAutomatic mode ($341=3) only. Called from the foreground process.
 static void execute_probe (void *data)
@@ -213,7 +222,8 @@ static void execute_probe (void *data)
         plan_data.feed_rate = settings.tool_change.seek_rate;
         plan_data.condition.value = 0;
         plan_data.spindle.state.value = 0;
-        target.values[plane.axis_linear] -= settings.tool_change.probing_distance;
+
+        set_probe_target(&target, plane.axis_linear);
 
         if((ok = ok && mc_probe_cycle(target.values, &plan_data, flags) == GCProbe_Found))
         {
@@ -485,7 +495,7 @@ status_code_t tc_probe_workpiece (void)
     plan_data_init(&plan_data);
     plan_data.feed_rate = settings.tool_change.seek_rate;
 
-    target.values[plane.axis_linear] -= settings.tool_change.probing_distance;
+    set_probe_target(&target, plane.axis_linear);
 
     if((ok = mc_probe_cycle(target.values, &plan_data, flags) == GCProbe_Found))
     {