Renamed grbl.on_probe_fixture event to grbl.on_probe_toolsetter and added pointer to toolsetter coordinates as an additional parameter.

Increased backlash parameters precision to 5 decimals. Ref issue #452.
Some bug fixes in NGC parameters and flow control handling.

README.md

@@ -13,7 +13,7 @@ It has been written to complement grblHAL and has features such as proper keyboa
 
 ---
 
-Latest build date is 20240604, see the [changelog](changelog.md) for details.  
+Latest build date is 20240619, 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 +1,29 @@
 ## grblHAL changelog
 
+<a name="20240619"/>Build 20240619
+
+Core:
+
+* Renamed `grbl.on_probe_fixture` event to `grbl.on_probe_toolsetter` and added pointer to toolsetter coordinates as an additional parameter.
+This will allow plugin code to modify the coordinates before moving to the toolsetter so that tools with off center cutting surfaces can be properly measured.
+Ref. [ioSender issue #386](https://github.com/terjeio/ioSender/issues/386).
+
+* Increased backlash parameters precision to 5 decimals. Ref [issue #452](https://github.com/grblHAL/core/issues/452#issuecomment-2159050856).
+
+* Some bug fixes in NGC parameters and flow control handling.
+
+Drivers:
+
+* ESP32: improved SPI code.
+
+* SAM3X8E: added support for native and MCP3221 I2C ADCs. Ref [issue #24](https://github.com/grblHAL/SAM3X8E/issues/24).
+
+Plugins:
+
+* Templates: Updated some for core event rename and signature change.
+
+---
+
 <a name="20240604"/>Build 20240604
 
 Core:

config.h

@@ -486,11 +486,11 @@ non-volatile storage until the controller is in IDLE state.
 
 /*! \def TOOLSETTER_RADIUS
 \brief
-The grbl.on_probe_fixture event handler is called by the default tool change algorithm when probing at G59.3.
+The grbl.on_probe_toolsetter event handler is called by the default tool change algorithm when probing at G59.3.
 In addition it will be called on a "normal" probe sequence if the XY position is
 within the radius of the G59.3 position defined below.
 Change if the default value of 5mm is not suitable or set it to 0.0f to disable.
-<br>__NOTE:__ A grbl.on_probe_fixture event handler is not installed by the core, it has to be provided
+<br>__NOTE:__ A grbl.on_probe_toolsetter event handler is not installed by the core, it has to be provided
 by a driver or a plugin.
 */
 #if !defined TOOLSETTER_RADIUS || defined __DOXYGEN__

core_handlers.h

@@ -107,7 +107,7 @@ typedef void (*on_homing_rate_set_ptr)(axes_signals_t axes, float rate, homing_m
 // NOTE: cycle contains the axis flags of the executed homing cycle, success will be true when all the configured cycles are completed.
 typedef void (*on_homing_completed_ptr)(axes_signals_t cycle, bool success);
 
-typedef bool (*on_probe_fixture_ptr)(tool_data_t *tool, bool at_g59_3, bool on);
+typedef bool (*on_probe_toolsetter_ptr)(tool_data_t *tool, coord_data_t *position, bool at_g59_3, bool on);
 typedef bool (*on_probe_start_ptr)(axes_signals_t axes, float *target, plan_line_data_t *pl_data);
 typedef void (*on_probe_completed_ptr)(void);
 typedef void (*on_tool_selected_ptr)(tool_data_t *tool);
@@ -172,7 +172,7 @@ typedef struct {
     on_stream_changed_ptr on_stream_changed;
     on_homing_rate_set_ptr on_homing_rate_set;
     on_homing_completed_ptr on_homing_completed;
-    on_probe_fixture_ptr on_probe_fixture;
+    on_probe_toolsetter_ptr on_probe_toolsetter;
     on_probe_start_ptr on_probe_start;
     on_probe_completed_ptr on_probe_completed;
     on_set_axis_setting_unit_ptr on_set_axis_setting_unit;

grbl.h

@@ -42,7 +42,7 @@
 #else
 #define GRBL_VERSION "1.1f"
 #endif
-#define GRBL_BUILD 20240604
+#define GRBL_BUILD 20240619
 
 #define GRBL_URL "https://github.com/grblHAL"
 

motion_control.c

@@ -992,10 +992,10 @@ gc_probe_t mc_probe_cycle (float *target, plan_line_data_t *pl_data, gc_parser_f
     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));
+    bool at_g59_3 = false, probe_toolsetter = grbl.on_probe_toolsetter != 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);
+    if(probe_toolsetter)
+        grbl.on_probe_toolsetter(NULL, 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.
@@ -1054,8 +1054,8 @@ gc_probe_t mc_probe_cycle (float *target, plan_line_data_t *pl_data, gc_parser_f
     protocol_execute_realtime();        // Check and execute run-time commands
 
 #if COMPATIBILITY_LEVEL <= 1
-    if(probe_fixture)
-        grbl.on_probe_fixture(NULL, at_g59_3, false);
+    if(probe_toolsetter)
+        grbl.on_probe_toolsetter(NULL, NULL, at_g59_3, false);
 #endif
 
     // Reset the stepper and planner buffers to remove the remainder of the probe motion.

ngc_flowctrl.c

@@ -156,7 +156,7 @@ static status_code_t read_command (char *line, uint_fast8_t *pos, ngc_cmd_t *ope
                 *operation = NGCFlowCtrl_If;
                 (*pos)++;
             } else
-                *operation = Status_FlowControlSyntaxError; // Unknown statement name starting with F
+                status = Status_FlowControlSyntaxError; // Unknown statement name starting with F
             break;
 
         case 'R':
@@ -167,7 +167,7 @@ static status_code_t read_command (char *line, uint_fast8_t *pos, ngc_cmd_t *ope
                 *operation = NGCFlowCtrl_Return;
                 *pos += 5;
             } else
-                *operation = Status_FlowControlSyntaxError; // Unknown statement name starting with R
+                status = Status_FlowControlSyntaxError; // Unknown statement name starting with R
             break;
 
         case 'S':
@@ -531,7 +531,7 @@ status_code_t ngc_flowctrl (uint32_t o_label, char *line, uint_fast8_t *pos, boo
                         status = Status_FlowControlSyntaxError;
                     else {
 
-                        float params[29];
+                        float params[30];
                         ngc_param_id_t param_id = 1;
 
                         while(line[*pos] && status == Status_OK && param_id <= 30) {

settings.c

@@ -569,7 +569,7 @@ PROGMEM static const setting_detail_t setting_detail[] = {
      { Setting_AxisAcceleration, Group_Axis0, "-axis acceleration", axis_accel, Format_Decimal, "#####0.000", NULL, NULL, Setting_IsLegacyFn, set_axis_setting, get_float, NULL, AXIS_OPTS },
      { Setting_AxisMaxTravel, Group_Axis0, "-axis maximum travel", axis_dist, Format_Decimal, "#####0.000", NULL, NULL, Setting_IsLegacyFn, set_axis_setting, get_float, NULL, AXIS_OPTS },
 #if ENABLE_BACKLASH_COMPENSATION
-     { Setting_AxisBacklash, Group_Axis0, "-axis backlash compensation", axis_dist, Format_Decimal, "#####0.000", NULL, NULL, Setting_IsExtendedFn, set_axis_setting, get_float, NULL, AXIS_OPTS },
+     { Setting_AxisBacklash, Group_Axis0, "-axis backlash compensation", axis_dist, Format_Decimal, "#####0.000##", NULL, NULL, Setting_IsExtendedFn, set_axis_setting, get_float, NULL, AXIS_OPTS },
 #endif
      { Setting_AxisAutoSquareOffset, Group_Axis0, "-axis dual axis offset", "mm", Format_Decimal, "-0.000", "-10", "10", Setting_IsExtendedFn, set_axis_setting, get_float, is_setting_available, AXIS_OPTS },
      { Setting_SpindleAtSpeedTolerance, Group_Spindle, "Spindle at speed tolerance", "percent", Format_Decimal, "##0.0", NULL, NULL, Setting_IsExtended, &settings.spindle.at_speed_tolerance, NULL, is_setting_available },

tool_change.c

@@ -37,7 +37,7 @@
 #define TOOL_CHANGE_PROBE_RETRACT_DISTANCE 2.0f
 #endif
 
-static bool block_cycle_start, probe_fixture;
+static bool block_cycle_start, probe_toolsetter;
 static volatile bool execute_posted = false;
 static volatile uint32_t spin_lock = 0;
 static float tool_change_position;
@@ -89,11 +89,11 @@ static void change_completed (void)
         hal.irq_enable();
     }
 
-    if(probe_fixture)
-        grbl.on_probe_fixture(&current_tool, true, false);
+    if(probe_toolsetter)
+        grbl.on_probe_toolsetter(&current_tool, NULL, true, false);
 
     grbl.on_probe_completed = NULL;
-    gc_state.tool_change = probe_fixture = false;
+    gc_state.tool_change = probe_toolsetter = false;
 }
 
 
@@ -190,9 +190,6 @@ static void execute_probe (void *data)
     plan_line_data_t plan_data;
     gc_parser_flags_t flags = {0};
 
-    if(probe_fixture)
-        grbl.on_probe_fixture(next_tool, true, true);
-
     // G59.3 contains offsets to position of TLS.
     settings_read_coord_data(CoordinateSystem_G59_3, &offset.values);
 
@@ -202,11 +199,17 @@ static void execute_probe (void *data)
     target.values[plane.axis_0] = offset.values[plane.axis_0];
     target.values[plane.axis_1] = offset.values[plane.axis_1];
 
+    if(probe_toolsetter)
+        grbl.on_probe_toolsetter(next_tool, &target, false, true);
+
     if((ok = mc_line(target.values, &plan_data))) {
 
         target.values[plane.axis_linear] = offset.values[plane.axis_linear];
         ok = mc_line(target.values, &plan_data);
 
+        if(ok && probe_toolsetter)
+            grbl.on_probe_toolsetter(next_tool, NULL, true, true);
+
         plan_data.feed_rate = settings.tool_change.seek_rate;
         plan_data.condition.value = 0;
         plan_data.spindle.state.value = 0;
@@ -350,10 +353,10 @@ static status_code_t tool_change (parser_state_t *parser_state)
     hal.coolant.set_state((coolant_state_t){0});
 
     execute_posted = false;
-    probe_fixture = grbl.on_probe_fixture != NULL &&
-                     (settings.tool_change.mode == ToolChange_Manual ||
-                       settings.tool_change.mode == ToolChange_Manual_G59_3 ||
-                        settings.tool_change.mode == ToolChange_SemiAutomatic);
+    probe_toolsetter = grbl.on_probe_toolsetter != NULL &&
+                       (settings.tool_change.mode == ToolChange_Manual ||
+                         settings.tool_change.mode == ToolChange_Manual_G59_3 ||
+                          settings.tool_change.mode == ToolChange_SemiAutomatic);
 
     // Save current position.
     system_convert_array_steps_to_mpos(previous.values, sys.position);
@@ -389,12 +392,19 @@ static status_code_t tool_change (parser_state_t *parser_state)
         float tmp_pos = target.values[plane.axis_linear];
 
         target.values[plane.axis_linear] = tool_change_position;
+
+        if(probe_toolsetter)
+            grbl.on_probe_toolsetter(next_tool, &target, false, true);
+
         if(!mc_line(target.values, &plan_data))
             return Status_Reset;
 
         target.values[plane.axis_linear] = tmp_pos;
         if(!mc_line(target.values, &plan_data))
             return Status_Reset;
+
+        if(probe_toolsetter)
+            grbl.on_probe_toolsetter(next_tool, NULL, true, true);
     }
 #endif
 
@@ -463,8 +473,8 @@ status_code_t tc_probe_workpiece (void)
     plan_line_data_t plan_data;
 
 #if COMPATIBILITY_LEVEL <= 1
-    if(probe_fixture)
-        grbl.on_probe_fixture(next_tool, system_xy_at_fixture(CoordinateSystem_G59_3, TOOLSETTER_RADIUS), true);
+    if(probe_toolsetter)
+        grbl.on_probe_toolsetter(next_tool, NULL, system_xy_at_fixture(CoordinateSystem_G59_3, TOOLSETTER_RADIUS), true);
 #endif
 
     // Get current position.