Improved handling of G43 some more - can now be used in the same block as M6 when the internal workflow for tool change is enabled or M6 is ignored.

2026-03-23 03:22:56 +08:00 · 2026-02-27 09:33:05 +01:00
parent aa3a80f47f
commit 9ad064bebf
5 changed files with 76 additions and 70 deletions
--- a/README.md
+++ b/README.md
@@ -1,6 +1,6 @@
 ## grblHAL ##

-Latest build date is 20260225, see the [changelog](changelog.md) for details.  
+Latest build date is 20260227, see the [changelog](changelog.md) for details.  

 > [!NOTE]
 >  A settings reset will be performed on an update of builds prior to 20241208. Backup and restore of settings is recommended.  
--- a/changelog.md
+++ b/changelog.md
@@ -1,10 +1,18 @@
 ## grblHAL changelog

+<a name="20260227">Build 20260227
+
+Core:
+
+* Improved handling of `G43` some more - can now be used in the same block as `M6` when the internal workflow for tool change is enabled or `M6` is ignored.
+
+---
+
 <a name="20260225">Build 20260225

 Core:

-* Fix incorrect behaviour when a tool change using the built-in workflow is aborted, the selected tool was set as the current tool.
+* Fixed incorrect behaviour when a tool change using the built-in workflow is aborted, the selected tool was set as the current tool.

 * Clarification: `G66` macros calls are not run on their first invocation and will only be run on subsequent blocks containing axis words for `G0` or `G1` motion.
 Subsequent blocks may contain either the `G0` or `G1` command word, if not their modal state will be used. The macro will be called after the motion has been sent to the planner.
--- a/gcode.c
+++ b/gcode.c
@@ -699,6 +699,7 @@ static status_code_t gc_at_exit (status_code_t status)
    if(!(status == Status_OK || status == Status_Handled)) {

        pending_tool = NULL;
+        gc_state.g43_pending = (tool_id_t)-1;

        // Clear any pending output commands
        gc_clear_output_commands(output_commands);
@@ -891,12 +892,63 @@ static inline void tool_set (tool_data_t *tool)
    pending_tool = NULL;
 }

-// For core use only
+FLASHMEM static void tool_offset_apply (tool_offset_mode_t mode, tool_id_t tool, float *values, axes_signals_t axis_words)
+{
+    uint8_t idx = N_AXIS;
+    bool tlo_changed = false;
+    tool_data_t *tool_data = NULL;
+
+    gc_state.g43_pending = (tool_id_t)-1;
+    gc_state.modal.tool_offset_mode = mode;
+
+    if(gc_state.modal.tool_offset_mode == ToolLengthOffset_Enable || gc_state.modal.tool_offset_mode == ToolLengthOffset_ApplyAdditional)
+        tool_data = grbl.tool_table.get_tool(tool)->data;
+
+    do {
+        idx--;
+        switch(gc_state.modal.tool_offset_mode) {
+
+            case ToolLengthOffset_Cancel: // G49
+                tlo_changed |= gc_state.modal.tool_length_offset[idx] != 0.0f;
+                gc_state.modal.tool_length_offset[idx] = 0.0f;
+                break;
+
+            case ToolLengthOffset_Enable: // G43
+                if(gc_state.modal.tool_length_offset[idx] != tool_data->offset.values[idx]) {
+                    tlo_changed = true;
+                    gc_state.modal.tool_length_offset[idx] = tool_data->offset.values[idx];
+                }
+                break;
+
+            case ToolLengthOffset_ApplyAdditional: // G43.2
+                tlo_changed |= tool_data->offset.values[idx] != 0.0f;
+                gc_state.modal.tool_length_offset[idx] += tool_data->offset.values[idx];
+                break;
+
+            case ToolLengthOffset_EnableDynamic: // G43.1
+                if(bit_istrue(axis_words.mask, bit(idx)) && gc_state.modal.tool_length_offset[idx] != values[idx]) {
+                    tlo_changed = true;
+                    gc_state.modal.tool_length_offset[idx] = values[idx];
+                }
+                break;
+        }
+    } while(idx);
+
+    if(tlo_changed) {
+        report_add_realtime(Report_ToolOffset);
+        system_flag_wco_change();
+    }
+}
+
+// For core use only, called internally and from state machine
 FLASHMEM void gc_tool_changed (void)
 {
    if(pending_tool)
        tool_set(pending_tool);

+    if(gc_state.g43_pending > 0)
+        tool_offset_apply(ToolLengthOffset_Enable, gc_state.g43_pending, NULL, (axes_signals_t){0});
+
    grbl.on_tool_changed(gc_state.tool);

    report_add_realtime(Report_Tool);
@@ -2369,15 +2421,14 @@ status_code_t gc_execute_block (char *block)
 #if NGC_EXPRESSIONS_ENABLE
        if(hal.stream.file) {
            gc_state.tool_pending = (tool_id_t)-1; // force set tool
-            if(grbl.tool_table.n_tools) {
+            if(grbl.tool_table.n_tools && !command_words.G8) {
                if((gc_block.words.h = gc_state.g43_pending > 0)) { // ?? --> >= 0
                    command_words.G8 = On;
-                    gc_block.words.h = On;
                    gc_block.values.h = (float)gc_state.g43_pending;
                    gc_block.modal.tool_offset_mode = ToolLengthOffset_Enable;
                }
-                gc_state.g43_pending = (tool_id_t)-1;
            }
+            gc_state.g43_pending = (tool_id_t)-1;
        }
 #endif
    } else if(!gc_block.words.t)
@@ -2712,7 +2763,7 @@ status_code_t gc_execute_block (char *block)
                            RETURN(Status_GcodeIllegalToolTableEntry);
                        gc_block.words.h = Off;
                    } else if(!command_words.M6)
-                        gc_block.values.h = (float)gc_state.tool->tool_id;
+                        gc_block.values.h = gc_block.words.t ? gc_block.values.t : (float)gc_state.tool->tool_id;
                } else
                    RETURN(Status_GcodeUnsupportedCommand);
                break;
@@ -3876,15 +3927,13 @@ status_code_t gc_execute_block (char *block)
                system_set_exec_state_flag(EXEC_TOOL_CHANGE);   // Set up program pause for manual tool change
                protocol_execute_realtime();                    // Execute...
            }
-#if NGC_EXPRESSIONS_ENABLE
-            if((status_code_t)int_value == Status_Unhandled) &&
-                 grbl.tool_table.n_tools && command_words.G8 && gc_block.modal.tool_offset_mode == ToolLengthOffset_Enable) {
-                gc_state.g43_pending = gc_block.words.h ? (tool_id_t)gc_block.values.h : pending_tool->tool_id;
-                command_words.G8 = gc_block.words.h = Off;
-            }
-#endif
-            if(!macro_toolchange && state_get() != STATE_TOOL_CHANGE)
+
+            if(!(macro_toolchange || state_get() == STATE_TOOL_CHANGE))
                gc_tool_changed();
+            else if(grbl.tool_table.n_tools && command_words.G8 && gc_block.modal.tool_offset_mode == ToolLengthOffset_Enable) {
+                command_words.G8 = Off;
+                gc_state.g43_pending = gc_block.values.h > 0.0f ? (tool_id_t)gc_block.values.h : pending_tool->tool_id;
+            }
        }
    }

@@ -4092,57 +4141,8 @@ status_code_t gc_execute_block (char *block)
    // NOTE: If G43 were supported, its operation wouldn't be any different from G43.1 in terms
    // of execution. The error-checking step would simply load the offset value into the correct
    // axis of the block XYZ value array.
-    if(command_words.G8) { // Indicates a change.
-
-        bool tlo_changed = false;
-        tool_data_t *tool_data = NULL;
-
-        idx = N_AXIS;
-        gc_state.modal.tool_offset_mode = gc_block.modal.tool_offset_mode;
-
-        if(gc_state.modal.tool_offset_mode == ToolLengthOffset_Enable || gc_state.modal.tool_offset_mode == ToolLengthOffset_ApplyAdditional)
-            tool_data = grbl.tool_table.get_tool((tool_id_t)gc_block.values.h)->data;
-
-        do {
-
-            idx--;
-
-            switch(gc_state.modal.tool_offset_mode) {
-
-                case ToolLengthOffset_Cancel: // G49
-                    tlo_changed |= gc_state.modal.tool_length_offset[idx] != 0.0f;
-                    gc_state.modal.tool_length_offset[idx] = 0.0f;
-                    break;
-
-                case ToolLengthOffset_Enable: // G43
-                    if(gc_state.modal.tool_length_offset[idx] != tool_data->offset.values[idx]) {
-                        tlo_changed = true;
-                        gc_state.modal.tool_length_offset[idx] = tool_data->offset.values[idx];
-                    }
-                    break;
-
-                case ToolLengthOffset_ApplyAdditional: // G43.2
-                    tlo_changed |= tool_data->offset.values[idx] != 0.0f;
-                    gc_state.modal.tool_length_offset[idx] += tool_data->offset.values[idx];
-                    break;
-
-                case ToolLengthOffset_EnableDynamic: // G43.1
-                    if(bit_istrue(axis_words.mask, bit(idx)) && gc_state.modal.tool_length_offset[idx] != gc_block.values.xyz[idx]) {
-                        tlo_changed = true;
-                        gc_state.modal.tool_length_offset[idx] = gc_block.values.xyz[idx];
-                    }
-                    break;
-
-                default:
-                    break;
-            }
-        } while(idx);
-
-        if(tlo_changed) {
-            report_add_realtime(Report_ToolOffset);
-            system_flag_wco_change();
-        }
-    }
+    if(command_words.G8)
+        tool_offset_apply(gc_block.modal.tool_offset_mode, (tool_id_t)gc_block.values.h, gc_block.values.xyz, axis_words);

    // [15. Coordinate system selection ]:
    if(command_words.G12) {
--- a/gcode.h
+++ b/gcode.h
@@ -636,9 +636,7 @@ typedef struct {
 #endif
    uint32_t line_number;           //!< Last line number sent
    tool_id_t tool_pending;         //!< Tool to be selected on next M6
-#if NGC_EXPRESSIONS_ENABLE
-    tool_id_t g43_pending;          //!< Tool offset to be selected on next M6, for macro ATC
-#endif
+    tool_id_t g43_pending;          //!< Tool offset from tool in tool table to be applied on M6 completed, set when G43 is in block with M6
    bool file_run;                  //!< Tracks % command
    bool file_stream;               //!< Tracks streaming from file
    bool is_laser_ppi_mode;
--- a/grbl.h
+++ b/grbl.h
@@ -42,7 +42,7 @@
 #else
 #define GRBL_VERSION "1.1f"
 #endif
-#define GRBL_BUILD 20260225
+#define GRBL_BUILD 20260227

 #define GRBL_URL "https://github.com/grblHAL"