Fix for issue #349 - active feed rate override caused jog motions to hang on some drivers

README.md

@@ -13,7 +13,7 @@ It has been written to complement grblHAL and has features such as proper keyboa
 
 ---
 
-Latest build date is 20230808, see the [changelog](changelog.md) for details.  
+Latest build date is 20230821, see the [changelog](changelog.md) for details.  
 __NOTE:__ A settings reset will be performed on an update of builds earlier than 20230125. Backup and restore of settings is recommended.  
 __IMPORTANT!__  A new setting has been introduced for ganged axes motors in build 20211121.  
 I have only bench tested this for a couple of drivers, correct function should be verified after updating by those who have more than three motors configured.  

changelog.md

@@ -1,5 +1,17 @@
 ## grblHAL changelog
 
+<a name="20230821"/>Build 20230821
+
+Core:
+
+* Fix for issue #349 - active feed rate override caused jog motions to hang on some drivers \(STM32F4xx and possibly others\).
+
+Drivers:
+
+* RP2040: fix for regression: ethernet was incorrectly left enabled in CMakeLists.txt.
+
+---
+
 <a name="20230820"/>Build 20230820
 
 Core:
@@ -10,7 +22,7 @@ Core:
 
 Drivers:
 
-* RP2040: Fix for [issue #72](https://github.com/grblHAL/RP2040/discussions/72) \(typo\), improved SPI chip select handling.
+* RP2040: fix for [issue #72](https://github.com/grblHAL/RP2040/discussions/72) \(typo\), improved SPI chip select handling.
 
 ---
 

core_handlers.h

@@ -97,7 +97,7 @@ typedef void (*on_unknown_feedback_message_ptr)(stream_write_ptr stream_write);
 typedef void (*on_stream_changed_ptr)(stream_type_t type);
 typedef bool (*on_laser_ppi_enable_ptr)(uint_fast16_t ppi, uint_fast16_t pulse_length);
 typedef void (*on_homing_rate_set_ptr)(axes_signals_t axes, float rate, homing_mode_t mode);
-typedef void (*on_homing_completed_ptr)(bool succes);
+typedef void (*on_homing_completed_ptr)(bool success);
 typedef bool (*on_probe_fixture_ptr)(tool_data_t *tool, 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);

grbl.h

@@ -42,7 +42,7 @@
 #else
 #define GRBL_VERSION "1.1f"
 #endif
-#define GRBL_BUILD 20230820
+#define GRBL_BUILD 20230821
 
 #define GRBL_URL "https://github.com/grblHAL"
 

planner.c

@@ -342,19 +342,6 @@ inline static float plan_compute_profile_parameters (plan_block_t *block, float
     return nominal_speed;
 }
 
-// Re-calculates buffered motions profile parameters upon a motion-based override change.
-void plan_update_velocity_profile_parameters (void)
-{
-    plan_block_t *block = block_buffer_tail;
-    float prev_nominal_speed = SOME_LARGE_VALUE; // Set high for first block nominal speed calculation.
-
-    while (block != block_buffer_head) {
-        prev_nominal_speed = plan_compute_profile_parameters(block, plan_compute_profile_nominal_speed(block), prev_nominal_speed);
-        block = block->next;
-    }
-    pl.previous_nominal_speed = prev_nominal_speed; // Update prev nominal speed for next incoming block.
-}
-
 static inline float limit_acceleration_by_axis_maximum (float *unit_vec)
 {
     uint_fast8_t idx = N_AXIS;
@@ -656,6 +643,25 @@ void plan_cycle_reinitialize (void)
     planner_recalculate();
 }
 
+// Re-calculates buffered motions profile parameters upon a motion-based override change.
+static bool plan_update_velocity_profile_parameters (void)
+{
+    if(block_buffer_tail != block_buffer_head) {
+
+        plan_block_t *block = block_buffer_tail;
+        float prev_nominal_speed = SOME_LARGE_VALUE; // Set high for first block nominal speed calculation.
+
+        while (block != block_buffer_head) {
+            prev_nominal_speed = plan_compute_profile_parameters(block, plan_compute_profile_nominal_speed(block), prev_nominal_speed);
+            block = block->next;
+        }
+
+        pl.previous_nominal_speed = prev_nominal_speed; // Update prev nominal speed for next incoming block.
+    }
+
+    return block_buffer_tail != block_buffer_head;
+}
+
 // Set feed overrides
 void plan_feed_override (override_t feed_override, override_t rapid_override)
 {
@@ -666,13 +672,13 @@ void plan_feed_override (override_t feed_override, override_t rapid_override)
 
     feed_override = constrain(feed_override, MIN_FEED_RATE_OVERRIDE, MAX_FEED_RATE_OVERRIDE);
 
-    if ((feedrate_changed = feed_override != sys.override.feed_rate) ||
+    if((feedrate_changed = feed_override != sys.override.feed_rate) ||
          (rapidrate_changed = rapid_override != sys.override.rapid_rate)) {
         sys.override.feed_rate = feed_override;
         sys.override.rapid_rate = rapid_override;
         system_add_rt_report(Report_Overrides); // Set to report change immediately
-        plan_update_velocity_profile_parameters();
-        plan_cycle_reinitialize();
+        if(plan_update_velocity_profile_parameters())
+            plan_cycle_reinitialize();
         if(grbl.on_override_changed) {
             if(feedrate_changed)
                 grbl.on_override_changed(OverrideChanged_FeedRate);