Fix for issue #209, incorrect handling of homing of more than one auto squared axis in each pass.

Error 55 will now be returned.

README.md

@@ -13,13 +13,14 @@ It has been written to complement grblHAL and has features such as proper keyboa
 
 ---
 
-Latest build date is 20221021, see the [changelog](changelog.md) for details.  
+Latest build date is 20221023, see the [changelog](changelog.md) for details.  
 __NOTE:__ A settings reset will be performed on an update for versions earlier than 20211122. Backup and restore of settings is recommended.  
 __IMPORTANT!__  A new setting has been introduced for ganged axes motors in version 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.  
 More details in the [changelog](changelog.md).
 
 ---
+
 Updated for latest core changes.
 __NOTE:__ Arduino drivers has now been converted to Arduino libraries, [installation and compilation procedure](https://github.com/grblHAL/core/wiki/Compiling-GrblHAL) has been changed!
 
@@ -40,7 +41,7 @@ It is able to maintain up to 300kHz<sup>3</sup> of stable, jitter free control p
 
 It accepts standards-compliant g-code and has been tested with the output of several CAM tools with no problems. Arcs, circles and helical motion are fully supported, as well as, all other primary g-code commands. Macro functions, variables, and some canned cycles are not supported, but we think GUIs can do a much better job at translating them into straight g-code anyhow.
 
-Grbl includes full acceleration management with look ahead. That means the controller will look up motions into the future and plan its velocities ahead to deliver smooth acceleration and jerk-free cornering.
+grblHAL includes full acceleration management with look ahead. That means the controller will look up motions into the future and plan its velocities ahead to deliver smooth acceleration and jerk-free cornering.
 
 This is a port/rewrite of [grbl 1.1f](https://github.com/gnea/grbl) and should be compatible with GCode senders compliant with the specifications for that version. It should be possible to change default compile-time configurations if problems arise, eg. the default serial buffer sizes has been increased in some of the [drivers](https://github.com/grblHAL/drivers) provided.
 
@@ -86,4 +87,4 @@ List of Supported G-Codes:
 Some [plugins](https://github.com/grblHAL/plugins) implements additional M-codes.
 
 ---
-2022-10-21
+2022-10-23

changelog.md

@@ -1,5 +1,13 @@
 ## grblHAL changelog
 
+Build 20221023
+
+Core:
+
+* Fix for issue #209, incorrect handling of homing of more than one auto squared axis in each pass. Error 55 will now be returned.
+
+---
+
 Build 20221022
 
 Core:
@@ -10,7 +18,7 @@ Core:
 
 Drivers:
 
-Many: Fixes for incorrect code related to new spindle type property introduced in build 20221018. Updated [Web Builder](http://svn.io-engineering.com:8080/) data.
+* Many: Fixes for incorrect code related to new spindle type property introduced in build 20221018. Updated [Web Builder](http://svn.io-engineering.com:8080/) data.
 
 ---
 

errors.c

@@ -82,6 +82,7 @@ PROGMEM static const status_detail_t status_detail[] = {
     { Status_SettingValueOutOfRange, "Setting value is out of range." },
     { Status_SettingDisabled, "Setting is not available, possibly due to limited driver support." },
     { Status_GcodeInvalidRetractPosition, "Retract position is less than drill depth." },
+    { Status_IllegalHomingConfiguration, "Attempt to home two auto squared axes at the same time." },
 #if NGC_EXPRESSIONS_ENABLE
     { Status_ExpressionUknownOp, "Unknown operation found in expression." },
     { Status_ExpressionDivideByZero, "Divide by zero in expression attempted." },

errors.h

@@ -84,6 +84,7 @@ typedef enum {
     Status_SettingValueOutOfRange = 52,
     Status_SettingDisabled = 53,
     Status_GcodeInvalidRetractPosition = 54,
+    Status_IllegalHomingConfiguration = 55,
 
 // Some error codes as defined in bdring's ESP32 port
     Status_SDMountError = 60,

grbl.h

@@ -34,7 +34,7 @@
 #else
 #define GRBL_VERSION "1.1f"
 #endif
-#define GRBL_BUILD 20221022
+#define GRBL_BUILD 20221023
 
 #define GRBL_URL "https://github.com/grblHAL"
 

machine_limits.c

@@ -489,10 +489,8 @@ static bool limits_homing_cycle (axes_signals_t cycle, axes_signals_t auto_squar
 
 // Perform homing cycle(s) according to configuration.
 // NOTE: only one auto squared axis can be homed at a time.
-bool limits_go_home (axes_signals_t cycle)
+status_code_t limits_go_home (axes_signals_t cycle)
 {
-    bool homed = false;
-
     axes_signals_t auto_square = {0}, auto_squared = {0};
 
     if(hal.stepper.get_ganged)
@@ -503,24 +501,22 @@ bool limits_go_home (axes_signals_t cycle)
     if(auto_squared.mask) {
 
         if(!hal.stepper.disable_motors)
-            return false; // Bad driver!
+            return Status_IllegalHomingConfiguration; // Bad driver! - should not happen.
 
         auto_square.x = On;
         while(!(auto_squared.mask & auto_square.mask))
             auto_square.mask <<= 1;
 
         if(auto_squared.mask != auto_square.mask)
-            return false; // Attempt at squaring more than one auto squared axis at the same time.
+            return Status_IllegalHomingConfiguration; // Attempt at squaring more than one auto squared axis at the same time.
 
         if((auto_squared.mask & homing_signals_select(hal.homing.get_state(), (axes_signals_t){0}, SquaringMode_Both).mask) && !limits_pull_off(auto_square, settings.homing.pulloff * HOMING_AXIS_LOCATE_SCALAR))
-            return false; // Auto squaring with limit switch asserted is not allowed.
+            return Status_LimitsEngaged; // Auto squaring with limit switch asserted is not allowed.
     }
 
     tc_clear_tlo_reference(cycle);
 
-    homed = limits_homing_cycle(cycle, auto_square);
-
-    return homed;
+    return limits_homing_cycle(cycle, auto_square) ? Status_OK : Status_Unhandled;
 }
 
 // Performs a soft limit check. Called from mc_line() only. Assumes the machine has been homed,

machine_limits.h

@@ -27,10 +27,10 @@
 #include "nuts_bolts.h"
 
 // Perform one portion of the homing cycle based on the input settings.
-bool limits_go_home(axes_signals_t cycle);
+status_code_t limits_go_home (axes_signals_t cycle);
 
 // Check for soft limit violations
-void limits_soft_check(float *target);
+void limits_soft_check( float *target);
 
 // Check if homing is required.
 bool limits_homing_required (void);

motion_control.c

@@ -817,6 +817,7 @@ void mc_dwell (float seconds)
 status_code_t mc_homing_cycle (axes_signals_t cycle)
 {
     bool home_all = cycle.mask == 0;
+    status_code_t homed_status = Status_OK;
 
     memset(&sys.last_event.limits, 0, sizeof(limit_signals_t));
 
@@ -887,7 +888,7 @@ status_code_t mc_homing_cycle (axes_signals_t cycle)
         // Perform homing routine. NOTE: Special motion case. Only system reset works.
 
         if (!home_all) // Perform homing cycle based on mask.
-            limits_go_home(cycle);
+            homed_status = !limits_go_home(cycle);
         else {
 
             uint_fast8_t idx = 0;
@@ -897,7 +898,7 @@ status_code_t mc_homing_cycle (axes_signals_t cycle)
             do {
                 if(settings.homing.cycle[idx].mask) {
                     cycle.mask = settings.homing.cycle[idx].mask;
-                    if(!limits_go_home(cycle))
+                    if((homed_status = limits_go_home(cycle)) != Status_OK)
                         break;
                 }
             } while(++idx < N_AXIS);
@@ -914,6 +915,9 @@ status_code_t mc_homing_cycle (axes_signals_t cycle)
         if(!protocol_execute_realtime()) // Check for reset and set system abort.
             return Status_Unhandled;     // Did not complete. Alarm state set by mc_alarm.
 
+        if(homed_status != Status_OK)
+            return homed_status;
+
         if(home_all && settings.homing.flags.manual)
         {
             cycle.mask = AXES_BITMASK & ~sys.homing.mask;
@@ -934,14 +938,14 @@ status_code_t mc_homing_cycle (axes_signals_t cycle)
 
     sys.report.homed = On;
 
-    status_code_t status = settings.limits.flags.hard_enabled && settings.limits.flags.check_at_init && limit_signals_merge(hal.limits.get_state()).value
-                            ? Status_LimitsEngaged
-                            : Status_OK;
+    homed_status = settings.limits.flags.hard_enabled && settings.limits.flags.check_at_init && limit_signals_merge(hal.limits.get_state()).value
+                    ? Status_LimitsEngaged
+                    : Status_OK;
 
-    if(status == Status_OK && grbl.on_homing_completed)
+    if(homed_status == Status_OK && grbl.on_homing_completed)
         grbl.on_homing_completed();
 
-    return status;
+    return homed_status;
 }
 
 // Perform tool length probe cycle. Requires probe switch.