Fix for issue #236, dual axis offsets.

Changes to allow use of M4 for laser capable spindles in laser mode even if direction control is not available.

README.md

@@ -13,7 +13,7 @@ It has been written to complement grblHAL and has features such as proper keyboa
 
 ---
 
-Latest build date is 20230311, see the [changelog](changelog.md) for details.  
+Latest build date is 20230411, 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

@@ -1,10 +1,31 @@
 ## grblHAL changelog
 
+<a name="20230401"/>Build 20230411
+
+Core:
+
+* Fix for issue #236, dual axis offsets.  
+__NOTE:__ handling of negative offset values has changed. The primary motor will now be run to correct for negative offset values by moving away from the limit switch.
+Prior to this build the secondary motor was run to move towards the limit switch for negative values.
+* Changes to allow use of M4 for laser capable spindles in laser mode even if direction control is not available.
+
+Drivers:
+
+* STM32F4xx: pin mappings fix for [BTT SKR Pro 1.x](https://github.com/grblHAL/STM32F4xx/blob/master/Inc/btt_skr_pro_v1_1_map.h) to avoid IRQ conflicts.
+
+Plugins:
+
+* Networking: improved handling of .gz compressed files by httpd daemon.
+
+* Webui: more fixes for [issue #10](https://github.com/grblHAL/Plugin_WebUI/issues/10), cannot download any file from local FS but preferences.json.
+
+---
+
 <a name="20230409"/>20230409
 
 Plugins:
 
-* Networking: fix for incorrect header returned for plain .gz files.
+* Networking: fix for incorrect header returned by httpd daemon for plain .gz files.
 
 * Webui: fixes for [issue #10](https://github.com/grblHAL/Plugin_WebUI/issues/10), cannot download any file from local FS but preferences.json.
 

gcode.c

@@ -1608,10 +1608,10 @@ status_code_t gc_execute_block (char *block)
             uint_fast8_t idx = N_SYS_SPINDLE;
             do {
                 idx--;
-                if(spindle_is_enabled(idx) && !spindle_get(idx)->cap.direction)
+                if(spindle_is_enabled(idx) && !(spindle_get(idx)->cap.direction || spindle_get(idx)->cap.laser))
                     FAIL(Status_GcodeUnsupportedCommand);
             } while(idx);
-        } else if(!gc_block.spindle->cap.direction)
+        } else if(!(gc_block.spindle->cap.direction || gc_block.spindle->cap.laser))
             FAIL(Status_GcodeUnsupportedCommand);
     }
 

grbl.h

@@ -42,7 +42,7 @@
 #else
 #define GRBL_VERSION "1.1f"
 #endif
-#define GRBL_BUILD 20230401
+#define GRBL_BUILD 20230411
 
 #define GRBL_URL "https://github.com/grblHAL"
 

machine_limits.c

@@ -459,8 +459,8 @@ static bool limits_homing_cycle (axes_signals_t cycle, axes_signals_t auto_squar
 
     // Pull off B motor to compensate for switch inaccuracy when configured.
     if(auto_square.mask && settings.axis[dual_motor_axis].dual_axis_offset != 0.0f) {
-        hal.stepper.disable_motors(auto_square, SquaringMode_A);
-        if(!limits_pull_off(auto_square, settings.axis[dual_motor_axis].dual_axis_offset))
+        hal.stepper.disable_motors(auto_square, settings.axis[dual_motor_axis].dual_axis_offset < 0.0f ? SquaringMode_B : SquaringMode_A);
+        if(!limits_pull_off(auto_square, fabs(settings.axis[dual_motor_axis].dual_axis_offset)))
             return false;
         hal.stepper.disable_motors((axes_signals_t){0}, SquaringMode_Both);
     }

stream.c

@@ -565,6 +565,15 @@ void debug_write (const char *s)
     }
 }
 
+void debug_writeln (const char *s)
+{
+    if(dbg_write) {
+        dbg_write(s);
+        dbg_write(ASCII_EOL);
+        while(hal.debug.get_tx_buffer_count()); // Wait until message is delivered
+    }
+}
+
 static bool debug_claim_stream (io_stream_properties_t const *stream)
 {
     io_stream_t const *claimed = NULL;

stream.h

@@ -342,6 +342,7 @@ io_stream_t const *stream_open_instance (uint8_t instance, uint32_t baud_rate, s
 
 #ifdef DEBUGOUT
 void debug_write (const char *s);
+void debug_writeln (const char *s);
 bool debug_stream_init (void);
 #endif