Some minor changes to better support Trinamic drivers, probing and drivers/boards with limited number of control inputs

README.md

@@ -11,7 +11,7 @@ It has been written to complement grblHAL and has features such as proper keyboa
 
 ---
 
-Latest build date is 20211015, see the [changelog](changelog.md) for details.  
+Latest build date is 20211019, see the [changelog](changelog.md) for details.  
 __NOTE:__ Drivers built with more than three axes configured \(`N_AXIS` > `3`\) will force a settings reset when upgraded. Backup and restore of settings is recommended for these.
 
 ---
@@ -80,4 +80,4 @@ List of Supported G-Codes:
 Some [plugins](https://github.com/grblHAL/plugins) implements additional M-codes.
 
 ---
-2021-10-15
+2021-10-19

changelog.md

@@ -1,19 +1,34 @@
 ## grblHAL changelog
 
+Build 2021019:
+
+Core:
+* Some minor changes to better support Trinamic drivers, probing and drivers/boards with limited number of control inputs \(cycle start, feed hold, ...\).
+
+Plugins:
+* Trinamic driver enhancements: Allow different StallGuard threshold settings for seek and locate phases, option to reduce acceleration during homing, bug fixes++  
+  __NOTE__: _All_ plugin settings will be reset when updating if the Trinamic plugin is in use. Backup and restore.
+
+Drivers:
+* Improved TMC2209 UART support for the STM32F407 based BTT SKR 2.0 board. By @fitch22
+* Added PicoBOB board support to RP2040 driver. By @andrewmarles
+
+Templates:
+* Corrections for Arduino builds, a few minor bug fixes.
+
+---
+
 Build 2021015:
 
 Core:
-
 * Improved `grbl.on_probe_fixture` event signature by adding pointer to the pending tool when fired when M6 is executing \(NULL if not\) and a flag indicating that the current XY-position is within 5mm of G59.3.
 * A few minor fixes.
 
 Plugins:
-
 * I2C keypad: Switch to metric mode when jogging.
 * WebUI: added option to store read-only webui files in flash.
 
 Templates:
-
 * Updated the [probe select](https://github.com/grblHAL/Templates/blob/master/my_plugin/probe%20select/my_plugin.c) example for the `grbl.on_probe_fixture` signature change and added an optional mode select parameter to M401.
 
 ---
@@ -26,7 +41,7 @@ Core:
 
 Drivers:
 * Improved stream support in many drivers by adding support for _write_n_ characters. This is mainly used for outputting human readable settings descriptions.
-* Added TMC2209 UART support to the STM32F407 based BTT SKR 2.0 board. By @fitch22.
+* Added TMC2209 UART support to the STM32F407 based BTT SKR 2.0 board. By @fitch22
 
 Plugins:
 * Added support for reading files from flash based storage to http daemon support code.  

core_handlers.h

@@ -79,7 +79,7 @@ typedef void (*on_realtime_report_ptr)(stream_write_ptr stream_write, report_tra
 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);
+typedef void (*on_homing_rate_set_ptr)(axes_signals_t axes, float rate, bool pulloff);
 typedef bool (*on_probe_fixture_ptr)(tool_data_t *tool, bool at_g59_3, bool on);
 typedef status_code_t (*on_unknown_sys_command_ptr)(sys_state_t state, char *line); // return Status_Unhandled.
 typedef status_code_t (*on_user_command_ptr)(char *line);

gcode.c

@@ -1397,7 +1397,7 @@ status_code_t gc_execute_block(char *block)
 
     if (!gc_block.words.s)
         gc_block.values.s = gc_state.modal.spindle_rpm_mode == SpindleSpeedMode_RPM ? gc_state.spindle.rpm : gc_state.spindle.css.surface_speed;
-    else if(gc_state.modal.spindle_rpm_mode == SpindleSpeedMode_CSS)
+    else if(!user_words.s && gc_state.modal.spindle_rpm_mode == SpindleSpeedMode_CSS)
         // Unsure what to do about S values when in SpindleSpeedMode_CSS - ignore? For now use it to (re)calculate surface speed.
         // Reinsert commented out code above if this is removed!!
         gc_block.values.s *= (gc_block.modal.units_imperial ? MM_PER_INCH * 12.0f : 1000.0f); // convert surface speed to mm/min
@@ -2497,7 +2497,8 @@ status_code_t gc_execute_block(char *block)
 
     // [4. Set spindle speed ]:
     if(gc_state.modal.spindle_rpm_mode == SpindleSpeedMode_CSS) {
-        gc_state.spindle.css.surface_speed = gc_block.values.s;
+        if(!user_words.s)
+            gc_state.spindle.css.surface_speed = gc_block.values.s;
         if((plan_data.condition.is_rpm_pos_adjusted = gc_block.modal.motion != MotionMode_None && gc_block.modal.motion != MotionMode_Seek)) {
             gc_state.spindle.css.active = true;
             gc_state.spindle.css.axis = plane.axis_1;
@@ -2514,7 +2515,7 @@ status_code_t gc_execute_block(char *block)
         }
     }
 
-    if ((gc_state.spindle.rpm != gc_block.values.s) || gc_parser_flags.spindle_force_sync) {
+    if (!user_words.s && ((gc_state.spindle.rpm != gc_block.values.s) || gc_parser_flags.spindle_force_sync)) {
         if (gc_state.modal.spindle.on && !gc_parser_flags.laser_is_motion)
             spindle_sync(gc_state.modal.spindle, gc_parser_flags.laser_disable ? 0.0f : gc_block.values.s);
         gc_state.spindle.rpm = gc_block.values.s; // Update spindle speed state.
@@ -2656,7 +2657,7 @@ status_code_t gc_execute_block(char *block)
             protocol_buffer_synchronize(); // Ensure user defined mcode is executed when specified in program.
         gc_block.words.mask = user_words.mask;
         hal.user_mcode.execute(state_get(), &gc_block);
-//        gc_block.words.mask ^= user_words.mask;
+        gc_block.words.mask = 0;
     }
 
     // [10. Dwell ]:

grbl.h

@@ -34,7 +34,7 @@
 #else
 #define GRBL_VERSION "1.1f"
 #endif
-#define GRBL_VERSION_BUILD "20211015"
+#define GRBL_VERSION_BUILD "20211019"
 
 // The following symbols are set here if not already set by the compiler or in config.h
 // Do NOT change here!

limits.c

@@ -312,11 +312,12 @@ static bool limits_homing_cycle (axes_signals_t cycle, axes_signals_t auto_squar
             }
         } while(idx);
 
-        homing_rate *= sqrtf(n_active_axis); // [sqrt(N_AXIS)] Adjust so individual axes all move at homing rate.
         sys.homing_axis_lock.mask = axislock.mask;
 
         if(grbl.on_homing_rate_set)
-            grbl.on_homing_rate_set(cycle, homing_rate);
+            grbl.on_homing_rate_set(cycle, homing_rate, !approach);
+
+        homing_rate *= sqrtf(n_active_axis); // [sqrt(N_AXIS)] Adjust so individual axes all move at homing rate.
 
         // Perform homing cycle. Planner buffer should be empty, as required to initiate the homing cycle.
         plan_data.feed_rate = homing_rate;      // Set current homing rate.
@@ -430,7 +431,7 @@ static bool limits_homing_cycle (axes_signals_t cycle, axes_signals_t auto_squar
             hal.stepper.disable_motors((axes_signals_t){0}, SquaringMode_Both);
         }
 
-    } while (cycle.mask && n_cycle-- > 0);
+    } while (homing_rate > 0.0f && cycle.mask && n_cycle-- > 0);
 
     // 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) {

motion_control.c

@@ -743,7 +743,6 @@ void mc_dwell (float seconds)
     }
 }
 
-
 // Perform homing cycle to locate and set machine zero. Only '$H' executes this command.
 // NOTE: There should be no motions in the buffer and Grbl must be in an idle state before
 // executing the homing cycle. This prevents incorrect buffered plans after homing.
@@ -768,6 +767,9 @@ status_code_t mc_homing_cycle (axes_signals_t cycle)
 #endif
     } else {
 
+        if(settings.homing.seek_rate <= 0.0f)
+            return Status_HomingDisabled;
+
         // Check and abort homing cycle, if hard limits are already enabled. Helps prevent problems
         // with machines with limits wired on both ends of travel to one limit pin.
         // TODO: Move the pin-specific LIMIT_BIT call to limits.c as a function.

pin_bits_masks.h

@@ -37,17 +37,37 @@
 #endif
 
 #ifndef RESET_BIT
+#ifdef RESET_PIN
 #define RESET_BIT       (1<<RESET_PIN)
+#else
+#define RESET_BIT       0
 #endif
+#endif
+
 #ifndef FEED_HOLD_BIT
+#ifdef FEED_HOLD_PIN
 #define FEED_HOLD_BIT   (1<<FEED_HOLD_PIN)
+#else
+#define FEED_HOLD_BIT   0
 #endif
+#endif
+
 #ifndef CYCLE_START_BIT
+#ifdef CYCLE_START_PIN
 #define CYCLE_START_BIT (1<<CYCLE_START_PIN)
+#else
+#define CYCLE_START_BIT 0
 #endif
+#endif
+
 #if SAFETY_DOOR_ENABLE && !defined(SAFETY_DOOR_BIT)
+#ifdef SAFETY_DOOR_PIN
 #define SAFETY_DOOR_BIT (1<<SAFETY_DOOR_PIN)
+#else
+#define SAFETY_DOOR_BIT 0
 #endif
+#endif
+
 #ifndef CONTROL_MASK
 #if SAFETY_DOOR_ENABLE
 #define CONTROL_MASK    (RESET_BIT|FEED_HOLD_BIT|CYCLE_START_BIT|SAFETY_DOOR_BIT)

report.c

@@ -1234,9 +1234,11 @@ void report_realtime_status (void)
 
     if(settings.status_report.work_coord_offset) {
 
-        if (wco_counter > 0 && !sys.report.wco)
+        if(wco_counter > 0 && !sys.report.wco) {
+            if(wco_counter > (REPORT_WCO_REFRESH_IDLE_COUNT - 1) && state_get() == STATE_IDLE)
+                wco_counter = REPORT_WCO_REFRESH_IDLE_COUNT - 1;
             wco_counter--;
-        else
+        } else
             wco_counter = state_get() & (STATE_HOMING|STATE_CYCLE|STATE_HOLD|STATE_JOG|STATE_SAFETY_DOOR)
                             ? (REPORT_WCO_REFRESH_BUSY_COUNT - 1) // Reset counter for slow refresh
                             : (REPORT_WCO_REFRESH_IDLE_COUNT - 1);

settings.c

@@ -603,14 +603,14 @@ PROGMEM static const setting_descr_t setting_descr[] = {
     { Setting_PositionIGain, "" },
     { Setting_PositionDGain, "" },
     { Setting_PositionIMaxError, "Spindle sync PID max integrator error." },
-    { Setting_AxisStepsPerMM, "Axis travel resolution in steps per millimeter." },
-    { Setting_AxisMaxRate, "Axis maximum rate. Used as G0 rapid rate." },
-    { Setting_AxisAcceleration, "Axis acceleration. Used for motion planning to not exceed motor torque and lose steps." },
+    { Setting_AxisStepsPerMM, "Travel resolution in steps per millimeter." },
+    { Setting_AxisMaxRate, "Maximum rate. Used as G0 rapid rate." },
+    { Setting_AxisAcceleration, "Acceleration. Used for motion planning to not exceed motor torque and lose steps." },
     { Setting_AxisMaxTravel, "Maximum axis travel distance from homing switch. Determines valid machine space for soft-limits and homing search distances." },
 #ifdef ENABLE_BACKLASH_COMPENSATION
-    { Setting_AxisBacklash, "Axis backlash distance to compensate for." },
+    { Setting_AxisBacklash, "Backlash distance to compensate for." },
 #endif
-    { Setting_AxisAutoSquareOffset, "Axis offset between sides to compensate for homing switches inaccuracies." },
+    { Setting_AxisAutoSquareOffset, "Offset between sides to compensate for homing switches inaccuracies." },
     { Setting_SpindleAtSpeedTolerance, "Spindle at speed" },
     { Setting_ToolChangeMode, "Normal: allows jogging for manual touch off. Set new position manually.\\n\\n"
                               "Manual touch off: retracts tool axis to home position for tool change, use jogging or $TPW for touch off.\\n\\n"
@@ -677,7 +677,9 @@ static void restore_override_backup (void)
 // Note: only allowed when current state is idle.
 bool settings_override_acceleration (uint8_t axis, float acceleration)
 {
-    if(state_get() != STATE_IDLE)
+    sys_state_t state = state_get();
+
+    if(!(state == STATE_IDLE || (state & (STATE_HOMING|STATE_ALARM))))
         return false;
 
     if(acceleration <= 0.0f) {