Added $SDS command for outputting Stepper Driver Status.

changelog.md

@@ -1,5 +1,35 @@
 ## grblHAL changelog
 
+<a name="20250120">Build 20250120
+
+Core:
+
+Added `$SDS` command for outputting **S**tepper **D**river **S**tatus.
+If not available an error is returned, if no driver errors/warnings then just `ok` else one or two status lines followed by `ok`:   
+
+`[MOTORWARNING:<axisletters>{,<axisletters>}]` and/or  
+`[MOTORFAULT:<axisletters>{,<axisletters>}]`  
+
+The first set of `<axisletters>` is for the primary drivers and the second for any secondary \(ganged\) drivers.
+
+Drivers:
+
+* ESP32: fixed board map for Fysetc E4. Ref discussion [#136](https://github.com/grblHAL/ESP32/discussions/136).
+
+* STM32F4xx: added tentative support for stepper driver status data for SuperLongBoard EXT, untested!
+
+Plugins:
+
+* SD card: changed status/error code retured when attempting to access card when no card is mounted to `64`.
+
+* Trinamic: added initial support for stepper driver status data that can be used for the `$SDS` command.  
+Currently fault status is returned for failure to initialize drivers and warning for overtemperature pre warning \(OTPW\).  
+OTPW status is only checked for on `M122` report commands or if driver polling is enabled.  
+Changed initialization sequence to check all drivers instead of exiting on first failure in order to provide per driver data for `$SDS`.   
+Fixed copy/paste error for `M913` command. Ref. discussion [#107](https://github.com/grblHAL/ESP32/discussions/107#discussioncomment-11886197).
+
+---
+
 <a name="20250118">Build 20250118
 
 Core:

crossbar.h

@@ -719,6 +719,21 @@ static inline uint8_t xbar_fault_pin_to_axis (pin_function_t fn)
     return fn >= Input_MotorFaultX && fn <= Input_MotorFaultV ? fn - Input_MotorFaultX : (fn >= Input_MotorFaultX_2 && fn <= Input_MotorFaultZ_2 ? fn - Input_MotorFaultX_2 : 0);
 }
 
+static inline stepper_state_t xbar_stepper_state_set (stepper_state_t *state, uint8_t axis, bool b)
+{
+    if(b)
+        state->details.b.bits |= bit(axis);
+    else
+        state->details.a.bits |= bit(axis);
+
+    return *state;
+}
+
+static inline bool xbar_stepper_state_get (stepper_state_t state, uint8_t axis, bool b)
+{
+    return bit_istrue(b ? state.details.b.bits : state.details.a.bits, bit(axis));
+}
+
 void xbar_set_homing_source (void);
 limit_signals_t xbar_get_homing_source (void);
 limit_signals_t xbar_get_homing_source_from_cycle (axes_signals_t homing_cycle);

errors.h

@@ -88,12 +88,11 @@ typedef enum {
     Status_GCodeCoordSystemLocked = 56,
     Status_UnexpectedDemarcation = 57,
 
-// Some error codes as defined in bdring's ESP32 port
     Status_SDMountError = 60,
     Status_SDReadError = 61,
     Status_SDFailedOpenDir = 62,
     Status_SDDirNotFound = 63,
-    Status_SDFileEmpty = 64,
+    Status_SDNotMounted = 64,
 
     Status_BTInitError = 70,
 

gcode.c

@@ -1362,7 +1362,7 @@ status_code_t gc_execute_block (char *block)
                     case 63:
                     case 64:
                     case 65:
-                        if(hal.port.digital_out == NULL || hal.port.num_digital_out == 0)
+                        if(ioports_unclaimed(Port_Digital, Port_Output) == 0)
                             FAIL(Status_GcodeUnsupportedCommand); // [Unsupported M command]
                         word_bit.modal_group.M5 = On;
                         port_command = (io_mcode_t)int_value;
@@ -1936,7 +1936,7 @@ status_code_t gc_execute_block (char *block)
                     FAIL(Status_GcodeValueWordMissing);
                 if(gc_block.values.p < 0.0f)
                     FAIL(Status_NegativeValue);
-                if((uint32_t)gc_block.values.p + 1 > hal.port.num_digital_out)
+                if((uint32_t)gc_block.values.p + 1 > ioports_unclaimed(Port_Digital, Port_Output))
                     FAIL(Status_GcodeValueOutOfRange);
                 gc_block.output_command.is_digital = true;
                 gc_block.output_command.port = (uint8_t)gc_block.values.p;

grbl.h

@@ -42,7 +42,7 @@
 #else
 #define GRBL_VERSION "1.1f"
 #endif
-#define GRBL_BUILD 20250118
+#define GRBL_BUILD 20250120
 
 #define GRBL_URL "https://github.com/grblHAL"
 

hal.h

@@ -340,7 +340,7 @@ typedef struct {
     stepper_claim_motor_ptr claim_motor;                //!< Optional handler for claiming/releasing motor(s) from normal step/dir control.
     stepper_output_step_ptr output_step;                //!< Optional handler for outputting a single step pulse. _Experimental._ Called from interrupt context.
     motor_iterator_ptr motor_iterator;                  //!< Optional handler iteration over motor vs. axis mappings. Required for the motors plugin (Trinamic drivers).
-    stepper_status_ptr stepper_status;                  //!< Optional handler handler for querying steppper driver status or attempting to reset it.
+    stepper_status_ptr status;                          //!< Optional handler handler for querying steppper driver status or attempting to reset it.
 } stepper_ptrs_t;
 
 

nuts_bolts.h

@@ -210,8 +210,8 @@ typedef enum {
 #define bit_false(x, mask) (x) &= ~(mask)
 #define BIT_SET(x, bit, v) { if (v) { x |= (bit); } else { x &= ~(bit); } }
 
-#define bit_istrue(x, mask) ((x & (mask)) != 0)
-#define bit_isfalse(x, mask) ((x & (mask)) == 0)
+#define bit_istrue(x, mask) (((x) & (mask)) != 0)
+#define bit_isfalse(x, mask) (((x) & (mask)) == 0)
 
 // Converts an uint32 variable to string.
 char *uitoa (uint32_t n);

planner.c

@@ -3,7 +3,7 @@
 
   Part of grblHAL
 
-  Copyright (c) 2017-2024 Terje Io
+  Copyright (c) 2017-2025 Terje Io
   Copyright (c) 2011-2016 Sungeun K. Jeon for Gnea Research LLC
   Copyright (c) 2009-2011 Simen Svale Skogsrud
   Copyright (c) 2011 Jens Geisler
@@ -234,10 +234,10 @@ bool plan_reset (void)
             else
                 break;
         }
-    }
 
-    if(block_buffer_size != settings.planner_buffer_blocks)
-        protocol_enqueue_foreground_task(report_plain, "Planner buffer size was reduced!");
+        if(block_buffer_size != settings.planner_buffer_blocks)
+            protocol_enqueue_foreground_task(report_plain, "Planner buffer size was reduced!");
+    }
 
     if(block_buffer == NULL)
         return false;

report.c

@@ -2624,6 +2624,39 @@ status_code_t report_spindles (bool machine_readable)
     return Status_OK;
 }
 
+status_code_t report_stepper_status (sys_state_t state, char *args)
+{
+    if(hal.stepper.status) {
+
+        char *append = buf;
+        stepper_status_t status = hal.stepper.status(false);
+
+        if(status.warning.state) {
+            hal.stream.write("[MOTORWARNING:");
+            append = axis_signals_tostring(buf, status.warning.details.a);
+            if(status.warning.details.b.bits) {
+                *append++ = ',';
+                axis_signals_tostring(append, status.warning.details.b);
+            }
+            hal.stream.write(buf);
+            hal.stream.write("]" ASCII_EOL);
+        }
+
+        if(status.fault.state) {
+            hal.stream.write("[MOTORFAULT:");
+            append = axis_signals_tostring(buf, status.fault.details.a);
+            if(status.fault.details.b.bits) {
+                *append++ = ',';
+                axis_signals_tostring(append, status.fault.details.b);
+            }
+            hal.stream.write(buf);
+            hal.stream.write("]" ASCII_EOL);
+        }
+    }
+
+    return hal.stepper.status ? Status_OK : Status_InvalidStatement;
+}
+
 void report_pid_log (void)
 {
 #ifdef PID_LOG

report.h

@@ -118,6 +118,9 @@ status_code_t report_pin_states (sys_state_t state, char *args);
 // Prints registered spindles.
 status_code_t report_spindles (bool machine_readable);
 
+// Prints current stepper (motor) status.
+status_code_t report_stepper_status (sys_state_t state, char *args);
+
 // Prints current RTC datetime in ISO8601 format (when available)
 status_code_t report_time (void);
 

system.c

@@ -798,6 +798,11 @@ const char *help_spindle (const char *cmd)
     return NULL;
 }
 
+const char *help_steppers (const char *cmd)
+{
+    return hal.stepper.status ? "output stepper driver status" : NULL;
+}
+
 const char *help_pins (const char *cmd)
 {
     return hal.enumerate_pins ? "enumerate pin bindings" : NULL;
@@ -943,6 +948,7 @@ PROGMEM static const sys_command_t sys_commands[] = {
     { "LIM", report_current_limit_state, { .noargs = On, .allow_blocking = On }, { .str = "output current limit pins" } },
     { "SD", report_spindle_data, { .help_fn = On }, { .fn = help_spindle } },
     { "SR", spindle_reset_data, { .help_fn = On }, { .fn = help_spindle } },
+    { "SDS", report_stepper_status, { .noargs = On, .allow_blocking = On, .help_fn = On }, { .fn = help_steppers } },
     { "RTC", rtc_action, { .allow_blocking = On, .help_fn = On }, { .fn = help_rtc } },
     { "DWNGRD", settings_downgrade, { .noargs = On, .allow_blocking = On }, { .str = "toggle setting flags for downgrade" } },
 #ifdef DEBUGOUT