Fix for incorrect sequencing of init calls when corexy and backlash compensation is enabled at the same time.

Added call to driver to immediately set stepper enable signals when $37 (Stepper deenergize) is changed.
Some minor improvements in settings handling and options reporting.

changelog.md

@@ -1,5 +1,28 @@
 ## grblHAL changelog
 
+20220709:
+
+Core:
+
+* Fix for incorrect sequencing of init calls when corexy and backlash compensation is enabled at the same time, [ESP32 issue #25](https://github.com/grblHAL/ESP32/issues/25).
+
+* Added call to driver to immediately set stepper enable signals when `$37` \(Stepper deenergize\) is changed.
+
+* Some minor improvements in settings handling and options reporting.
+
+Drivers:
+
+* iMXRT1062: Updated [SD card driver patch](https://github.com/grblHAL/iMXRT1062/tree/master/patches) with workaround for non word-aligned writes that caused file corruption. Fix for [WebUI issue #4](https://github.com/grblHAL/Plugin_WebUI/issues/4).
+
+* STM32F4xx: Added option for using timer 2 for spindle sync RPM timer as this allows spindle sync for low pin count MCUs.  
+Note that timer 2 is a 16 bit timer that had to be extended virtually to 32 bit - this _may_ affect spindle sync operation/performance.
+
+Templates:
+
+* Added plugin for Marlin style M17/M18 (M84) commands for enabing/disabling stepper drivers as fix for issue #184. 
+
+---
+
 20220703:
 
 Core:
@@ -11,7 +34,7 @@ $9: PWM Spindle as bitfield where setting bit 0 enables the rest:
     1 - RPM controls spindle enable signal (2)
 ```
 Bit 1 in this setting replaces setting `$7`, bit 0 controls the PWM output.  
-__NOTE:__ M3 and M4 with S0 will now set the spindle enable output if `$9` is `1`. Ref issue #156.  
+__NOTE:__ M3 and M4 with S0 will now set the spindle enable output if `$9` is `1`. Ref [issue #156](https://github.com/grblHAL/core/issues/156).  
 __NOTE:__ the change is not backwards compatible with current 3rd party drivers, these has to be updated to match changes in the core.
 
 

corexy.c

@@ -26,6 +26,7 @@
 
 #include <math.h>
 
+#include "hal.h"
 #include "settings.h"
 #include "planner.h"
 #include "kinematics.h"
@@ -35,6 +36,8 @@
 #define A_MOTOR X_AXIS // Must be X_AXIS
 #define B_MOTOR Y_AXIS // Must be Y_AXIS
 
+static on_report_options_ptr on_report_options;
+
 // Returns x or y-axis "steps" based on CoreXY motor steps.
 inline static int32_t corexy_convert_to_a_motor_steps (int32_t *steps)
 {
@@ -195,6 +198,14 @@ static float homing_cycle_get_feedrate (float feedrate, axes_signals_t cycle)
     return feedrate * sqrtf(2.0f);
 }
 
+static void report_options (bool newopt)
+{
+    on_report_options(newopt);
+
+    if(!newopt)
+        hal.stream.write("[KINEMATICS:CoreXY v2.00]" ASCII_EOL);
+}
+
 // Initialize API pointers for CoreXY kinematics
 void corexy_init (void)
 {
@@ -206,6 +217,9 @@ void corexy_init (void)
     kinematics.segment_line = kinematics_segment_line;
     kinematics.homing_cycle_validate = homing_cycle_validate;
     kinematics.homing_cycle_get_feedrate = homing_cycle_get_feedrate;
+
+    on_report_options = grbl.on_report_options;
+    grbl.on_report_options = report_options;
 }
 
 #endif

grbl.h

@@ -34,7 +34,7 @@
 #else
 #define GRBL_VERSION "1.1f"
 #endif
-#define GRBL_BUILD 20220703
+#define GRBL_BUILD 20220709
 
 // The following symbols are set here if not already set by the compiler or in config.h
 // Do NOT change here!

grbllib.c

@@ -213,6 +213,10 @@ int grbl_enter (void)
     wall_plotter_init();
 #endif
 
+#ifdef ENABLE_BACKLASH_COMPENSATION
+    mc_backlash_init((axes_signals_t){AXES_BITMASK});
+#endif
+
     sys.driver_started = sys.alarm != Alarm_SelftestFailed;
 
     // "Wire" homing switches to limit switches if not provided by the driver.

motion_control.c

@@ -58,7 +58,7 @@
 
 #ifdef ENABLE_BACKLASH_COMPENSATION
 
-static float target_prev[N_AXIS];
+static float target_prev[N_AXIS] = {0};
 static axes_signals_t dir_negative = {0}, backlash_enabled = {0};
 
 void mc_backlash_init (axes_signals_t axes)

settings.c

@@ -359,6 +359,7 @@ static status_code_t set_probe_allow_feed_override (setting_id_t id, uint_fast16
 static status_code_t set_tool_change_mode (setting_id_t id, uint_fast16_t int_value);
 static status_code_t set_tool_change_probing_distance (setting_id_t id, float value);
 static status_code_t set_ganged_dir_invert (setting_id_t id, uint_fast16_t int_value);
+static status_code_t set_stepper_deenergize_mask (setting_id_t id, uint_fast16_t int_value);
 #ifndef NO_SAFETY_DOOR_SUPPORT
 static status_code_t set_parking_enable (setting_id_t id, uint_fast16_t int_value);
 static status_code_t set_restore_overrides (setting_id_t id, uint_fast16_t int_value);
@@ -449,7 +450,7 @@ PROGMEM static const setting_detail_t setting_detail[] = {
      { Setting_PWMOffValue, Group_Spindle, "Spindle PWM off value", "percent", Format_Decimal, "##0.0", NULL, "100", Setting_IsExtended, &settings.spindle.pwm_off_value, NULL, is_setting_available },
      { Setting_PWMMinValue, Group_Spindle, "Spindle PWM min value", "percent", Format_Decimal, "##0.0", NULL, "100", Setting_IsExtended, &settings.spindle.pwm_min_value, NULL, is_setting_available },
      { Setting_PWMMaxValue, Group_Spindle, "Spindle PWM max value", "percent", Format_Decimal, "##0.0", NULL, "100", Setting_IsExtended, &settings.spindle.pwm_max_value, NULL, is_setting_available },
-     { Setting_StepperDeenergizeMask, Group_Stepper, "Steppers deenergize", NULL, Format_AxisMask, NULL, NULL, NULL, Setting_IsExtended, &settings.steppers.deenergize.mask, NULL, NULL },
+     { Setting_StepperDeenergizeMask, Group_Stepper, "Steppers deenergize", NULL, Format_AxisMask, NULL, NULL, NULL, Setting_IsExtendedFn, set_stepper_deenergize_mask, get_int, NULL },
      { Setting_SpindlePPR, Group_Spindle, "Spindle pulses per revolution (PPR)", NULL, Format_Int16, "###0", NULL, NULL, Setting_IsExtended, &settings.spindle.ppr, NULL, is_setting_available },
      { Setting_EnableLegacyRTCommands, Group_General, "Enable legacy RT commands", NULL, Format_Bool, NULL, NULL, NULL, Setting_IsExtendedFn, set_enable_legacy_rt_commands, get_int, NULL },
      { Setting_JogSoftLimited, Group_Jogging, "Limit jog commands", NULL, Format_Bool, NULL, NULL, NULL, Setting_IsExtendedFn, set_jog_soft_limited, get_int, NULL },
@@ -802,6 +803,15 @@ static status_code_t set_ganged_dir_invert (setting_id_t id, uint_fast16_t int_v
     return Status_OK;
 }
 
+static status_code_t set_stepper_deenergize_mask (setting_id_t id, uint_fast16_t int_value)
+{
+    settings.steppers.deenergize.mask = int_value;
+
+    hal.stepper.enable(settings.steppers.deenergize);
+
+    return Status_OK;
+}
+
 static status_code_t set_report_mask (setting_id_t id, uint_fast16_t int_value)
 {
 #if COMPATIBILITY_LEVEL <= 1
@@ -1342,6 +1352,10 @@ static uint32_t get_int (setting_id_t id)
                         (settings.homing.flags.keep_on_reset ? bit(7) : 0);
             break;
 
+        case Setting_StepperDeenergizeMask:
+            value = settings.steppers.deenergize.mask;
+            break;
+
         case Setting_EnableLegacyRTCommands:
             value = settings.flags.legacy_rt_commands;
             break;
@@ -1550,7 +1564,7 @@ static bool is_setting_available (const setting_detail_t *setting)
 #endif
 
         case Setting_SpindleAtSpeedTolerance:
-            available = hal.spindle.cap.at_speed;
+            available = hal.spindle.cap.at_speed || hal.driver_cap.spindle_sync;
             break;
 
         case Setting_SpindleOnDelay:
@@ -1733,7 +1747,8 @@ void settings_restore (settings_restore_t restore)
         settings.spindle.invert.ccw &= spindle_get_caps().direction;
         settings.spindle.invert.pwm &= spindle_get_caps().pwm_invert;
 #ifdef ENABLE_BACKLASH_COMPENSATION
-        mc_backlash_init((axes_signals_t){AXES_BITMASK});
+        if(sys.driver_started)
+            mc_backlash_init((axes_signals_t){AXES_BITMASK});
 #endif
         settings_write_global();
     }
@@ -2321,9 +2336,7 @@ void settings_init (void)
             settings_read_tool_data(idx, &tool_table[idx]);
 #endif
         report_init();
-#ifdef ENABLE_BACKLASH_COMPENSATION
-        mc_backlash_init((axes_signals_t){AXES_BITMASK});
-#endif
+
         hal.settings_changed(&settings);
 
         if(hal.probe.configure) // Initialize probe invert mask.

wall_plotter.c

@@ -31,10 +31,10 @@
 #include <math.h>
 #include <string.h>
 
+#include "hal.h"
 #include "settings.h"
 #include "planner.h"
 #include "kinematics.h"
-#include "hal.h"
 
 #define A_MOTOR X_AXIS // Must be X_AXIS
 #define B_MOTOR Y_AXIS // Must be Y_AXIS
@@ -58,6 +58,7 @@ typedef struct {
 
 static bool jog_cancel = false;
 static machine_t machine = {0};
+static on_report_options_ptr on_report_options;
 
 // Returns machine position in mm converted from system position steps.
 // TODO: perhaps change to double precision here - float calculation results in errors of a couple of micrometers.
@@ -284,6 +285,14 @@ static void cancel_jog (sys_state_t state)
     jog_cancel = true;
 }
 
+static void report_options (bool newopt)
+{
+    on_report_options(newopt);
+
+    if(!newopt)
+        hal.stream.write("[KINEMATICS:WallPlotter v2.00]" ASCII_EOL);
+}
+
 // Initialize API pointers for Wall Plotter kinematics
 void wall_plotter_init (void)
 {
@@ -308,6 +317,9 @@ void wall_plotter_init (void)
     kinematics.segment_line = wp_segment_line;
 
     grbl.on_jog_cancel = cancel_jog;
+
+    on_report_options = grbl.on_report_options;
+    grbl.on_report_options = report_options;
 }
 
 #endif