Fix for issue #271 - unwanted motion after soft reset when feed hold was active, reported for canned cycle but may occur for other commands as well.

changelog.md

@@ -1,11 +1,30 @@
 ## grblHAL changelog
 
+<a name="20230321"/>Build 20230321
+
+Core:
+
+* Fix for issue #271 - unwanted motion after soft reset when feed hold was active, reported for canned cycle but may occur for other commands as well.
+
+* Added function for properly initializing planner struct, updated core to use it.
+
+Plugins:
+
+* Embroidery: switched to new function for initializing planner struct.
+
+Templates:
+
+* HPGL: switched to new function for initializing planner struct.
+
+---
+
 <a name="20230320"/>Build 20230320
 
 Core:
 
 * Another fix for issue #269 - setting of piecewise spindle linearisation values not working.  
-Fix for incorrect reporting of SD card size.
+
+* Fix for incorrect reporting of SD card size.
 
 Drivers:
 

grbl.h

@@ -42,7 +42,7 @@
 #else
 #define GRBL_VERSION "1.1f"
 #endif
-#define GRBL_BUILD 20230320
+#define GRBL_BUILD 20230321
 
 #define GRBL_URL "https://github.com/grblHAL"
 

machine_limits.c

@@ -141,11 +141,12 @@ static bool limits_pull_off (axes_signals_t axis, float distance)
 {
     uint_fast8_t n_axis = 0, idx = N_AXIS;
     coord_data_t target = {0};
-    plan_line_data_t plan_data = {
-        .condition.system_motion = On,
-        .condition.no_feed_override = On,
-        .line_number = DEFAULT_HOMING_CYCLE_LINE_NUMBER
-    };
+    plan_line_data_t plan_data;
+
+    plan_data_init(&plan_data);
+    plan_data.condition.system_motion = On;
+    plan_data.condition.no_feed_override = On;
+    plan_data.line_number = DEFAULT_HOMING_CYCLE_LINE_NUMBER;
 
     system_convert_array_steps_to_mpos(target.values, sys.position);
 
@@ -249,11 +250,12 @@ static bool limits_homing_cycle (axes_signals_t cycle, axes_signals_t auto_squar
     limit_signals_t limits_state;
     squaring_mode_t squaring_mode = SquaringMode_Both;
     coord_data_t target;
-    plan_line_data_t plan_data = {
-        .condition.system_motion = On,
-        .condition.no_feed_override = On,
-        .line_number = DEFAULT_HOMING_CYCLE_LINE_NUMBER
-    };
+    plan_line_data_t plan_data;
+
+    plan_data_init(&plan_data);
+    plan_data.condition.system_motion = On;
+    plan_data.condition.no_feed_override = On;
+    plan_data.line_number = DEFAULT_HOMING_CYCLE_LINE_NUMBER;
 
     // Initialize plan data struct for homing motion.
     memcpy(&plan_data.spindle, &gc_state.spindle, sizeof(spindle_t));

motion_control.c

@@ -139,8 +139,7 @@ bool mc_line (float *target, plan_line_data_t *pl_data)
 
                 plan_line_data_t pl_backlash;
 
-                memset(&pl_backlash, 0, sizeof(plan_line_data_t));
-
+                plan_data_init(&pl_backlash, 0);
                 pl_backlash.condition.rapid_motion = On;
                 pl_backlash.condition.backlash_motion = On;
                 pl_backlash.line_number = pl_data->line_number;

planner.c

@@ -678,3 +678,9 @@ void plan_feed_override (override_t feed_override, override_t rapid_override)
         }
     }
 }
+
+void plan_data_init (plan_line_data_t *plan_data)
+{
+    memset(plan_data, 0, sizeof(plan_line_data_t));
+    plan_data->spindle.hal = gc_state.spindle.hal ? gc_state.spindle.hal : spindle_get(0);
+}

planner.h

@@ -143,4 +143,6 @@ bool plan_check_full_buffer (void);
 
 void plan_feed_override (override_t feed_override, override_t rapid_override);
 
+void plan_data_init (plan_line_data_t *plan_data);
+
 #endif

protocol.c

@@ -267,8 +267,10 @@ bool protocol_main_loop (void)
                 if(state_get() == STATE_CHECK_MODE)
                     hal.delay_ms(CHECK_MODE_DELAY, NULL);
 #endif
-
-                grbl.report.status_message(gc_state.last_error);
+                if(ABORTED)
+                    break;
+                else
+                    grbl.report.status_message(gc_state.last_error);
 
                 // Reset tracking data for next line.
                 keep_rt_commands = false;

state_machine.c

@@ -126,7 +126,7 @@ static bool initiate_hold (uint_fast16_t new_state)
     spindle_num_t spindle_num = N_SYS_SPINDLE;
 
     if (settings.parking.flags.enabled) {
-        memset(&park.plan_data, 0, sizeof(plan_line_data_t));
+        plan_data_init(&park.plan_data);
         park.plan_data.condition.system_motion = On;
         park.plan_data.condition.no_feed_override = On;
         park.plan_data.line_number = PARKING_MOTION_LINE_NUMBER;

tool_change.c

@@ -114,8 +114,9 @@ static void reset (void)
 // Restore coolant and spindle status, return controlled point to original position.
 static bool restore (void)
 {
-    plan_line_data_t plan_data = {0};
+    plan_line_data_t plan_data;
 
+    plan_data_init(&plan_data);
     plan_data.condition.rapid_motion = On;
 
     target.values[plane.axis_linear] = tool_change_position;
@@ -132,7 +133,7 @@ static bool restore (void)
         sync_position();
 
         coolant_sync(gc_state.modal.coolant);
-        spindle_restore(spindle_get(0), gc_state.modal.spindle.state, gc_state.spindle.rpm);
+        spindle_restore(plan_data.spindle.hal, gc_state.modal.spindle.state, gc_state.spindle.rpm);
 
         if(!settings.flags.no_restore_position_after_M6) {
             previous.values[plane.axis_linear] += gc_get_offset(plane.axis_linear);
@@ -179,7 +180,7 @@ static void execute_probe (sys_state_t state)
 #if COMPATIBILITY_LEVEL <= 1
     bool ok;
     coord_data_t offset;
-    plan_line_data_t plan_data = {0};
+    plan_line_data_t plan_data;
     gc_parser_flags_t flags = {0};
 
     if(probe_fixture)
@@ -188,6 +189,7 @@ static void execute_probe (sys_state_t state)
     // G59.3 contains offsets to position of TLS.
     settings_read_coord_data(CoordinateSystem_G59_3, &offset.values);
 
+    plan_data_init(&plan_data);
     plan_data.condition.rapid_motion = On;
 
     target.values[plane.axis_0] = offset.values[plane.axis_0];
@@ -353,7 +355,9 @@ static status_code_t tool_change (parser_state_t *parser_state)
 
     previous.values[plane.axis_linear] -= gc_get_offset(plane.axis_linear);
 
-    plan_line_data_t plan_data = {0};
+    plan_line_data_t plan_data;
+
+    plan_data_init(&plan_data);
     plan_data.condition.rapid_motion = On;
 
     // TODO: add?
@@ -462,7 +466,7 @@ status_code_t tc_probe_workpiece (void)
 
     bool ok;
     gc_parser_flags_t flags = {0};
-    plan_line_data_t plan_data = {0};
+    plan_line_data_t plan_data;
 
 #if COMPATIBILITY_LEVEL <= 1
     if(probe_fixture)
@@ -473,6 +477,8 @@ status_code_t tc_probe_workpiece (void)
     system_convert_array_steps_to_mpos(target.values, sys.position);
 
     flags.probe_is_no_error = On;
+
+    plan_data_init(&plan_data);
     plan_data.feed_rate = settings.tool_change.seek_rate;
 
     target.values[plane.axis_linear] -= settings.tool_change.probing_distance;