Added new core event triggered during looping when executing a millisecond delay.

Added `ISR_FUNC` macro for placing time critical functions in RAM.

README.md

@@ -11,7 +11,7 @@ It has been written to complement grblHAL and has features such as proper keyboa
 
 ---
 
-Latest build date is 20220105, see the [changelog](changelog.md) for details.  
+Latest build date is 20220111, see the [changelog](changelog.md) for details.  
 __NOTE:__ A settings reset will be performed on an update for versions earlier than 20211122. Backup and restore of settings is recommended.  
 __IMPORTANT!__  A new setting has been introduced for ganged axes motors in version 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.  
@@ -83,4 +83,4 @@ List of Supported G-Codes:
 Some [plugins](https://github.com/grblHAL/plugins) implements additional M-codes.
 
 ---
-2021-12-18
+2022-01-11

changelog.md

@@ -1,5 +1,25 @@
 ## grblHAL changelog
 
+Build 20220111:
+
+Core:
+
+* Added new core event triggered during looping when executing a millisecond delay.
+* Added `ISR_FUNC` macro for placing time critical functions in RAM.
+
+Drivers:
+
+* RP2040: Limited max time between step pulses to avoid jog movements taking too long to complete. Moved time critical code run in interrupt context to RAM.
+* iMXRT1062: Fixed memory leak in ioports code.
+* Many: Forced ioports numbers \(_Aux \<n\>_\) to be contiguous regardless of how they are defined in the map file. 
+
+Plugins:
+
+* Spindle \(Modbus\): Added subscription to new core event to poll for responses during delays, fixes issue with spindle at speed check for some drivers.
+* Some: Moved time critical code run in interrupt context to RAM \(for RP2040 driver\).
+
+---
+
 Build 20220109:
 
 Core:

core_handlers.h

@@ -94,6 +94,7 @@ typedef struct {
     on_probe_completed_ptr on_probe_completed;
     on_program_completed_ptr on_program_completed;
     on_execute_realtime_ptr on_execute_realtime;
+    on_execute_realtime_ptr on_execute_delay;
     on_unknown_accessory_override_ptr on_unknown_accessory_override;
     on_report_options_ptr on_report_options;
     on_report_command_help_ptr on_report_command_help;

grbl.h

@@ -34,7 +34,7 @@
 #else
 #define GRBL_VERSION "1.1f"
 #endif
-#define GRBL_BUILD 20220109
+#define GRBL_BUILD 20220111
 
 // The following symbols are set here if not already set by the compiler or in config.h
 // Do NOT change here!
@@ -49,6 +49,13 @@
 #define ISR_CODE //!< Used by some drivers to force a function to always stay in RAM to improve performance.
 #endif
 
+#ifdef RP2040
+#include "pico.h"
+#define ISR_FUNC(fn) __not_in_flash_func(fn)
+#else
+#define ISR_FUNC(fn) fn
+#endif
+
 #ifdef ARDUINO
 #include <Arduino.h>
 #endif

grbllib.c

@@ -122,7 +122,7 @@ int grbl_enter (void)
 
     // Clear all and set some core function pointers
     memset(&grbl, 0, sizeof(grbl_t));
-    grbl.on_execute_realtime = protocol_execute_noop;
+    grbl.on_execute_realtime = grbl.on_execute_delay = protocol_execute_noop;
     grbl.enqueue_gcode = protocol_enqueue_gcode;
     grbl.enqueue_realtime_command = stream_enqueue_realtime_command;
     grbl.on_report_options = dummy_bool_handler;

limits.c

@@ -59,7 +59,7 @@
 // your e-stop switch to the microcontroller reset pin, since it is the most correct way to do this.
 
 // Merge (bitwise or) all limit switch inputs.
-ISR_CODE axes_signals_t limit_signals_merge (limit_signals_t signals)
+ISR_CODE axes_signals_t ISR_FUNC(limit_signals_merge)(limit_signals_t signals)
 {
     axes_signals_t state;
 
@@ -69,7 +69,7 @@ ISR_CODE axes_signals_t limit_signals_merge (limit_signals_t signals)
 }
 
 // Merge (bitwise or) home switch inputs (typically aquired from limits.min and limits.min2).
-ISR_CODE static axes_signals_t homing_signals_select (limit_signals_t signals, axes_signals_t auto_square, squaring_mode_t mode)
+ISR_CODE static axes_signals_t ISR_FUNC(homing_signals_select)(limit_signals_t signals, axes_signals_t auto_square, squaring_mode_t mode)
 {
     axes_signals_t state;
 
@@ -92,7 +92,7 @@ ISR_CODE static axes_signals_t homing_signals_select (limit_signals_t signals, a
     return state;
 }
 
-ISR_CODE void limit_interrupt_handler (limit_signals_t state) // DEFAULT: Limit pin change interrupt process.
+ISR_CODE void ISR_FUNC(limit_interrupt_handler)(limit_signals_t state) // DEFAULT: Limit pin change interrupt process.
 {
     // Ignore limit switches if already in an alarm state or in-process of executing an alarm.
     // When in the alarm state, Grbl should have been reset or will force a reset, so any pending

motion_control.c

@@ -969,7 +969,7 @@ void mc_override_ctrl_update (gc_override_flags_t override_state)
 // is in a motion state. If so, kills the steppers and sets the system alarm to flag position
 // lost, since there was an abrupt uncontrolled deceleration. Called at an interrupt level by
 // realtime abort command and hard limits. So, keep to a minimum.
-ISR_CODE void mc_reset ()
+ISR_CODE void ISR_FUNC(mc_reset)(void)
 {
     // Only this function can set the system reset. Helps prevent multiple kill calls.
     if (bit_isfalse(sys.rt_exec_state, EXEC_RESET)) {

motion_control.h

@@ -72,7 +72,7 @@ bool mc_parking_motion(float *parking_target, plan_line_data_t *pl_data);
 void mc_cubic_b_spline(float *target, plan_line_data_t *pl_data, float *position, float *offset1, float *offset2);
 
 // Performs system reset. If in motion state, kills all motion and sets system alarm.
-void mc_reset();
+void mc_reset (void);
 
 #ifdef ENABLE_BACKLASH_COMPENSATION
 void mc_backlash_init (void);

override.c

@@ -32,7 +32,7 @@ typedef struct {
 
 static override_queue_t feed = {0}, accessory = {0};
 
-ISR_CODE void enqueue_feed_override (uint8_t cmd)
+ISR_CODE void ISR_FUNC(enqueue_feed_override)(uint8_t cmd)
 {
     uint_fast8_t bptr = (feed.head + 1) & (OVERRIDE_BUFSIZE - 1);    // Get next head pointer
 
@@ -56,7 +56,7 @@ uint8_t get_feed_override (void)
     return data;
 }
 
-ISR_CODE void enqueue_accessory_override (uint8_t cmd)
+ISR_CODE void ISR_FUNC(enqueue_accessory_override)(uint8_t cmd)
 {
     uint_fast8_t bptr = (accessory.head + 1) & (OVERRIDE_BUFSIZE - 1);    // Get next head pointer
 

protocol.c

@@ -726,7 +726,7 @@ static void protocol_exec_rt_suspend (void)
 // These characters are not passed into the main buffer,
 // but rather sets system state flag bits for later execution by protocol_exec_rt_system().
 // Called from input stream interrupt handler.
-ISR_CODE bool protocol_enqueue_realtime_command (char c)
+ISR_CODE bool ISR_FUNC(protocol_enqueue_realtime_command)(char c)
 {
     static bool esc = false;
 
@@ -914,7 +914,7 @@ ISR_CODE bool protocol_enqueue_realtime_command (char c)
 
 // Enqueue a function to be called once by the
 // foreground process, typically enqueued from an interrupt handler.
-ISR_CODE bool protocol_enqueue_rt_command (on_execute_realtime_ptr fn)
+ISR_CODE bool ISR_FUNC(protocol_enqueue_rt_command)(on_execute_realtime_ptr fn)
 {
     bool ok;
     uint_fast8_t bptr = (realtime_queue.head + 1) & (RT_QUEUE_SIZE - 1);    // Get next head pointer

settings.c

@@ -1556,6 +1556,9 @@ bool read_global_settings ()
     if(settings.mode == Mode_Laser && !hal.driver_cap.variable_spindle)
         settings.mode = Mode_Standard;
 
+    if(!(hal.driver_cap.spindle_sync || hal.driver_cap.spindle_pid))
+        settings.spindle.ppr = 0;
+
 #if COMPATIBILITY_LEVEL > 1 && DISABLE_G92_PERSISTENCE
     settings.flags.g92_is_volatile = On;
 #endif

state_machine.c

@@ -145,7 +145,7 @@ void state_update (rt_exec_t rt_exec)
     stateHandler(rt_exec);
 }
 
-ISR_CODE sys_state_t state_get (void)
+ISR_CODE sys_state_t ISR_FUNC(state_get)(void)
 {
     return sys_state;
 }

stepper.c

@@ -188,7 +188,7 @@ static void output_message (sys_state_t state)
 }
 
 // Callback from delay to deenergize steppers after movement, might been cancelled
-void st_deenergize ()
+void st_deenergize (void)
 {
     if(sys.steppers_deenergize) {
         hal.stepper.enable(settings.steppers.deenergize);
@@ -199,7 +199,7 @@ void st_deenergize ()
 
 // Stepper state initialization. Cycle should only start if the st.cycle_start flag is
 // enabled. Startup init and limits call this function but shouldn't start the cycle.
-void st_wake_up ()
+void st_wake_up (void)
 {
     if(sys.steppers_deenergize) {
         sys.steppers_deenergize = false;
@@ -215,7 +215,7 @@ void st_wake_up ()
 
 
 // Stepper shutdown
-ISR_CODE void st_go_idle ()
+ISR_CODE void ISR_FUNC(st_go_idle)(void)
 {
     // Disable Stepper Driver Interrupt. Allow Stepper Port Reset Interrupt to finish, if active.
 
@@ -282,7 +282,7 @@ ISR_CODE void st_go_idle ()
 
 //! \cond
 
-ISR_CODE void stepper_driver_interrupt_handler (void)
+ISR_CODE void ISR_FUNC(stepper_driver_interrupt_handler)(void)
 {
 #ifdef ENABLE_BACKLASH_COMPENSATION
     static bool backlash_motion;
@@ -539,7 +539,7 @@ ISR_CODE void stepper_driver_interrupt_handler (void)
 //! \endcond
 
 // Reset and clear stepper subsystem variables
-void st_reset ()
+void st_reset (void)
 {
     if(hal.probe.configure)
         hal.probe.configure(false, false);
@@ -600,7 +600,7 @@ void st_rpm_changed (float rpm)
 }
 
 // Called by planner_recalculate() when the executing block is updated by the new plan.
-void st_update_plan_block_parameters ()
+void st_update_plan_block_parameters (void)
 {
     if (pl_block != NULL) { // Ignore if at start of a new block.
         prep.recalculate.velocity_profile = On;
@@ -610,7 +610,7 @@ void st_update_plan_block_parameters ()
 }
 
 // Changes the run state of the step segment buffer to execute the special parking motion.
-void st_parking_setup_buffer()
+void st_parking_setup_buffer (void)
 {
     // Store step execution data of partially completed block, if necessary.
     if (prep.recalculate.hold_partial_block && !prep.recalculate.parking) {
@@ -628,7 +628,7 @@ void st_parking_setup_buffer()
 
 
 // Restores the step segment buffer to the normal run state after a parking motion.
-void st_parking_restore_buffer()
+void st_parking_restore_buffer (void)
 {
     // Restore step execution data and flags of partially completed block, if necessary.
     if (prep.recalculate.hold_partial_block) {
@@ -659,7 +659,7 @@ void st_parking_restore_buffer()
    Currently, the segment buffer conservatively holds roughly up to 40-50 msec of steps.
    NOTE: Computation units are in steps, millimeters, and minutes.
 */
-void st_prep_buffer()
+void st_prep_buffer (void)
 {
     // Block step prep buffer, while in a suspend state and there is no suspend motion to execute.
     if (sys.step_control.end_motion)
@@ -1087,7 +1087,7 @@ void st_prep_buffer()
 // however is not exactly the current speed, but the speed computed in the last step segment
 // in the segment buffer. It will always be behind by up to the number of segment blocks (-1)
 // divided by the ACCELERATION TICKS PER SECOND in seconds.
-float st_get_realtime_rate()
+float st_get_realtime_rate (void)
 {
     return state_get() & (STATE_CYCLE|STATE_HOMING|STATE_HOLD|STATE_JOG|STATE_SAFETY_DOOR) ? prep.current_speed : 0.0f;
 }

stepper.h

@@ -111,16 +111,16 @@ typedef struct stepper {
 } stepper_t;
 
 // Initialize and setup the stepper motor subsystem
-void stepper_init();
+void stepper_init (void);
 
 // Enable steppers, but cycle does not start unless called by motion control or realtime command.
-void st_wake_up();
+void st_wake_up (void);
 
 // Immediately disables steppers
-void st_go_idle();
+void st_go_idle (void);
 
 // Reset the stepper subsystem variables
-void st_reset();
+void st_reset (void);
 
 // Called by spindle_set_state() to inform about RPM changes.
 void st_rpm_changed(float rpm);
@@ -129,16 +129,16 @@ void st_rpm_changed(float rpm);
 void st_parking_setup_buffer();
 
 // Restores the step segment buffer to the normal run state after a parking motion.
-void st_parking_restore_buffer();
+void st_parking_restore_buffer (void);
 
 // Reloads step segment buffer. Called continuously by realtime execution system.
-void st_prep_buffer();
+void st_prep_buffer (void);
 
 // Called by planner_recalculate() when the executing block is updated by the new plan.
-void st_update_plan_block_parameters();
+void st_update_plan_block_parameters (void);
 
 // Called by realtime status reporting if realtime rate reporting is enabled in config.h.
-float st_get_realtime_rate();
+float st_get_realtime_rate (void);
 
 void stepper_driver_interrupt_handler (void);
 

stream.c

@@ -112,7 +112,7 @@ int16_t stream_get_null (void)
     return SERIAL_NO_DATA;
 }
 
-ISR_CODE static bool await_toolchange_ack (char c)
+ISR_CODE static bool ISR_FUNC(await_toolchange_ack)(char c)
 {
     if(c == CMD_TOOL_ACK && !stream.rxbuffer->backup) {
         memcpy(&rxbackup, stream.rxbuffer, sizeof(stream_rx_buffer_t));
@@ -147,12 +147,12 @@ bool stream_rx_suspend (stream_rx_buffer_t *rxbuffer, bool suspend)
     return rxbuffer->tail != rxbuffer->head;
 }
 
-ISR_CODE bool stream_buffer_all (char c)
+ISR_CODE bool ISR_FUNC(stream_buffer_all)(char c)
 {
     return false;
 }
 
-ISR_CODE bool stream_enqueue_realtime_command (char c)
+ISR_CODE bool ISR_FUNC(stream_enqueue_realtime_command)(char c)
 {
     return hal.stream.enqueue_rt_command ? hal.stream.enqueue_rt_command(c) : protocol_enqueue_realtime_command(c);
 }

system.c

@@ -93,7 +93,7 @@ inline static float hypot_f (float x, float y)
 // only the realtime command execute variable to have the main program execute these when
 // its ready. This works exactly like the character-based realtime commands when picked off
 // directly from the incoming data stream.
-ISR_CODE void control_interrupt_handler (control_signals_t signals)
+ISR_CODE void ISR_FUNC(control_interrupt_handler)(control_signals_t signals)
 {
     if(signals.deasserted)
         return; // for now...

tool_change.c

@@ -231,7 +231,7 @@ static void execute_probe (sys_state_t state)
 
 // Trap cycle start commands and redirect to foreground process
 // by adding the function to be called to the realtime execution queue.
-ISR_CODE static void trap_control_cycle_start (control_signals_t signals)
+ISR_CODE static void ISR_FUNC(trap_control_cycle_start)(control_signals_t signals)
 {
     spin_lock++;
 
@@ -249,7 +249,7 @@ ISR_CODE static void trap_control_cycle_start (control_signals_t signals)
     spin_lock--;
 }
 
-ISR_CODE static bool trap_stream_cycle_start (char c)
+ISR_CODE static bool ISR_FUNC(trap_stream_cycle_start)(char c)
 {
     bool drop = false;