Fix for M62 - M68 regression. Ref. issue #600.

Fixed incorrect handling of G65 call parameters, axis words had offsets added. Ref. issue #594.
Refactored handling of multiple spindles. There are still some limitations but should work better now. Disabled override delays for now, needs investigation. Ref. issue #598.
NOTE: Please report any erratic behaviour after installing this version since it is a rather major change.

Author: terjeio

README.md

@@ -13,7 +13,7 @@ It has been written to complement grblHAL and has features such as proper keyboa
 
 ---
 
-Latest build date is 20240928, see the [changelog](changelog.md) for details.  
+Latest build date is 20241006, see the [changelog](changelog.md) for details.  
 
 __NOTE:__ Build 20240222 has moved the probe input to the ioPorts pool of inputs and will be allocated from it when configured.
 The change is major and _potentially dangerous_, it may damage your probe, so please _verify correct operation_ after installing this, or later, builds.

changelog.md

@@ -1,7 +1,33 @@
 ## grblHAL changelog
 
+<a name="2024106">Build 2024106
+
+Core:
+
+* Fix for `M62` - `M68` regression. Ref. [issue #600](https://github.com/grblHAL/core/issues/600).
+
+* Fixed incorrect handling of `G65` call parameters, axis words had offsets added.  Ref. [issue #594](https://github.com/grblHAL/core/issues/594).
+
+* Refactored handling of multiple spindles. There are still some limitations but should work better now. Disabled override delays for now, needs investigation. Ref. [issue #598](https://github.com/grblHAL/core/issues/598).  
+__NOTE:__ Please report any erratic behaviour after installing this version since it is a rather major change.
+
+Drivers:
+
+* ESP32: fix for compilation error. Ref. [issue #122](https://github.com/grblHAL/ESP32/issues/122).  
+Fixes for handling multiple devices on a single SPI port. Fixed xPro v5 map for Modbus comms. Ref. [issue #121](https://github.com/grblHAL/ESP32/issues/121).
+
+* STM32F4xx: fix for compilation error for some boards when configured for Trinamic drivers.
+
+Plugins:
+
+* BLTouch: implemented `$BLTEST` command, verified.
+
+---
+
 <a name="20240928">Build 20240928
 
+Core:
+
 * Added `(PRINT, <msg>)` support and parameter formatting for `DEBUG` and `PRINT` commands. Available when expression support is enabled.
 
 * Added named parameters for getting absolute \(G53\) position: `_abs_x`, `abs_y`, ... Available when expression support is enabled.

gcode.c

@@ -498,9 +498,17 @@ typedef struct {
 } gc_value_ptr_t;
 
 typedef struct {
+    float rpm;                      //!< Spindle speed
     spindle_state_t state;          //!< {M3,M4,M5}
     spindle_rpm_mode_t rpm_mode;    //!< {G96,G97}
-} spindle_mode_t;
+    spindle_css_data_t *css;        //!< Data used for Constant Surface Speed Mode calculations
+    spindle_ptrs_t *hal;            //!< Spindle function pointers etc. Must be last!
+} spindle_t;
+
+typedef struct {
+    spindle_state_t state;          //!< {M3,M4,M5}
+    spindle_rpm_mode_t rpm_mode;    //!< {G96,G97}
+} spindle_modal_t;
 
 // NOTE: When this struct is zeroed, the above defines set the defaults for the system.
 typedef struct {
@@ -519,7 +527,11 @@ typedef struct {
 #endif
     program_flow_t program_flow;         //!< {M0,M1,M2,M30,M60}
     coolant_state_t coolant;             //!< {M7,M8,M9}
-    spindle_mode_t spindle;              //!< {M3,M4,M5 and G96,G97}
+#if N_SYS_SPINDLE > 1
+    spindle_t spindle[N_SYS_SPINDLE];
+#else
+    spindle_t spindle;                   //!< {M3,M4,M5 and G96,G97}
+#endif
     gc_override_flags_t override_ctrl;   //!< {M48,M49,M50,M51,M53,M56}
     cc_retract_mode_t retract_mode;      //!< {G98,G99}
     bool scaling_active;                 //!< {G50,G51}
@@ -528,7 +540,6 @@ typedef struct {
 #if NGC_PARAMETERS_ENABLE
     bool auto_restore;
     float feed_rate;                     //!< {F} NOTE: only set when saving modal state
-    float rpm;                           //!< {S} NOTE: only set when saving modal state
 #endif
 } gc_modal_t;
 
@@ -575,20 +586,13 @@ typedef struct {
     tool_id_t tool_id;      //!< Tool number
 } tool_data_t;
 
-typedef struct {
-    float rpm;                  //!< Spindle speed
-    spindle_state_t state;
-    spindle_css_data_t *css;    //!< Data used for Constant Surface Speed Mode calculations
-    spindle_ptrs_t *hal;
-} spindle_t;
-
 /*! \brief Parser state
 
 */
 typedef struct {
     gc_modal_t modal;
     gc_canned_t canned;
-    spindle_t spindle;                  //!< RPM
+    spindle_t *spindle;                 //!< Last referenced spindle
     float feed_rate;                    //!< Millimeters/min
     float distance_per_rev;             //!< Millimeters/rev
     float position[N_AXIS];             //!< Where the interpreter considers the tool to be at this point in the code
@@ -636,11 +640,11 @@ typedef struct {
     user_mcode_t user_mcode;            //!< Set > #UserMCode_Ignore if a user M-code is found.
     bool user_mcode_sync;               //!< Set to \a true by M-code validation handler if M-code is to be executed after synchronization.
     gc_modal_t modal;                   //!< The current modal state is copied here before parsing starts.
+    spindle_modal_t spindle_modal;
     gc_values_t values;                 //!< Parameter values for block.
     parameter_words_t words;            //!< Bitfield for tracking found parameter values.
     output_command_t output_command;    //!< Details about M62-M68 output command to execute if present in block.
     uint32_t arc_turns;                 //
-    spindle_ptrs_t *spindle;            //!< Spindle to control, NULL for all
 #if NGC_PARAMETERS_ENABLE
     modal_state_action_t state_action;  //!< M70-M73 modal state action
 #endif
@@ -676,7 +680,7 @@ float *gc_get_scaling (void);
 // Get current axis offset.
 float gc_get_offset (uint_fast8_t idx, bool real_time);
 
-spindle_ptrs_t *gc_spindle_get (void);
+spindle_t *gc_spindle_get (spindle_num_t spindle);
 
 void gc_spindle_off (void);
 void gc_coolant (coolant_state_t state);

gcode.h

@@ -42,7 +42,7 @@
 #else
 #define GRBL_VERSION "1.1f"
 #endif
-#define GRBL_BUILD 20240928
+#define GRBL_BUILD 20241006
 
 #define GRBL_URL "https://github.com/grblHAL"
 

grbl.h

@@ -627,7 +627,7 @@ void mc_canned_drill (motion_mode_t motion, float *target, plan_line_data_t *pl_
                 return;
 
             if(canned->spindle_off)
-                spindle_sync(pl_data->spindle.hal, gc_state.modal.spindle.state, pl_data->spindle.rpm);
+                spindle_sync(pl_data->spindle.hal, pl_data->spindle.state, pl_data->spindle.rpm);
         }
 
         pl_data->condition.rapid_motion = On; // Set rapid motion condition flag.

motion_control.c

@@ -488,11 +488,11 @@ float ngc_named_param_get_by_id (ncg_name_param_id_t id)
             break;
 
         case NGCParam_spindle_rpm_mode:
-            value = gc_state.modal.spindle.rpm_mode == SpindleSpeedMode_RPM ? 1.0f : 0.0f;
+            value = gc_spindle_get(0)->rpm_mode == SpindleSpeedMode_RPM ? 1.0f : 0.0f;
             break;
 
         case NGCParam_spindle_css_mode:
-            value = gc_state.modal.spindle.rpm_mode == SpindleSpeedMode_CSS ? 1.0f : 0.0f;
+            value = gc_spindle_get(0)->rpm_mode == SpindleSpeedMode_CSS ? 1.0f : 0.0f;
             break;
 
         case NGCParam_ijk_absolute_mode:
@@ -508,11 +508,11 @@ float ngc_named_param_get_by_id (ncg_name_param_id_t id)
             break;
 
         case NGCParam_spindle_on:
-            value = gc_state.modal.spindle.state.on ? 1.0f : 0.0f;
+            value = gc_spindle_get(0)->state.on ? 1.0f : 0.0f;
             break;
 
         case NGCParam_spindle_cw:
-            value = gc_state.modal.spindle.state.ccw ? 1.0f : 0.0f;
+            value = gc_spindle_get(0)->state.ccw ? 1.0f : 0.0f;
             break;
 
         case NGCParam_mist:
@@ -544,7 +544,7 @@ float ngc_named_param_get_by_id (ncg_name_param_id_t id)
             break;
 
         case NGCParam_rpm:
-            value = gc_state.spindle.rpm;
+            value = gc_spindle_get(0)->rpm;
             break;
 
         case NGCParam_x:

ngc_params.c

@@ -691,7 +691,7 @@ void plan_data_init (plan_line_data_t *plan_data)
 {
     memset(plan_data, 0, sizeof(plan_line_data_t));
     plan_data->offset_id = gc_state.offset_id;
-    plan_data->spindle.hal = gc_state.spindle.hal ? gc_state.spindle.hal : spindle_get(0);
+    plan_data->spindle.hal = gc_spindle_get(-1)->hal;
     plan_data->condition.target_validated = plan_data->condition.target_valid = sys.soft_limits.mask == 0;
 #ifdef KINEMATICS_API
     plan_data->rate_multiplier = 1.0f;

planner.c

@@ -566,7 +566,6 @@ bool protocol_exec_rt_system (void)
                 sys.override.control = gc_state.modal.override_ctrl;
 
             gc_state.tool_change = false;
-            gc_state.modal.spindle.rpm_mode = SpindleSpeedMode_RPM;
 
             // Tell driver/plugins about reset.
             hal.driver_reset();
@@ -684,7 +683,7 @@ bool protocol_exec_rt_system (void)
     if(!sys.override_delay.spindle && (rt_exec = get_spindle_override())) {
 
         bool spindle_stop = false;
-        spindle_ptrs_t *spindle = gc_spindle_get();
+        spindle_ptrs_t *spindle = gc_spindle_get(-1)->hal;
         override_t last_s_override = spindle->param->override_pct;
 
         do {
@@ -727,7 +726,7 @@ bool protocol_exec_rt_system (void)
 
         spindle_set_override(spindle, last_s_override);
 
-        if (spindle_stop && state_get() == STATE_HOLD && gc_state.modal.spindle.state.on) {
+        if (spindle_stop && state_get() == STATE_HOLD && gc_spindle_get(-1)->state.on) {
             // Spindle stop override allowed only while in HOLD state.
             // NOTE: Report flag is set in spindle_set_state() when spindle stop is executed.
             if (!sys.override.spindle_stop.value)

protocol.c

@@ -724,8 +724,8 @@ void report_gcode_modes (void)
     hal.stream.write(" G");
     hal.stream.write(uitoa((uint32_t)(93 + (gc_state.modal.feed_mode == FeedMode_UnitsPerRev ? 2 : gc_state.modal.feed_mode ^ 1))));
 
-    if(settings.mode == Mode_Lathe && gc_spindle_get()->cap.variable)
-        hal.stream.write(gc_state.modal.spindle.rpm_mode == SpindleSpeedMode_RPM ? " G97" : " G96");
+    if(settings.mode == Mode_Lathe && gc_spindle_get(0)->hal->cap.variable)
+        hal.stream.write(gc_spindle_get(0)->rpm_mode == SpindleSpeedMode_RPM ? " G97" : " G96");
 
 #if COMPATIBILITY_LEVEL < 10
 
@@ -777,7 +777,7 @@ void report_gcode_modes (void)
         }
     }
 
-    hal.stream.write(gc_state.modal.spindle.state.on ? (gc_state.modal.spindle.state.ccw ? " M4" : " M3") : " M5");
+    hal.stream.write(gc_spindle_get(0)->state.on ? (gc_spindle_get(0)->state.ccw ? " M4" : " M3") : " M5");
 
     if(gc_state.tool_change)
         hal.stream.write(" M6");
@@ -809,8 +809,8 @@ void report_gcode_modes (void)
 
     hal.stream.write(appendbuf(2, " F", get_rate_value(gc_state.feed_rate)));
 
-    if(gc_spindle_get()->cap.variable)
-        hal.stream.write(appendbuf(2, " S", ftoa(gc_state.spindle.rpm, N_DECIMAL_RPMVALUE)));
+    if(gc_spindle_get(0)->hal->cap.variable)
+        hal.stream.write(appendbuf(2, " S", ftoa(gc_spindle_get(0)->rpm, N_DECIMAL_RPMVALUE)));
 
     hal.stream.write("]" ASCII_EOL);
 }
@@ -1450,12 +1450,13 @@ void report_realtime_status (void)
         static gc_modal_t last_state;
         static bool g92_active;
 
-        bool is_changed = feed_rate != gc_state.feed_rate || spindle_rpm != gc_state.spindle.rpm || tool_id != gc_state.tool->tool_id;
+        spindle_t *spindle = gc_spindle_get(0);
+        bool is_changed = feed_rate != gc_state.feed_rate || spindle_rpm != spindle->rpm || tool_id != gc_state.tool->tool_id;
 
         if(is_changed) {
             feed_rate = gc_state.feed_rate;
             tool_id = gc_state.tool->tool_id;
-            spindle_rpm = gc_state.spindle.rpm;
+            spindle_rpm = spindle->rpm;
         } else if ((is_changed = g92_active != is_g92_active()))
             g92_active = !g92_active;
         else if(memcmp(&last_state, &gc_state.modal, sizeof(gc_modal_t))) {
@@ -2199,12 +2200,12 @@ status_code_t report_current_home_signal_state (sys_state_t state, char *args)
 // Prints spindle data (encoder pulse and index count, angular position).
 status_code_t report_spindle_data (sys_state_t state, char *args)
 {
-    spindle_ptrs_t *spindle = gc_spindle_get();
+    spindle_t *spindle = gc_spindle_get(-1);
 
-    if(spindle->get_data) {
+    if(spindle->hal->get_data) {
 
-        float apos = spindle->get_data(SpindleData_AngularPosition)->angular_position;
-        spindle_data_t *data = spindle->get_data(SpindleData_Counters);
+        float apos = spindle->hal->get_data(SpindleData_AngularPosition)->angular_position;
+        spindle_data_t *data = spindle->hal->get_data(SpindleData_Counters);
 
         hal.stream.write("[SPINDLEENCODER:");
         hal.stream.write(uitoa(data->index_count));
@@ -2217,7 +2218,7 @@ status_code_t report_spindle_data (sys_state_t state, char *args)
         hal.stream.write("]" ASCII_EOL);
     }
 
-    return spindle->get_data ? Status_OK : Status_InvalidStatement;
+    return spindle->hal->get_data ? Status_OK : Status_InvalidStatement;
 }
 
 // Prints info about registered pins.

report.c

@@ -75,7 +75,7 @@ void sleep_check (void)
     // has any powered components enabled.
     // NOTE: With overrides or in laser mode, modal spindle and coolant state are not guaranteed. Need
     // to directly monitor and record running state during parking to ensure proper function.
-    if (!(slumber || sys.steppers_deenergize || sys.flags.auto_reporting) && (gc_state.modal.spindle.state.value || gc_state.modal.coolant.value)) {
+    if (!(slumber || sys.steppers_deenergize || sys.flags.auto_reporting) && (gc_spindle_get(0)->state.value || gc_state.modal.coolant.value)) {
         switch(state_get()) {
 
             case STATE_IDLE:

sleep.c

@@ -510,19 +510,22 @@ void spindle_set_override (spindle_ptrs_t *spindle, override_t speed_override)
 
     speed_override = constrain(speed_override, MIN_SPINDLE_RPM_OVERRIDE, MAX_SPINDLE_RPM_OVERRIDE);
 
-    if ((uint8_t)speed_override != spindle->param->override_pct) {
+    if((uint8_t)speed_override != spindle->param->override_pct) {
 
-        spindle->param->override_pct = speed_override;
+        spindle_set_rpm(spindle, spindle->param->rpm, speed_override);
 
-        if(state_get() == STATE_IDLE)
-            spindle_set_state(spindle, gc_state.modal.spindle.state, gc_state.spindle.rpm);
-        else
+        if(state_get() == STATE_IDLE) {
+            if(spindle->get_pwm && spindle->update_pwm)
+                spindle->update_pwm(spindle, spindle->get_pwm(spindle, spindle->param->rpm_overridden));
+            else if(spindle->update_rpm)
+                spindle->update_rpm(spindle, spindle->param->rpm_overridden);
+        } else
             sys.step_control.update_spindle_rpm = On;
 
         system_add_rt_report(Report_Overrides); // Set to report change immediately
 
-       if(grbl.on_spindle_programmed)
-           grbl.on_spindle_programmed(spindle, gc_state.modal.spindle.state, spindle_set_rpm(spindle, gc_state.spindle.rpm, speed_override), gc_state.modal.spindle.rpm_mode);
+//       if(grbl.on_spindle_programmed)
+//           grbl.on_spindle_programmed(spindle, spindle->param->state, spindle->param->rpm, spindle->param->rpm_mode);
 
        if(grbl.on_override_changed)
            grbl.on_override_changed(OverrideChanged_SpindleRPM);
@@ -542,17 +545,20 @@ static bool set_state (spindle_ptrs_t *spindle, spindle_state_t state, float rpm
     if (!ABORTED) { // Block during abort.
 
         if (!state.on) { // Halt or set spindle direction and rpm.
-            spindle->param->rpm = rpm = 0.0f;
+            rpm = 0.0f;
             spindle->set_state(spindle, (spindle_state_t){0}, 0.0f);
         } else {
-            // NOTE: Assumes all calls to this function is when Grbl is not moving or must remain off.
+            // NOTE: Assumes all calls to this function is when grblHAL is not moving or must remain off.
             // TODO: alarm/interlock if going from CW to CCW directly in non-laser mode?
             if (spindle->cap.laser && state.ccw)
                 rpm = 0.0f; // TODO: May need to be rpm_min*(100/MAX_SPINDLE_RPM_OVERRIDE);
 
             spindle->set_state(spindle, state, spindle_set_rpm(spindle, rpm, spindle->param->override_pct));
         }
 
+        spindle->param->rpm = rpm;
+        spindle->param->state = state;
+
         system_add_rt_report(Report_Spindle); // Set to report change immediately
 
         st_rpm_changed(rpm);