Synced with new repo

See changelog for details.

changelog.md

@@ -1,12 +1,23 @@
 ## grblHAL changelog
 
-2021-03-14:
+Build 20210515:
+
+* Fixed G43 "bug" by changing to LinuxCNC specification. NIST specification is ambiguous.
+* Added acceleration override handling, to be used by OpenPNP plugin M-code.
+
+Build 20210505:
+
+* Some bug fixes: relative canned cycles repeat error, comment handling...
+* Check mode changes to allow use with SD card streaming.
+* Internal buffer changes for reducing RAM footprint. Some HAL extensions.
+
+Build 20210314:
 
 * Added support for tool change protocol to networking protocols using shared stream buffer.
 * Added `$S` system command for toggling single step mode, when enabled cycle start has to be issued after each block.
 * Some bug fixes.
 
-2021-02-07:
+Build 20210207:
 
 * Added `#define BOARD_MY_MACHINE` option in _my_machine.h_ for building using _my_machine-map.c_, this for simpler handling of user defined pin mappings.  
 _my_machine-map.c_ is __*not*__ part of the distributed source and must by added to the project by the user before enabled, typically by copying an existing map file.

drivers/ESP32/main/CMakeLists.txt

@@ -8,6 +8,7 @@ OPTION(BOARD_BDRING_V4 "Compile for bdring v4 3-axis board" ON)
 OPTION(BOARD_BDRING_I2S6A "Compile for bdring 6-axis I2S board - untested!" OFF)
 OPTION(BOARD_CNC_BOOSTERPACK "Compile for CNC BoosterPack" OFF)
 OPTION(BOARD_ESPDUINO32 "Compile for ESPDUINO-32 Wemos D1 R32" OFF)
+OPTION(BOARD_SOURCERABBIT_4AXIS "Compile for SourceRabbit 4-axis board" OFF)
 OPTION(BOARD_MY_MACHINE "Compile for my_machine_map.h" OFF)
 
 # The following plugins/options are supported:
@@ -36,7 +37,7 @@ OPTION(EEPROM "Compile with I2C EEPROM support" OFF)
 OPTION(FRAM "Compile with I2C FRAM support" OFF)
 OPTION(NOPROBE "Compile without probe support" OFF)
 
-set(SDCARD_SOURCE sdcard/sdcard.c)
+set(SDCARD_SOURCE sdcard/sdcard.c sdcard/ymodem.c)
 set(KEYPAD_SOURCE keypad/keypad.c)
 set(TRINAMIC_SOURCE motors/trinamic.c trinamic/tmc2130.c trinamic/tmc2130hal.c trinamic/common.c trinamic/tmc_interface.c)
 set(NETWORKING_SOURCE wifi.c dns_server.c web/backend.c web/upload.c networking/TCPStream.c networking/WsStream.c networking/base64.c networking/sha1.c networking/urldecode.c networking/strutils.c networking/utils.c networking/multipartparser.c )
@@ -104,8 +105,7 @@ if(EEPROM OR FRAM OR BOARD_CNC_BOOSTERPACK)
 list (APPEND SRCS ${EEPROM_SOURCE})
 endif()
 
-idf_component_register(SRCS "${SRCS}"
-                    INCLUDE_DIRS ".")
+idf_component_register(SRCS "${SRCS}" INCLUDE_DIRS ".")
 
 target_compile_definitions("${COMPONENT_LIB}" PUBLIC GRBL_ESP32)
 target_compile_definitions("${COMPONENT_LIB}" PUBLIC OVERRIDE_MY_MACHINE)
@@ -120,6 +120,8 @@ elseif(BOARD_ESPDUINO32)
 target_compile_definitions("${COMPONENT_LIB}" PUBLIC BOARD_ESPDUINO32)
 elseif(BOARD_CNC_BOOSTERPACK)
 target_compile_definitions("${COMPONENT_LIB}" PUBLIC BOARD_CNC_BOOSTERPACK)
+elseif(BOARD_SOURCERABBIT_4AXIS)
+target_compile_definitions("${COMPONENT_LIB}" PUBLIC BOARD_SOURCERABBIT_4AXIS)
 elseif(BOARD_MY_MACHINE)
 target_compile_definitions("${COMPONENT_LIB}" PUBLIC BOARD_MY_MACHINE)
 endif()
@@ -190,6 +192,7 @@ unset(BOARD_BDRING_V4 CACHE)
 unset(BOARD_BDRING_I2S6A CACHE)
 unset(BOARD_CNC_BOOSTERPACK CACHE)
 unset(BOARD_ESPDUINO32 CACHE)
+unset(BOARD_SOURCERABBIT_4AXIS CACHE)
 unset(BOARD_MY_MACHINE CACHE)
 
 unset(Networking CACHE)

drivers/ESP32/main/bluetooth.c

@@ -152,7 +152,7 @@ bool BTStreamPutC (const char c)
     if(txbuffer.head < BT_TX_BUFFER_SIZE)
         txbuffer.data[txbuffer.head++] = c;
 
-    if(c == '\n') {
+    if(c == ASCII_LF) {
         enqueue_tx_chunk(txbuffer.head, (uint8_t *)txbuffer.data);
         txbuffer.head = 0;
     }
@@ -261,7 +261,7 @@ static void esp_spp_cb (esp_spp_cb_event_t event, esp_spp_cb_param_t *param)
 
         case ESP_SPP_INIT_EVT:
             esp_bt_dev_set_device_name(bluetooth.device_name);
-            esp_bt_gap_set_scan_mode(ESP_BT_SCAN_MODE_CONNECTABLE_DISCOVERABLE);
+            esp_bt_gap_set_scan_mode(ESP_BT_CONNECTABLE, ESP_BT_GENERAL_DISCOVERABLE);
             esp_spp_start_srv(ESP_SPP_SEC_AUTHENTICATE, ESP_SPP_ROLE_SLAVE, 0, bluetooth.service_name);
             break;
 

drivers/ESP32/main/bluetooth.h

@@ -5,7 +5,7 @@
 
   Part of grblHAL
 
-  Copyright (c) 2018-2020 Terje Io
+  Copyright (c) 2018-2021 Terje Io
 
   Grbl is free software: you can redistribute it and/or modify
   it under the terms of the GNU General Public License as published by
@@ -34,6 +34,7 @@ char *bluetooth_get_client_mac (void);
 uint32_t BTStreamAvailable (void);
 uint16_t BTStreamRXFree (void);
 int16_t BTStreamGetC (void);
+bool BTStreamPutC (const char c);
 bool BTStreamSuspendInput (bool suspend);
 void BTStreamWriteS (const char *data);
 void BTStreamFlush (void);

drivers/ESP32/main/driver.c

@@ -157,6 +157,7 @@ const io_stream_t serial_stream = {
     .read = serialRead,
     .write = serialWriteS,
     .write_all = serialWriteS,
+    .write_char = serialPutC,
     .get_rx_buffer_available = serialRXFree,
     .reset_read_buffer = serialFlush,
     .cancel_read_buffer = serialCancel,
@@ -187,6 +188,7 @@ const io_stream_t telnet_stream = {
     .read = TCPStreamGetC,
     .write = TCPStreamWriteS,
     .write_all = tcpStreamWriteS,
+    .write_char = TCPStreamPutC,
     .get_rx_buffer_available = TCPStreamRxFree,
     .reset_read_buffer = TCPStreamRxFlush,
     .cancel_read_buffer = TCPStreamRxCancel,
@@ -201,6 +203,7 @@ const io_stream_t websocket_stream = {
     .read = WsStreamGetC,
     .write = WsStreamWriteS,
     .write_all = tcpStreamWriteS,
+    .write_char = WsStreamPutC,
     .get_rx_buffer_available = WsStreamRxFree,
     .reset_read_buffer = WsStreamRxFlush,
     .cancel_read_buffer = WsStreamRxCancel,
@@ -223,6 +226,7 @@ const io_stream_t bluetooth_stream = {
     .read = BTStreamGetC,
     .write = BTStreamWriteS,
     .write_all = btStreamWriteS,
+    .write_char = BTStreamPutC,
     .get_rx_buffer_available = BTStreamRXFree,
     .reset_read_buffer = BTStreamFlush,
     .cancel_read_buffer = BTStreamCancel,
@@ -1474,7 +1478,7 @@ bool driver_init (void)
     serialInit();
 
     hal.info = "ESP32";
-    hal.driver_version = "210314";
+    hal.driver_version = "210423";
 #ifdef BOARD_NAME
     hal.board = BOARD_NAME;
 #endif
@@ -1622,7 +1626,7 @@ bool driver_init (void)
 
 //    grbl_esp32_if_init();
 
-    my_plugin_init();
+//    my_plugin_init(); causes run time crash for some silly reason
 
     // no need to move version check before init - compiler will fail any mismatch for existing entries
     return hal.version == 8;

drivers/ESP32/main/driver.h

@@ -270,6 +270,8 @@ typedef struct {
   #include "bdring_i2s_6_axis_map.h"
 #elif defined(BOARD_ESPDUINO32)
   #include "espduino-32_wemos_d1_r32_uno_map.h"
+#elif defined(BOARD_SOURCERABBIT_4AXIS)
+  #include "sourcerabbit_4axis.h"
 #elif defined(BOARD_MY_MACHINE)
   #include "my_machine_map.h"
 #else // default board - NOTE: NOT FINAL VERSION!

drivers/ESP32/main/grbl/config.h

@@ -579,6 +579,7 @@
 // for professional CNC machines, regardless of where the limit switches are located. Set this
 // define to 1 to force Grbl to always set the machine origin at the homed location despite switch orientation.
 //#define HOMING_FORCE_SET_ORIGIN // Default disabled. Uncomment to enable.
+#define HOMING_FORCE_SET_ORIGIN     1
 
 // To prevent the homing cycle from racking the dual axis, when one limit triggers before the
 // other due to switch failure or noise, the homing cycle will automatically abort if the second

drivers/ESP32/main/grbl/crossbar.h

@@ -24,6 +24,60 @@
 #ifndef _CROSSBAR_H_
 #define _CROSSBAR_H_
 
+typedef enum {
+    Input_Probe = 0,
+    Input_Reset,
+    Input_FeedHold,
+    Input_CycleStart,
+    Input_SafetyDoor,
+    Input_LimitsOverride,
+    Input_EStop,
+    Input_ModeSelect,
+    Input_LimitX,
+    Input_LimitX_Max,
+    Input_LimitY,
+    Input_LimitY_Max,
+    Input_LimitZ,
+    Input_LimitZ_Max,
+    Input_LimitA,
+    Input_LimitA_Max,
+    Input_LimitB,
+    Input_LimitB_Max,
+    Input_LimitC,
+    Input_LimitC_Max,
+    Input_KeypadStrobe,
+    Input_QEI_A,
+    Input_QEI_B,
+    Input_QEI_Select,
+    Input_QEI_Index,
+    Input_SpindleIndex,
+    Input_Aux0,
+    Input_Aux1,
+    Input_Aux2,
+    Input_Aux3
+} pin_function_t;
+
+typedef enum {
+    IRQ_Mode_None    = 0b00,
+    IRQ_Mode_Change  = 0b01,
+    IRQ_Mode_Rising  = 0b10,
+    IRQ_Mode_Falling = 0b11
+} pin_irq_mode_t;
+
+typedef enum {
+    PinGroup_Control       = (1<<0),
+    PinGroup_Limit         = (1<<1),
+    PinGroup_Probe         = (1<<2),
+    PinGroup_Keypad        = (1<<3),
+    PinGroup_MPG           = (1<<4),
+    PinGroup_QEI           = (1<<5),
+    PinGroup_QEI_Select    = (1<<6),
+    PinGroup_SpindlePulse  = (1<<7),
+    PinGroup_SpindleIndex  = (1<<8),
+    PinGroup_AuxInput      = (1<<9),
+    PinGroup_AuxOutput     = (1<<10)
+} pin_group_t;
+
 typedef bool (*xbar_get_value_ptr)(void);
 typedef void (*xbar_set_value_ptr)(bool on);
 typedef void (*xbar_event_ptr)(bool on);

drivers/ESP32/main/grbl/errors.h

@@ -83,6 +83,7 @@ typedef enum {
     Status_MotorFault = 51,
     Status_SettingValueOutOfRange = 52,
     Status_SettingDisabled = 53,
+    Status_GcodeInvalidRetractPosition = 54,
 
 // Some error codes as defined in bdring's ESP32 port
     Status_SDMountError = 60,
@@ -156,6 +157,7 @@ PROGMEM static const status_detail_t status_detail[] = {
     { Status_MotorFault, "Motor fault", "Motor fault." },
     { Status_SettingValueOutOfRange, "Value out of range.", "Setting value is out of range." },
     { Status_SettingDisabled, "Setting disabled", "Setting is not available, possibly due to limited driver support." },
+    { Status_GcodeInvalidRetractPosition, "Invalid gcode ID:54", "Retract position is less than drill depth." },
     { Status_SDMountError, "SD Card", "SD Card mount failed." },
     { Status_SDReadError, "SD Card", "SD Card file open/read failed." },
     { Status_SDFailedOpenDir, "SD Card", "SD Card directory listing failed." },

drivers/ESP32/main/grbl/gcode.c

@@ -636,11 +636,7 @@ status_code_t gc_execute_block(char *block, char *message)
                         // NOTE: The NIST g-code standard vaguely states that when a tool length offset is changed,
                         // there cannot be any axis motion or coordinate offsets updated. Meaning G43, G43.1, and G49
                         // all are explicit axis commands, regardless if they require axis words or not.
-
-                        if (axis_command)
-                            FAIL(Status_GcodeAxisCommandConflict); // [Axis word/command conflict] }
-
-                        axis_command = AxisCommand_ToolLengthOffset;
+                        // NOTE: cannot find the NIST statement referenced above, changed to match LinuxCNC behaviour in build 20210513.
                         if (int_value == 49) // G49
                             gc_block.modal.tool_offset_mode = ToolLengthOffset_Cancel;
 #ifdef N_TOOLS
@@ -649,9 +645,12 @@ status_code_t gc_execute_block(char *block, char *message)
                         else if (mantissa == 20) // G43.2
                             gc_block.modal.tool_offset_mode = ToolLengthOffset_ApplyAdditional;
 #endif
-                        else if (mantissa == 10) // G43.1
+                        else if (mantissa == 10) { // G43.1
+                            if (axis_command)
+                                FAIL(Status_GcodeAxisCommandConflict); // [Axis word/command conflict] }
+                            axis_command = AxisCommand_ToolLengthOffset;
                             gc_block.modal.tool_offset_mode = ToolLengthOffset_EnableDynamic;
-                        else
+                        } else
                             FAIL(Status_GcodeUnsupportedCommand); // [Unsupported G43.x command]
                         mantissa = 0; // Set to zero to indicate valid non-integer G command.
                         break;
@@ -1316,7 +1315,9 @@ status_code_t gc_execute_block(char *block, char *message)
     // Pre-convert XYZ coordinate values to millimeters, if applicable.
     uint_fast8_t idx = N_AXIS;
     if (gc_block.modal.units_imperial) do { // Axes indices are consistent, so loop may be used.
-        if (bit_istrue(axis_words.mask, bit(--idx)))
+        idx--;
+//        if (bit_istrue(axis_words.mask, bit(idx)) && bit_isfalse(settings.steppers.is_rotational.mask, bit(idx)))
+        if (bit_istrue(axis_words.mask, bit(idx)))
             gc_block.values.xyz[idx] *= MM_PER_INCH;
     } while(idx);
 
@@ -1412,13 +1413,13 @@ status_code_t gc_execute_block(char *block, char *message)
 
     // [14. Tool length compensation ]: G43.1 and G49 are always supported, G43 and G43.2 if N_TOOLS defined.
     // [G43.1 Errors]: Motion command in same line.
-    // [G43.2 Errors]: Motion command in same line. Tool number not in the tool table,
-    //   NOTE: Although not explicitly stated so, G43.1 should be applied to only one valid
-    //   axis that is configured (in config.h). There should be an error if the configured axis
-    //   is absent or if any of the other axis words are present.
-    if (axis_command == AxisCommand_ToolLengthOffset) { // Indicates called in block.
+    // [G43.2 Errors]: Tool number not in the tool table,
+    if (command_words.G8) { // Indicates called in block.
 
 #ifdef TOOL_LENGTH_OFFSET_AXIS
+        // NOTE: Although not explicitly stated so, G43.1 should be applied to only one valid
+        // axis that is configured (in config.h). There should be an error if the configured axis
+        // is absent or if any of the other axis words are present.
         if(gc_block.modal.tool_offset_mode == ToolLengthOffset_EnableDynamic) {
             if (axis_words.mask ^ bit(TOOL_LENGTH_OFFSET_AXIS))
                 FAIL(Status_GcodeG43DynamicAxisError);
@@ -1819,24 +1820,24 @@ status_code_t gc_execute_block(char *block, char *message)
                 else if(gc_block.values.l <= 0)
                     FAIL(Status_NonPositiveValue); // [L <= 0]
 
-                if (value_words.r) {
-                    gc_state.canned.retract_position = gc_block.values.r;
-                    if(gc_state.modal.distance_incremental)
-                        gc_state.canned.retract_position += gc_state.position[plane.axis_linear];
-                    gc_state.canned.retract_position = gc_block.modal.coord_system.xyz[plane.axis_linear] + gc_state.canned.retract_position;
-                }
+                if(value_words.r)
+                    gc_state.canned.retract_position = gc_block.values.r + (gc_block.modal.distance_incremental
+                                                                             ? gc_state.position[plane.axis_linear]
+                                                                             : gc_get_block_offset(&gc_block, plane.axis_linear));
 
                 idx = N_AXIS;
                 do {
                     if(bit_istrue(axis_words.mask, bit(--idx))) {
                         gc_state.canned.xyz[idx] = gc_block.values.xyz[idx];
                         if(idx != plane.axis_linear)
                             gc_state.canned.xyz[idx] -= gc_state.position[idx];
+                        else if(gc_block.modal.distance_incremental)
+                            gc_state.canned.xyz[idx] = gc_state.canned.retract_position + (gc_state.canned.xyz[idx] - gc_state.position[idx]);
                     }
                 } while(idx);
 
                 if(gc_state.canned.retract_position < gc_state.canned.xyz[plane.axis_linear])
-                    FAIL(Status_GcodeAxisCommandConflict);
+                    FAIL(Status_GcodeInvalidRetractPosition);
 
                 value_words.r = value_words.l = Off; // Remove single-meaning value words.
 
@@ -2030,7 +2031,9 @@ status_code_t gc_execute_block(char *block, char *message)
                         if (gc_block.modal.units_imperial) {
                             idx = 3;
                             do { // Axes indices are consistent, so loop may be used to save flash space.
-                                if (ijk_words.mask & bit(--idx))
+                                idx--;
+//                                if (ijk_words.mask & bit(idx) && bit_isfalse(settings.steppers.is_rotational.mask, bit(idx)))
+                                if (ijk_words.mask & bit(idx))
                                     gc_block.values.ijk[idx] *= MM_PER_INCH;
                             } while(idx);
                         }
@@ -2412,7 +2415,7 @@ status_code_t gc_execute_block(char *block, char *message)
     // NOTE: If G43 were supported, its operation wouldn't be any different from G43.1 in terms
     // of execution. The error-checking step would simply load the offset value into the correct
     // axis of the block XYZ value array.
-    if (axis_command == AxisCommand_ToolLengthOffset) { // Indicates a change.
+    if (command_words.G8) { // Indicates a change.
 
         bool tlo_changed = false;
 
@@ -2725,11 +2728,11 @@ status_code_t gc_execute_block(char *block, char *message)
                 hal.coolant.set_state(gc_state.modal.coolant);
                 sys.report.spindle = On; // Set to report change immediately
                 sys.report.coolant = On; // ...
-
-                if(grbl.on_program_completed)
-                    grbl.on_program_completed(gc_state.modal.program_flow);
             }
 
+            if(grbl.on_program_completed)
+                grbl.on_program_completed(gc_state.modal.program_flow, check_mode);
+
             // Clear any pending output commands
             while(output_commands) {
                 output_command_t *next = output_commands->next;

drivers/ESP32/main/grbl/grbl.h

@@ -34,7 +34,7 @@
 #else
 #define GRBL_VERSION "1.1f"
 #endif
-#define GRBL_VERSION_BUILD "20210313"
+#define GRBL_VERSION_BUILD "20210513"
 
 // The following symbols are set here if not already set by the compiler or in config.h
 // Do NOT change here!