Fix for #230, added $LIM command

.gitattributes

@@ -1,5 +1,6 @@
 # Auto detect text files and perform LF normalization
-* text=auto
+* text=auto eol=lf
+
 
 # Custom for Visual Studio
 *.cs     diff=csharp

drivers/ESP32/grbl/grbl.h

@@ -34,7 +34,7 @@
 #else
 #define GRBL_VERSION "1.1f"
 #endif
-#define GRBL_VERSION_BUILD "20210131"
+#define GRBL_VERSION_BUILD "20210214"
 
 // The following symbols are set here if not already set by the compiler or in config.h
 // Do NOT change here!

drivers/ESP32/grbl/limits.c

@@ -69,10 +69,24 @@ 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 axes_signals_t homing_signals_merge (limit_signals_t signals)
+ISR_CODE static axes_signals_t homing_signals_select (limit_signals_t signals, axes_signals_t auto_square, squaring_mode_t mode)
 {
     axes_signals_t state;
 
+    switch(mode) {
+
+        case SquaringMode_A:
+            signals.min.mask &= ~auto_square.mask;
+            break;
+
+        case SquaringMode_B:
+            signals.min2.mask &= ~auto_square.mask;
+            break;
+
+        default:
+            break;
+    }
+
     state.mask = signals.min.mask | signals.min2.mask;
 
     return state;
@@ -185,8 +199,8 @@ static bool limits_pull_off (axes_signals_t axis, float distance)
             if (rt_exec & EXEC_SAFETY_DOOR)
                 system_set_exec_alarm(Alarm_HomingFailDoor);
 
-            // Homing failure condition: Homing switch still engaged after pull-off motion
-            if (homing_signals_merge(hal.homing.get_state()).mask & axis.mask)
+            // Homing failure condition: Homing switch(es) still engaged after pull-off motion
+            if (homing_signals_select(hal.homing.get_state(), (axes_signals_t){0}, SquaringMode_Both).mask & axis.mask)
                 system_set_exec_alarm(Alarm_FailPulloff);
 
             if (sys.rt_exec_alarm) {
@@ -227,8 +241,10 @@ static bool limits_homing_cycle (axes_signals_t cycle, axes_signals_t auto_squar
     uint_fast8_t step_pin[N_AXIS], n_active_axis, dual_motor_axis = 0;
     float target[N_AXIS];
     float max_travel = 0.0f, homing_rate = settings.homing.seek_rate;
-    bool approach = true, autosquare_check = false, both_motors = !!auto_square.mask;
+    bool approach = true, autosquare_check = false;
     axes_signals_t axislock, homing_state;
+    limit_signals_t limits_state;
+    squaring_mode_t squaring_mode = SquaringMode_Both;
     plan_line_data_t plan_data;
 
     // Initialize plan data struct for homing motion.
@@ -313,22 +329,16 @@ static bool limits_homing_cycle (axes_signals_t cycle, axes_signals_t auto_squar
             if (approach) {
 
                 // Check homing switches state. Lock out cycle axes when they change.
-                homing_state = homing_signals_merge(hal.homing.get_state());
+                homing_state = homing_signals_select(limits_state = hal.homing.get_state(), auto_square, squaring_mode);
 
                 // Auto squaring check
-                if(both_motors && (homing_state.mask & auto_square.mask)) {
-                    both_motors = false;
-                    homing_state.mask &= ~auto_square.mask;
-                    hal.stepper.disable_motors(auto_square, SquaringMode_A);
-                    if(hal.homing.get_state().min2.mask & auto_square.mask) {
-                        hal.stepper.disable_motors(auto_square, SquaringMode_B);
-                        if(hal.homing.get_state().min.mask & auto_square.mask) {
-                            homing_state.mask |= auto_square.mask;
-                            hal.stepper.disable_motors((axes_signals_t){0}, SquaringMode_Both);
-                        }
-                    }
-                    if((autosquare_check = (homing_state.mask & auto_square.mask) == 0))
+                if((homing_state.mask & auto_square.mask) && squaring_mode == SquaringMode_Both) {
+                    if((autosquare_check = (limits_state.min.mask & auto_square.mask) != (limits_state.min2.mask & auto_square.mask))) {
                         initial_trigger_position = sys.position[dual_motor_axis];
+                        homing_state.mask &= ~auto_square.mask;
+                        squaring_mode = (limits_state.min.mask & auto_square.mask) ? SquaringMode_A : SquaringMode_B;
+                        hal.stepper.disable_motors(auto_square, squaring_mode);
+                    }
                 }
 
                 idx = N_AXIS;
@@ -371,7 +381,7 @@ static bool limits_homing_cycle (axes_signals_t cycle, axes_signals_t auto_squar
                     system_set_exec_alarm(Alarm_HomingFailDoor);
 
                 // Homing failure condition: Homing switch(es) still engaged after pull-off motion
-                if (!approach && (homing_signals_merge(hal.homing.get_state()).mask & cycle.mask))
+                if (!approach && (homing_signals_select(hal.homing.get_state(), (axes_signals_t){0}, SquaringMode_Both).mask & cycle.mask))
                     system_set_exec_alarm(Alarm_FailPulloff);
 
                 // Homing failure condition: Limit switch not found during approach.
@@ -411,8 +421,9 @@ static bool limits_homing_cycle (axes_signals_t cycle, axes_signals_t auto_squar
             homing_rate = settings.homing.seek_rate;
         }
 
-        if((both_motors = !!auto_square.mask)) {
+        if(auto_square.mask) {
             autosquare_check = false;
+            squaring_mode = SquaringMode_Both;
             hal.stepper.disable_motors((axes_signals_t){0}, SquaringMode_Both);
         }
 
@@ -472,7 +483,7 @@ bool limits_go_home (axes_signals_t cycle)
         if(auto_squared.mask != auto_square.mask)
             return false; // Attempt at squaring more than one auto squared axis at the same time.
 
-        if((auto_squared.mask & homing_signals_merge(hal.homing.get_state()).mask) && !limits_pull_off(auto_square, settings.homing.pulloff * HOMING_AXIS_LOCATE_SCALAR))
+        if((auto_squared.mask & homing_signals_select(hal.homing.get_state(), (axes_signals_t){0}, SquaringMode_Both).mask) && !limits_pull_off(auto_square, settings.homing.pulloff * HOMING_AXIS_LOCATE_SCALAR))
             return false; // Auto squaring with limit switch asserted is not allowed.
     }
 

drivers/ESP32/grbl/motion_control.c

@@ -752,6 +752,8 @@ status_code_t mc_homing_cycle (axes_signals_t cycle)
 {
     bool home_all = cycle.mask == 0;
 
+    memset(&sys.last_event.limits, 0, sizeof(limit_signals_t));
+
     if(settings.homing.flags.manual && (home_all ? sys.homing.mask : (cycle.mask & sys.homing.mask)) == 0) {
 
         if(home_all)

drivers/ESP32/grbl/report.c

@@ -1775,6 +1775,19 @@ status_code_t report_setting_group_details (bool by_id, char *prefix)
     return Status_OK;
 }
 
+static char *add_limits (char *buf, limit_signals_t limits)
+{
+    buf = axis_signals_tostring(buf, limits.min);
+    *buf++ = ',';
+    buf = axis_signals_tostring(buf, limits.max);
+    *buf++ = ',';
+    buf = axis_signals_tostring(buf, limits.min2);
+    *buf++ = ',';
+    buf = axis_signals_tostring(buf, limits.max2);
+
+    return buf;
+}
+
 status_code_t report_last_signals_event (sys_state_t state, char *args)
 {
     char *append = &buf[12];
@@ -1783,20 +1796,29 @@ status_code_t report_last_signals_event (sys_state_t state, char *args)
 
     append = control_signals_tostring(append, sys.last_event.control);
     *append++ = ',';
-    append = axis_signals_tostring(append, sys.last_event.limits.min);
-    *append++ = ',';
-    append = axis_signals_tostring(append, sys.last_event.limits.max);
-    *append++ = ',';
-    append = axis_signals_tostring(append, sys.last_event.limits.min2);
-    *append++ = ',';
-    append = axis_signals_tostring(append, sys.last_event.limits.max2);
+    append = add_limits(append, sys.last_event.limits);
 
     hal.stream.write(buf);
     hal.stream.write("]" ASCII_EOL);
 
     return Status_OK;
 }
 
+status_code_t report_current_limit_state (sys_state_t state, char *args)
+{
+    char *append = &buf[8];
+
+    strcpy(buf, "[LIMITS:");
+
+    append = add_limits(append, hal.limits.get_state());
+
+    hal.stream.write(buf);
+    hal.stream.write("]" ASCII_EOL);
+
+    return Status_OK;
+}
+
+
 // Prints spindle data (encoder pulse and index count, angular position).
 status_code_t report_spindle_data (sys_state_t state, char *args)
 {

drivers/ESP32/grbl/report.h

@@ -92,6 +92,7 @@ status_code_t report_setting_group_details (bool by_id, char *prefix);
 status_code_t report_settings_details (bool human_readable, setting_id_t setting, setting_group_t group);
 
 status_code_t report_last_signals_event (sys_state_t state, char *args);
+status_code_t report_current_limit_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);

drivers/ESP32/grbl/system.c

@@ -203,6 +203,7 @@ const sys_command_t sys_commands[] = {
     {"E*", true, enumerate_all},
     {"RST", false, settings_reset},
     {"LEV", true, report_last_signals_event},
+    {"LIM", true, report_current_limit_state},
     {"SD", false, report_spindle_data},
     {"SR", false, spindle_reset_data},
 #ifdef DEBUGOUT

drivers/ESP32/grbl/tool_change.c

@@ -467,7 +467,9 @@ status_code_t tc_probe_workpiece (void)
     if(ok && protocol_buffer_synchronize()) {
         sync_position();
         block_cycle_start = false;
-        report_message("Remove any touch plate and press cycle start to continue.", Message_Plain);
+        report_message(settings.tool_change.mode == ToolChange_Manual_G59_3
+                        ? "Press cycle start to continue."
+                        : "Remove any touch plate and press cycle start to continue.", Message_Plain);
     }
 
     return ok ? Status_OK : Status_GCodeToolError;

drivers/IMXRT1062/grblHAL_Teensy4/src/driver.c

@@ -878,21 +878,21 @@ inline static limit_signals_t limitsGetState()
 {
     limit_signals_t signals = {0};
 
-    signals.min.mask = signals.max.mask = settings.limits.invert.mask;
+    signals.min.mask = signals.min2.mask = settings.limits.invert.mask;
 
     signals.min.x = (LimitX.reg->DR & LimitX.bit) != 0;
 #ifdef X2_LIMIT_PIN
-    signals.max.x = (LimitX2.reg->DR & LimitX2.bit) != 0;
+    signals.min2.x = (LimitX2.reg->DR & LimitX2.bit) != 0;
 #endif
 
     signals.min.y = (LimitY.reg->DR & LimitY.bit) != 0;
 #ifdef Y2_LIMIT_PIN
-    signals.max.y = (LimitY2.reg->DR & LimitY2.bit) != 0;
+    signals.min2.y = (LimitY2.reg->DR & LimitY2.bit) != 0;
 #endif
 
     signals.min.z = (LimitZ.reg->DR & LimitZ.bit) != 0;
 #ifdef Z2_LIMIT_PIN
-    signals.max.z = (LimitZ2.reg->DR & LimitZ2.bit) != 0;
+    signals.min2.z = (LimitZ2.reg->DR & LimitZ2.bit) != 0;
 #endif
 
 #ifdef A_LIMIT_PIN
@@ -907,7 +907,7 @@ inline static limit_signals_t limitsGetState()
 
     if(settings.limits.invert.mask) {
         signals.min.value ^= settings.limits.invert.mask;
-        signals.max.value ^= settings.limits.invert.mask;
+        signals.min2.value ^= settings.limits.invert.mask;
     }
 
     return signals;
@@ -972,50 +972,6 @@ static void StepperDisableMotors (axes_signals_t axes, squaring_mode_t mode)
     motors_2.mask = (mode == SquaringMode_B || mode == SquaringMode_Both ? axes.mask : 0) ^ AXES_BITMASK;
 }
 
-// Returns limit state as an axes_signals_t variable.
-// Each bitfield bit indicates an axis limit, where triggered is 1 and not triggered is 0.
-static limit_signals_t limitsGetHomeState()
-{
-    limit_signals_t signals = {0};
-
-    if(motors_1.mask) {
-
-        signals.min.mask = settings.limits.invert.mask;
-
-        if(motors_1.x)
-            signals.min.x = (LimitX.reg->DR & LimitX.bit) != 0;
-        if(motors_1.y)
-            signals.min.y = (LimitY.reg->DR & LimitY.bit) != 0;
-        if(motors_1.z)
-            signals.min.z = (LimitZ.reg->DR & LimitZ.bit) != 0;
-
-        if (settings.limits.invert.mask)
-            signals.min.mask ^= settings.limits.invert.mask;
-    }
-
-    if(motors_2.mask) {
-
-       signals.max.mask = settings.limits.invert.mask;
-
-#ifdef X2_LIMIT_PIN
-        if(motors_2.x)
-            signals.max.x = (LimitX2.reg->DR & LimitX2.bit) != 0;
-#endif
-#ifdef Y2_LIMIT_PIN
-        if(motors_2.y)
-            signals.max.y = (LimitY2.reg->DR & LimitY2.bit) != 0;
-#endif
-#ifdef Z2_LIMIT_PIN
-        if(motors_2.z)
-            signals.max.z = (LimitZ2.reg->DR & LimitZ2.bit) != 0;
-#endif
-        if (settings.limits.invert.mask)
-            signals.max.mask ^= settings.limits.invert.mask;
-    }
-
-    return signals;
-}
-
 #endif
 
 // Enable/disable limit pins interrupt.
@@ -1036,10 +992,6 @@ static void limitsEnable (bool on, bool homing)
                 inputpin[i].gpio.reg->IMR &= ~inputpin[i].gpio.bit; // Disable interrupt.
         } 
     } while(i);
-
-#ifdef SQUARING_ENABLED
-    hal.homing.get_state = homing ? limitsGetHomeState : limitsGetState;
-#endif
 }
 
 // Returns system state as a control_signals_t bitmap variable.
@@ -2130,7 +2082,7 @@ bool driver_init (void)
         options[strlen(options) - 1] = '\0';
 
     hal.info = "iMXRT1062";
-    hal.driver_version = "210212";
+    hal.driver_version = "210214";
 #ifdef BOARD_NAME
     hal.board = BOARD_NAME;
 #endif

drivers/IMXRT1062/grblHAL_Teensy4/src/grbl/grbl.h

@@ -34,7 +34,7 @@
 #else
 #define GRBL_VERSION "1.1f"
 #endif
-#define GRBL_VERSION_BUILD "20210131"
+#define GRBL_VERSION_BUILD "20210214"
 
 // The following symbols are set here if not already set by the compiler or in config.h
 // Do NOT change here!