Merge branch 'main' into BetterI2SClocking

FluidNC/data/config.yaml

@@ -0,0 +1,156 @@
+board: None
+name: Default (Test Drive no I/O)
+meta: 
+stepping:
+  engine: RMT
+  idle_ms: 255
+  pulse_us: 4
+  dir_delay_us: 0
+  disable_delay_us: 0
+  segments: 12
+
+spi:
+  miso_pin: NO_PIN
+  mosi_pin: NO_PIN
+  sck_pin: NO_PIN
+
+sdcard:
+  cs_pin: NO_PIN
+  card_detect_pin: NO_PIN
+  frequency_hz: 8000000
+
+kinematics:
+  Cartesian:
+
+axes:
+  shared_stepper_disable_pin: NO_PIN
+  shared_stepper_reset_pin: NO_PIN
+  homing_runs: 2
+  x:
+    steps_per_mm: 80.000000
+    max_rate_mm_per_min: 1000.000000
+    acceleration_mm_per_sec2: 25.000000
+    max_travel_mm: 1000.000000
+    soft_limits: false
+    motor0:
+      limit_neg_pin: NO_PIN
+      limit_pos_pin: NO_PIN
+      limit_all_pin: NO_PIN
+      hard_limits: false
+      pulloff_mm: 1.000000
+      null_motor:
+
+  y:
+    steps_per_mm: 80.000000
+    max_rate_mm_per_min: 1000.000000
+    acceleration_mm_per_sec2: 25.000000
+    max_travel_mm: 1000.000000
+    soft_limits: false
+    motor0:
+      limit_neg_pin: NO_PIN
+      limit_pos_pin: NO_PIN
+      limit_all_pin: NO_PIN
+      hard_limits: false
+      pulloff_mm: 1.000000
+      null_motor:
+
+  z:
+    steps_per_mm: 80.000000
+    max_rate_mm_per_min: 1000.000000
+    acceleration_mm_per_sec2: 25.000000
+    max_travel_mm: 1000.000000
+    soft_limits: false
+    motor0:
+      limit_neg_pin: NO_PIN
+      limit_pos_pin: NO_PIN
+      limit_all_pin: NO_PIN
+      hard_limits: false
+      pulloff_mm: 1.000000
+      null_motor:
+
+control:
+  safety_door_pin: NO_PIN
+  reset_pin: NO_PIN
+  feed_hold_pin: NO_PIN
+  cycle_start_pin: NO_PIN
+  macro0_pin: NO_PIN
+  macro1_pin: NO_PIN
+  macro2_pin: NO_PIN
+  macro3_pin: NO_PIN
+  fault_pin: NO_PIN
+  estop_pin: NO_PIN
+
+coolant:
+  flood_pin: NO_PIN
+  mist_pin: NO_PIN
+  delay_ms: 0
+
+probe:
+  pin: NO_PIN
+  toolsetter_pin: NO_PIN
+  check_mode_start: true
+  hard_stop: false
+
+macros:
+  startup_line0:
+  startup_line1:
+  Macro0:
+  Macro1:
+  Macro2:
+  Macro3:
+  after_homing:
+  after_reset:
+  after_unlock:
+
+start:
+  must_home: false
+  deactivate_parking: false
+  check_limits: true
+
+parking:
+  enable: false
+  axis: Z
+  target_mpos_mm: -5.000000
+  rate_mm_per_min: 800.000000
+  pullout_distance_mm: 5.000000
+  pullout_rate_mm_per_min: 250.000000
+
+user_outputs:
+  analog0_pin: NO_PIN
+  analog1_pin: NO_PIN
+  analog2_pin: NO_PIN
+  analog3_pin: NO_PIN
+  analog0_hz: 5000
+  analog1_hz: 5000
+  analog2_hz: 5000
+  analog3_hz: 5000
+  digital0_pin: NO_PIN
+  digital1_pin: NO_PIN
+  digital2_pin: NO_PIN
+  digital3_pin: NO_PIN
+  digital4_pin: NO_PIN
+  digital5_pin: NO_PIN
+  digital6_pin: NO_PIN
+  digital7_pin: NO_PIN
+
+user_inputs:
+  analog0_pin: NO_PIN
+  analog1_pin: NO_PIN
+  analog2_pin: NO_PIN
+  analog3_pin: NO_PIN
+  digital0_pin: NO_PIN
+  digital1_pin: NO_PIN
+  digital2_pin: NO_PIN
+  digital3_pin: NO_PIN
+  digital4_pin: NO_PIN
+  digital5_pin: NO_PIN
+  digital6_pin: NO_PIN
+  digital7_pin: NO_PIN
+
+arc_tolerance_mm: 0.002000
+junction_deviation_mm: 0.010000
+verbose_errors: true
+report_inches: false
+enable_parking_override_control: false
+use_line_numbers: false
+planner_blocks: 16

FluidNC/esp32/i2s_engine.c

@@ -154,11 +154,10 @@ static int i2s_out_start() {
 
 static bool timer_running = false;
 
+// i2s_out_delay() is used by synchronous_write(), to ensure that that
+// the newly-written data has arrived at the shift register output
 void i2s_out_delay() {
-    // Depending on the timing, it may not be reflected immediately,
-    // so wait twice as long just in case.
-    uint32_t wait_counts = timer_running ? FIFO_THRESHOLD + FIFO_RELOAD : 2;
-    delay_us(i2s_frame_us * wait_counts);
+    delay_us((FIFO_LENGTH + FIFO_RELOAD) * (I2S_OUT_USEC_PER_PULSE / 2));
 }
 
 void IRAM_ATTR i2s_out_write(pinnum_t pin, uint8_t val) {

FluidNC/src/Channel.cpp

@@ -9,6 +9,7 @@
 #include "Logging.h"
 #include "Job.h"
 #include <string_view>
+#include <algorithm>
 
 void Channel::flushRx() {
     _linelen   = 0;
@@ -328,7 +329,7 @@ void Channel::sendLine(MsgLevel level, const std::string& line) {
     }
 }
 
-bool Channel::is_visible(const std::string& stem, const std::string& extension, bool isdir) {
+bool Channel::is_visible(const std::string& stem, std::string extension, bool isdir) {
     if (stem.length() && stem[0] == '.') {
         // Exclude hidden files and directories
         return false;
@@ -341,6 +342,9 @@ bool Channel::is_visible(const std::string& stem, const std::string& extension,
         return true;
     }
 
+    // Convert extension to canonical lower case format
+    std::transform(extension.begin(), extension.end(), extension.begin(), [](unsigned char c) { return std::tolower(c); });
+
     // common gcode extensions
     std::string_view extensions(".g .gc .gco .gcode .nc .ngc .ncc .txt .cnc .tap");
     int              pos = 0;

FluidNC/src/Channel.h

@@ -137,7 +137,7 @@ class Channel : public Stream {
         return readBytes(buffer, length);
     }
 
-    virtual bool is_visible(const std::string& stem, const std::string& extension, bool isdir);
+    virtual bool is_visible(const std::string& stem, std::string extension, bool isdir);
 
     size_t timedReadBytes(uint8_t* buffer, size_t length, TickType_t timeout) {
         return timedReadBytes(reinterpret_cast<char*>(buffer), length, timeout);

FluidNC/src/Control.cpp

@@ -42,6 +42,16 @@ std::string Control::report_status() {
     return ret;
 }
 
+bool Control::pins_block_unlock() {
+    std::string blockers("FE"); // Fault, E-Stop block unlock and homing
+    for (auto pin : _pins) {
+        if (pin->get()  && blockers.find(pin->letter()) != std::string::npos) {
+            return true;
+        }
+    }
+    return false;
+}
+
 bool Control::stuck() {
     for (auto pin : _pins) {
         if (pin->get()) {

FluidNC/src/Control.h

@@ -22,6 +22,7 @@ class Control : public Configuration::Configurable {
 
     bool stuck();
     bool safety_door_ajar();
+    bool pins_block_unlock();
 
     std::string report_status();
 

FluidNC/src/GCode.cpp

@@ -64,7 +64,9 @@ gc_modal_t modal_defaults = {
 
 void gc_init() {
     // Reset parser state:
+    auto save_tlo = gc_state.tool_length_offset;  // we want TLO to persist until reboot.
     memset(&gc_state, 0, sizeof(parser_state_t));
+    gc_state.tool_length_offset = save_tlo;
 
     // Load default G54 coordinate system.
     gc_state.modal          = modal_defaults;
@@ -1603,7 +1605,7 @@ Error gc_execute_line(char* line) {
     // NOTE: Pass zero spindle speed for all restricted laser motions.
     if (!disableLaser) {
         pl_data->spindle_speed = gc_state.spindle_speed;  // Record data for planner use.
-    }  // else { pl_data->spindle_speed = 0.0; } // Initialized as zero already.
+    }                                                     // else { pl_data->spindle_speed = 0.0; } // Initialized as zero already.
     // [5. Select tool ]: NOT SUPPORTED. Only tracks tool value.
     // [M6. Change tool ]:
     if (gc_block.modal.tool_change == ToolChange::Enable) {
@@ -1627,9 +1629,9 @@ Error gc_execute_line(char* line) {
     }
     if (gc_block.modal.set_tool_number == SetToolNumber::Enable) {
         gc_state.selected_tool = gc_block.values.q;
-        bool stopped_spindle = false;   // was spindle stopped via the change
-        bool new_spindle     = false;   // was the spindle changed
-        protocol_buffer_synchronize();  // wait for motion in buffer to finish
+        bool stopped_spindle   = false;  // was spindle stopped via the change
+        bool new_spindle       = false;  // was the spindle changed
+        protocol_buffer_synchronize();   // wait for motion in buffer to finish
         Spindles::Spindle::switchSpindle(gc_state.selected_tool, Spindles::SpindleFactory::objects(), spindle, stopped_spindle, new_spindle);
         if (stopped_spindle) {
             gc_block.modal.spindle = SpindleState::Disable;
@@ -1786,10 +1788,10 @@ Error gc_execute_line(char* line) {
     switch (gc_block.non_modal_command) {
         case NonModal::SetCoordinateData:
             coords[coord_select]->set(coord_data);
+            gc_wco_changed();
             // Update system coordinate system if currently active.
             if (gc_state.modal.coord_select == coord_select) {
                 copyAxes(gc_state.coord_system, coord_data);
-                gc_wco_changed();
             }
             break;
         case NonModal::GoHome0:

FluidNC/src/ProcessSettings.cpp

@@ -34,8 +34,12 @@
 // WU Readable and writable as user and admin
 // WA Readable as user and admin, writable as admin
 
+static Error switchInchMM(const char* value, AuthenticationLevel auth_level, Channel& out);
+
 static Error fakeMaxSpindleSpeed(const char* value, AuthenticationLevel auth_level, Channel& out);
 
+static Error report_init_message_cmd(const char* value, AuthenticationLevel auth_level, Channel& out);
+
 // If authentication is disabled, auth_level will be LEVEL_ADMIN
 static bool auth_failed(Word* w, const char* value, AuthenticationLevel auth_level) {
     permissions_t permissions = w->getPermissions();
@@ -193,9 +197,13 @@ static void show_settings(Channel& out, type_t type) {
             show_setting(s->getGrblName(), s->getCompatibleValue(), NULL, out);
         }
     }
+   // Print Report/Inches
+    switchInchMM(NULL, AuthenticationLevel::LEVEL_ADMIN, out);
+
     // need this per issue #1036
     fakeMaxSpindleSpeed(NULL, AuthenticationLevel::LEVEL_ADMIN, out);
 }
+
 static Error report_normal_settings(const char* value, AuthenticationLevel auth_level, Channel& out) {
     show_settings(out, GRBL);  // GRBL non-axis settings
     return Error::Ok;
@@ -377,6 +385,10 @@ static Error cmd_log_verbose(const char* value, AuthenticationLevel auth_level,
     return Error::Ok;
 }
 static Error home(AxisMask axisMask, Channel& out) {
+    // see if blocking control switches are active
+    if (config->_control->pins_block_unlock()) {
+        return Error::CheckControlPins;
+    }
     if (axisMask != Machine::Homing::AllCycles) {  // if not AllCycles we need to make sure the cycle is not prohibited
         // if there is a cycle it is the axis from $H<axis>
         auto n_axis = Axes::_numberAxis;
@@ -705,6 +717,22 @@ static Error dump_config(const char* value, AuthenticationLevel auth_level, Chan
     return Error::Ok;
 }
 
+static Error report_init_message_cmd(const char* value, AuthenticationLevel auth_level, Channel& out) {
+    report_init_message(out);
+
+    return Error::Ok;
+}
+
+static Error switchInchMM(const char* value, AuthenticationLevel auth_level, Channel& out) {
+    if (!value) {
+        log_stream(out, "$13=" << (config->_reportInches ? "1" : "0"));
+    } else {
+        config->_reportInches = ((value[0]=='1') ? true : false);
+    }
+
+    return Error::Ok;
+}
+
 static Error fakeMaxSpindleSpeed(const char* value, AuthenticationLevel auth_level, Channel& out) {
     if (!value) {
         log_stream(out, "$30=" << spindle->maxSpeed());
@@ -837,9 +865,12 @@ void make_user_commands() {
 
     new UserCommand("RI", "Report/Interval", setReportInterval, anyState);
 
+    new UserCommand("13", "Report/Inches", switchInchMM, notIdleOrAlarm);
     new UserCommand("30", "FakeMaxSpindleSpeed", fakeMaxSpindleSpeed, notIdleOrAlarm);
     new UserCommand("32", "FakeLaserMode", fakeLaserMode, notIdleOrAlarm);
 
+    new UserCommand("GS", "GRBL/Show", report_init_message_cmd, notIdleOrAlarm);
+
     new AsyncUserCommand("J", "Jog", doJog, notIdleOrJog);
     new AsyncUserCommand("G", "GCode/Modes", report_gcode, anyState);
 };

FluidNC/src/Protocol.cpp

@@ -484,16 +484,17 @@ static void protocol_do_alarm(void* alarmVoid) {
 static void protocol_start_holding() {
     if (!(sys.suspend.bit.motionCancel || sys.suspend.bit.jogCancel)) {  // Block, if already holding.
         sys.step_control = {};
-        if (!Stepper::update_plan_block_parameters()) {  // Notify stepper module to recompute for hold deceleration.
-            sys.step_control.endMotion = true;
-        }
+        Stepper::update_plan_block_parameters();
         sys.step_control.executeHold = true;  // Initiate suspend state with active flag.
     }
 }
 
 static void protocol_cancel_jogging() {
-    if (!sys.suspend.bit.motionCancel) {
-        sys.suspend.bit.jogCancel = true;
+    if (!(sys.suspend.bit.motionCancel || sys.suspend.bit.jogCancel)) {  // Block, if already holding.
+        sys.step_control = {};
+        Stepper::update_plan_block_parameters();
+        sys.step_control.executeHold = true;  // Initiate suspend state with active flag.
+        sys.suspend.bit.jogCancel    = true;
     }
 }
 
@@ -525,7 +526,6 @@ void protocol_do_motion_cancel() {
             break;
 
         case State::Jog:
-            protocol_start_holding();
             protocol_cancel_jogging();
             // When jogging, we do not set motionCancel, hence return not break
             return;
@@ -571,7 +571,6 @@ static void protocol_do_feedhold() {
             break;
 
         case State::Jog:
-            protocol_start_holding();
             protocol_cancel_jogging();
             return;  // Do not change the state to Hold
     }
@@ -623,7 +622,6 @@ static void protocol_do_safety_door() {
             protocol_start_holding();
             break;
         case State::Jog:
-            protocol_start_holding();
             protocol_cancel_jogging();
             break;
     }