Devt (#628)

* Fixed various small bugs (#605)

* Fixed various small bugs

* Fixed potential cast bug

* Fixed double reporting of errors

Co-authored-by: Stefan de Bruijn <stefan@nubilosoft.com>

* Stallguard tuning (#607)

* Devt (#571)

* Handles Tranimic drivers errors better

- If an unsupported driver is specified, it will give a message and not crash.

* Cleaned up unused files

Got rid of old unipolar files
Got rid of servo axis feature - it is a motor class now
Got rid of solenoid pen feature - never really used and it should be a motor class if it is.

* Fix ENABLE_AUTHENTICATION (#569)

* Fixed authentication code.

* Removed another const cast

Co-authored-by: Stefan de Bruijn <stefan@nubilosoft.com>

* Fix step leakage with inverted steps (#570)

* Fix step leakage with inverted steps

* Update build date for merge

Co-authored-by: Bart Dring <bdring@buildlog.net>

Co-authored-by: Stefan de Bruijn <atlaste@users.noreply.github.com>
Co-authored-by: Stefan de Bruijn <stefan@nubilosoft.com>
Co-authored-by: Mitch Bradley <wmb@firmworks.com>
Co-authored-by: Bart Dring <bdring@buildlog.net>

* Update platformio.ini

Per PR 583

* Created an enum for mode

* Removing some unused machine defs

* Added test machine definition

* Clean up for PR

* Remove test machine def.

Co-authored-by: Stefan de Bruijn <atlaste@users.noreply.github.com>
Co-authored-by: Stefan de Bruijn <stefan@nubilosoft.com>
Co-authored-by: Mitch Bradley <wmb@firmworks.com>
Co-authored-by: Bart Dring <bdring@buildlog.net>

* Basic testing Complete

* Made state variable volatile.

* Homing cycle settings (#613)

* Initial Tests Complete

* Update Grbl.h

* Update variables

Co-authored-by: Mitch Bradley <wmb@firmworks.com>

* fixed dual switches when inverted (#614)

* fixed dual switches when inverted

* Removed debug message

* Cleaning up the machine defs

Removed unused #defines.

* Store coordinate offsets in NVS (#611)

* Store coordinate offsets in NVS

* Handle both old Eeprom formats

* Implementing fixes (#616)

- Stop creating additional tasks when limit_init() gets called again from homing and resets
- Explicitly delete an object that was causing a memory loss.

* Update Grbl.h

* Tweak memory fix and add $H check for $Homing/Cycles

* Fix G28.1 and G30.1

* Update Grbl.h

* Homing cycle defaults (#624)

* Changed to add homing cycle defaults

There needs to be a way to set the homing cycle defaults in a machine definition.
There will likely be a better way to do this in the future.

* Update 10vSpindle.cpp

Had wrong error message

* Fixed typos and removed obsolete #defines

* Probe cleanup (#625)

* Cleanup probing code

* Update Grbl.h

* Update after review

* Update error_codes_en_US.csv

Co-authored-by: Stefan de Bruijn <atlaste@users.noreply.github.com>
Co-authored-by: Stefan de Bruijn <stefan@nubilosoft.com>
Co-authored-by: Mitch Bradley <wmb@firmworks.com>
Co-authored-by: Bart Dring <bdring@buildlog.net>

Grbl_Esp32/src/Defaults.h

@@ -118,6 +118,30 @@
 #    define DEFAULT_HOMING_SQUARED_AXES 0
 #endif
 
+#ifndef DEFAULT_HOMING_CYCLE_0
+#    define DEFAULT_HOMING_CYCLE_0 bit(Z_AXIS)
+#endif
+
+#ifndef DEFAULT_HOMING_CYCLE_1
+#    define DEFAULT_HOMING_CYCLE_1 (bit(X_AXIS) | bit(Y_AXIS))
+#endif
+
+#ifndef DEFAULT_HOMING_CYCLE_2
+#    define DEFAULT_HOMING_CYCLE_2 0
+#endif
+
+#ifndef DEFAULT_HOMING_CYCLE_3
+#    define DEFAULT_HOMING_CYCLE_3 0
+#endif
+
+#ifndef DEFAULT_HOMING_CYCLE_4
+#    define DEFAULT_HOMING_CYCLE_4 0
+#endif
+
+#ifndef DEFAULT_HOMING_CYCLE_5
+#    define DEFAULT_HOMING_CYCLE_5 0
+#endif
+
 // ======== SPINDLE STUFF ====================
 #ifndef SPINDLE_TYPE
 #    define SPINDLE_TYPE SpindleType::NONE
@@ -575,6 +599,10 @@
 #    define USER_ANALOG_PIN_3 UNDEFINED_PIN
 #endif
 
+#ifndef PROBE_PIN
+#    define PROBE_PIN UNDEFINED_PIN
+#endif
+
 #ifndef USER_ANALOG_PIN_0_FREQ
 #    define USER_ANALOG_PIN_0_FREQ 5000
 #endif

Grbl_Esp32/src/GCode.cpp

@@ -271,10 +271,11 @@ Error gc_execute_line(char* line, uint8_t client) {
                         mg_word_bit           = ModalGroup::MG1;
                         break;
                     case 38:  // G38 - probe
-#ifndef PROBE_PIN             //only allow G38 "Probe" commands if a probe pin is defined.
-                        grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "No probe pin defined");
-                        FAIL(Error::GcodeUnsupportedCommand);  // [Unsupported G command]
-#endif
+                        //only allow G38 "Probe" commands if a probe pin is defined.
+                        if (PROBE_PIN == UNDEFINED_PIN) {
+                            grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "No probe pin defined");
+                            FAIL(Error::GcodeUnsupportedCommand);  // [Unsupported G command]
+                        }
                         // Check for G0/1/2/3/38 being called with G10/28/30/92 on same block.
                         // * G43.1 is also an axis command but is not explicitly defined this way.
                         if (axis_command != AxisCommand::None) {

Grbl_Esp32/src/Grbl.h

@@ -23,7 +23,7 @@
 // Grbl versioning system
 
 const char* const GRBL_VERSION       = "1.3a";
-const char* const GRBL_VERSION_BUILD = "20200929";
+const char* const GRBL_VERSION_BUILD = "20201004";
 
 //#include <sdkconfig.h>
 #include <Arduino.h>

Grbl_Esp32/src/Machines/6_pack_Lowrider_stepstick_v1.h

@@ -47,29 +47,27 @@
 
 #define STEPPER_RESET           GPIO_NUM_19
 
-// Mosor Socket #1
+// Motor Socket #1
 #define X_DISABLE_PIN           I2SO(0)
 #define X_DIRECTION_PIN         I2SO(1)
 #define X_STEP_PIN              I2SO(2)
-#define X_AXIS_SQUARING
 
-// Mosor Socket #2
+// Motor Socket #2
 #define Y_DIRECTION_PIN         I2SO(4)
 #define Y_STEP_PIN              I2SO(5)
 #define Y_DISABLE_PIN           I2SO(7)
-#define Y_AXIS_SQUARING
 
-// Mosor Socket #3
+// Motor Socket #3
 #define Y2_DISABLE_PIN           I2SO(8)
 #define Y2_DIRECTION_PIN         I2SO(9)
 #define Y2_STEP_PIN              I2SO(10)
 
-// Mosor Socket #4
+// Motor Socket #4
 #define Z_DIRECTION_PIN         I2SO(12)
 #define Z_STEP_PIN              I2SO(13)
 #define Z_DISABLE_PIN           I2SO(15)
 
-// Mosor Socket #5
+// Motor Socket #5
 #define Z2_DISABLE_PIN           I2SO(16)
 #define Z2_DIRECTION_PIN         I2SO(17)
 #define Z2_STEP_PIN              I2SO(18)

Grbl_Esp32/src/Machines/6_pack_MPCNC_stepstick_v1.h

@@ -47,29 +47,27 @@
 
 #define STEPPER_RESET           GPIO_NUM_19
 
-// Mosor Socket #1
+// Motor Socket #1
 #define X_DISABLE_PIN           I2SO(0)
 #define X_DIRECTION_PIN         I2SO(1)
 #define X_STEP_PIN              I2SO(2)
-#define X_AXIS_SQUARING
 
-// Mosor Socket #2
+// Motor Socket #2
 #define Y_DIRECTION_PIN         I2SO(4)
 #define Y_STEP_PIN              I2SO(5)
 #define Y_DISABLE_PIN           I2SO(7)
-#define Y_AXIS_SQUARING
 
-// Mosor Socket #3
+// Motor Socket #3
 #define Z_DISABLE_PIN           I2SO(8)
 #define Z_DIRECTION_PIN         I2SO(9)
 #define Z_STEP_PIN              I2SO(10)
 
-// Mosor Socket #4
+// Motor Socket #4
 #define X2_DIRECTION_PIN         I2SO(12)
 #define X2_STEP_PIN              I2SO(13)
 #define X2_DISABLE_PIN           I2SO(15)
 
-// Mosor Socket #5
+// Motor Socket #5
 #define Y2_DISABLE_PIN           I2SO(16)
 #define Y2_DIRECTION_PIN         I2SO(17)
 #define Y2_STEP_PIN              I2SO(18)

Grbl_Esp32/src/Machines/6_pack_stepstick_XYZ_v1.h

@@ -26,16 +26,6 @@
 
 #define N_AXIS 3
 
-#ifdef HOMING_CYCLE_0
-    #undef HOMING_CYCLE_0
-#endif
-#define HOMING_CYCLE_0 bit(Z_AXIS) // Z first
-
-#ifdef HOMING_CYCLE_1
-    #undef HOMING_CYCLE_1
-#endif
-#define HOMING_CYCLE_1 (bit(X_AXIS)|bit(Y_AXIS))
-
 // === Special Features
 
 // I2S (steppers & other output-only pins)
@@ -110,27 +100,27 @@ Socket #5
 
 */
 
-/*
+
 // 4x Input Module in Socket #1
 // https://github.com/bdring/6-Pack_CNC_Controller/wiki/4x-Switch-Input-module
 #define X_LIMIT_PIN                 GPIO_NUM_33
 #define Y_LIMIT_PIN                 GPIO_NUM_32
 #define Z_LIMIT_PIN                 GPIO_NUM_35
-*/
 
-// 4x Input Module in Socket #2
-// https://github.com/bdring/6-Pack_CNC_Controller/wiki/4x-Switch-Input-module
-#define X_LIMIT_PIN                 GPIO_NUM_2
-#define Y_LIMIT_PIN                 GPIO_NUM_25
-#define Z_LIMIT_PIN                 GPIO_NUM_39
 
-// 4x Input Module in Socket #3
-// https://github.com/bdring/6-Pack_CNC_Controller/wiki/4x-Switch-Input-module
-#define CONTROL_CYCLE_START_PIN      GPIO_NUM_26
-#define CONTROL_FEED_HOLD_PIN        GPIO_NUM_4
-#define CONTROL_RESET_PIN            GPIO_NUM_16
-#define CONTROL_SAFETY_DOOR_PIN      GPIO_NUM_27
-//#define INVERT_CONTROL_PIN_MASK      B0000
+// // 4x Input Module in Socket #2
+// // https://github.com/bdring/6-Pack_CNC_Controller/wiki/4x-Switch-Input-module
+// #define X_LIMIT_PIN                 GPIO_NUM_2
+// #define Y_LIMIT_PIN                 GPIO_NUM_25
+// #define Z_LIMIT_PIN                 GPIO_NUM_39
+
+// // 4x Input Module in Socket #3
+// // https://github.com/bdring/6-Pack_CNC_Controller/wiki/4x-Switch-Input-module
+// #define CONTROL_CYCLE_START_PIN      GPIO_NUM_26
+// #define CONTROL_FEED_HOLD_PIN        GPIO_NUM_4
+// #define CONTROL_RESET_PIN            GPIO_NUM_16
+// #define CONTROL_SAFETY_DOOR_PIN      GPIO_NUM_27
+// //#define INVERT_CONTROL_PIN_MASK      B0000
 
 
 // ================= Setting Defaults ==========================

Grbl_Esp32/src/Machines/midtbot.h

@@ -54,6 +54,9 @@
 #define SPINDLE_TYPE SpindleType::NONE
 
 // defaults
+#define DEFAULT_HOMING_CYCLE_0      bit(Y_AXIS)
+#define DEFAULT_HOMING_CYCLE_1      bit(X_AXIS)
+
 #define DEFAULT_STEP_PULSE_MICROSECONDS 3
 #define DEFAULT_STEPPER_IDLE_LOCK_TIME  255 // stay on
 

Grbl_Esp32/src/Machines/test_drive.h

@@ -37,6 +37,15 @@
 
 #define MACHINE_NAME "Test Drive - Demo Only No I/O!"
 
+// This cannot use homing because there are no switches
+#ifdef DEFAULT_HOMING_CYCLE_0
+    #undef DEFAULT_HOMING_CYCLE_0
+#endif
+
+#ifdef DEFAULT_HOMING_CYCLE_1
+    #undef DEFAULT_HOMING_CYCLE_1
+#endif
+
 #define SPINDLE_TYPE    SpindleType::NONE
 
 #ifdef USE_RMT_STEPS

Grbl_Esp32/src/MotionControl.cpp

@@ -375,14 +375,13 @@ GCUpdatePos mc_probe_cycle(float* target, plan_line_data_t* pl_data, uint8_t par
     uint8_t is_probe_away = bit_istrue(parser_flags, GCParserProbeIsAway);
     uint8_t is_no_error   = bit_istrue(parser_flags, GCParserProbeIsNoError);
     sys.probe_succeeded   = false;  // Re-initialize probe history before beginning cycle.
-    probe_configure_invert_mask(is_probe_away);
+    set_probe_direction(is_probe_away);
     // After syncing, check if probe is already triggered. If so, halt and issue alarm.
     // NOTE: This probe initialization error applies to all probing cycles.
-    if (probe_get_state()) {  // Check probe pin state.
+    if (probe_get_state() ^ is_probe_away) {  // Check probe pin state.
         system_set_exec_alarm(ExecAlarm::ProbeFailInitial);
         protocol_execute_realtime();
-        probe_configure_invert_mask(false);  // Re-initialize invert mask before returning.
-        return GCUpdatePos::None;            // Nothing else to do but bail.
+        return GCUpdatePos::None;  // Nothing else to do but bail.
     }
     // Setup and queue probing motion. Auto cycle-start should not start the cycle.
     mc_line(target, pl_data);
@@ -407,9 +406,8 @@ GCUpdatePos mc_probe_cycle(float* target, plan_line_data_t* pl_data, uint8_t par
     } else {
         sys.probe_succeeded = true;  // Indicate to system the probing cycle completed successfully.
     }
-    sys_probe_state = PROBE_OFF;         // Ensure probe state monitor is disabled.
-    probe_configure_invert_mask(false);  // Re-initialize invert mask.
-    protocol_execute_realtime();         // Check and execute run-time commands
+    sys_probe_state = PROBE_OFF;  // Ensure probe state monitor is disabled.
+    protocol_execute_realtime();  // Check and execute run-time commands
     // Reset the stepper and planner buffers to remove the remainder of the probe motion.
     st_reset();            // Reset step segment buffer.
     plan_reset();          // Reset planner buffer. Zero planner positions. Ensure probing motion is cleared.

Grbl_Esp32/src/Probe.cpp

@@ -24,47 +24,40 @@
 #include "Grbl.h"
 
 // Inverts the probe pin state depending on user settings and probing cycle mode.
-uint8_t probe_invert_mask;
+static bool is_probe_away;
 
 // Probe pin initialization routine.
 void probe_init() {
-#ifdef PROBE_PIN
-#    ifdef DISABLE_PROBE_PIN_PULL_UP
-    pinMode(PROBE_PIN, INPUT);
-#    else
-    pinMode(PROBE_PIN, INPUT_PULLUP);  // Enable internal pull-up resistors. Normal high operation.
-#    endif
-    probe_configure_invert_mask(false);  // Initialize invert mask.
+    static bool show_init_msg = true;  // used to show message only once.
+
+    if (PROBE_PIN != UNDEFINED_PIN) {
+#ifdef DISABLE_PROBE_PIN_PULL_UP
+        pinMode(PROBE_PIN, INPUT);
+#else
+        pinMode(PROBE_PIN, INPUT_PULLUP);  // Enable internal pull-up resistors. Normal high operation.
 #endif
-}
 
-// Called by probe_init() and the mc_probe() routines. Sets up the probe pin invert mask to
-// appropriately set the pin logic according to setting for normal-high/normal-low operation
-// and the probing cycle modes for toward-workpiece/away-from-workpiece.
-void probe_configure_invert_mask(uint8_t is_probe_away) {
-    probe_invert_mask = 0;  // Initialize as zero.
-    if (probe_invert->get()) {
-        probe_invert_mask ^= PROBE_MASK;
-    }
-    if (is_probe_away) {
-        probe_invert_mask ^= PROBE_MASK;
+        if (show_init_msg) {
+            grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "Probe on pin %s", pinName(PROBE_PIN).c_str());
+            show_init_msg = false;
+        }
     }
 }
 
+void set_probe_direction(bool is_away) {
+    is_probe_away = is_away;
+}
+
 // Returns the probe pin state. Triggered = true. Called by gcode parser and probe state monitor.
-uint8_t probe_get_state() {
-#ifdef PROBE_PIN
-    return digitalRead(PROBE_PIN) ^ probe_invert_mask;
-#else
-    return false;
-#endif
+bool probe_get_state() {
+    return digitalRead(PROBE_PIN) ^ probe_invert->get();
 }
 
 // Monitors probe pin state and records the system position when detected. Called by the
 // stepper ISR per ISR tick.
 // NOTE: This function must be extremely efficient as to not bog down the stepper ISR.
 void probe_state_monitor() {
-    if (probe_get_state()) {
+    if (probe_get_state() ^ is_probe_away) {
         sys_probe_state = PROBE_OFF;
         memcpy(sys_probe_position, sys_position, sizeof(sys_position));
         bit_true(sys_rt_exec_state, EXEC_MOTION_CANCEL);

Grbl_Esp32/src/Probe.h

@@ -30,13 +30,11 @@ const int PROBE_ACTIVE = 1;  // Actively watching the input pin.
 // Probe pin initialization routine.
 void probe_init();
 
-// Called by probe_init() and the mc_probe() routines. Sets up the probe pin invert mask to
-// appropriately set the pin logic according to setting for normal-high/normal-low operation
-// and the probing cycle modes for toward-workpiece/away-from-workpiece.
-void probe_configure_invert_mask(uint8_t is_probe_away);
+// setup probing direction G38.2 vs. G38.4
+void set_probe_direction(bool is_away);
 
 // Returns probe pin state. Triggered = true. Called by gcode parser and probe state monitor.
-uint8_t probe_get_state();
+bool probe_get_state();
 
 // Monitors probe pin state and records the system position when detected. Called by the
 // stepper ISR per ISR tick.

Grbl_Esp32/src/Settings.cpp

@@ -537,6 +537,10 @@ void FlagSetting::setDefault() {
 
 Error FlagSetting::setStringValue(char* s) {
     s             = trim(s);
+    Error err = check(s);
+    if (err != Error::Ok) {
+        return err;
+    }
     _currentValue = (strcasecmp(s, "on") == 0) || (strcasecmp(s, "true") == 0) || (strcasecmp(s, "enabled") == 0) ||
                     (strcasecmp(s, "yes") == 0) || (strcasecmp(s, "1") == 0);
     // _storedValue is -1, 0, or 1

Grbl_Esp32/src/SettingsDefinitions.cpp

@@ -375,9 +375,10 @@ void make_settings() {
     spindle_type           = new EnumSetting(NULL, EXTENDED, WG, NULL, "Spindle/Type", static_cast<int8_t>(SPINDLE_TYPE), &spindleTypes);
     stallguard_debug_mask  = new AxisMaskSetting(EXTENDED, WG, NULL, "Report/StallGuard", 0, checkStallguardDebugMask);
 
-    const char* homing_names[] = { "Homing/Cycle0", "Homing/Cycle1", "Homing/Cycle2",
-                                   "Homing/Cycle3", "Homing/Cycle4", "Homing/Cycle5" };
-    for (uint8_t i = 0; i < MAX_N_AXIS; i++) {        
-        homing_cycle[i] = new AxisMaskSetting(EXTENDED, WG, NULL, homing_names[i], 0);
-    }
+    homing_cycle[0] = new AxisMaskSetting(EXTENDED, WG, NULL, "Homing/Cycle0", DEFAULT_HOMING_CYCLE_0);
+    homing_cycle[1] = new AxisMaskSetting(EXTENDED, WG, NULL, "Homing/Cycle1", DEFAULT_HOMING_CYCLE_1);
+    homing_cycle[2] = new AxisMaskSetting(EXTENDED, WG, NULL, "Homing/Cycle2", DEFAULT_HOMING_CYCLE_2);
+    homing_cycle[3] = new AxisMaskSetting(EXTENDED, WG, NULL, "Homing/Cycle3", DEFAULT_HOMING_CYCLE_3);
+    homing_cycle[4] = new AxisMaskSetting(EXTENDED, WG, NULL, "Homing/Cycle4", DEFAULT_HOMING_CYCLE_4);
+    homing_cycle[5] = new AxisMaskSetting(EXTENDED, WG, NULL, "Homing/Cycle5", DEFAULT_HOMING_CYCLE_5);
 }

Grbl_Esp32/src/Spindles/10vSpindle.cpp

@@ -44,7 +44,7 @@ namespace Spindles {
 #endif
 
         if (_output_pin == UNDEFINED_PIN) {
-            grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "Warning: BESC output pin not defined");
+            grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "Warning: Spindle output pin not defined");
             return;  // We cannot continue without the output pin
         }
 

doc/csv/error_codes_en_US.csv

@@ -16,6 +16,7 @@
 "15","Travel exceeded","Jog target exceeds machine travel. Jog command has been ignored."
 "16","Invalid jog command","Jog command has no '=' or contains prohibited g-code."
 "17","Setting disabled","Laser mode requires PWM output."
+"18","No Homing/Cycle defined in settings","Set some $homing/CycleX= Settings"
 "20","Unsupported command","Unsupported or invalid g-code command found in block."
 "21","Modal group violation","More than one g-code command from same modal group found in block."
 "22","Undefined feed rate","Feed rate has not yet been set or is undefined."