More fixes for issue grblHAL#332: setting tool table data cleared cur…

…rent coordinate system offset, incomplete handling of G10 L10 and L11. Added free memory to $I output when available, example: [FREE MEMORY:102K] Changed reported position for failed probe to target. Parameters #5061 - #5069 returns position in coordinate system used when probing.
rcp1 · Aug 8, 2023 · 244bbb3 · 244bbb3
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diff --git a/README.md b/README.md
@@ -13,7 +13,7 @@ It has been written to complement grblHAL and has features such as proper keyboa
 
 ---
 
-Latest build date is 20230729, see the [changelog](changelog.md) for details.  
+Latest build date is 20230808, see the [changelog](changelog.md) for details.  
 __NOTE:__ A settings reset will be performed on an update of builds earlier than 20230125. Backup and restore of settings is recommended.  
 __IMPORTANT!__  A new setting has been introduced for ganged axes motors in build 20211121.  
 I have only bench tested this for a couple of drivers, correct function should be verified after updating by those who have more than three motors configured.  

diff --git a/changelog.md b/changelog.md
@@ -1,5 +1,27 @@
 ## grblHAL changelog
 
+<a name="20230808"/>202300808
+
+Core:
+
+* More fixes for issue #332: setting tool table data cleared current coordinate system offset, incomplete handling of G10 L10 and L11.
+
+* Added free memory to $I output when available, example: `[FREE MEMORY:102K]`
+
+* Changed reported position for failed probe to target. Parameters #5061 - #5069 returns position in coordinate system used when probing.
+
+Drivers:
+
+* RP2040: Added fans plugin.
+
+* STM32F4xx: implemented free memory call.
+
+Plugins:
+
+* Fans: fixed some bugs and typos.
+
+---
+
 <a name="20230805"/>202300805
 
 Core:

diff --git a/gcode.c b/gcode.c
@@ -2140,18 +2140,23 @@ status_code_t gc_execute_block (char *block)
                     if(gc_block.values.l == 11 && !settings_read_coord_data(CoordinateSystem_G59_3, &g59_3_offset))
                         FAIL(Status_SettingReadFail);
 
+                    if(gc_block.values.l == 1)
+                        settings_read_tool_data(p_value, &tool_table[p_value]);
+
                     idx = N_AXIS;
                     do {
-                        if (bit_istrue(axis_words.mask, bit(--idx))) {
+                        if(bit_istrue(axis_words.mask, bit(--idx))) {
                             if(gc_block.values.l == 1)
                                 tool_table[p_value].offset[idx] = gc_block.values.xyz[idx];
                             else if(gc_block.values.l == 10)
-                                tool_table[p_value].offset[idx] = gc_state.position[idx] - gc_state.g92_coord_offset[idx] - gc_block.values.xyz[idx];
+                                tool_table[p_value].offset[idx] = gc_state.position[idx] - gc_state.modal.coord_system.xyz[idx] - gc_state.g92_coord_offset[idx] - gc_block.values.xyz[idx];
                             else if(gc_block.values.l == 11)
                                 tool_table[p_value].offset[idx] = g59_3_offset[idx] - gc_block.values.xyz[idx];
-                            if (gc_block.values.l != 1)
-                                tool_table[p_value].offset[idx] -= gc_state.tool_length_offset[idx];
-                        }
+//                            if(gc_block.values.l != 1)
+//                                tool_table[p_value].offset[idx] -= gc_state.tool_length_offset[idx];
+                        } else if(gc_block.values.l == 10 || gc_block.values.l == 11)
+                            tool_table[p_value].offset[idx] = gc_state.tool_length_offset[idx];
+
                         // else, keep current stored value.
                     } while(idx);
 
@@ -3216,12 +3221,18 @@ status_code_t gc_execute_block (char *block)
     switch(gc_block.non_modal_command) {
 
         case NonModal_SetCoordinateData:
-            settings_write_coord_data(gc_block.values.coord_data.id, &gc_block.values.coord_data.xyz);
-            // Update system coordinate system if currently active.
-            if (gc_state.modal.coord_system.id == gc_block.values.coord_data.id) {
-                memcpy(gc_state.modal.coord_system.xyz, gc_block.values.coord_data.xyz, sizeof(gc_state.modal.coord_system.xyz));
-                system_flag_wco_change();
+#if N_TOOLS
+            if(gc_block.values.l == 2 || gc_block.values.l == 20) {
+#endif
+                settings_write_coord_data(gc_block.values.coord_data.id, &gc_block.values.coord_data.xyz);
+                // Update system coordinate system if currently active.
+                if (gc_state.modal.coord_system.id == gc_block.values.coord_data.id) {
+                    memcpy(gc_state.modal.coord_system.xyz, gc_block.values.coord_data.xyz, sizeof(gc_state.modal.coord_system.xyz));
+                    system_flag_wco_change();
+                }
+#if N_TOOLS
             }
+#endif
             break;
 
         case NonModal_GoHome_0:

diff --git a/grbl.h b/grbl.h
@@ -42,7 +42,7 @@
 #else
 #define GRBL_VERSION "1.1f"
 #endif
-#define GRBL_BUILD 20230805
+#define GRBL_BUILD 20230808
 
 #define GRBL_URL "https://github.com/grblHAL"
 

diff --git a/machine_limits.c b/machine_limits.c
@@ -158,7 +158,7 @@ void limits_set_machine_positions (axes_signals_t cycle, bool add_pulloff)
             sys.home_position[idx] = bit_istrue(settings.homing.dir_mask.value, bit(idx))
                                       ? settings.axis[idx].max_travel + pulloff
                                       : - pulloff;
-            sys.position[idx] = sys.home_position[idx] * settings.axis[idx].steps_per_mm;
+            sys.position[idx] = lroundf(sys.home_position[idx] * settings.axis[idx].steps_per_mm);
         }
     } while(idx);
 }

diff --git a/motion_control.c b/motion_control.c
@@ -944,10 +944,19 @@ status_code_t mc_homing_cycle (axes_signals_t cycle)
 // NOTE: Upon probe failure, the program will be stopped and placed into ALARM state.
 gc_probe_t mc_probe_cycle (float *target, plan_line_data_t *pl_data, gc_parser_flags_t parser_flags)
 {
+    uint_fast8_t idx = N_AXIS;
+
     // TODO: Need to update this cycle so it obeys a non-auto cycle start.
     if (state_get() == STATE_CHECK_MODE)
         return GCProbe_CheckMode;
 
+    do {
+        idx--;
+        sys.probe_position[idx] = lroundf(target[idx] * settings.axis[idx].steps_per_mm);
+    } while(idx);
+
+    sys.probe_coordsys_id = gc_state.modal.coord_system.id;
+
     // Finish all queued commands and empty planner buffer before starting probe cycle.
     if (!protocol_buffer_synchronize())
         return GCProbe_Abort; // Return if system reset has been issued.
@@ -1007,16 +1016,12 @@ gc_probe_t mc_probe_cycle (float *target, plan_line_data_t *pl_data, gc_parser_f
     // Probing cycle complete!
 
     // Set state variables and error out, if the probe failed and cycle with error is enabled.
-    if (sys.probing_state == Probing_Active) {
-        if (parser_flags.probe_is_no_error)
-            memcpy(sys.probe_position, sys.position, sizeof(sys.position));
-        else
+    if(sys.probing_state == Probing_Active) {
+        memcpy(sys.probe_position, sys.position, sizeof(sys.position));
+        if(!parser_flags.probe_is_no_error)
             system_set_exec_alarm(Alarm_ProbeFailContact);
-    } else {
-        // Indicate to system the probing cycle completed successfully.
-        sys.probe_coordsys_id = gc_state.modal.coord_system.id;
-        sys.flags.probe_succeeded = On;
-    }
+    } else
+        sys.flags.probe_succeeded = On; // Indicate to system the probing cycle completed successfully.
 
     sys.probing_state = Probing_Off;    // Ensure probe state monitor is disabled.
     hal.probe.configure(false, false);  // Re-initialize invert mask.

diff --git a/report.c b/report.c
@@ -995,6 +995,12 @@ void report_build_info (char *line, bool extended)
             hal.stream.write("]" ASCII_EOL);
         }
 
+        if(hal.get_free_mem) {
+            hal.stream.write("[FREE MEMORY:");
+            hal.stream.write(uitoa(hal.get_free_mem() / 1024));
+            hal.stream.write("K]" ASCII_EOL);
+        }
+
         if(hal.info) {
             hal.stream.write("[DRIVER:");
             hal.stream.write(hal.info);