Improved handling of extended M commands (plugin based) command words.

Fixes issues for programs containing extended M-codes using single meaning words (which they as a rule should not do).
Added core support for spindle encoder binding to spindles.
Added sorting of spindle report: enabled spindles are sorted first in order of spindle number, disabled by type then spindle id.
Changed realtime report to report spindle number instead of spindle id on changes in the |S: element.

Author: terjeio

changelog.md

@@ -1,5 +1,40 @@
 ## grblHAL changelog
 
+<a name="20240812">Build 20240812
+
+Core:
+
+* Improved handling of extended M commands \(plugin based\) command words. Fixes issues for programs containing extended M-codes using single meaning words \(which they as a rule should not do\).
+
+* Added core support for spindle encoder binding to spindles.
+
+* Added sorting of spindle report: enabled spindles are sorted first in order of spindle number, disabled by type then spindle id.
+
+* Changed realtime report to report spindle number instead of spindle id on changes in the `|S:` element. Part of fix for ioSender [issue #399](https://github.com/terjeio/ioSender/issues/399).
+
+Drivers:
+
+* imXRT1061, MSP432, STM32F4xx, STM32F7xx: Updated to take advandage of new spindle encoder binding functionality.
+
+Plugins:
+
+* Spindle: updated relevant drivers to use new spindle encoder binding functionality, simplified code. Fixes [issue #30](https://github.com/grblHAL/Plugins_spindle/issues/30).
+
+---
+
+<a name="20240805">Build 20240805
+
+Core:
+
+* Added function for getting speed \(RPM\) of stepper controlled by secondary stepper motor driver.
+
+Plugins:
+
+* Spindle: stepper spindle code now uses new function for getting speed \(RPM\) of motor.
+HAL functions for getting spindle data \(actual RPM, angular position etc.\) directed to stepper spindle code,
+
+---
+
 <a name="20240801">Build 20240801
 
 Core:

gcode.c

@@ -848,7 +848,7 @@ status_code_t gc_execute_block (char *block)
     // Initialize command and value words and parser flags variables.
     modal_groups_t command_words = {0};         // Bitfield for tracking G and M command words. Also used for modal group violations.
     gc_parser_flags_t gc_parser_flags = {0};    // Parser flags for handling special cases.
-    static parameter_words_t user_words = {0};  // User M-code words "taken"
+    parameter_words_t user_words = {0};         // User M-code words "taken"
 
     // Determine if the line is a jogging motion or a normal g-code block.
     if (block[0] == '$') { // NOTE: `$J=` already parsed when passed to this function.
@@ -1680,6 +1680,24 @@ status_code_t gc_execute_block (char *block)
     // same way. If there is an explicit/implicit axis command, XYZ words are always used and are
     // are removed at the end of error-checking.
 
+    // [0. User defined M commands ]:
+    if(command_words.M10 && gc_block.user_mcode) {
+
+        user_words.mask = gc_block.words.mask;
+        if((int_value = (uint_fast16_t)hal.user_mcode.validate(&gc_block, &gc_block.words)))
+            FAIL((status_code_t)int_value);
+        user_words.mask ^= gc_block.words.mask; // Flag "taken" words for execution
+
+        if(user_words.i)
+            ijk_words.i = Off;
+        if(user_words.j)
+            ijk_words.j = Off;
+        if(user_words.k)
+            ijk_words.k = Off;
+
+        axis_words.mask = 0;
+    }
+
     // [1. Comments ]: MSG's may be supported by driver layer. Comment handling performed by protocol.
 
     // [2. Set feed rate mode ]: G93 F word missing with G1,G2/3 active, implicitly or explicitly. Feed rate
@@ -1736,7 +1754,7 @@ status_code_t gc_execute_block (char *block)
 
     // [4. Set spindle speed and address spindle ]: S or D is negative (done.)
     if(gc_block.words.$) {
-        bool single_spindle_only = (gc_block.words.s && !user_words.s) ||
+        bool single_spindle_only = gc_block.words.s ||
                                     (command_words.G0 && (gc_block.modal.motion == MotionMode_SpindleSynchronized ||
                                                            gc_block.modal.motion == MotionMode_RigidTapping ||
                                                             gc_block.modal.motion == MotionMode_Threading)) ||
@@ -1779,11 +1797,11 @@ status_code_t gc_execute_block (char *block)
         gc_state.modal.spindle.rpm_mode = gc_block.modal.spindle.rpm_mode;
     }
 
-    spindle_event = gc_block.words.s && !user_words.s;
+    spindle_event = gc_block.words.s;
 
-    if (!gc_block.words.s)
+    if(!gc_block.words.s)
         gc_block.values.s = gc_state.modal.spindle.rpm_mode == SpindleSpeedMode_RPM ? gc_state.spindle.rpm : gc_state.spindle.hal->param->css.max_rpm;
-    else if(!user_words.s && gc_state.modal.spindle.rpm_mode == SpindleSpeedMode_CSS) {
+    else if(gc_state.modal.spindle.rpm_mode == SpindleSpeedMode_CSS) {
         // Unsure what to do about S values when in SpindleSpeedMode_CSS - ignore? For now use it to (re)calculate surface speed.
         // Reinsert commented out code above if this is removed!!
         gc_block.values.s *= (gc_block.modal.units_imperial ? MM_PER_INCH * 12.0f : 1000.0f); // convert surface speed to mm/min
@@ -1796,9 +1814,9 @@ status_code_t gc_execute_block (char *block)
     if(set_tool) { // M61
         if(!gc_block.words.q)
             FAIL(Status_GcodeValueWordMissing);
-        if (floorf(gc_block.values.q) - gc_block.values.q != 0.0f)
+        if(!isintf(gc_block.values.q))
             FAIL(Status_GcodeCommandValueNotInteger);
-        if ((uint32_t)gc_block.values.q > (grbl.tool_table.n_tools ? grbl.tool_table.n_tools : MAX_TOOL_NUMBER))
+        if((uint32_t)gc_block.values.q > (grbl.tool_table.n_tools ? grbl.tool_table.n_tools : MAX_TOOL_NUMBER))
             FAIL(Status_GcodeIllegalToolTableEntry);
 
         gc_block.values.t = (uint32_t)gc_block.values.q;
@@ -1815,7 +1833,7 @@ status_code_t gc_execute_block (char *block)
             }
         }
 #endif
-    } else if (!gc_block.words.t)
+    } else if(!gc_block.words.t)
         gc_block.values.t = gc_state.tool_pending;
 
     if(command_words.M10 && port_command) {
@@ -1952,15 +1970,6 @@ status_code_t gc_execute_block (char *block)
         }
     }
 
-    // [9a. User defined M commands ]:
-    if (command_words.M10 && gc_block.user_mcode) {
-        user_words.mask = gc_block.words.mask;
-        if((int_value = (uint_fast16_t)hal.user_mcode.validate(&gc_block, &gc_block.words)))
-            FAIL((status_code_t)int_value);
-        user_words.mask ^= gc_block.words.mask; // Flag "taken" words for execution
-        axis_words.mask = ijk_words.mask = 0;
-    }
-
     // [10. Dwell ]: P value missing. NOTE: See below.
     if (gc_block.non_modal_command == NonModal_Dwell) {
         if (!gc_block.words.p)
@@ -3071,7 +3080,7 @@ status_code_t gc_execute_block (char *block)
         }
     }
 
-    if(!user_words.s && ((gc_state.spindle.rpm != gc_block.values.s) || gc_parser_flags.spindle_force_sync)) {
+    if(gc_state.spindle.rpm != gc_block.values.s || gc_parser_flags.spindle_force_sync) {
         if(gc_state.modal.spindle.state.on && !gc_parser_flags.laser_is_motion) {
             if(gc_block.spindle) {
                 gc_block.spindle->param->rpm = gc_block.values.s;
@@ -3215,7 +3224,7 @@ status_code_t gc_execute_block (char *block)
         bool spindle_ok = false;
         if(gc_block.spindle) {
             if(grbl.on_spindle_programmed)
-                grbl.on_spindle_programmed(gc_block.spindle, gc_block.modal.spindle.state,  plan_data.spindle.rpm, gc_block.modal.spindle.rpm_mode);
+                grbl.on_spindle_programmed(gc_block.spindle, gc_block.modal.spindle.state, plan_data.spindle.rpm, gc_block.modal.spindle.rpm_mode);
             if((spindle_ok = spindle_sync(gc_block.spindle, gc_block.modal.spindle.state, plan_data.spindle.rpm)))
                 gc_block.spindle->param->state = gc_block.modal.spindle.state;
         } else {
@@ -3224,7 +3233,7 @@ status_code_t gc_execute_block (char *block)
                 if(spindle_is_enabled(--idx)) {
                     spindle_ptrs_t *spindle = spindle_get(idx);
                     if(grbl.on_spindle_programmed)
-                        grbl.on_spindle_programmed(spindle, gc_block.modal.spindle.state,  plan_data.spindle.rpm, gc_block.modal.spindle.rpm_mode);
+                        grbl.on_spindle_programmed(spindle, gc_block.modal.spindle.state, plan_data.spindle.rpm, gc_block.modal.spindle.rpm_mode);
                     if(spindle_sync(spindle, gc_block.modal.spindle.state, plan_data.spindle.rpm))
                         spindle->param->state = gc_block.modal.spindle.state;
                     else

grbl.h

@@ -42,7 +42,7 @@
 #else
 #define GRBL_VERSION "1.1f"
 #endif
-#define GRBL_BUILD 20240801
+#define GRBL_BUILD 20240812
 
 #define GRBL_URL "https://github.com/grblHAL"
 

modbus.h

@@ -25,7 +25,7 @@
 #define _MODBUS_H_
 
 #ifndef MODBUS_MAX_ADU_SIZE
-#define MODBUS_MAX_ADU_SIZE 10
+#define MODBUS_MAX_ADU_SIZE 12
 #endif
 #ifndef MODBUS_QUEUE_LENGTH
 #define MODBUS_QUEUE_LENGTH 8

report.c

@@ -333,6 +333,16 @@ static void report_help_message (void)
     hal.stream.write("[HLP:$$ $# $G $I $N $x=val $Nx=line $J=line $SLP $C $X $H $B ~ ! ? ctrl-x]" ASCII_EOL);
 }
 
+// Prints plugin info.
+void report_plugin (const char *name, const char *version)
+{
+    hal.stream.write("[PLUGIN:");
+    hal.stream.write(name);
+    hal.stream.write(" v");
+    hal.stream.write(version);
+    hal.stream.write("]" ASCII_EOL);
+}
+
 static bool report_group_settings (const setting_group_detail_t *groups, const uint_fast8_t n_groups, char *args)
 {
     bool found = false;
@@ -1088,7 +1098,6 @@ void report_build_info (char *line, bool extended)
     }
 }
 
-
 // Prints the character string line grblHAL has received from the user, which has been pre-parsed,
 // and has been sent into protocol_execute_line() routine to be executed by grblHAL.
 void report_echo_line_received (char *line)
@@ -1098,6 +1107,15 @@ void report_echo_line_received (char *line)
     hal.stream.write("]" ASCII_EOL);
 }
 
+#if N_SYS_SPINDLE == 1 &&  N_SPINDLE > 1
+
+static void report_spindle_num (spindle_info_t *spindle, void *data)
+{
+    if(spindle->id == *((spindle_id_t *)data))
+        hal.stream.write_all(appendbuf(2, "|S:", uitoa((uint32_t)spindle->num)));
+}
+
+#endif
 
  // Prints real-time data. This function grabs a real-time snapshot of the stepper subprogram
  // and the actual location of the CNC machine. Users may change the following function to their
@@ -1246,7 +1264,7 @@ void report_realtime_status (void)
 
 #elif N_SPINDLE > 1
     if(report.spindle_id)
-        hal.stream.write_all(appendbuf(2, "|S:", uitoa((uint32_t)spindle_0->id)));
+        spindle_enumerate_spindles(report_spindle_num, &spindle_0->id);
 #endif
 
     if(settings.status_report.pin_state) {
@@ -2516,9 +2534,56 @@ static void report_spindle (spindle_info_t *spindle, void *data)
     }
 }
 
+#if N_SPINDLE > 1
+
+typedef struct {
+    uint32_t idx;
+    uint32_t n_spindles;
+    spindle_info_t *spindles;
+} spindle_rdata_t;
+
+static void get_spindles (spindle_info_t *spindle, void *data)
+{
+    memcpy(&((spindle_rdata_t *)data)->spindles[((spindle_rdata_t *)data)->idx++], spindle, sizeof(spindle_info_t));
+}
+
+static int cmp_spindles (const void *a, const void *b)
+{
+    uint32_t key_a = ((spindle_info_t *)a)->num == -1 ? ((((spindle_info_t *)a)->hal->type + 1) << 8) | ((spindle_info_t *)a)->id : ((spindle_info_t *)a)->num,
+             key_b = ((spindle_info_t *)b)->num == -1 ? ((((spindle_info_t *)b)->hal->type + 1) << 8) | ((spindle_info_t *)b)->id : ((spindle_info_t *)b)->num;
+
+    return key_a - key_b;
+}
+
+#endif
+
 status_code_t report_spindles (bool machine_readable)
 {
-    if(!spindle_enumerate_spindles(report_spindle, (void *)machine_readable) && !machine_readable)
+    bool has_spindles;
+
+#if N_SPINDLE > 1
+
+    spindle_rdata_t spindle_data = {0};
+
+    if((spindle_data.spindles = malloc(N_SPINDLE * sizeof(spindle_info_t)))) {
+
+        has_spindles = spindle_enumerate_spindles(get_spindles, &spindle_data);
+
+        spindle_data.n_spindles = spindle_data.idx;
+
+        qsort(spindle_data.spindles, spindle_data.n_spindles, sizeof(spindle_info_t), cmp_spindles);
+        for(spindle_data.idx = 0; spindle_data.idx < spindle_data.n_spindles; spindle_data.idx++)
+            report_spindle(&spindle_data.spindles[spindle_data.idx], (void *)machine_readable);
+
+        free(spindle_data.spindles);
+
+    } else
+
+#endif
+
+    has_spindles = spindle_enumerate_spindles(report_spindle, (void *)machine_readable);
+
+    if(!has_spindles && !machine_readable)
         hal.stream.write("No spindles registered." ASCII_EOL);
 
     return Status_OK;

report.h

@@ -52,6 +52,8 @@ void report_warning (void *message);
 // Prints Grbl help.
 status_code_t report_help (char *args);
 
+void report_plugin (const char *name, const char *version);
+
 // Prints Grbl settings
 void report_grbl_settings (bool all, void *data);