Added faster soft limits check for arcs when work envelope is a cuboi…

…d, fixed some related obscure bugs. New/modified core entry points for soft limit checking. More delta robot tuning, added setting warning in $DELTA output if some settings are inconsistent such as steps/rad, acceleration etc. Fix for issue #361, HOME status is not reported or reported late when auto reporting is enabled with setting $481.
grblHAL · Sep 14, 2023 · c3fd2db · c3fd2db
1 parent 049f0f1
commit c3fd2db
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diff --git a/changelog.md b/changelog.md
@@ -1,10 +1,30 @@
 ## grblHAL changelog
 
+<a name="20230913"/>Build 20230913
+
+Core:
+
+* Added faster soft limits check for arcs when work envelope is a cuboid, fixed some related obscure bugs. New/modified core entry points for soft limit checking.
+
+* More delta robot tuning, added setting warning in `$DELTA` output if some settings are inconsistent such as steps/rad, acceleration etc.
+
+* Fix for issue [#361](https://github.com/grblHAL/core/issues/361), `HOME` status is not reported or reported late when auto reporting is enabled with setting `$481`.
+
+Drivers:
+
+* iMXRT1062: fix for MCP3221 ADC regression, [issue #68](https://github.com/grblHAL/iMXRT1062/issues/68#).
+
+* STM32F4xx: SPI pin definition typo, [issue #139](https://github.com/grblHAL/STM32F4xx/issues/139).
+
+* RP2040: workaround for [issue #74](https://github.com/grblHAL/RP2040/issues/74), odd TMC driver addressing.
+
+* Remaining drivers updated for [improved handling of limit inputs](#20230903): 
+
 <a name="20230907"/>Build 20230907
 
 Core:
 
-* Delta robot kinematics tuning: soft limits checks, extended $DELTA command++. Still work in progress \(getting closer to working version\).
+* Delta robot kinematics tuning: soft limits checks, extended `$DELTA` command++. Still work in progress \(getting closer to working version\).
 
 Plugins:
 

diff --git a/core_handlers.h b/core_handlers.h
@@ -78,7 +78,9 @@ typedef struct {
 
 typedef bool (*enqueue_gcode_ptr)(char *data);
 typedef bool (*protocol_enqueue_realtime_command_ptr)(char c);
-typedef bool (*travel_limits_ptr)(float *target, bool is_cartesian);
+typedef bool (*travel_limits_ptr)(float *target, axes_signals_t axes, bool is_cartesian);
+typedef bool (*arc_limits_ptr)(coord_data_t *target, coord_data_t *position, point_2d_t center, float radius, plane_t plane, int32_t turns);
+
 typedef void (*jog_limits_ptr)(float *target, float *position);
 typedef bool (*home_machine_ptr)(axes_signals_t cycle, axes_signals_t auto_square);
 
@@ -175,6 +177,7 @@ typedef struct {
     // core entry points - set up by core before driver_init() is called.
     home_machine_ptr home_machine;
     travel_limits_ptr check_travel_limits;
+    arc_limits_ptr check_arc_travel_limits;
     jog_limits_ptr apply_jog_limits;
     enqueue_gcode_ptr enqueue_gcode;
     enqueue_realtime_command_ptr enqueue_realtime_command;

diff --git a/gcode.c b/gcode.c
@@ -2634,7 +2634,7 @@ status_code_t gc_execute_block (char *block)
                         float h_x2_div_d = 4.0f * gc_block.values.r * gc_block.values.r - x * x - y * y;
 
                         if (h_x2_div_d < 0.0f)
-                            FAIL(Status_GcodeArcRadiusError); // [Arc radius error]
+                            FAIL(Status_GcodeArcRadiusError); // [Arc radius error] TODO: this will fail due to limited float precision...
 
                         // Finish computing h_x2_div_d.
                         h_x2_div_d = -sqrtf(h_x2_div_d) / hypot_f(x, y); // == -(h * 2 / d)
@@ -2845,6 +2845,7 @@ status_code_t gc_execute_block (char *block)
     // Initialize planner data struct for motion blocks.
     plan_line_data_t plan_data;
     memset(&plan_data, 0, sizeof(plan_line_data_t)); // Zero plan_data struct
+    plan_data.condition.target_validated = plan_data.condition.target_valid = sys.soft_limits.mask == 0;
 
     // Intercept jog commands and complete error checking for valid jog commands and execute.
     // NOTE: G-code parser state is not updated, except the position to ensure sequential jog
@@ -3339,16 +3340,16 @@ status_code_t gc_execute_block (char *block)
             case MotionMode_CcwArc:
                 // fail if spindle synchronized motion?
                 mc_arc(gc_block.values.xyz, &plan_data, gc_state.position, gc_block.values.ijk, gc_block.values.r,
-                        plane, gc_parser_flags.arc_is_clockwise ? gc_block.arc_turns : - gc_block.arc_turns);
+                        plane, gc_parser_flags.arc_is_clockwise ? -gc_block.arc_turns : gc_block.arc_turns);
                 break;
 
             case MotionMode_CubicSpline:
                 {
-                    point_2d cp1 = {
+                    point_2d_t cp1 = {
                         .x = gc_state.position[X_AXIS] + gc_block.values.ijk[X_AXIS],
                         .y = gc_state.position[Y_AXIS] + gc_block.values.ijk[Y_AXIS]
                     };
-                    point_2d cp2 = {
+                    point_2d_t cp2 = {
                         .x = gc_block.values.xyz[X_AXIS] + gc_state.modal.spline_pq[X_AXIS],
                         .y = gc_block.values.xyz[Y_AXIS] + gc_state.modal.spline_pq[Y_AXIS]
                     };
@@ -3358,11 +3359,11 @@ status_code_t gc_execute_block (char *block)
 
             case MotionMode_QuadraticSpline:
                 {
-                    point_2d cp1 = {
+                    point_2d_t cp1 = {
                         .x = gc_state.position[X_AXIS] + (gc_block.values.ijk[X_AXIS] * 2.0f) / 3.0f,
                         .y = gc_state.position[Y_AXIS] + (gc_block.values.ijk[Y_AXIS] * 2.0f) / 3.0f
                     };
-                    point_2d cp2 = {
+                    point_2d_t cp2 = {
                         .x = gc_block.values.xyz[X_AXIS] + ((gc_state.position[X_AXIS] + gc_block.values.ijk[X_AXIS] - gc_block.values.xyz[X_AXIS]) * 2.0f) / 3.0f,
                         .y = gc_block.values.xyz[Y_AXIS] + ((gc_state.position[Y_AXIS] + gc_block.values.ijk[Y_AXIS] - gc_block.values.xyz[Y_AXIS]) * 2.0f) / 3.0f
                     };

diff --git a/gcode.h b/gcode.h
@@ -357,10 +357,13 @@ typedef struct {
 } coord_system_t;
 
 //! Axis index to plane assignment.
-typedef struct {
-    uint8_t axis_0;
-    uint8_t axis_1;
-    uint8_t axis_linear;
+typedef union {
+    uint8_t axis[3];
+    struct {
+        uint8_t axis_0;
+        uint8_t axis_1;
+        uint8_t axis_linear;
+    };
 } plane_t;
 
 /*! \brief G- and M-code parameter values

diff --git a/grbl.h b/grbl.h
@@ -42,7 +42,7 @@
 #else
 #define GRBL_VERSION "1.1f"
 #endif
-#define GRBL_BUILD 20230907
+#define GRBL_BUILD 20230913
 
 #define GRBL_URL "https://github.com/grblHAL"