Hardened" task handler code, reseved some realtime control characters for macro plugins.

Added missing file to CMakeLists.txt and made private function public for plugin use.

Author: terjeio

CMakeLists.txt

@@ -38,6 +38,7 @@ target_sources(grbl INTERFACE
  ${CMAKE_CURRENT_LIST_DIR}/ioports.c
  ${CMAKE_CURRENT_LIST_DIR}/vfs.c
  ${CMAKE_CURRENT_LIST_DIR}/canbus.c
+ ${CMAKE_CURRENT_LIST_DIR}/pid.c
  ${CMAKE_CURRENT_LIST_DIR}/kinematics/corexy.c
  ${CMAKE_CURRENT_LIST_DIR}/kinematics/wall_plotter.c
  ${CMAKE_CURRENT_LIST_DIR}/kinematics/delta.c

README.md

@@ -1,6 +1,6 @@
 ## grblHAL ##
 
-Latest build date is 20250311, see the [changelog](changelog.md) for details.  
+Latest build date is 20250320, see the [changelog](changelog.md) for details.  
 
 > [!NOTE]
 >  A settings reset will be performed on an update of builds prior to 20241208. Backup and restore of settings is recommended.  
@@ -89,4 +89,4 @@ G/M-codes not supported by [legacy Grbl](https://github.com/gnea/grbl/wiki) are
 Some [plugins](https://github.com/grblHAL/plugins) implements additional M-codes.
 
 ---
-20250311
+20250320

changelog.md

@@ -1,5 +1,29 @@
 ## grblHAL changelog
 
+<a name="20250320">Build 20250320
+
+Core:
+
+* "Hardened" task handler code, reseved some realtime control characters for macro plugins, added missing file to _CMakeLists.txt_ and made private function public for plugin use.
+
+Drivers:
+
+* ESP32: added tentative support for fourth motor for MKS DLC32 MAX board. Untested.
+
+* RP2040: moved support code for MCP3221 ADC, fixed bug affecting RP2450 IRQ handling for gpio numbers > 31 and added plasma plugin.
+
+* STM32F4xx: expanded check for I2C peripheral beeing ready to accept new commands.
+
+* STM32Fxxxx: updated _my_machine.h_ for display enable change.
+
+Plugins:
+
+* Keypad: added PR [#16](https://github.com/grblHAL/Plugin_keypad/pull/16) and keycode 'o' for cycling through coordinate systems. Changed default macro keycode bindings to new reserved realtime control characters.
+
+* Some: removed Arduino specific include paths.
+
+---
+
 <a name="20250313">Build 20250313
 
 Core:
@@ -12,7 +36,7 @@ Drivers:
 
 Plugins:
 
-* Spindle: fixed issues with stepper spindle enable/disable via S-commands. Related to issue [#30](https://github.com/grblHAL/Plugins_spindle/issues/30).
+* Spindle: added support for setting $677. Fixed issues with stepper spindle enable/disable via S-commands. Related to issue [#30](https://github.com/grblHAL/Plugins_spindle/issues/30).
 
 ---
 

core_handlers.h

@@ -65,11 +65,11 @@ typedef message_code_t (*feedback_message_ptr)(message_code_t message_code);
 typedef alarm_code_t (*alarm_message_ptr)(alarm_code_t alarm_code);
 
 typedef struct {
-    init_message_ptr init_message;          //<! Prints system welcome message.
-    help_message_ptr help_message;          //<! Prints system help message.
-    status_message_ptr status_message;      //<! Prints system status messages.
-    feedback_message_ptr feedback_message;  //<! Prints miscellaneous feedback messages.
-    alarm_message_ptr alarm_message;        //<! Prints alarm message.
+    init_message_ptr init_message;          //!< Prints system welcome message.
+    help_message_ptr help_message;          //!< Prints system help message.
+    status_message_ptr status_message;      //!< Prints system status messages.
+    feedback_message_ptr feedback_message;  //!< Prints miscellaneous feedback messages.
+    alarm_message_ptr alarm_message;        //!< Prints alarm message.
     setting_output_ptr setting;
 } report_t;
 

gcode.c

@@ -166,6 +166,21 @@ parser_state_t *gc_get_state (void)
     return &gc_state;
 }
 
+char *gc_coord_system_to_str (coord_system_id_t id)
+{
+    static char buf[6];
+
+    uint8_t g5x = id + 54;
+
+    strcat(strcpy(buf, "G"), uitoa((uint32_t)(g5x > 59 ? 59 : g5x)));
+    if(g5x > 59) {
+        strcat(buf, ".");
+        strcat(buf, uitoa((uint32_t)(g5x - 59)));
+    }
+
+    return buf;
+}
+
 static void set_spindle_override (spindle_t *spindle, bool disable)
 {
     if(spindle->hal && spindle->hal->param->state.override_disable != disable) {

gcode.h

@@ -702,6 +702,8 @@ float *gc_get_scaling (void);
 // Get current axis offset.
 float gc_get_offset (uint_fast8_t idx, bool real_time);
 
+char *gc_coord_system_to_str (coord_system_id_t id);
+
 void gc_clear_output_commands (output_command_t *cmd);
 
 spindle_t *gc_spindle_get (spindle_num_t spindle);

grbl.h

@@ -42,7 +42,7 @@
 #else
 #define GRBL_VERSION "1.1f"
 #endif
-#define GRBL_BUILD 20250313
+#define GRBL_BUILD 20250317
 
 #define GRBL_URL "https://github.com/grblHAL"
 
@@ -84,52 +84,61 @@
 // g-code programs, maybe selected for interface programs.
 // NOTE: If changed, manually update help message in report.c.
 
-#define CMD_EXIT 0x03 // ctrl-C (ETX)
-#define CMD_REBOOT 0x14 // ctrl-T (DC4) - only acted upon if preceded by 0x1B (ESC)
-#define CMD_RESET 0x18 // ctrl-X (CAN)
-#define CMD_STOP 0x19 // ctrl-Y (EM)
-#define CMD_STATUS_REPORT_LEGACY '?'
-#define CMD_CYCLE_START_LEGACY '~'
-#define CMD_FEED_HOLD_LEGACY '!'
-#define CMD_PROGRAM_DEMARCATION '%'
+#define CMD_EXIT                    0x03 //!< ctrl-C (ETX)
+#define CMD_REBOOT                  0x14 //!< ctrl-T (DC4) - only acted upon if preceded by 0x1B (ESC)
+#define CMD_RESET                   0x18 //!< ctrl-X (CAN)
+#define CMD_STOP                    0x19 //!< ctrl-Y (EM)
+#define CMD_STATUS_REPORT_LEGACY    '?'
+#define CMD_CYCLE_START_LEGACY      '~'
+#define CMD_FEED_HOLD_LEGACY        '!'
+#define CMD_PROGRAM_DEMARCATION     '%'
 
 // NOTE: All override realtime commands must be in the extended ASCII character set, starting
 // at character value 128 (0x80) and up to 255 (0xFF). If the normal set of realtime commands,
 // such as status reports, feed hold, reset, and cycle start, are moved to the extended set
 // space, protocol.c's protocol_process_realtime() will need to be modified to accommodate the change.
-#define CMD_STATUS_REPORT 0x80 // TODO: use 0x05 ctrl-E ENQ instead?
-#define CMD_CYCLE_START 0x81   // TODO: use 0x06 ctrl-F ACK instead? or SYN/DC2/DC3?
-#define CMD_FEED_HOLD 0x82     // TODO: use 0x15 ctrl-U NAK instead?
-#define CMD_GCODE_REPORT 0x83
-#define CMD_SAFETY_DOOR 0x84
-#define CMD_JOG_CANCEL  0x85
+#define CMD_STATUS_REPORT                   0x80 // TODO: use 0x05 ctrl-E ENQ instead?
+#define CMD_CYCLE_START                     0x81 // TODO: use 0x06 ctrl-F ACK instead? or SYN/DC2/DC3?
+#define CMD_FEED_HOLD                       0x82 // TODO: use 0x15 ctrl-U NAK instead?
+#define CMD_GCODE_REPORT                    0x83
+#define CMD_SAFETY_DOOR                     0x84
+#define CMD_JOG_CANCEL                      0x85
 //#define CMD_DEBUG_REPORT 0x86 // Only when DEBUG enabled, sends debug report in '{}' braces.
-#define CMD_STATUS_REPORT_ALL 0x87
-#define CMD_OPTIONAL_STOP_TOGGLE 0x88
-#define CMD_SINGLE_BLOCK_TOGGLE 0x89
-#define CMD_OVERRIDE_FAN0_TOGGLE 0x8A       // Toggle Fan 0 on/off, not implemented by the core.
-#define CMD_MPG_MODE_TOGGLE 0x8B            // Toggle MPG mode on/off, not implemented by the core.
-#define CMD_AUTO_REPORTING_TOGGLE 0x8C      // Toggle auto real time reporting if configured.
-#define CMD_OVERRIDE_FEED_RESET 0x90        // Restores feed override value to 100%.
-#define CMD_OVERRIDE_FEED_COARSE_PLUS 0x91
-#define CMD_OVERRIDE_FEED_COARSE_MINUS 0x92
-#define CMD_OVERRIDE_FEED_FINE_PLUS 0x93
-#define CMD_OVERRIDE_FEED_FINE_MINUS 0x94
-#define CMD_OVERRIDE_RAPID_RESET 0x95       // Restores rapid override value to 100%.
-#define CMD_OVERRIDE_RAPID_MEDIUM 0x96
-#define CMD_OVERRIDE_RAPID_LOW 0x97
+#define CMD_STATUS_REPORT_ALL               0x87
+#define CMD_OPTIONAL_STOP_TOGGLE            0x88
+#define CMD_SINGLE_BLOCK_TOGGLE             0x89
+#define CMD_OVERRIDE_FAN0_TOGGLE            0x8A //!< Toggle Fan 0 on/off, not implemented by the core.
+#define CMD_MPG_MODE_TOGGLE                 0x8B //!< Toggle MPG mode on/off, not implemented by the core.
+#define CMD_AUTO_REPORTING_TOGGLE           0x8C //!< Toggle auto real time reporting if configured.
+#define CMD_OVERRIDE_FEED_RESET             0x90 //!< Restores feed override value to 100%.
+#define CMD_OVERRIDE_FEED_COARSE_PLUS       0x91
+#define CMD_OVERRIDE_FEED_COARSE_MINUS      0x92
+#define CMD_OVERRIDE_FEED_FINE_PLUS         0x93
+#define CMD_OVERRIDE_FEED_FINE_MINUS        0x94
+#define CMD_OVERRIDE_RAPID_RESET            0x95 //!< Restores rapid override value to 100%.
+#define CMD_OVERRIDE_RAPID_MEDIUM           0x96
+#define CMD_OVERRIDE_RAPID_LOW              0x97
 // #define CMD_OVERRIDE_RAPID_EXTRA_LOW 0x98 // *NOT SUPPORTED*
 #define CMD_OVERRIDE_SPINDLE_RESET 0x99     // Restores spindle override value to 100%.
-#define CMD_OVERRIDE_SPINDLE_COARSE_PLUS 0x9A
-#define CMD_OVERRIDE_SPINDLE_COARSE_MINUS 0x9B
-#define CMD_OVERRIDE_SPINDLE_FINE_PLUS 0x9C
-#define CMD_OVERRIDE_SPINDLE_FINE_MINUS 0x9D
-#define CMD_OVERRIDE_SPINDLE_STOP 0x9E
-#define CMD_OVERRIDE_COOLANT_FLOOD_TOGGLE 0xA0
-#define CMD_OVERRIDE_COOLANT_MIST_TOGGLE 0xA1
-#define CMD_PID_REPORT 0xA2
-#define CMD_TOOL_ACK 0xA3
-#define CMD_PROBE_CONNECTED_TOGGLE 0xA4
+#define CMD_OVERRIDE_SPINDLE_COARSE_PLUS    0x9A
+#define CMD_OVERRIDE_SPINDLE_COARSE_MINUS   0x9B
+#define CMD_OVERRIDE_SPINDLE_FINE_PLUS      0x9C
+#define CMD_OVERRIDE_SPINDLE_FINE_MINUS     0x9D
+#define CMD_OVERRIDE_SPINDLE_STOP           0x9E
+#define CMD_OVERRIDE_COOLANT_FLOOD_TOGGLE   0xA0
+#define CMD_OVERRIDE_COOLANT_MIST_TOGGLE    0xA1
+#define CMD_PID_REPORT                      0xA2
+#define CMD_TOOL_ACK                        0xA3
+#define CMD_PROBE_CONNECTED_TOGGLE          0xA4
+// The following character codes are reserved for plugin use
+#define CMD_MACRO_0 0xB0
+#define CMD_MACRO_1 0xB1
+#define CMD_MACRO_2 0xB2
+#define CMD_MACRO_3 0xB3
+#define CMD_MACRO_4 0xB4
+#define CMD_MACRO_5 0xB5
+#define CMD_MACRO_6 0xB6
+#define CMD_MACRO_7 0xB7
 
 // System motion line numbers must be zero.
 #define JOG_LINE_NUMBER 0

grbllib.c

@@ -452,11 +452,11 @@ static void task_execute (sys_state_t state)
     if(immediate_task && sys.driver_started) {
 
         hal.irq_disable();
-        task = immediate_task;
-        immediate_task = NULL;
+        if((task = immediate_task))
+            immediate_task = NULL;
         hal.irq_enable();
 
-        do {
+        if(task) do {
             void *data = task->data;
             foreground_task_ptr fn = task->fn;
             task_free(task);
@@ -474,12 +474,27 @@ static void task_execute (sys_state_t state)
         task->fn(task->data);
     } while((task = task->next));
 
-    while(next_task && (int32_t)(next_task->time - now) <= 0) {
+    while((task = next_task) && (int32_t)(task->time - now) <= 0) {
+
+        hal.irq_disable();
+
+        if(task == next_task)
+            next_task = task->next;
+        else {
+            core_task_t *t;
+            if((t = next_task)) {
+                while(t->next && t->next != task)
+                    t = t->next;
+                if(t->next && t->next == task)
+                    t->next = task->next;
+            }
+        }
+
+        hal.irq_enable();
 
-        void *data = next_task->data;
-        foreground_task_ptr fn = next_task->fn;
-        task_free(next_task);
-        next_task = next_task->next;
+        void *data = task->data;
+        foreground_task_ptr fn = task->fn;
+        task_free(task);
 
         fn(data);
     }

probe.h

@@ -32,12 +32,12 @@ typedef enum {
 typedef union {
     uint8_t value;
     struct {
-        uint8_t triggered     :1, //<! Set to true when probe or toolsetter is triggered.
-                connected     :1, //<! Set to true when probe is connected. Always set to true if the driver does not have a probe connected input.
-                inverted      :1, //<! For driver use
-                is_probing    :1, //<! For driver use
-                irq_enabled   :1, //<! For driver use
-                tls_triggered :1, //<! Set to true when toolsetter is triggered.
+        uint8_t triggered     :1, //!< Set to true when probe or toolsetter is triggered.
+                connected     :1, //!< Set to true when probe is connected. Always set to true if the driver does not have a probe connected input.
+                inverted      :1, //!< For driver use
+                is_probing    :1, //!< For driver use
+                irq_enabled   :1, //!< For driver use
+                tls_triggered :1, //!< Set to true when toolsetter is triggered.
                 unassigned    :2;
     };
 } probe_state_t;

report.c

@@ -75,19 +75,6 @@ static char *appendbuf (int argc, ...)
     return buf;
 }
 
-static char *map_coord_system (coord_system_id_t id)
-{
-    uint8_t g5x = id + 54;
-
-    strcpy(buf, uitoa((uint32_t)(g5x > 59 ? 59 : g5x)));
-    if(g5x > 59) {
-        strcat(buf, ".");
-        strcat(buf, uitoa((uint32_t)(g5x - 59)));
-    }
-
-    return buf;
-}
-
 // Convert axis position values to null terminated string (mm).
 static char *get_axis_values_mm (float *axis_values)
 {
@@ -642,7 +629,7 @@ void report_ngc_parameters (void)
                 break;
 
             default: // G54-G59
-                hal.stream.write(map_coord_system((coord_system_id_t)idx));
+                hal.stream.write(gc_coord_system_to_str((coord_system_id_t)idx) + 1);
                 break;
         }
 
@@ -710,8 +697,8 @@ void report_gcode_modes (void)
     } else
         hal.stream.write(uitoa((uint32_t)gc_state.modal.motion));
 
-    hal.stream.write(" G");
-    hal.stream.write(map_coord_system(gc_state.modal.coord_system.id));
+    hal.stream.write(" ");
+    hal.stream.write(gc_coord_system_to_str(gc_state.modal.coord_system.id));
 
 #if COMPATIBILITY_LEVEL < 10
 
@@ -1375,8 +1362,8 @@ void report_realtime_status (void)
         }
 
         if(report.gwco) {
-            hal.stream.write_all("|WCS:G");
-            hal.stream.write_all(map_coord_system(gc_state.modal.coord_system.id));
+            hal.stream.write_all("|WCS:");
+            hal.stream.write_all(gc_coord_system_to_str(gc_state.modal.coord_system.id));
         }
 
         if(report.overrides) {