Added initial/enhanced support for toolsetter and second probe input.

Moved inbuilt G65 macros to the core and added macro G65P5Q<n> for selecting probe.
Added probe id to real time report: |P:<n> will be reported on probe select when more than one probe is available.
Fix for WCO and Ov real time status report elements not beeing reported as they should in some circumstances.

Author: terjeio

README.md

@@ -1,6 +1,6 @@
 ## grblHAL ##
 
-Latest build date is 20250425, see the [changelog](changelog.md) for details.  
+Latest build date is 20250514, 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.  

changelog.md

@@ -1,5 +1,35 @@
 ## grblHAL changelog
 
+<a name="20250514">Build 20250514
+
+Core:
+
+* Added initial/enhanced support for toolsetter and second probe input.
+When more than one probe is available `PROBES:<bits>` is added to the `NEWOPTS` element in the `$I` report. `<bits>` is a bitfield where each bit set represents an available probe.
+
+* Moved inbuilt G65 macros to the core and added macro `G65P5Q<n>` for selecting probe. `<n>` is the probe id: `0` - primary probe, `1` - toolsetter, `2` - secondary probe.
+
+* Added probe id to real time report: `|P:<n>` will be reported on probe select when more than one probe is available.
+
+* Fix for `WCO` and `Ov` real time status report elements not beeing reported as they should in some circumstances.
+
+Drivers:
+
+* All: fix for potential/actual hard fault when a basic on/off spindle is configured. Ref. ESP32 issue [#164](https://github.com/grblHAL/ESP32/issues/164).
+
+* STM32 drivers: fix for incorrect PWM output at max RPM when PWM output is inverted.
+
+Plugins:
+
+* Misc, probe relays: new plugin, can be configured to share the \(single\) probe input between up to three probes.
+Probe switching is by the inbuilt `G65P5Q<n>` macro or automatically on "@G59.3" tool changes for a toolsetter. One or two free auxiliary output ports required.
+
+* Misc, BLTouch: improved auto deploy capability.
+
+* SDCard, macros: moved inbuilt G65 macros to the core.
+
+---
+
 <a name="20250504">20250504
 
 Plugins:

crossbar.h

@@ -53,6 +53,8 @@ typedef enum {
     Input_MotorFaultX_2,
     Input_MotorFaultY_2,
     Input_MotorFaultZ_2,
+    Input_Probe2,
+    Input_Probe2Overtravel,
     Input_Toolsetter,
     Input_ToolsetterOvertravel,
     Input_MPGSelect,
@@ -300,6 +302,8 @@ PROGMEM static const pin_name_t pin_names[] = {
     { .function = Input_MotorFaultX_2,        .name = "X motor fault 2" },
     { .function = Input_MotorFaultY_2,        .name = "Y motor fault 2" },
     { .function = Input_MotorFaultZ_2,        .name = "Z motor fault 2" },
+    { .function = Input_Probe2,               .name = "Probe 2" },
+    { .function = Input_Probe2Overtravel,     .name = "Probe 2 overtravel" },
     { .function = Input_Toolsetter,           .name = "Toolsetter" },
     { .function = Input_ToolsetterOvertravel, .name = "Toolsetter overtravel" },
     { .function = Input_MPGSelect,            .name = "MPG mode select" },

driver_opts.h

@@ -29,6 +29,11 @@
 
 #include "hal.h"
 #include "nuts_bolts.h"
+
+#define MODBUS_RTU_ENABLED     0b001
+#define MODBUS_RTU_DIR_ENABLED 0b010
+#define MODBUS_TCP_ENABLED     0b100
+
 #include "expanders_init.h"
 
 #ifdef OPTS_POSTPROCESSING
@@ -393,10 +398,6 @@
   #endif
 #endif
 
-#define MODBUS_RTU_ENABLED     0b001
-#define MODBUS_RTU_DIR_ENABLED 0b010
-#define MODBUS_TCP_ENABLED     0b100
-
 #if MODBUS_ENABLE == 2
 #undef MODBUS_ENABLE
 #define MODBUS_ENABLE 0b011
@@ -476,6 +477,14 @@
 #define LIMITS_OVERRIDE_ENABLE 0
 #endif
 
+#ifndef PROBE2_ENABLE
+#define PROBE2_ENABLE       0
+#endif
+
+#ifndef TOOLSETTER_ENABLE
+#define TOOLSETTER_ENABLE   0
+#endif
+
 #if SAFETY_DOOR_ENABLE && defined(NO_SAFETY_DOOR_SUPPORT)
 #error "Driver does not support safety door functionality!"
 #endif

expanders_init.h

@@ -63,17 +63,24 @@ extern void pca9654e_init(void);
 
 // ModBus expanders
 
+#if PICOHAL_IO_ENABLE || R4SLS08_ENABLE
 
+#if !defined(MODBUS_ENABLE) || !(MODBUS_ENABLE & MODBUS_RTU_ENABLED)
+#error "Enabled IO expander(s) require Modbus RTU!"
+#endif
 
-#if PICOHAL_IO_ENABLE
-
-#if !MODBUS_ENABLE
-#error "Modbus must be enabled to use the Picohal IO expander!"
+#if R4SLS08_ENABLE
+extern void r4sls08_init (void);
 #endif
 
+// Third party Modbus expander plugins goes after this line
+
+#if PICOHAL_IO_ENABLE
 extern void picohal_io_init (void);
 #endif
 
+#endif // ModBus expanders
+
 // CANBus expanders
 
 //
@@ -94,12 +101,15 @@ static inline void io_expanders_init (void)
     mcp4725_init();
 #endif
 
+#if R4SLS08_ENABLE
+    r4sls08_init();
+#endif
+
 #if PCA9654E_ENABLE
     pca9654e_init();
 #endif
 
 #if PICOHAL_IO_ENABLE
     picohal_io_init();
 #endif
-
 }

gcode.c

@@ -393,7 +393,7 @@ void gc_init (bool stop)
     ngc_flowctrl_init();
 #endif
 #if NGC_PARAMETERS_ENABLE
-    ngc_modal_state_invalidate();
+    ngc_params_init();
 #endif
 #if ENABLE_ACCELERATION_PROFILES
     gc_state.modal.acceleration_factor = gc_get_accel_factor(0); // Initialize machine with default
@@ -762,15 +762,7 @@ status_code_t gc_execute_block (char *block)
 
     DCRAM static parser_block_t gc_block;
 
-#if NGC_EXPRESSIONS_ENABLE
-
-    static const parameter_words_t o_label = {
-        .o = On
-    };
-
-    static ngc_param_t ngc_params[NGC_N_ASSIGN_PARAMETERS_PER_BLOCK];
-
-    uint_fast8_t ngc_param_count = 0;
+#if NGC_PARAMETERS_ENABLE
 
     // NOTE: this array has to match the parameter_words_t order!
     PROGMEM static const gc_value_ptr_t gc_value_ptr[] = {
@@ -823,7 +815,19 @@ status_code_t gc_execute_block (char *block)
        { &gc_block.values.xyz[Z_AXIS], ValueType_Float }
     };
 
-#endif
+#endif // NGC_PARAMETERS_ENABLE
+
+#if NGC_EXPRESSIONS_ENABLE
+
+    static const parameter_words_t o_label = {
+        .o = On
+    };
+
+    static ngc_param_t ngc_params[NGC_N_ASSIGN_PARAMETERS_PER_BLOCK];
+
+    uint_fast8_t ngc_param_count = 0;
+
+#endif // NGC_EXPRESSIONS_ENABLE
 
     char *message = NULL;
     status_code_t status = Status_OK;
@@ -2530,8 +2534,7 @@ status_code_t gc_execute_block (char *block)
 #if NGC_PARAMETERS_ENABLE
                     if(!ngc_call_push(&gc_state + ngc_call_level()))
                         FAIL(Status_FlowControlStackOverflow); // [Call level too deep]
-#endif
-#if NGC_EXPRESSIONS_ENABLE
+
                     // TODO: add context for local storage?
                     {
                         uint_fast8_t idx = 1;

grbl.h

@@ -42,7 +42,7 @@
 #else
 #define GRBL_VERSION "1.1f"
 #endif
-#define GRBL_BUILD 20250425
+#define GRBL_BUILD 20250514
 
 #define GRBL_URL "https://github.com/grblHAL"
 

grbllib.c

@@ -190,6 +190,16 @@ static void onLinestateChanged (serial_linestate_t state)
         on_linestate_changed(state);
 }
 
+static bool onProbeToolsetter (tool_data_t *tool, coord_data_t *position, bool at_g59_3, bool on)
+{
+    bool ok = false;
+
+    if(at_g59_3 && settings.probe.toolsetter_auto_select)
+        ok = hal.probe.select(on ? Probe_Toolsetter : Probe_Default);
+
+    return ok;
+}
+
 static void settings_changed (settings_t *settings, settings_changed_flags_t changed)
 {
     hal_settings_changed(settings, changed);
@@ -381,6 +391,9 @@ int grbl_enter (void)
         hal.stream.on_linestate_changed = onLinestateChanged;
     }
 
+    if(grbl.on_probe_toolsetter == NULL && hal.driver_cap.toolsetter && hal.probe.select)
+        grbl.on_probe_toolsetter = onProbeToolsetter;
+
     // Initialization loop upon power-up or a system abort. For the latter, all processes
     // will return to this loop to be cleanly re-initialized.
     while(looping) {

hal.h

@@ -68,11 +68,13 @@ typedef union {
                  no_gcode_message_handling :1,
                  odometers                 :1,
                  pwm_spindle               :1,
-                 probe_latch               :1,
+                 probe_latch               :1, //!< Deprecated.
                  toolsetter                :1, //!< Toolsetter (2nd probe) input is supported.
+                 probe2                    :1, //!< 2nd or 3rd probe input is supported.
                  rtc                       :1,
                  rtc_set                   :1,
-                 unassigned                :7;
+                 bltouch_probe             :1,
+                 unassigned                :6;
     };
 } driver_cap_t;
 
@@ -358,9 +360,9 @@ typedef struct {
 } delay_t;
 
 
-/***********
- *  Probe  *
- ***********/
+/************
+ *  Probes  *
+ ************/
 
 /*! \brief Pointer to function for getting probe status.
 \returns probe state in a \a #probe_state_t union.
@@ -375,8 +377,15 @@ typedef probe_state_t (*probe_get_state_ptr)(void);
 */
 typedef void (*probe_configure_ptr)(bool is_probe_away, bool probing);
 
+/*! \brief Pointer to function for selecting probe input.
+\param probe_id probe number. 0 - default probe, 1 - toolsetter, ...
+\returns true if selectetion succeded, false otherwise.
+*/
+typedef bool (*probe_select_ptr)(probe_id_t probe_id);
+
 /*! \brief Pointer to function for toggling probe connected status.
 
+
 If the driver does not support a probe connected input signal this can be used to implement
 toggling of probe connected status via a #CMD_PROBE_CONNECTED_TOGGLE real time command.
 */
@@ -386,6 +395,7 @@ typedef void (*probe_connected_toggle_ptr)(void);
 typedef struct {
     probe_configure_ptr configure;                  //!< Optional handler for setting probe operation mode.
     probe_get_state_ptr get_state;                  //!< Optional handler for getting probe status. Called from interrupt context.
+    probe_select_ptr select;                        //!< Optional handler for selecting probe to use.
     probe_connected_toggle_ptr connected_toggle;    //!< Optional handler for toggling probe connected status.
 } probe_ptrs_t;
 

ioports.c

@@ -303,8 +303,10 @@ xbar_t *ioport_claim (io_port_type_t type, io_port_direction_t dir, uint8_t *por
 
             if(get_hcount(type, dir) == hcnt)
                 dec_hcount(type, dir);
-        } else
+        } else {
             portinfo = NULL;
+            *port = IOPORT_UNASSIGNED;
+        }
     }
 
     return portinfo;
@@ -1386,11 +1388,8 @@ static void ioports_configure (settings_t *settings)
                 out_config.inverted = (settings->ioport.invert_out.mask & (1 << port)) && is_aux(cfg, xbar->function);
                 out_config.open_drain = !!(settings->ioport.od_enable_out.mask & (1 << port));
                 xbar->config(xbar, &out_config, false);
-            } else { // TODO: same for inputs?
-                ioport_bus_t bus;
-                bus.mask = cfg->bus.mask & (1 << port);
-                setting_remove_elements(Settings_IoPort_InvertOut, bus.mask);
-            }
+            } else // TODO: same for inputs?
+                setting_remove_elements(Settings_IoPort_InvertOut, cfg->bus.mask & ~(1 << port));
         }
     } while(port);
 

motion_control.c

@@ -999,27 +999,13 @@ gc_probe_t mc_probe_cycle (float *target, plan_line_data_t *pl_data, gc_parser_f
     if (!protocol_buffer_synchronize())
         return GCProbe_Abort; // Return if system reset has been issued.
 
-    // Initialize probing control variables
-    sys.flags.probe_succeeded = Off; // Re-initialize probe history before beginning cycle.
-    hal.probe.configure(parser_flags.probe_is_away, true);
-
 #if COMPATIBILITY_LEVEL <= 1
     bool at_g59_3 = false, probe_toolsetter = grbl.on_probe_toolsetter != NULL && state_get() != STATE_TOOL_CHANGE && (sys.homed.mask & (X_AXIS_BIT|Y_AXIS_BIT));
 
     if(probe_toolsetter)
-        grbl.on_probe_toolsetter(NULL, NULL, at_g59_3 = system_xy_at_fixture(CoordinateSystem_G59_3, TOOLSETTER_RADIUS), true);
+        pl_data->condition.probing_toolsetter = grbl.on_probe_toolsetter(NULL, NULL, at_g59_3 = system_xy_at_fixture(CoordinateSystem_G59_3, TOOLSETTER_RADIUS), true);
 #endif
 
-    // After syncing, check if probe is already triggered or not connected. If so, halt and issue alarm.
-    // NOTE: This probe initialization error applies to all probing cycles.
-    probe_state_t probe = hal.probe.get_state();
-    if (probe.triggered || !probe.connected) { // Check probe state.
-        system_set_exec_alarm(Alarm_ProbeFailInitial);
-        protocol_execute_realtime();
-        hal.probe.configure(false, false); // Re-initialize invert mask before returning.
-        return GCProbe_FailInit; // Nothing else to do but bail.
-    }
-
     if(grbl.on_probe_start) {
 
         uint_fast8_t idx = N_AXIS;
@@ -1037,6 +1023,31 @@ gc_probe_t mc_probe_cycle (float *target, plan_line_data_t *pl_data, gc_parser_f
         grbl.on_probe_start(axes, target, pl_data);
     }
 
+    // Initialize probing control variables
+    sys.flags.probe_succeeded = Off; // Re-initialize probe history before beginning cycle.
+    hal.probe.configure(parser_flags.probe_is_away, true);
+
+    // After syncing, check if probe is already triggered or not connected. If so, halt and issue alarm.
+    // NOTE: This probe initialization error applies to all probing cycles.
+    probe_state_t probe = hal.probe.get_state();
+    if (probe.triggered || !probe.connected) { // Check probe state.
+
+        system_set_exec_alarm(Alarm_ProbeFailInitial);
+        protocol_execute_realtime();
+
+        hal.probe.configure(false, false); // Re-initialize invert mask before returning.
+
+#if COMPATIBILITY_LEVEL <= 1
+        if(probe_toolsetter)
+            grbl.on_probe_toolsetter(NULL, NULL, at_g59_3, false);
+#endif
+
+        if(grbl.on_probe_completed)
+            grbl.on_probe_completed();
+
+        return GCProbe_FailInit; // Nothing else to do but bail.
+    }
+
     // Setup and queue probing motion. Auto cycle-start should not start the cycle.
     if(!mc_line(target, pl_data))
         return GCProbe_Abort;