Fixed regression introduced with PR#673.

Added G30 as optional position for tool change.
Moved new tool change mode from PR#673 to $346 - Tool change options.
Moved Modbus RTU code from spindle plugin to the core.
Fixed bug in delayed task handler, might occasionally hang the controller.

Author: terjeio

CMakeLists.txt

@@ -10,6 +10,7 @@ target_sources(grbl INTERFACE
  ${CMAKE_CURRENT_LIST_DIR}/machine_limits.c
  ${CMAKE_CURRENT_LIST_DIR}/messages.c
  ${CMAKE_CURRENT_LIST_DIR}/modbus.c
+ ${CMAKE_CURRENT_LIST_DIR}/modbus_rtu.c
  ${CMAKE_CURRENT_LIST_DIR}/motion_control.c
  ${CMAKE_CURRENT_LIST_DIR}/my_plugin.c
  ${CMAKE_CURRENT_LIST_DIR}/nuts_bolts.c

README.md

@@ -1,6 +1,6 @@
 ## grblHAL ##
 
-Latest build date is 20250415, see the [changelog](changelog.md) for details.  
+Latest build date is 20250419, 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.
 
 ---
-20250413
+20250419

changelog.md

@@ -1,5 +1,26 @@
 ## grblHAL changelog
 
+<a name="20250419">20250419
+
+Core:
+
+* Fixed regression introduced with [PR#673](https://github.com/grblHAL/core/pull/673), added G30 as optional position for tool change and moved new tool change mode from PR#673 to `$346` - _Tool change options_.
+
+* Moved Modbus RTU code from spindle plugin to the core.
+
+* For developers: deprecated `protocol_enqueue_foreground_task()`, replaced by `task_run_on_startup()` - added alias for the deprecated version.  
+Changed signature of `modbus_isup()` to return capabilities flag instead of boolean.
+
+* Fixed bug in delayed task handler, might occasionally hang the controller. May be part of keypad issue [#17](https://github.com/grblHAL/Plugin_keypad/issues/17).
+
+Plugins:
+
+Keypad and spindle: updated for core changes.
+
+Keypad, I2C display interface: fixed alignment issue that caused hardfault on WCO changes on some platforms. May resolve issue [#17](https://github.com/grblHAL/Plugin_keypad/issues/17).
+
+---
+
 <a name="20250415">20250415
 
 Core:

config.h

@@ -1351,7 +1351,7 @@ and less range over the total 255 PWM levels to signal different spindle speeds.
 // Tool change settings (Group_Toolchange)
 
 /*! @name $341 - Setting_ToolChangeMode
-0 = Normal mode, 1 = Manual change, 2 = Manual change @ G59.3,  3 = Manual change and probe sensor @ G59.3 - sets TLO
+0 = Normal mode, 1 = Manual change, 2 = Manual change @ G59.3,  3 = Manual change and probe tolsetter @ G59.3, 4 = Ignore M6
 */
 ///@{
 #if !defined DEFAULT_TOOLCHANGE_MODE || defined __DOXYGEN__
@@ -1392,12 +1392,18 @@ and less range over the total 255 PWM levels to signal different spindle speeds.
 #endif
 ///@}
 
-/*! @name $346 - Setting_ToolChangeRestorePosition
+/*! @name $346 - Setting_ToolChangeOptions
 */
 ///@{
 #if !defined DEFAULT_TOOLCHANGE_NO_RESTORE_POSITION || defined __DOXYGEN__
 #define DEFAULT_TOOLCHANGE_NO_RESTORE_POSITION Off
 #endif
+#if !defined DEFAULT_TOOLCHANGE_AT_G30 || defined __DOXYGEN__
+#define DEFAULT_TOOLCHANGE_AT_G30 Off
+#endif
+#if !defined DEFAULT_TOOLCHANGE_FAST_PROBE_PULLOFF || defined __DOXYGEN__
+#define DEFAULT_TOOLCHANGE_FAST_PROBE_PULLOFF Off
+#endif
 ///@}
 
 // Homing settings (Group_Homing)

core_handlers.h

@@ -89,6 +89,7 @@ typedef void (*on_state_change_ptr)(sys_state_t state);
 typedef void (*on_override_changed_ptr)(override_changed_t override);
 typedef void (*on_spindle_programmed_ptr)(spindle_ptrs_t *spindle, spindle_state_t state, float rpm, spindle_rpm_mode_t mode);
 typedef void (*on_wco_changed_ptr)(void);
+typedef void (*on_wco_saved_ptr)(coord_system_id_t id, coord_data_t *data);
 typedef void (*on_program_completed_ptr)(program_flow_t program_flow, bool check_mode);
 typedef void (*on_execute_realtime_ptr)(sys_state_t state);
 typedef void (*on_unknown_accessory_override_ptr)(uint8_t cmd);
@@ -220,6 +221,7 @@ typedef struct {
     on_report_handlers_init_ptr on_report_handlers_init;
     on_spindle_programmed_ptr on_spindle_programmed;
     on_wco_changed_ptr on_wco_changed;
+    on_wco_saved_ptr on_wco_saved;
     on_program_completed_ptr on_program_completed;
     on_execute_realtime_ptr on_execute_realtime;
     on_execute_realtime_ptr on_execute_delay;

grbl.h

@@ -42,7 +42,7 @@
 #else
 #define GRBL_VERSION "1.1f"
 #endif
-#define GRBL_BUILD 20250415
+#define GRBL_BUILD 20250419
 
 #define GRBL_URL "https://github.com/grblHAL"
 

grbllib.c

@@ -76,7 +76,7 @@ typedef union {
 } driver_startup_t;
 
 #ifndef CORE_TASK_POOL_SIZE
-#define CORE_TASK_POOL_SIZE 30
+#define CORE_TASK_POOL_SIZE 40
 #endif
 
 typedef struct core_task {
@@ -92,7 +92,7 @@ DCRAM grbl_hal_t hal;
 
 DCRAM static core_task_t task_pool[CORE_TASK_POOL_SIZE];
 static driver_startup_t driver = { .ok = 0xFF };
-static core_task_t *next_task = NULL, *immediate_task = NULL, *systick_task = NULL, *last_freed = NULL;
+static core_task_t *next_task = NULL, *immediate_task = NULL, *on_booted = NULL, *systick_task = NULL, *last_freed = NULL;
 static on_linestate_changed_ptr on_linestate_changed;
 static settings_changed_ptr hal_settings_changed;
 
@@ -181,8 +181,10 @@ static void output_welcome_message (void *data)
 
 static void onLinestateChanged (serial_linestate_t state)
 {
-    if(state.dtr)
+    if(state.dtr) {
+        task_delete(output_welcome_message, NULL);
         task_add_delayed(output_welcome_message, NULL, 200);
+    }
 
     if(on_linestate_changed)
         on_linestate_changed(state);
@@ -343,7 +345,7 @@ int grbl_enter (void)
 
     if(driver.ok != 0xFF) {
         sys.alarm = Alarm_SelftestFailed;
-        protocol_enqueue_foreground_task(report_driver_error, NULL);
+        task_run_on_startup(report_driver_error, NULL);
     }
 
     hal.stepper.enable(settings.steppers.energize, true);
@@ -465,6 +467,7 @@ __attribute__((always_inline)) static inline core_task_t *task_alloc (void)
 __attribute__((always_inline)) static inline void task_free (core_task_t *task)
 {
     task->fn = NULL;
+    task->next = NULL;
     if(last_freed == NULL)
         last_freed = task;
 }
@@ -541,7 +544,7 @@ ISR_CODE bool ISR_FUNC(task_add_delayed)(foreground_task_ptr fn, void *data, uin
 
         if(next_task == NULL)
             next_task = task;
-        else if((int32_t)(task->time - next_task->time) < 0) {
+        else if((int32_t)(task->time - next_task->time) <= 0) {
             task->next = next_task;
             next_task = task;
         } else {
@@ -662,3 +665,59 @@ ISR_CODE bool ISR_FUNC(task_add_immediate)(foreground_task_ptr fn, void *data)
 
     return task != NULL;
 }
+
+/*! \brief Enqueue a function to be called once by the foreground process after the boot sequence is completed.
+\param fn pointer to a \a foreground_task_ptr type of function.
+\param data pointer to data to be passed to the callee.
+\returns true if successful, false otherwise.
+*/
+ISR_CODE bool ISR_FUNC(task_run_on_startup)(foreground_task_ptr fn, void *data)
+{
+    if(sys.cold_start) {
+
+        core_task_t *task = NULL;
+
+        hal.irq_disable();
+
+        if(fn && (task = task_alloc())) {
+
+            task->fn = fn;
+            task->data = data;
+            task->next = NULL;
+
+            if(on_booted == NULL)
+                on_booted = task;
+            else {
+                core_task_t *t = on_booted;
+                while(t->next)
+                    t = t->next;
+                t->next = task;
+            }
+        }
+
+        hal.irq_enable();
+
+        return task != NULL;
+
+    } else
+        return task_add_immediate(fn, data); // TODO: for now, to be removed...
+}
+
+// for core use only, called once from protocol.c on cold start
+void task_execute_on_startup (void)
+{
+    if(on_booted) do {
+
+        core_task_t *task = on_booted;
+        foreground_task_ptr fn = task->fn;
+        void *data = task->data;
+
+        on_booted = task->next;
+        task_free(task);
+        fn(data);
+
+    } while(on_booted);
+
+    if(!sys.driver_started)
+        while(true);
+}

kinematics/delta.c

@@ -3,7 +3,7 @@
 
   Part of grblHAL
 
-  Copyright (c) 2023-2024 Terje Io
+  Copyright (c) 2023-2025 Terje Io
   Transforms derived from mzavatsky at Trossen Robotics
     https://hypertriangle.com/~alex/delta-robot-tutorial/
   get_cuboid_envelope() derived from javascript code in
@@ -541,7 +541,7 @@ static void delta_homing_complete (axes_signals_t cycle, bool success)
                                 : machine.home_z - settings.homing.pulloff;
 
         if(machine.cfg.flags.home_to_cuboid_top)
-            protocol_enqueue_foreground_task(delta_go_home, NULL);
+            task_add_immediate(delta_go_home, NULL);
     }
 
     if(on_homing_completed)

messages.c

@@ -44,9 +44,10 @@ PROGMEM static const message_t messages[] = {
     { .id = Message_CycleStart2Continue, .text = "Press cycle start to continue." },
     { .id = Message_TPCycleStart2Continue, .text = "Remove any touch plate and press cycle start to continue." },
     { .id = Message_ProbeFailedRetry, .text = "Probe failed, try again." },
-    { .id = Message_ExecuteTPW, .text = "Perform a probe with $TPW first!", .type = Message_Warning},
-    { .id = Message_ProbeProtected, .text = "Probe protection activated."},
-    { .id = Message_Stop, .text = "Stop"}
+    { .id = Message_ExecuteTPW, .text = "Perform a probe with $TPW first!", .type = Message_Warning },
+    { .id = Message_ProbeProtected, .text = "Probe protection activated." },
+    { .id = Message_Stop, .text = "Stop" },
+    { .id = Message_CycleStart2TouchOff, .text = "Press cycle start to position for touch-off." }
 };
 
 const message_t *message_get (message_code_t id)

messages.h

@@ -47,7 +47,8 @@ typedef enum {
     Message_ExecuteTPW = 20,                //!< 20
     Message_ProbeProtected = 21,            //!< 21
     Message_Stop = 22,                      //!< 22
-    Message_NextMessage                     //!< 23 - next unassigned message number.
+    Message_CycleStart2TouchOff = 23,       //!< 23
+    Message_NextMessage                     //!< 24 - next unassigned message number.
 } message_code_t;
 
 typedef enum {

modbus.c

@@ -4,42 +4,58 @@
 
   Part of grblHAL
 
-  Copyright (c) 2023 Terje Io
+  Copyright (c) 2023-2025 Terje Io
 
-  Grbl is free software: you can redistribute it and/or modify
+  grblHAL is free software: you can redistribute it and/or modify
   it under the terms of the GNU General Public License as published by
   the Free Software Foundation, either version 3 of the License, or
   (at your option) any later version.
 
-  Grbl is distributed in the hope that it will be useful,
+  grblHAL is distributed in the hope that it will be useful,
   but WITHOUT ANY WARRANTY; without even the implied warranty of
-  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
   GNU General Public License for more details.
 
   You should have received a copy of the GNU General Public License
-  along with Grbl.  If not, see <http://www.gnu.org/licenses/>.
+  along with grblHAL. If not, see <http://www.gnu.org/licenses/>.
 
 */
 
 #include "modbus.h"
 
 #include <string.h>
 
+#include "nuts_bolts.h"
+
 #define N_MODBUS_API 2
 
 static uint_fast16_t n_api = 0, tcp_api = N_MODBUS_API, rtu_api = N_MODBUS_API;
 static modbus_api_t modbus[N_MODBUS_API] = {0};
 
-bool modbus_isup (void)
+modbus_cap_t modbus_isup (void)
 {
-    bool ok = n_api > 0;
     uint_fast16_t idx = n_api;
+    modbus_cap_t cap = {};
 
     if(idx) do {
-        ok &= modbus[--idx].is_up();
+        idx--;
+        if(modbus[idx].is_up()) switch(modbus[idx].interface) {
+
+            case Modbus_InterfaceRTU:
+                cap.rtu = On;
+                break;
+
+            case Modbus_InterfaceASCII:
+                cap.ascii = On;
+                break;
+
+            case Modbus_InterfaceTCP:
+                cap.tcp = On;
+                break;
+        }
     } while(idx);
 
-    return ok;
+    return cap;
 }
 
 bool modbus_enabled (void)

modbus.h

@@ -4,20 +4,20 @@
 
   Part of grblHAL
 
-  Copyright (c) 2023 Terje Io
+  Copyright (c) 2023-2025 Terje Io
 
-  Grbl is free software: you can redistribute it and/or modify
+  grblHAL is free software: you can redistribute it and/or modify
   it under the terms of the GNU General Public License as published by
   the Free Software Foundation, either version 3 of the License, or
   (at your option) any later version.
 
-  Grbl is distributed in the hope that it will be useful,
+  grblHAL is distributed in the hope that it will be useful,
   but WITHOUT ANY WARRANTY; without even the implied warranty of
-  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
   GNU General Public License for more details.
 
   You should have received a copy of the GNU General Public License
-  along with Grbl.  If not, see <http://www.gnu.org/licenses/>.
+  along with grblHAL. If not, see <http://www.gnu.org/licenses/>.
 
 */
 
@@ -83,6 +83,16 @@ typedef union {
     };
 } modbus_silence_timeout_t;
 
+typedef union {
+    uint8_t ok;
+    struct {
+        uint8_t rtu         :1,
+                ascii       :1,
+                tcp         :1,
+                unassigned  :6;
+    };
+} modbus_cap_t;
+
 typedef bool (*modbus_is_up_ptr)(void);
 typedef void (*modbus_flush_queue_ptr)(void);
 typedef void (*modbus_set_silence_ptr)(const modbus_silence_timeout_t *timeout);
@@ -96,7 +106,7 @@ typedef struct {
     modbus_send_ptr send;
 } modbus_api_t;
 
-bool modbus_isup (void);
+modbus_cap_t modbus_isup (void);
 bool modbus_enabled (void);
 void modbus_flush_queue (void);
 void modbus_set_silence (const modbus_silence_timeout_t *timeout);