Changed safety door/parking handling to be compliant with legacy Grbl.

Added $384 setting for controlling G92 offset persistence.
Improved $help command output and handling.
Moved the optional tool table in non-volatile storage.
Added gcode parameter support and optional expression support.

CMakeLists.txt

@@ -23,6 +23,9 @@ target_sources(grbl INTERFACE
  ${CMAKE_CURRENT_LIST_DIR}/tool_change.c
  ${CMAKE_CURRENT_LIST_DIR}/alarms.c
  ${CMAKE_CURRENT_LIST_DIR}/errors.c
+ ${CMAKE_CURRENT_LIST_DIR}/ngc_params.c
+ ${CMAKE_CURRENT_LIST_DIR}/ngc_expr.c
+ ${CMAKE_CURRENT_LIST_DIR}/regex.c
 )
 
 target_include_directories(grbl INTERFACE ${CMAKE_CURRENT_LIST_DIR})

README.md

@@ -11,7 +11,7 @@ It has been written to complement grblHAL and has features such as proper keyboa
 
 ---
 
-Latest build date is 20210907, see the [changelog](changelog.md) for details.  
+Latest build date is 20210928, see the [changelog](changelog.md) for details.  
 __NOTE:__ Drivers built with more than three axes configured \(`N_AXIS` > `3`\) will force a settings reset when upgraded. Backup and restore of settings is recommended for these.
 
 ---
@@ -68,7 +68,7 @@ List of Supported G-Codes:
   - Coolant Control: M7, M8, M9
   - Spindle Control: M3, M4, M5
   - Tool Change: M6* (Two modes possible: manual** - supports jogging, ATC), M61
-  - Switches: M49, M50, M51, M53
+  - Switches: M48, M49, M50, M51, M53
   - Output control***: M62, M63, M64, M65, M66, M67, M68
   - Valid Non-Command Words: A*, B*, C*, F, H*, I, J, K, L, N, P, Q*, R, S, T, X, Y, Z
 
@@ -80,4 +80,4 @@ List of Supported G-Codes:
 Some [plugins](https://github.com/grblHAL/plugins) implements additional M-codes.
 
 ---
-2021-09-08
+2021-09-28

changelog.md

@@ -1,5 +1,26 @@
 ## grblHAL changelog
 
+Build 20210928:
+
+Core:
+* Changed safety door/parking handling to be compliant with legacy Grbl - now a cycle start command has to be issued to resume after the door is closed.
+* Added `$384` setting for controlling G92 offset persistence, set to `1` to disable persistence across a reboot, `0` to enable. Only available if [compatibility level](https://github.com/grblHAL/core/wiki/Compatibility-level) is < 2, default value is `0`.
+* Improved `$help` command output and handling, added description to `$$=<n>` output.
+* Moved the optional tool table in non-volatile storage \(typically EEPROM\) to above the core area. This allows a larger number of tools \(max. 16\) to be defined.  
+__NOTE:__ If you have tool table support enabled before upgrading the current table will be lost and possibly also all other settings. Backup and restore!
+* Added gcode parameter support. All [NIST RS274NGC version 3](https://www.nist.gov/publications/nist-rs274ngc-interpreter-version-3) parameters (see section 3.2.1) and most [LinuxCNC](http://www.linuxcnc.org/docs/html/gcode/overview.html#_parameters) parameters are supported.  
+  The `$#=<n>` or `$#=<name>` commands can be used to output a parameter value. Replace `<n>` with a parameter number, `<name>` with a parameter name.  
+__NOTE 1:__ Named parameters and parameters in the range 1 to 5160 are volatile and will not persist across a reboot.  
+__NOTE 2:__ Space for the volatile parameters is allocated at run-time, available memory \(heap\) sets a limit to how many can be set.  
+__NOTE 3:__ Maximum name length is 20 characters, maximum number of parameters that can be set in a block \(line\) is 10.
+* Added gcode [expression](http://www.linuxcnc.org/docs/html/gcode/overview.html#gcode:expressions) support. This has to be enabled in [grbl/config.h](./config.h) by uncommenting `//#define NGC_EXPRESSIONS_ENABLE 1`. _Experimental_.  
+__NOTE:__ Processors with limited memory may not compile with this enabled.
+
+Drivers & plugins:
+
+* Added [WebUI plugin](https://github.com/grblHAL/Plugin_WebUI) support for some networking capable boards.
+* Updated some drivers for internal API changes. Some minor bug fixes.
+
 Build 20210907:
 
 Core:

config.h

@@ -83,7 +83,7 @@ __NOTE:__ if switching to a level > 1 please reset non-volatile storage with \a
 // immediately forces a feed hold and then safely de-energizes the machine. Resuming is blocked until
 // the safety door is re-engaged. When it is, Grbl will re-energize the machine and then resume on the
 // previous tool path, as if nothing happened.
-// #define ENABLE_SAFETY_DOOR_INPUT_PIN // Default disabled. Uncomment to enable.
+//#define ENABLE_SAFETY_DOOR_INPUT_PIN // Default disabled. Uncomment to enable.
 
 // After the safety door switch has been toggled and restored, this setting sets the power-up delay
 // between restoring the spindle and coolant and resuming the cycle.
@@ -472,9 +472,24 @@ __NOTE:__ these definitions are only referenced in this file. Do __NOT__ change!
 //#define DEFAULT_REPORT_PARSER_STATE
 //#define DEFAULT_REPORT_ALARM_SUBSTATE
 
+// G92 offsets is by default stored to non-volatile storage (NVS) on changes and restored on startup
+// if COMPATIBILITY_LEVEL is <= 1. If COMPATIBILITY_LEVEL is <= 1 then setting $384 can be used to change this at run-time.
+// To allow store/restore of the G92 offset when COMPATIBILITY_LEVEL > 1 uncomment the line below and reset settings with $RST=*.
+//#define DISABLE_G92_PERSISTENCE 0
+
 #if COMPATIBILITY_LEVEL == 0
-// Number of tools in ATC tool table, comment out to disable
-// #define N_TOOLS 8
+// Number of tools in tool table, uncomment and edit if neccesary to enable (max. 16 allowed)
+//#define N_TOOLS 8
+#endif
+
+// Sanity checks - N_TOOLS may have been defined on the compiler command line.
+#if defined(N_TOOLS) && N_TOOLS == 0
+#undef N_TOOLS
+#endif
+
+#if defined(N_TOOLS) && N_TOOLS > 16
+#undef N_TOOLS
+#define N_TOOLS 16
 #endif
 
 // Max number of entries in log for PID data reporting, to be used for tuning
@@ -624,4 +639,7 @@ __NOTE:__ these definitions are only referenced in this file. Do __NOT__ change!
 
 #endif // DEFAULT_HOMING_ENABLE
 
+// Uncomment to enable experimental support for parameters and expressions
+//#define NGC_EXPRESSIONS_ENABLE 1
+
 #endif

defaults.h

@@ -37,6 +37,14 @@
 // Note: DEFAULT_ACCELERATION is only referenced in this file
 #define DEFAULT_ACCELERATION (10.0f * 60.0f * 60.0f) // 10*60*60 mm/min^2 = 10 mm/sec^2
 
+#ifndef DISABLE_G92_PERSISTENCE
+#if COMPATIBILITY_LEVEL <= 1
+#define DISABLE_G92_PERSISTENCE 0
+#else
+#define DISABLE_G92_PERSISTENCE 1
+#endif
+#endif
+
 #ifdef DEFAULT_REPORT_MACHINE_POSITION
 #undef DEFAULT_REPORT_MACHINE_POSITION
 #define DEFAULT_REPORT_MACHINE_POSITION 1
@@ -609,6 +617,12 @@
 #define INVERT_COOLANT_MIST_PIN 0
 #endif
 
+#ifndef NGC_EXPRESSIONS_ENABLE
+#define NGC_EXPRESSIONS_ENABLE 0
+#else
+#define NGC_N_ASSIGN_PARAMETERS_PER_BLOCK 10
+#endif
+
 // ---------------------------------------------------------------------------------------
 // COMPILE-TIME ERROR CHECKING OF DEFINE VALUES:
 

driver_opts.h

@@ -240,7 +240,7 @@
 #if NETWORK_IPMODE < 0 || NETWORK_IPMODE > 2
 #error "Invalid IP mode selected!"
 #endif
-#if NETWORK_WEBSOCKET_PORT == NETWORK_HTTP_PORT
+#if HTTP_ENABLE && NETWORK_WEBSOCKET_PORT == NETWORK_HTTP_PORT
 #warning "HTTP and WebSocket protocols cannot share the same port!"
 #endif
 #endif

errors.c

@@ -81,7 +81,15 @@ PROGMEM static const status_detail_t status_detail[] = {
     { Status_MotorFault, "Motor fault", "Motor fault." },
     { Status_SettingValueOutOfRange, "Value out of range.", "Setting value is out of range." },
     { Status_SettingDisabled, "Setting disabled", "Setting is not available, possibly due to limited driver support." },
-    { Status_GcodeInvalidRetractPosition, "Invalid gcode ID:54", "Retract position is less than drill depth." }
+    { Status_GcodeInvalidRetractPosition, "Invalid gcode ID:54", "Retract position is less than drill depth." },
+#if NGC_EXPRESSIONS_ENABLE
+    { Status_ExpressionUknownOp, "Unknown operation found in expression", "Unknown operation found in expression." },
+    { Status_ExpressionDivideByZero, "Divide by zero in expression", "Divide by zero in expression attempted." },
+    { Status_ExpressionArgumentOutOfRange, "Expression argument out of range", "Too large or too small argrument provided." },
+    { Status_ExpressionInvalidArgument, "Invalid expression argument", "Argument is not valid for the operation" },
+    { Status_ExpressionSyntaxError, "Syntax error in expression", "Expression is not valid." },
+    { Status_ExpressionInvalidResult, "Invalid result returned from expression", "Either NAN (not a number) or infinity was returned from expression." }
+#endif
  };
 
 static error_details_t details = {

errors.h

@@ -93,6 +93,15 @@ typedef enum {
     Status_SDFileEmpty = 64,
 
     Status_BTInitError = 70,
+
+//
+    Status_ExpressionUknownOp = 71,
+    Status_ExpressionDivideByZero = 72,
+    Status_ExpressionArgumentOutOfRange = 73,
+    Status_ExpressionInvalidArgument = 74,
+    Status_ExpressionSyntaxError = 75,
+    Status_ExpressionInvalidResult = 76,
+
     Status_Unhandled, // For internal use only
     Status_StatusMax = Status_Unhandled
 } status_code_t;