Encode + in WebUI commands so it doesn't get lost

FluidNC/src/Machine/Axes.cpp

@@ -52,6 +52,10 @@ namespace Machine {
                 log_info("Axis " << axisName(axis) << " (" << limitsMinPosition(axis) << "," << limitsMaxPosition(axis) << ")");
                 a->init();
             }
+            auto homing = a->_homing;
+            if (homing && !homing->_positiveDirection) {
+                set_bitnum(Homing::direction_mask, axis);
+            }
         }
 
         config_motors();

FluidNC/src/Machine/Homing.cpp

@@ -32,10 +32,11 @@ namespace Machine {
     const uint32_t MOTOR0 = 0xffff;
     const uint32_t MOTOR1 = 0xffff0000;
 
-    Homing::Phase   Homing::_phase       = Phase::None;
-    AxisMask        Homing::_cycleAxes   = 0;
-    AxisMask        Homing::_phaseAxes   = 0;
-    MotorMask       Homing::_cycleMotors = 0;
+    Homing::Phase   Homing::_phase         = Phase::None;
+    AxisMask        Homing::_cycleAxes     = 0;
+    AxisMask        Homing::_phaseAxes     = 0;
+    AxisMask        Homing::direction_mask = 0;
+    MotorMask       Homing::_cycleMotors   = 0;
     MotorMask       Homing::_phaseMotors;
     std::queue<int> Homing::_remainingCycles;
     uint32_t        Homing::_settling_ms;

FluidNC/src/Machine/Homing.h

@@ -27,6 +27,7 @@ namespace Machine {
         static uint32_t _runs;
 
         static AxisMask unhomed_axes();
+        static AxisMask direction_mask;
 
         static void set_axis_homed(size_t axis);
         static void set_axis_unhomed(size_t axis);

FluidNC/src/Motors/TMC2160Driver.cpp

@@ -0,0 +1,12 @@
+// Copyright (c) 2020 -	Bart Dring
+// Use of this source code is governed by a GPLv3 license that can be found in the LICENSE file.
+
+#include "TMC2160Driver.h"
+#include "../Machine/MachineConfig.h"
+
+namespace MotorDrivers {
+    // Configuration registration
+    namespace {
+        MotorFactory::InstanceBuilder<TMC2160Driver> registration("tmc_2160");
+    }
+}

FluidNC/src/Motors/TMC2160Driver.h

@@ -0,0 +1,13 @@
+// Copyright (c) 2020 -	Bart Dring
+// Use of this source code is governed by a GPLv3 license that can be found in the LICENSE file.
+
+#pragma once
+
+#include "TMC5160Driver.h"
+
+namespace MotorDrivers {
+    class TMC2160Driver : public TMC5160Driver {
+    public:
+        TMC2160Driver(const char* name) : TMC5160Driver(name) {}
+    };
+}

FluidNC/src/Parameters.cpp

@@ -467,7 +467,6 @@ bool get_param_ref(const char* line, size_t& pos, param_ref_t& param_ref) {
             return true;
         case '[': {
             // Expression evaluating to param number
-            ++pos;
             Error status = expression(line, pos, result);
             if (status != Error::Ok) {
                 log_debug(errorString(status));

FluidNC/src/Settings.cpp

@@ -45,7 +45,7 @@ bool notIdleOrJog() {
     return !state_is(State::Idle) && !state_is(State::Jog);
 }
 bool notIdleOrAlarm() {
-    return !state_is(State::Idle) && !state_is(State::Alarm) && !state_is(State::ConfigAlarm);
+    return !state_is(State::Idle) && !state_is(State::Alarm) && !state_is(State::ConfigAlarm) && !state_is(State::SafetyDoor);
 }
 bool cycleOrHold() {
     return state_is(State::Cycle) || state_is(State::Hold);

FluidNC/src/SettingsDefinitions.cpp

@@ -1,6 +1,8 @@
 #include "Machine/MachineConfig.h"
 #include "SettingsDefinitions.h"
 #include "Config.h"
+#include "Stepping.h"
+#include "Machine/Homing.h"
 
 #include <tuple>
 #include <array>
@@ -109,7 +111,9 @@ void make_settings() {
     FLOAT_PROXY("101", "Grbl/Resolution/Y", config._axes->_axis[1]->_stepsPerMm)
     FLOAT_PROXY("102", "Grbl/Resolution/Z", config._axes->_axis[2]->_stepsPerMm)
 
+    INT_PROXY("3", "Grbl/InvertMask", Machine::Stepping::direction_mask)
     INT_PROXY("20", "Grbl/SoftLimitsEnable", config._axes->_axis[0]->_softLimits)
     INT_PROXY("21", "Grbl/HardLimitsEnable", config._axes->hasHardLimits())
     INT_PROXY("22", "Grbl/HomingCycleEnable", (bool)Axes::homingMask)
+    INT_PROXY("23", "Grbl/HomingInvertMask", Homing::direction_mask)
 }

FluidNC/src/Spindles/Spindle.cpp

@@ -18,10 +18,15 @@ namespace Spindles {
         ATCs::ATC* candidate = nullptr;
         auto       atcs      = ATCs::ATCFactory::objects();
         for (auto a : atcs) {
-            if (strcmp(_atc_name.c_str(), a->name()) == 0) {
-                _atc = a;
+            if (_atc_name == a->name()) {
+                _atc      = a;
+                _atc_info = " with " + _atc_name;
+                return;
             }
         }
+        if (!_m6_macro._gcode.empty()) {
+            _atc_info = " with m6_macro";
+        }
     }
 
     void Spindle::switchSpindle(uint32_t new_tool, SpindleList spindles, Spindle*& spindle, bool& stop_spindle, bool& new_spindle) {
@@ -121,21 +126,11 @@ namespace Spindles {
         _speeds.push_back({ max, 100.0f });
     }
 
-    std::string Spindle::atc_info() {  // this can be used in the startup response
-        std::string atc_info = "";
-        if (_atc != NULL) {
-            atc_info = " ATC:" + _atc_name;
-        } else if (!_m6_macro._gcode.empty()) {
-            atc_info = " m6_macro:";
-        }
-        return atc_info;
-    }
-
     // pre_select is generally ignored except for machines that need to get a tool ready
     // set_tool is just used to tell the atc what is already installed.
     bool Spindle::tool_change(uint32_t tool_number, bool pre_select, bool set_tool) {
         if (_atc != NULL) {
-            log_info(_name << " spindle changed to tool:" << tool_number << " using ATC:" << _atc_name);
+            log_info(_name << " spindle changed to tool:" << tool_number << " using " << _atc_name);
             return _atc->tool_change(tool_number, pre_select, set_tool);
         }
         if (!_m6_macro.get().empty()) {

FluidNC/src/Spindles/Spindle.h

@@ -26,9 +26,10 @@ namespace Spindles {
     class Spindle : public Configuration::Configurable {
     private:
         const char* _name;
+        std::string _atc_info = "";
 
     protected:
-        ATCs::ATC* _atc       = NULL;
+        ATCs::ATC* _atc       = nullptr;
         uint32_t   _last_tool = 0;
 
     public:
@@ -52,7 +53,7 @@ namespace Spindles {
         void         spindleDelay(SpindleState state, SpindleSpeed speed);
         virtual void init() = 0;  // not in constructor because this also gets called when $$ settings change
         virtual void init_atc();
-        std::string  atc_info();
+        std::string  atc_info() { return _atc_info; };
 
         // Used by Protocol.cpp to restore the state during a restart
         virtual void    setState(SpindleState state, uint32_t speed) = 0;

FluidNC/src/Spindles/VFDSpindle.cpp

@@ -31,11 +31,10 @@
 #include <freertos/queue.h>
 #include <atomic>
 
-namespace Spindles 
-{
+namespace Spindles {
     // number of commands that can be queued up.
-    const int        VFD_RS485_QUEUE_SIZE = 10;                                     
-        
+    const int VFD_RS485_QUEUE_SIZE = 10;
+
     // ================== Class methods ==================================
 
     void VFDSpindle::init() {
@@ -85,8 +84,12 @@ namespace Spindles
         set_mode(SpindleState::Disable, true);
     }
 
-    void VFDSpindle::config_message() { _uart->config_message(name(), " Spindle "); }
-
+    void VFDSpindle::config_message() {
+        std::string usage(" Spindle");
+        usage += atc_info();
+        _uart->config_message(name(), usage.c_str());
+    }
+
     void VFDSpindle::set_mode(SpindleState mode, bool critical) {
         _last_override_value = sys.spindle_speed_ovr;  // sync these on mode changes
         if (VFD::VFDProtocol::vfd_cmd_queue) {

FluidNC/src/Stepping.cpp

@@ -24,6 +24,8 @@ namespace Machine {
 
     int Stepping::_engine = RMT_ENGINE;
 
+    AxisMask Stepping::direction_mask = 0;
+
     bool   Stepping::_switchedStepper = false;
     size_t Stepping::_segments        = 12;
 
@@ -78,6 +80,10 @@ void Stepping::assignMotor(int axis, int motor, int step_pin, bool step_invert,
     m->dir_invert            = dir_invert;
     m->blocked               = false;
     m->limited               = false;
+
+    if (motor == 0 && dir_invert) {
+        set_bitnum(direction_mask, axis);
+    }
 }
 
 int Stepping::axis_steps[MAX_N_AXIS] = { 0 };

FluidNC/src/Stepping.h

@@ -87,6 +87,8 @@ namespace Machine {
 
         static uint32_t maxPulsesPerSec();
 
+        static AxisMask direction_mask;
+
         // Timers
         static void setTimerPeriod(uint32_t timerTicks);
         static void startTimer();