Manual tool change

Grbl_Esp32/Custom/atari_1020.cpp

@@ -212,7 +212,7 @@ void calc_solenoid(float penZ) {
 	A tool (pen) change is done by bumping the carriage against the right edge 3 times per
 	position change. Pen 1-4 is valid range.
 */
-bool user_tool_change(uint8_t new_tool) {
+bool user_tool_change(uint8_t new_tool, bool automatic) {
     uint8_t move_count;
     char    gcode_line[20];
     protocol_buffer_synchronize();  // wait for all previous moves to complete

Grbl_Esp32/Custom/atc.cpp

@@ -71,35 +71,41 @@ void user_machine_init() {
     pinMode(ETS_DUST_OFF, OUTPUT);
 
     // the tool setter
-    tool[ETS_INDEX].mpos[X_AXIS] = 108;
+    tool[ETS_INDEX].mpos[X_AXIS] = 104;
     tool[ETS_INDEX].mpos[Y_AXIS] = 292.0;
     tool[ETS_INDEX].mpos[Z_AXIS] = -60.0;  // Mpos before collet face triggers probe
 
-    tool[1].mpos[X_AXIS] = 151.0;
-    tool[1].mpos[Y_AXIS] = 291.0;
+    tool[1].mpos[X_AXIS] = 146.0;
+    tool[1].mpos[Y_AXIS] = 292.0;
     tool[1].mpos[Z_AXIS] = -87.0;
 
-    tool[2].mpos[X_AXIS] = 186.0;
-    tool[2].mpos[Y_AXIS] = 291.0;
+    tool[2].mpos[X_AXIS] = 181.0;
+    tool[2].mpos[Y_AXIS] = 292.0;
     tool[2].mpos[Z_AXIS] = -87.0;
 
-    tool[3].mpos[X_AXIS] = 221.0;
+    tool[3].mpos[X_AXIS] = 216.0;
     tool[3].mpos[Y_AXIS] = 292.0;
     tool[3].mpos[Z_AXIS] = -87.0;
 
-    tool[4].mpos[X_AXIS] = 256.0;
-    tool[4].mpos[Y_AXIS] = 291.0;
+    tool[4].mpos[X_AXIS] = 251.0;
+    tool[4].mpos[Y_AXIS] = 292.0;
     tool[4].mpos[Z_AXIS] = -87.0;
 
     top_of_z = limitsMaxPosition(Z_AXIS) - homing_pulloff->get();
 }
 
-bool user_tool_change(uint8_t new_tool) {
+bool user_tool_change(uint8_t new_tool, bool automatic) {
     bool     spindle_was_on       = false;
     bool     was_incremental_mode = false;  // started in G91 mode
     uint64_t spindle_spin_delay;            // used to make sure spindle has fully spun down and up.
     float    saved_mpos[MAX_N_AXIS] = {};   // the position before the tool change
 
+    if (!automatic) {
+        current_tool = new_tool;
+        grbl_msg_sendf(CLIENT_ALL, MsgLevel::Info, "Manual tool change to:%d", current_tool);
+        return true;
+    }
+
     if (new_tool == current_tool) {  // if no change, we are done
         grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "ATC existing tool requested:%d", new_tool);
         return true;

Grbl_Esp32/Custom/custom_code_template.cpp

@@ -123,7 +123,7 @@ void forward_kinematics(float* position) {
   user_tool_change() is called when tool change gcode is received,
   to perform appropriate actions for your machine.
 */
-bool user_tool_change(uint8_t new_tool) {}
+bool user_tool_change(uint8_t new_tool, bool automatic) {}
 
 #if defined(MACRO_BUTTON_0_PIN) || defined(MACRO_BUTTON_1_PIN) || defined(MACRO_BUTTON_2_PIN)
 /*

Grbl_Esp32/src/GCode.cpp

@@ -516,6 +516,10 @@ Error gc_execute_line(char* line, uint8_t client) {
                         mg_word_bit             = ModalGroup::MM9;
                         break;
 #endif
+                    case 61:  // Set Current Tool
+                        gc_block.modal.tool_change = ToolChange::SetTool;
+                        mg_word_bit                = ModalGroup::MM6;
+                        break;
                     case 62:
                         gc_block.modal.io_control = IoControl::DigitalOnSync;
                         mg_word_bit               = ModalGroup::MM10;
@@ -626,7 +630,10 @@ Error gc_execute_line(char* line, uint8_t client) {
                     case 'Q':
                         axis_word_bit     = GCodeWord::Q;
                         gc_block.values.q = value;
-                        //grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Q %2.2f", value);
+                        if (gc_block.modal.tool_change == ToolChange::SetTool) {  // M61
+                            gc_state.tool = int_value;
+                                                        
+                        }
                         break;
                     case 'R':
                         axis_word_bit     = GCodeWord::R;
@@ -825,6 +832,19 @@ Error gc_execute_line(char* line, uint8_t client) {
         bit_false(value_words, bit(GCodeWord::E));
         bit_false(value_words, bit(GCodeWord::Q));
     }
+    if (gc_block.non_modal_command == NonModal::Dwell) {
+        if (bit_isfalse(value_words, bit(GCodeWord::P))) {
+            FAIL(Error::GcodeValueWordMissing);  // [P word missing]
+        }
+        bit_false(value_words, bit(GCodeWord::P));
+    }
+    if (gc_block.modal.tool_change == ToolChange::SetTool) {
+        if (bit_isfalse(value_words, bit(GCodeWord::Q))) {
+            FAIL(Error::GcodeValueWordMissing);  // [P word missing]
+        }
+        bit_false(value_words, bit(GCodeWord::Q));
+    }
+
     // [11. Set active plane ]: N/A
     switch (gc_block.modal.plane_select) {
         case Plane::XY:
@@ -1252,6 +1272,7 @@ Error gc_execute_line(char* line, uint8_t client) {
                   (bit(GCodeWord::X) | bit(GCodeWord::Y) | bit(GCodeWord::Z) | bit(GCodeWord::A) | bit(GCodeWord::B) |
                    bit(GCodeWord::C)));  // Remove axis words.
     }
+
     if (value_words) {
         FAIL(Error::GcodeUnusedWords);  // [Unused words]
     }
@@ -1350,12 +1371,19 @@ Error gc_execute_line(char* line, uint8_t client) {
     }                                                     // else { pl_data->spindle_speed = 0.0; } // Initialized as zero already.
     // [5. Select tool ]: NOT SUPPORTED. Only tracks tool value.
     //	gc_state.tool = gc_block.values.t;
-    // [6. Change tool ]: NOT SUPPORTED
+    // [6. Change tool ]
     if (gc_block.modal.tool_change == ToolChange::Enable) {
-        if (!user_tool_change(gc_state.tool)) {  // (weak)   should be user defined
+        if (!user_tool_change(gc_state.tool, true)) {  // (weak)   should be user defined
             FAIL(Error::ToolChangeError);
         }
     }
+    // [61. Manually set current tool ]
+    if (gc_block.modal.tool_change == ToolChange::SetTool) {
+        if (!user_tool_change(gc_state.tool, false)) {  // (weak)   should be user defined
+            FAIL(Error::ToolChangeError);
+        }
+    }
+
     // [7. Spindle control ]:
     if (gc_state.modal.spindle != gc_block.modal.spindle) {
         // Update spindle control and apply spindle speed when enabling it in this block.
@@ -1602,7 +1630,6 @@ Error gc_execute_line(char* line, uint8_t client) {
 }
 
 __attribute__((weak)) bool user_tool_change(uint8_t new_tool) {
-    
     return true;
 }
 

Grbl_Esp32/src/GCode.h

@@ -44,7 +44,7 @@ enum class ModalGroup : uint8_t {
     MG12 = 9,   // [G54,G55,G56,G57,G58,G59] Coordinate system selection
     MG13 = 10,  // [G61] Control mode
     MM4  = 11,  // [M0,M1,M2,M30] Stopping
-    MM6  = 14,  // [M6] Tool change
+    MM6  = 14,  // [M6, M61] Tool change, Set Current Tool
     MM7  = 12,  // [M3,M4,M5] Spindle turning
     MM8  = 13,  // [M7,M8,M9] Coolant control
     MM9  = 14,  // [M56] Override control
@@ -185,6 +185,7 @@ enum class ToolLengthOffset : uint8_t {
 enum class ToolChange : uint8_t {
     Disable = 0,
     Enable  = 1,
+    SetTool = 2, // tell Grbl the current tool
 };
 
 // Modal Group G12: Active work coordinate system

Grbl_Esp32/src/Grbl.h

@@ -114,4 +114,4 @@ void user_defined_macro(uint8_t index);
 // Called if USE_M30 is defined
 void user_m30();
 
-bool user_tool_change(uint8_t new_tool);  // weak
+bool user_tool_change(uint8_t new_tool, bool automatic);  // weak