Refactored the tool table HAL API a bit to improve functionality.

terjeio · terjeio · commit e272f773b558 · 2025-11-11T16:51:08.000+01:00
Added tool name, pocket number and some lathe specific data fields to the $# tool output when available from the tool table.
If name is available it will be output as a push message on M6 if there is no message in the same block.
Added support for directory up, .., to VFS.
Added new option to $650 - File systems options to enable hierarchical listing of files and directories via $F and $F+ commands.
diff --git a/changelog.md b/changelog.md
@@ -1,5 +1,31 @@
 ## grblHAL changelog
 
+<a name="20251111">Build 20251111
+
+Core:
+
+* Refactored the tool table HAL API a bit to improve functionality.
+Added tool name, pocket number and some lathe specific data fields to the `$#` tool output when available from the tool table.
+If name is available it will be output as a push message on `M6` if there is no message in the same block.
+
+* Added support for directory up, `..`, to VFS.
+
+* Added new option to `$650` - _File systems options_ to enable hierarchical listing of files and directories via `$F` and `$F+` commands.
+When enabled directories are added to the output with file size set to `-1` and only the contents of the current directory is reported.
+The `$F=<dirname>` command can then be used to set the current working direcory \(CWD\). `$F=..` can be used to move up one level and `$F=/` to move to the root directory.
+Files or directory names for `$F`, `$F+` `$F<` and `$FD` commands not starting with `/` will executed be relative to the CWD.
+
+Plugins:
+
+* Misc, tooltable: removed limit on max number of tools, it is now constrained by available RAM. Added name \(remark, comment\) to imported data and
+a new command, `$TTLOAD`, that can be used to reload the tool table after it has been updated. 
+
+* EEPROM: added experimental code that allows mounting unused part of large EEPROM as littlefs file system. This may then be used to store a file based tooltable etc.
+
+* SD Card, littlefs VFS wrapper: added support for `vfs_chdir()` \(change directory\) to allow ftp access to subdirectories.
+
+---
+
 <a name="20251109">Build 20251109
 
 Core:
diff --git a/config.h b/config.h
@@ -542,7 +542,7 @@ Set to \ref On or 1 to enable experimental support for expressions.
 Some LinuxCNC extensions are supported, conditionals and subroutines are not.
 */
 #if !defined NGC_EXPRESSIONS_ENABLE || defined __DOXYGEN__
-#define NGC_EXPRESSIONS_ENABLE Off
+#define NGC_EXPRESSIONS_ENABLE On
 #endif
 
 /*! \def NGC_PARAMETERS_ENABLE
@@ -1467,11 +1467,14 @@ and less range over the total 255 PWM levels to signal different spindle speeds.
 // Homing settings (Group_Homing)
 
 /*! @name $22 - Setting_HomingEnable
-\brief Enable homing.
+\brief Enable and control homing functionality.
 Requires homing cycles to be defined by \ref DEFAULT_HOMING_CYCLE_0 - \ref DEFAULT_HOMING_CYCLE_2 +.
-\internal Bit 0 in settings.homing.flags.
 */
 ///@{
+/*! /def DEFAULT_HOMING_ENABLE
+\brief Enables homing overall.
+\internal Bit 0 in settings.homing.flags.
+*/
 #if !defined DEFAULT_HOMING_ENABLE || defined __DOXYGEN__
 #define DEFAULT_HOMING_ENABLE Off // Default disabled. Set to \ref On or 1 to enable.
 #endif
@@ -2119,6 +2122,46 @@ Default stream format settings for ModBus RTU stream.
 #endif
 ///@}
 
+/*! @name $681 - Setting_ModBus_StreamFormat
+Default stream format settings for ModBus RTU stream.
+*/
+///@{
+#if !defined DEFAULT_MODBUS_STREAM_PARITY || defined __DOXYGEN__
+#define DEFAULT_MODBUS_STREAM_PARITY 0 // 0 = None, 1 = Even, 2 = Odd
+#endif
+///@}
+
+/*! @name $650 - Setting_FSOptions
+Filing systems options.
+*/
+///@{
+/*! /def DEFAULT_FS_SD_AUTOMOUNT
+\brief Auto mount SD card on startup.
+\internal Bit 0 in settings.fs_options.mask.
+*/
+#if !defined DEFAULT_FS_SD_AUTOMOUNT || defined __DOXYGEN__
+#define DEFAULT_FS_SD_AUTOMOUNT Off // Default disabled. Set to \ref On or 1 to enable.
+#endif
+
+/*! /def DEFAULT_FS_LITLLEFS_HIDDEN
+\brief Hides LittleFS mount from directory listings.
+\internal Bit 1 in settings.fs_options.mask.
+*/
+#if !defined DEFAULT_FS_LITLLEFS_HIDDEN || defined __DOXYGEN__
+#define DEFAULT_FS_LITLLEFS_HIDDEN Off // Default disabled. Set to \ref On or 1 to enable.
+#endif
+
+/*! /def DEFAULT_FS_HIERACHICAL_LISTING
+\brief
+Adds directory entries in $F and $F+ output to allow hierarchical navigation of the directoy tree.
+\internal Bit 2 in settings.fs_options.mask.
+*/
+#if !defined DEFAULT_FS_HIERACHICAL_LISTING || defined __DOXYGEN__
+#define DEFAULT_FS_HIERACHICAL_LISTING Off // Default disabled. Set to \ref On or 1 to enable.
+#endif
+///@}
+
+
 // Axis settings (Group_XAxis - Group_VAxis)
 
 /*! @name $10x - Setting_AxisStepsPerMM
diff --git a/core_handlers.h b/core_handlers.h
@@ -136,18 +136,16 @@ typedef status_code_t (*on_macro_execute_ptr)(macro_id_t macro); // macro implem
 typedef void (*on_macro_return_ptr)(void);
 typedef void (*on_file_demarcate_ptr)(bool start);
 
-typedef tool_data_t *(*get_tool_ptr)(tool_id_t tool_id);
-typedef tool_data_t *(*get_tool_by_idx_ptr)(uint32_t idx);
+typedef tool_table_entry_t *(*get_tool_ptr)(tool_id_t tool_id);
+typedef tool_table_entry_t *(*get_tool_by_idx_ptr)(uint32_t idx);
 typedef bool (*set_tool_data_ptr)(tool_data_t *tool_data);
-typedef pocket_id_t (*get_pocket_ptr)(tool_id_t tool_id);
 typedef bool (*clear_tool_data_ptr)(void);
 
 typedef struct {
     uint32_t n_tools;
     get_tool_ptr get_tool;
     get_tool_by_idx_ptr get_tool_by_idx;
     set_tool_data_ptr set_tool;
-    get_pocket_ptr get_pocket;
     clear_tool_data_ptr clear;
 } tool_table_t;
 
diff --git a/gcode.c b/gcode.c
@@ -373,16 +373,16 @@ void gc_init (bool stop)
 {
 #if COMPATIBILITY_LEVEL > 1
         memset(&gc_state, 0, sizeof(parser_state_t));
-        gc_state.tool = grbl.tool_table.get_tool(0);
+        gc_state.tool = grbl.tool_table.get_tool(0)->data;
         if(grbl.tool_table.n_tools == 0)
             memset(gc_state.tool, 0, sizeof(tool_data_t));
 #else
     if(sys.cold_start) {
         memset(&gc_state, 0, sizeof(parser_state_t));
         if(settings.flags.tool_persistent)
-            gc_state.tool = grbl.tool_table.get_tool(settings.tool_id);
+            gc_state.tool = grbl.tool_table.get_tool(settings.tool_id)->data;
         if(gc_state.tool == NULL)
-            gc_state.tool = grbl.tool_table.get_tool(0);
+            gc_state.tool = grbl.tool_table.get_tool(0)->data;
         if(grbl.tool_table.n_tools == 0) {
             memset(gc_state.tool, 0, sizeof(tool_data_t));
             if(settings.flags.tool_persistent)
@@ -503,12 +503,21 @@ static void add_offset (const coord_data_t *offset)
     system_flag_wco_change();
 }
 
-static tool_data_t *tool_get_pending (tool_id_t tool_id)
+static tool_data_t *tool_get_pending (tool_id_t tool_id, char **message)
 {
     static tool_data_t tool_data = {0};
 
-    if(grbl.tool_table.n_tools)
-        return grbl.tool_table.get_tool(tool_id);
+    if(grbl.tool_table.n_tools) {
+
+        tool_table_entry_t *tool = grbl.tool_table.get_tool(tool_id);
+
+        if(message && tool->name) {
+            if((*message = malloc(strlen(tool->name) + 1)))
+                strcpy(*message, tool->name);
+        }
+
+        return tool->data;
+    }
 
     memcpy(&tool_data, gc_state.tool, sizeof(tool_data_t));
     tool_data.tool_id = tool_id;
@@ -1711,7 +1720,7 @@ status_code_t gc_execute_block (char *block)
                     case 'T':
                         if(mantissa > 0)
                             FAIL(Status_GcodeCommandValueNotInteger);
-                        if(grbl.tool_table.n_tools ? (grbl.tool_table.get_tool((tool_id_t)int_value) == NULL) : (int_value > MAX_TOOL_NUMBER))
+                        if(grbl.tool_table.n_tools ? (grbl.tool_table.get_tool((tool_id_t)int_value)->data == NULL) : (int_value > MAX_TOOL_NUMBER))
                             FAIL(Status_GcodeIllegalToolTableEntry);
                         word_bit.parameter.t = On;
                         gc_block.values.t = isnan(value) ? 0xFFFFFFFF : int_value;
@@ -2059,7 +2068,7 @@ status_code_t gc_execute_block (char *block)
             FAIL(Status_GcodeValueWordMissing);
         if(!isintf(gc_block.values.q))
             FAIL(Status_GcodeCommandValueNotInteger);
-        if(grbl.tool_table.n_tools ? grbl.tool_table.get_tool((tool_id_t)gc_block.values.q) == NULL : gc_block.values.q > MAX_TOOL_NUMBER)
+        if(grbl.tool_table.n_tools ? grbl.tool_table.get_tool((tool_id_t)gc_block.values.q)->data == NULL : gc_block.values.q > MAX_TOOL_NUMBER)
             FAIL(Status_GcodeIllegalToolTableEntry);
 
         gc_block.values.t = (uint32_t)gc_block.values.q;
@@ -2402,7 +2411,7 @@ status_code_t gc_execute_block (char *block)
                     if(gc_block.words.h) {
                         if(gc_block.values.h == 0 && !settings.macro_atc_flags.random_toolchanger)
                             gc_block.values.h = gc_block.values.t; // !! no tool clear offset
-                        if(!grbl.tool_table.get_tool((tool_id_t)gc_block.values.h))
+                        if(!grbl.tool_table.get_tool((tool_id_t)gc_block.values.h)->data)
                             FAIL(Status_GcodeIllegalToolTableEntry);
                         gc_block.words.h = Off;
                     } else
@@ -2414,7 +2423,7 @@ status_code_t gc_execute_block (char *block)
             case ToolLengthOffset_ApplyAdditional:
                 if(grbl.tool_table.n_tools) {
                     if(gc_block.words.h) {
-                        if(gc_block.values.h == 0 || !grbl.tool_table.get_tool((tool_id_t)gc_block.values.h))
+                        if(gc_block.values.h == 0 || !grbl.tool_table.get_tool((tool_id_t)gc_block.values.h)->data)
                             FAIL(Status_GcodeIllegalToolTableEntry);
                         gc_block.words.h = Off;
                     } else
@@ -2532,8 +2541,8 @@ status_code_t gc_execute_block (char *block)
 
                         tool_data_t *tool_data;
 
-                        if((tool_data = grbl.tool_table.get_tool((tool_id_t)p_value)) == NULL)
-                            FAIL(Status_GcodeIllegalToolTableEntry); // [Greater than max allowed tool number]
+                        if((tool_data = grbl.tool_table.get_tool((tool_id_t)p_value)->data) == NULL)
+                            FAIL(Status_GcodeIllegalToolTableEntry); // [Greater than max allowed tool number or not in tool table]
 
                         if(gc_block.words.r) {
                             tool_data->radius = gc_block.values.r;
@@ -2546,9 +2555,6 @@ status_code_t gc_execute_block (char *block)
                             FAIL(Status_SettingReadFail);
 #endif
 
-                        if(gc_block.values.l == 1)
-                            tool_data = grbl.tool_table.get_tool((tool_id_t)p_value);
-
                         idx = N_AXIS;
                         do {
                             if(bit_istrue(axis_words.mask, bit(--idx))) {
@@ -3427,7 +3433,7 @@ status_code_t gc_execute_block (char *block)
 
         if(!check_mode) {
 
-            tool_data_t *pending_tool = tool_get_pending(gc_state.tool_pending);
+            tool_data_t *pending_tool = tool_get_pending(gc_state.tool_pending, NULL);
 
             // If M6 not available or M61 commanded set new tool immediately
             if(set_tool || (hal.driver_cap.atc ? !hal.tool.change : settings.tool_change.mode == ToolChange_Ignore || !(hal.stream.suspend_read || hal.tool.change))) {
@@ -3494,7 +3500,7 @@ status_code_t gc_execute_block (char *block)
     // [6. Change tool ]: Delegated to (possible) driver implementation
     if(command_words.M6 && !set_tool && !check_mode) {
 
-        tool_data_t *pending_tool = tool_get_pending(gc_state.tool_pending);
+        tool_data_t *pending_tool = tool_get_pending(gc_state.tool_pending, plan_data.message ? NULL : &plan_data.message);
 
         protocol_buffer_synchronize();
 
@@ -3760,7 +3766,7 @@ status_code_t gc_execute_block (char *block)
         gc_state.modal.tool_offset_mode = gc_block.modal.tool_offset_mode;
 
         if(gc_state.modal.tool_offset_mode == ToolLengthOffset_Enable || gc_state.modal.tool_offset_mode == ToolLengthOffset_ApplyAdditional)
-            tool_data = grbl.tool_table.get_tool((tool_id_t)gc_block.values.h);
+            tool_data = grbl.tool_table.get_tool((tool_id_t)gc_block.values.h)->data;
 
         do {
 
diff --git a/gcode.h b/gcode.h
@@ -589,9 +589,17 @@ typedef struct {
     tool_id_t tool_id;      //!< Tool number
 } tool_data_t;
 
+//! Tool table entry.
+typedef struct {
+    const char *name;
+    tool_data_t *data;
+    pocket_id_t pocket;
+} tool_table_entry_t;
+
 typedef struct {
     tool_data_t tool;
     pocket_id_t pocket_id;
+    char name[101];
 } tool_pocket_t;
 
 /*! \brief Parser state
diff --git a/grbl.h b/grbl.h
@@ -42,7 +42,7 @@
 #else
 #define GRBL_VERSION "1.1f"
 #endif
-#define GRBL_BUILD 20251109
+#define GRBL_BUILD 20251111
 
 #define GRBL_URL "https://github.com/grblHAL"
 
diff --git a/grbllib.c b/grbllib.c
@@ -432,7 +432,7 @@ int grbl_enter (void)
         task_add_delayed(auto_realtime_report, NULL, settings.report_interval);
 
     if(hal.driver_cap.sd_card || hal.driver_cap.littlefs) {
-        fs_options_t fs_options = {0};
+        fs_options_t fs_options = { .hierarchical_listing = On };
         fs_options.lfs_hidden = hal.driver_cap.littlefs;
         fs_options.sd_mount_on_boot = hal.driver_cap.sd_card;
         setting_remove_elements(Setting_FSOptions, fs_options.mask);
diff --git a/ngc_params.c b/ngc_params.c
@@ -596,15 +596,15 @@ float ngc_named_param_get_by_id (ncg_name_param_id_t id)
             break;
 
         case NGCParam_current_pocket:
-            value = (float)grbl.tool_table.get_pocket(gc_state.tool->tool_id);
+            value = (float)grbl.tool_table.get_tool(gc_state.tool->tool_id)->pocket;
             break;
 
         case NGCParam_selected_tool:
             value = gc_state.tool_pending != gc_state.tool->tool_id ? (float)gc_state.tool_pending : -1.0f;
             break;
 
         case NGCParam_selected_pocket:
-            value = gc_state.tool_pending != gc_state.tool->tool_id ? (float)grbl.tool_table.get_pocket(gc_state.tool_pending) : -1.0f;
+            value = gc_state.tool_pending != gc_state.tool->tool_id ? (float)grbl.tool_table.get_tool(gc_state.tool_pending)->pocket : -1.0f;
             break;
 
         case NGCParam_call_level:
@@ -1094,7 +1094,7 @@ static status_code_t macro_get_tool_offset (void)
         status = Status_GcodeValueWordMissing;
     else if(grbl.tool_table.n_tools && ngc_param_get(17 /* Q word */, &tool_id) && ngc_param_get(18 /* R word */, &axis_id)) {
 
-        tool_data_t *tool_data = grbl.tool_table.get_tool((tool_id_t)tool_id);
+        tool_data_t *tool_data = grbl.tool_table.get_tool((tool_id_t)tool_id)->data;
 
         if(tool_data && (uint8_t)axis_id < N_AXIS) {
             ngc_named_param_set("_value", tool_data->offset.values[(uint8_t)axis_id]);
diff --git a/report.c b/report.c
@@ -646,17 +646,26 @@ void report_ngc_parameters (void)
     hal.stream.write("]" ASCII_EOL);
 
     tool_data_t *tool_data;
+    tool_table_entry_t *tool;
 
     for (idx = 1; idx <= grbl.tool_table.n_tools; idx++) {
-        if((tool_data = grbl.tool_table.get_tool_by_idx((uint32_t)idx)) &&
+        if((tool_data = (tool = grbl.tool_table.get_tool_by_idx((uint32_t)idx))->data) &&
             (settings.macro_atc_flags.random_toolchanger ? tool_data->tool_id >= 0 : tool_data->tool_id > 0)) {
             hal.stream.write("[T:");
             hal.stream.write(uitoa(tool_data->tool_id));
             hal.stream.write("|");
             hal.stream.write(get_axis_values(tool_data->offset.values));
             hal.stream.write("|");
             hal.stream.write(get_axis_value(tool_data->radius));
+            hal.stream.write("|6,0,0|");
+            hal.stream.write(tool->name ? tool->name : ""); // TODO: sanitize name? (| not allowed)
+            if(tool->pocket >= 0) {
+                hal.stream.write("|");
+                hal.stream.write(uitoa((uint32_t)tool->pocket));
+            }
             hal.stream.write("]" ASCII_EOL);
+            if(tool->name)
+                hal.delay_ms(5, NULL);
         }
     }
 
diff --git a/settings.c b/settings.c
diff --git a/settings.h b/settings.h
diff --git a/stream.c b/stream.c
diff --git a/vfs.c b/vfs.c
