Minimal probing cycle working. Supports both G38.2 for error and G38.3 when no errors are desired.

report.c

@@ -79,6 +79,8 @@ void report_status_message(uint8_t status_code)
       printPgmString(PSTR("Homing not enabled")); break;
       case STATUS_OVERFLOW:
       printPgmString(PSTR("Line overflow")); break; 
+      case STATUS_PROBE_ERROR:
+      printPgmString(PSTR("Probe error")); break; 
     }
     printPgmString(PSTR("\r\n"));
   }
@@ -364,3 +366,52 @@ void report_realtime_status()
     
   printPgmString(PSTR(">\r\n"));
 }
+
+// Prints real-time data. This function grabs a real-time snapshot of the stepper subprogram 
+ // and the actual location of the CNC machine. Users may change the following function to their
+ // specific needs.  It is kept separate from the "normal" report_realtime_status() to allow customization. 
+void report_realtime_status_probe()
+{
+  // **Under construction** Bare-bones status report. Provides real-time machine position relative to 
+  // the system power on location (0,0,0) and work coordinate position (G54 and G92 applied). 
+  uint8_t i;
+  int32_t current_position[N_AXIS]; // Copy current state of the system position variable
+  memcpy(current_position,sys.position,sizeof(sys.position));
+  float print_position[N_AXIS];
+ 
+  printPgmString(PSTR("<Probe")); 
+
+  // Report machine position
+  printPgmString(PSTR(",MPos:")); 
+  for (i=0; i< N_AXIS; i++) {
+    print_position[i] = current_position[i]/settings.steps_per_mm[i];
+    if (bit_istrue(settings.flags,BITFLAG_REPORT_INCHES)) { print_position[i] *= INCH_PER_MM; }
+    printFloat(print_position[i]);
+    printPgmString(PSTR(","));
+  }
+  
+  // Report work position
+  printPgmString(PSTR("WPos:")); 
+  for (i=0; i< N_AXIS; i++) {
+    if (bit_istrue(settings.flags,BITFLAG_REPORT_INCHES)) {
+      print_position[i] -= (gc.coord_system[i]+gc.coord_offset[i])*INCH_PER_MM;
+    } else {
+      print_position[i] -= gc.coord_system[i]+gc.coord_offset[i];
+    }
+    printFloat(print_position[i]);
+    if (i < (N_AXIS-1)) { printPgmString(PSTR(",")); }
+  }
+    
+#ifdef USE_LINE_NUMBERS
+  // Report current line number
+  printPgmString(PSTR(",Ln:")); 
+  int32_t ln=0;
+  plan_block_t * pb = plan_get_current_block();
+  if(pb != NULL) {
+    ln = pb->line_number;
+  } 
+  printInteger(ln);
+#endif
+    
+  printPgmString(PSTR(">\r\n"));
+}