From 3854d200bb68fcf3ca40467c89d786fcd405284d Mon Sep 17 00:00:00 2001
From: chamnit <chamnit@Masamune.local>
Date: Tue, 25 Oct 2016 20:03:30 -0600
Subject: [PATCH] Mandate all probe cycles ignore feed overrides.

- For repeatability reasons, all G38.x probe cycles ignore feed rate
overrides and move at their programmed speed.

- The mandate can be removed with a new config.h option.

- Updated the documentation to reflect the change.
---
 doc/csv/build_option_codes_en_US.csv |  1 +
 doc/log/commit_log_v1.1.txt          | 11 +++++++++++
 doc/markdown/interface.md            |  1 +
 grbl/config.h                        |  7 +++++++
 grbl/gcode.c                         |  3 +++
 grbl/report.c                        |  3 +++
 6 files changed, 26 insertions(+)

diff --git a/doc/csv/build_option_codes_en_US.csv b/doc/csv/build_option_codes_en_US.csv
index e53b975..d77bc15 100644
--- a/doc/csv/build_option_codes_en_US.csv
+++ b/doc/csv/build_option_codes_en_US.csv
@@ -7,6 +7,7 @@
 "Z","Homing force origin","Enabled"
 "H","Homing single axis commands","Enabled"
 "L","Two limit switches on axis","Enabled"
+"A","Allow feed rate overrides in probe cycles","Enabled"
 "R","Classic compatibility mode","Enabled"
 "*","Restore all EEPROM command","Disabled"
 "$","Restore EEPROM `$` settings command","Disabled"
diff --git a/doc/log/commit_log_v1.1.txt b/doc/log/commit_log_v1.1.txt
index 27330bf..a3be169 100644
--- a/doc/log/commit_log_v1.1.txt
+++ b/doc/log/commit_log_v1.1.txt
@@ -1,3 +1,14 @@
+----------------
+Date: 2016-10-25
+Author: chamnit
+Subject: Resolved parking accessory handling issue.
+
+- Yikes. Totally borked the last parking “fix”. Testing shows that all
+accessories are now properly handled when retracting and restoring. It
+was caused by not accounting for the planner re-factoring correctly in
+the parking code.
+
+
 ----------------
 Date: 2016-10-24
 Author: Sonny Jeon
diff --git a/doc/markdown/interface.md b/doc/markdown/interface.md
index ff53853..e62d41f 100644
--- a/doc/markdown/interface.md
+++ b/doc/markdown/interface.md
@@ -311,6 +311,7 @@ Feedback messages provide non-critical information on what Grbl is doing, what i
 | **`Z`** | Homing force origin enabled |
 | **`H`** | Homing single axis enabled |
 | **`L`** | Two limit switches on axis enabled |
+| **`A`** | Allow feed rate overrides in probe cycles |
 | **`R`** | Classic compatiblity mode enabled |
 | **`*`** | Restore all EEPROM disabled |
 | **`$`** | Restore EEPROM `$` settings disabled |
diff --git a/grbl/config.h b/grbl/config.h
index e80e9a9..c5ea217 100644
--- a/grbl/config.h
+++ b/grbl/config.h
@@ -540,6 +540,13 @@
 // that any of these commands are used need continuous motions through them.
 #define FORCE_BUFFER_SYNC_DURING_WCO_CHANGE // Default enabled. Comment to disable.
 
+// By default, Grbl disables feed rate overrides for all G38.x probe cycle commands. Although this
+// may be different than some pro-class machine control, it's arguable that it should be this way. 
+// Most probe sensors produce different levels of error that is dependent on rate of speed. By 
+// keeping probing cycles to their programmed feed rates, the probe sensor should be a lot more
+// repeatable. If needed, you can disable this behavior by uncommenting the define below.
+// #define ALLOW_FEED_OVERRIDE_DURING_PROBE_CYCLES // Default disabled. Uncomment to enable.
+
 // Enables and configures parking motion methods upon a safety door state. Primarily for OEMs
 // that desire this feature for their integrated machines. At the moment, Grbl assumes that
 // the parking motion only involves one axis, although the parking implementation was written
diff --git a/grbl/gcode.c b/grbl/gcode.c
index 578b083..c0d0bce 100644
--- a/grbl/gcode.c
+++ b/grbl/gcode.c
@@ -1040,6 +1040,9 @@ uint8_t gc_execute_line(char *line)
       } else {
         // NOTE: gc_block.values.xyz is returned from mc_probe_cycle with the updated position value. So
         // upon a successful probing cycle, the machine position and the returned value should be the same.
+        #ifndef ALLOW_FEED_OVERRIDE_DURING_PROBE_CYCLES
+          pl_data->condition |= PL_COND_FLAG_NO_FEED_OVERRIDE;
+        #endif
         uint8_t is_probe_away = false;
         uint8_t is_no_error = false;
         if ((gc_state.modal.motion == MOTION_MODE_PROBE_AWAY) || (gc_state.modal.motion == MOTION_MODE_PROBE_AWAY_NO_ERROR)) { is_probe_away = true; }
diff --git a/grbl/report.c b/grbl/report.c
index 23fd148..4fe425e 100644
--- a/grbl/report.c
+++ b/grbl/report.c
@@ -569,6 +569,9 @@ void report_build_info(char *line)
     #ifdef LIMITS_TWO_SWITCHES_ON_AXES
       serial_write('L');
     #endif
+    #ifdef ALLOW_FEED_OVERRIDE_DURING_PROBE_CYCLES
+      serial_write('A');
+    #endif
     #ifdef USE_CLASSIC_GRBL_INTERFACE
       serial_write('R');
     #endif