G38.2 probe feature rough draft installed. Working but needs testing.

- G38.2 straight probe now supported. Rough draft. May be tweaked more
as testing ramps up.

- G38.2 requires at least one axis word. Multiple axis words work too.
When commanded, the probe cycle will move at the last ‘F’ feed rate
specified in a straight line.

- During a probe cycle: If the probe pin goes low (normal high), Grbl
will record that immediate position and engage a feed hold. Meaning
that the CNC machine will move a little past the probe switch point, so
keep federates low to stop sooner. Once stopped, Grbl will issue a move
to go back to the recorded probe trigger point.

- During a probe cycle: If the probe switch does not engage by the time
the machine has traveled to its target coordinates, Grbl will issue an
ALARM and the user will be forced to reset Grbl. (Currently G38.3 probe
without error isn’t supported, but would be easy to implement later.)

- After a successful probe, Grbl will send a feedback message
containing the recorded probe coordinates in the machine coordinate
system. This is as the g-code standard on probe parameters specifies.

- The recorded probe parameters are retained in Grbl memory and can be
viewed with the ‘$#’ print parameters command. Upon a power-cycle, not
a soft-reset, Grbl will re-zero these values.

- Moved ‘$#’ command to require IDLE or ALARM mode, because it accesses
EEPROM to fetch the coordinate system offsets.

- Updated the Grbl version to v0.9d.

- The probe cycle is subject to change upon testing or user-feedback.

stepper.c

@@ -24,6 +24,7 @@
 #include "stepper.h"
 #include "settings.h"
 #include "planner.h"
+#include "probe.h"
 
 
 // Some useful constants.
@@ -282,12 +283,6 @@ ISR(TIMER1_COMPA_vect)
 {        
 // SPINDLE_ENABLE_PORT ^= 1<<SPINDLE_ENABLE_BIT; // Debug: Used to time ISR
   if (busy) { return; } // The busy-flag is used to avoid reentering this interrupt
-
-  //Check if we need to copy the current position to the probe_position
-  if(sys.probe_state == PROBE_COPY_POSITION){
-    sys.probe_state = PROBE_OFF;
-    memcpy(sys.probe_position, sys.position, sizeof(float)*N_AXIS);
-  }
   
   // Set the direction pins a couple of nanoseconds before we step the steppers
   DIRECTION_PORT = (DIRECTION_PORT & ~DIRECTION_MASK) | (st.dir_outbits & DIRECTION_MASK);
@@ -351,6 +346,10 @@ ISR(TIMER1_COMPA_vect)
       return; // Nothing to do but exit.
     }  
   }
+  
+  
+  // Check probing state.
+  probe_state_monitor();
    
   // Reset step out bits.
   st.step_outbits = 0;