From ea2f6d672cf76120923f8ed5ea8219c45d694c6a Mon Sep 17 00:00:00 2001
From: Paciente8159 <Paciente8159@users.noreply.github.com>
Date: Sun, 21 Jan 2024 09:21:18 +0000
Subject: [PATCH 1/2] added motion control incremental jog command

---
 uCNC/src/core/motion_control.c | 34 ++++++++++++++++++++++++++++++++--
 uCNC/src/core/motion_control.h |  2 ++
 2 files changed, 34 insertions(+), 2 deletions(-)

diff --git a/uCNC/src/core/motion_control.c b/uCNC/src/core/motion_control.c
index f579fed73..17cf7d922 100644
--- a/uCNC/src/core/motion_control.c
+++ b/uCNC/src/core/motion_control.c
@@ -910,7 +910,7 @@ uint8_t mc_probe(float *target, uint8_t flags, motion_data_t *block_data)
 	io_enable_probe();
 	mc_line(target, block_data);
 
-	//similar to itp_sync
+	// similar to itp_sync
 	do
 	{
 		if (!cnc_dotasks())
@@ -927,7 +927,8 @@ uint8_t mc_probe(float *target, uint8_t flags, motion_data_t *block_data)
 	} while (!itp_is_empty() || !planner_buffer_is_empty());
 
 	// wait for a stop
-	while (cnc_dotasks() && cnc_get_exec_state(EXEC_RUN));
+	while (cnc_dotasks() && cnc_get_exec_state(EXEC_RUN))
+		;
 	// disables the probe
 	io_disable_probe();
 	itp_clear();
@@ -967,6 +968,35 @@ void mc_sync_position(void)
 	parser_sync_position();
 }
 
+uint8_t mc_incremental_jog(float *target_offset, motion_data_t *block_data)
+{
+	float new_target[AXIS_COUNT];
+
+	if (cnc_get_exec_state(~(EXEC_RUN | EXEC_HOLD)) || cnc_has_alarm()) // if any other than idle, run or hold discards the command
+	{
+		return STATUS_SYSTEM_GC_LOCK;
+	}
+
+	cnc_set_exec_state(EXEC_JOG);
+
+	// gets the previous machine position (transformed to calculate the direction vector and traveled distance)
+	memcpy(new_target, mc_last_target, sizeof(mc_last_target));
+	for (uint8_t i = AXIS_COUNT; i != 0;)
+	{
+		i--;
+		new_target[i] += target_offset[i];
+	}
+
+	uint8_t error = mc_line(new_target, block_data);
+
+	if (error == STATUS_OK)
+	{
+		parser_sync_position();
+	}
+
+	return error;
+}
+
 #ifdef ENABLE_G39_H_MAPPING
 
 void mc_print_hmap(void)
diff --git a/uCNC/src/core/motion_control.h b/uCNC/src/core/motion_control.h
index 4a88fad9d..825f9fefd 100644
--- a/uCNC/src/core/motion_control.h
+++ b/uCNC/src/core/motion_control.h
@@ -115,6 +115,8 @@ extern "C"
 	void mc_get_position(float *target);
 	void mc_sync_position(void);
 
+	uint8_t mc_incremental_jog(float *target_offset, motion_data_t *block_data);
+
 #ifdef ENABLE_G39_H_MAPPING
 	uint8_t mc_build_hmap(float *target, float *offset, float retract_h, motion_data_t *block_data);
 #endif

From e6fec3fd80422cc13270932c1952d10560ce7eac Mon Sep 17 00:00:00 2001
From: Paciente8159 <Paciente8159@users.noreply.github.com>
Date: Mon, 22 Jan 2024 16:14:39 +0000
Subject: [PATCH 2/2] fixed mc jog command conditional eval

---
 uCNC/src/core/motion_control.c | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/uCNC/src/core/motion_control.c b/uCNC/src/core/motion_control.c
index 17cf7d922..ced3e652e 100644
--- a/uCNC/src/core/motion_control.c
+++ b/uCNC/src/core/motion_control.c
@@ -971,10 +971,11 @@ void mc_sync_position(void)
 uint8_t mc_incremental_jog(float *target_offset, motion_data_t *block_data)
 {
 	float new_target[AXIS_COUNT];
+	uint8_t state = cnc_get_exec_state(EXEC_ALLACTIVE);
 
-	if (cnc_get_exec_state(~(EXEC_RUN | EXEC_HOLD)) || cnc_has_alarm()) // if any other than idle, run or hold discards the command
+	if ((state & ~EXEC_JOG) || cnc_has_alarm()) // if any other than idle or jog discards the command
 	{
-		return STATUS_SYSTEM_GC_LOCK;
+		return STATUS_IDLE_ERROR;
 	}
 
 	cnc_set_exec_state(EXEC_JOG);