Interesting. I have just built a W, z attached dust shoe myself and started to look into getting it into HAL. Think I have almost the same requirements as you with manual override, auto-follow, park when tool changing etc. Would you mind sharing your ini file as well? And the rest of your HAL files, I'm missing the components used in your HAL above.
Ok, think I have figured it out, most of it at least. Had to make a visual representation of the HAL finnstrom posted. See attachement. Also got it sort of working on my machine. Tanks so much!Some things I'll try to adopt
Instead of controlling with coolant-mist, I would do it with a motion.digital-out pin controlled with M62 and M63
Trying to get the w_offset from actual w0 in current coordinate system. My thought is to touch of both Z to the work piece, and set w0 in G54 (for example) at the desired height. Then, somehow in HAL, calculate the w0 offset from w joint zero. In the (unlikely) event that I need dust shoe for G55 etc, this should enable this to work.
In conjunction with above, I think I need jogging to work (in qtdragon) to easy set w0 current coordinate system.
