Merge remote-tracking branch 'origin/master' into PR_picohal_plugin_init

Author: engigeer

CMakeLists.txt

@@ -10,6 +10,7 @@ target_sources(grbl INTERFACE
  ${CMAKE_CURRENT_LIST_DIR}/machine_limits.c
  ${CMAKE_CURRENT_LIST_DIR}/messages.c
  ${CMAKE_CURRENT_LIST_DIR}/modbus.c
+ ${CMAKE_CURRENT_LIST_DIR}/modbus_rtu.c
  ${CMAKE_CURRENT_LIST_DIR}/motion_control.c
  ${CMAKE_CURRENT_LIST_DIR}/my_plugin.c
  ${CMAKE_CURRENT_LIST_DIR}/nuts_bolts.c

README.md

@@ -1,6 +1,6 @@
 ## grblHAL ##
 
-Latest build date is 20250405, see the [changelog](changelog.md) for details.  
+Latest build date is 20250425, see the [changelog](changelog.md) for details.  
 
 > [!NOTE]
 >  A settings reset will be performed on an update of builds prior to 20241208. Backup and restore of settings is recommended.  
@@ -89,4 +89,4 @@ G/M-codes not supported by [legacy Grbl](https://github.com/gnea/grbl/wiki) are
 Some [plugins](https://github.com/grblHAL/plugins) implements additional M-codes.
 
 ---
-20250328
+20250425

changelog.md

@@ -1,5 +1,116 @@
 ## grblHAL changelog
 
+<a name="20250425">20250425
+
+Core:
+
+* Updated `$N0` and `$N1` startup commands to allow multi-block \(line\) gcode commands by using `|` \(vertical bar\) as the separator.
+
+* No longer configures auxiliary output pins claimed for basic functions in order to avoid affecting any previously set alternate pin function.
+
+Drivers:
+
+* iMXRT1062: fix for issue [#95](https://github.com/grblHAL/iMXRT1062/issues/95), spindle PWM output missing.
+
+---
+
+<a name="20250424">20250424
+
+Core:
+
+* Moved part of the driver based spindle sync code to the core.
+Spindle sync now has to be enabled in [grbl/config.h}(https://github.com/grblHAL/core/blob/b41018543b35b0f14f9ab29d9ccc43bd0e4045dc/config.h#L526-L534).
+
+Drivers:
+
+* iMXRT1062, MSP432P401R, STM32F4xx, STM32F7xx: removed spindle sync code now in the core.
+
+* RP2040: Added tentative support for spindle sync, board maps has to be updated for spindle encoder inputs - not all can be due to pin restrictions.  
+Fixed regression causing the PicoCNC board to lose spindle PWM output.
+
+* LPC176x, ESP32, TM4C123, STM32F1xx: replaced deprecated code.
+
+Plugins:
+
+* Some: replaced deprecated code.
+
+---
+
+<a name="20250419">20250419
+
+Core:
+
+* Fixed regression introduced with [PR#673](https://github.com/grblHAL/core/pull/673), added G30 as optional position for tool change and moved new tool change mode from PR#673 to `$346` - _Tool change options_.
+
+* Moved Modbus RTU code from spindle plugin to the core.
+
+* For developers: deprecated `protocol_enqueue_foreground_task()`, replaced by `task_run_on_startup()` - added alias for the deprecated version.  
+Changed signature of `modbus_isup()` to return capabilities flag instead of boolean.
+
+* Fixed bug in delayed task handler, might occasionally hang the controller. May be part of keypad issue [#17](https://github.com/grblHAL/Plugin_keypad/issues/17).
+
+Plugins:
+
+Keypad and spindle: updated for core changes.
+
+Keypad, I2C display interface: fixed alignment issue that caused hardfault on WCO changes on some platforms. May resolve issue [#17](https://github.com/grblHAL/Plugin_keypad/issues/17).
+
+---
+
+<a name="20250415">20250415
+
+Core:
+
+* Fixed long standing "bug" where settings `$370` and `$372` for auxiliary ports where applied before the underlying GPIO pins were initialized by the driver.  
+Improved handling of same settings for external \(I2C, ModBus, ...\) ports.
+
+Drivers:
+
+* iMXRT1062: removed reference to deleted odometer include. Ref. odometer issue [#2](https://github.com/grblHAL/Plugin_odometer/issues/2).
+
+Plugins:
+
+* Misc: updated PCA9654E driver.
+
+---
+
+<a name="20250413">20250413
+
+Core:
+
+* For developers: added wrappers/veneers for `hal.port` functions, plugin code should be changed to use these instead of calling via `hal.port` functions or accessing `hal.port` properties.  
+Improved the [ioports API](https://svn.io-engineering.com/grblHAL/html/ioports_8c.html), updated core code to make use of it. Flagged some calls and (part of) some stuctures as deprecated.
+
+Drivers:
+
+* Most: updated to make use of the new ioports API functionality.
+
+* Some: removed references to deleted odometer include. Ref. odometer issue [#2](https://github.com/grblHAL/Plugin_odometer/issues/2).
+
+Plugins:
+
+* Fans: fixed bug preventing selection of ports to use. Possibly related to issue [#242 comment](https://github.com/grblHAL/core/issues/242#issuecomment-2798816316). 
+
+* Many: updated to make use of the new ioports API functionality.
+
+---
+
+<a name="20250411">20250411
+
+Core:
+
+* Added MCP4725 I2C DAC to IO expander plugins.
+
+Drivers:
+
+* iMXRT1062, STM32F4xx, STM32F7xx, MSP432: fixed regression causing spindle encoder data to be reset shortly before starting spindle synced motion - resulting in error 41.
+
+Plugins:
+
+* Misc: added MCP4725 I2C DAC.
+
+---
+
 <a name="20250409">Build 20250409
 
 Core:

config.h

@@ -523,14 +523,24 @@ Number of tools in tool table, edit to enable (max. 32 allowed)
 #endif
 #endif
 
+/*! \def SPINDLE_SYNC_ENABLE
+\brief
+Set to \ref On or 1 to enable experimental support for spindle synced motion, G33 and G76.
+
+_NOTE:_ require driver and board support for spindle encoder input.
+*/
+#if !defined SPINDLE_SYNC_ENABLE || defined __DOXYGEN__
+#define SPINDLE_SYNC_ENABLE Off
+#endif
+
 /*! \def NGC_EXPRESSIONS_ENABLE
 \brief
 Set to \ref On or 1 to enable experimental support for expressions.
 
 Some LinuxCNC extensions are supported, conditionals and subroutines are not.
 */
 #if !defined NGC_EXPRESSIONS_ENABLE || defined __DOXYGEN__
-#define NGC_EXPRESSIONS_ENABLE On
+#define NGC_EXPRESSIONS_ENABLE Off
 #endif
 
 /*! \def NGC_PARAMETERS_ENABLE
@@ -1351,7 +1361,7 @@ and less range over the total 255 PWM levels to signal different spindle speeds.
 // Tool change settings (Group_Toolchange)
 
 /*! @name $341 - Setting_ToolChangeMode
-0 = Normal mode, 1 = Manual change, 2 = Manual change @ G59.3,  3 = Manual change and probe sensor @ G59.3 - sets TLO
+0 = Normal mode, 1 = Manual change, 2 = Manual change @ G59.3,  3 = Manual change and probe tolsetter @ G59.3, 4 = Ignore M6
 */
 ///@{
 #if !defined DEFAULT_TOOLCHANGE_MODE || defined __DOXYGEN__
@@ -1392,12 +1402,18 @@ and less range over the total 255 PWM levels to signal different spindle speeds.
 #endif
 ///@}
 
-/*! @name $346 - Setting_ToolChangeRestorePosition
+/*! @name $346 - Setting_ToolChangeOptions
 */
 ///@{
 #if !defined DEFAULT_TOOLCHANGE_NO_RESTORE_POSITION || defined __DOXYGEN__
 #define DEFAULT_TOOLCHANGE_NO_RESTORE_POSITION Off
 #endif
+#if !defined DEFAULT_TOOLCHANGE_AT_G30 || defined __DOXYGEN__
+#define DEFAULT_TOOLCHANGE_AT_G30 Off
+#endif
+#if !defined DEFAULT_TOOLCHANGE_FAST_PROBE_PULLOFF || defined __DOXYGEN__
+#define DEFAULT_TOOLCHANGE_FAST_PROBE_PULLOFF Off
+#endif
 ///@}
 
 // Homing settings (Group_Homing)

core_handlers.h

@@ -89,6 +89,7 @@ typedef void (*on_state_change_ptr)(sys_state_t state);
 typedef void (*on_override_changed_ptr)(override_changed_t override);
 typedef void (*on_spindle_programmed_ptr)(spindle_ptrs_t *spindle, spindle_state_t state, float rpm, spindle_rpm_mode_t mode);
 typedef void (*on_wco_changed_ptr)(void);
+typedef void (*on_wco_saved_ptr)(coord_system_id_t id, coord_data_t *data);
 typedef void (*on_program_completed_ptr)(program_flow_t program_flow, bool check_mode);
 typedef void (*on_execute_realtime_ptr)(sys_state_t state);
 typedef void (*on_unknown_accessory_override_ptr)(uint8_t cmd);
@@ -220,6 +221,7 @@ typedef struct {
     on_report_handlers_init_ptr on_report_handlers_init;
     on_spindle_programmed_ptr on_spindle_programmed;
     on_wco_changed_ptr on_wco_changed;
+    on_wco_saved_ptr on_wco_saved;
     on_program_completed_ptr on_program_completed;
     on_execute_realtime_ptr on_execute_realtime;
     on_execute_realtime_ptr on_execute_delay;

crossbar.h

@@ -58,17 +58,20 @@ typedef enum {
     Input_MPGSelect,
     Input_ModeSelect = Input_MPGSelect, // Deprecated
     Input_LimitX,
-    Input_LimitX_2,
+    Input_LimitX2,
+    Input_LimitX_2 = Input_LimitX2, // Deprecated
     Input_LimitX_Max,
     Input_HomeX,
     Input_HomeX_2,
     Input_LimitY,
-    Input_LimitY_2,
+    Input_LimitY2,
+    Input_LimitY_2 = Input_LimitY2, // Deprecated
     Input_LimitY_Max,
     Input_HomeY,
     Input_HomeY_2,
     Input_LimitZ,
-    Input_LimitZ_2,
+    Input_LimitZ2,
+    Input_LimitZ_2 = Input_LimitZ2, // Deprecated
     Input_LimitZ_Max,
     Input_HomeZ,
     Input_HomeZ_2,
@@ -126,22 +129,28 @@ typedef enum {
 // Output pins
     Output_StepX,
     Outputs = Output_StepX,
-    Output_StepX_2,
+    Output_StepX2,
+    Output_StepX_2 = Output_StepX2, // deprecated
     Output_StepY,
-    Output_StepY_2,
+    Output_StepY2,
+    Output_StepY_2 = Output_StepY2, // deprecated
     Output_StepZ,
-    Output_StepZ_2,
+    Output_StepZ2,
+    Output_StepZ_2 = Output_StepZ2, // deprecated
     Output_StepA,
     Output_StepB,
     Output_StepC,
     Output_StepU,
     Output_StepV,
     Output_DirX,
-    Output_DirX_2,
+    Output_DirX2,
+    Output_DirX_2 = Output_DirX2, // deprecated
     Output_DirY,
-    Output_DirY_2,
+    Output_DirY2,
+    Output_DirY_2 = Output_DirY2, // deprecated
     Output_DirZ,
-    Output_DirZ_2,
+    Output_DirZ2,
+    Output_DirZ_2 = Output_DirZ2, // deprecated
     Output_DirA,
     Output_DirB,
     Output_DirC,
@@ -158,9 +167,13 @@ typedef enum {
     Output_MotorChipSelectM7,
     Output_StepperPower,
     Output_StepperEnable,
+    Output_StepperEnableSTEPPERS = Output_StepperEnable,
     Output_StepperEnableX,
+    Output_StepperEnableX2 = Output_StepperEnableX,
     Output_StepperEnableY,
+    Output_StepperEnableY2 = Output_StepperEnableY,
     Output_StepperEnableZ,
+    Output_StepperEnableZ2 = Output_StepperEnableZ,
     Output_StepperEnableA,
     Output_StepperEnableB,
     Output_StepperEnableU,
@@ -342,17 +355,17 @@ PROGMEM static const pin_name_t pin_names[] = {
     { .function = Input_Analog_Aux7,          .name = "Aux analog in 7" },
 #endif
     { .function = Output_StepX,               .name = "X step" },
-    { .function = Output_StepX_2,             .name = "X2 step" },
+    { .function = Output_StepX2,              .name = "X2 step" },
     { .function = Output_StepY,               .name = "Y step" },
-    { .function = Output_StepY_2,             .name = "Y2 step" },
+    { .function = Output_StepY2,              .name = "Y2 step" },
     { .function = Output_StepZ,               .name = "Z step" },
-    { .function = Output_StepZ_2,             .name = "Z2 step" },
+    { .function = Output_StepZ2,              .name = "Z2 step" },
     { .function = Output_DirX,                .name = "X dir" },
-    { .function = Output_DirX_2,              .name = "X2 dir" },
+    { .function = Output_DirX2,               .name = "X2 dir" },
     { .function = Output_DirY,                .name = "Y dir" },
-    { .function = Output_DirY_2,              .name = "Y2 dir" },
+    { .function = Output_DirY2,               .name = "Y2 dir" },
     { .function = Output_DirZ,                .name = "Z dir" },
-    { .function = Output_DirZ_2,              .name = "Z2 dir" },
+    { .function = Output_DirZ2,               .name = "Z2 dir" },
     { .function = Output_StepperPower,        .name = "Stepper power" },
     { .function = Output_StepperEnable,       .name = "Steppers enable" },
     { .function = Output_StepperEnableX,      .name = "X enable" },
@@ -726,6 +739,7 @@ typedef struct {
 } aux_ctrl_out_t;
 
 typedef struct xbar {
+    void *ports_id;
     uint8_t id;                         //!< Pin id.
     pin_function_t function;            //!< Pin function.
     pin_group_t group;                  //!< Pin group.