grblHAL changelog

Build 20230917

Core:

Added setting $486 that allows locking G59.1 - G59.3 coordinate system offsets against accidental changes. Use $$=386 to list bitmask values.

Drivers:

iMXRT1062: fix for plasma plugin issue #2: MCP3221 ADC driver code not allowing plugin code to claim the input.

Plugins:

Plasma: made code more robust related to driver configuration changes. Still work in progress!

Build 20230913

Core:

Added faster soft limits check for arcs when work envelope is a cuboid, fixed some related obscure bugs. New/modified core entry points for soft limit checking.
More delta robot tuning, added setting warning in $DELTA output if some settings are inconsistent such as steps/rad, acceleration etc.
Fix for issue #361, HOME status is not reported or reported late when auto reporting is enabled with setting $481.

Drivers:

iMXRT1062: fix for MCP3221 ADC regression, issue #68.
STM32F4xx: SPI pin definition typo, issue #139.
RP2040: workaround for issue #74, odd TMC driver addressing.
Remaining drivers updated for improved handling of limit inputs.

Build 20230907

Core:

Delta robot kinematics tuning: soft limits checks, extended $DELTA command++. Still work in progress (getting closer to working version).

Plugins:

Laser: LaserBurn clusters plugin regression fix, new format handling of end-of-line characters.

20230906

Plugins:

Laser: LaserBurn clusters plugin updated for new format variation encountered.

--

Build 20230905

Core:

The method for constraining continuous multi-axis jogs (XYZ) (when enabled by $40=1) will now use clipping of the motion vector to the work envelope instead of limiting the target to min/max separately for each axis. The signature of the new core handler introduced in build 20230903 for constraining jog motions has been changed to accomodate this.
Delta robot kinematics tuning, added new setting for max allowed arm angle. Constraining jog movements to the full work envelope may now work (I do not have a machine to test with). Still work in progress.

Drivers:

ESP32: fix for Modbus RTU serial port board definitions.

STM32F4xx: removed unused code.

Build 20230903

Core:

Changed handling of homing inputs from limit switches. Some drivers will now only disable hard limits (if enabled) for axes that are homing, this includes max/min limit switches. If max limit switches are available for the board/configuration these will be picked for homing in the positive direction and min switches in the negative direction. The "unused" limit switches may have hard limits still enabled - depending on the driver.
NOTE: I plan to add full support for all drivers to keep hard limits enabled for limit switches that are not used for the running homing cycle, this may take some time though as the changes has to be verified.
NOTE: !! This is a potentiallly dangerous change_, be careful when homing the machine for the first time after installing/upgrading.
HAL entry points and core handlers/events has been added and some have changed signatures in order to better support kinematics implementations.
More work on delta kinematics: new and changed settings, some improved functionality. Still in progress.

Drivers:

Most: updated for HAL/core event signature changes.
STM32F4xx: "hardened" Trinamic soft UART code to improve reliability. Added fans plugin.

Plugins:

Motors: fixed bug that would cause a hard fault if the X driver is not configured as Trinamic when others are. Updated for core event signature change.
Plasma: relaxed I/O requirements, will now start if up/down signals or arc voltage input is available. Still work in progress.
SD card: added option for named pallet shuttle macro to be called on M60.

Build 20230825

Core:

Added grbl.on_tool_changed event and removed help for disabled $-commands.

Drivers:

LPC176x: added option to use reset input as E-stop, added support for Bluetooth plugin for some boards and fixed ioports IRQ issue.

Templates:

Added my_plugin example for keeping last selected tool number across a reboot. Enable by setting $485=1.

20230821-2

Plugins:

Networking: increased WizChip temp packet buffer size, "hardened" code.

Drivers:

RP2040: use DMA for FatFs transfers, increased WizChip SPI clock to 33 MHz.
ESP32: updated for change of grbl.on_homing_completed signature.

Build 20230821

Core:

Fix for issue #349 - active feed rate override caused jog motions to hang on some drivers (STM32F4xx and possibly others).

Drivers:

RP2040: fix for regression: ethernet was incorrectly left enabled in CMakeLists.txt.

Build 20230820

Core:

Delta kinematics improvements. Added setting for base > floor distance, $DELTA command for work envelope info. Still WIP.
Changed signature of grbl.on_homing_completed event.

Drivers:

RP2040: fix for issue #72 (typo), improved SPI chip select handling.

Build 20230818

Core:

Moved kinematics implementations to separate folder and added initial implementation of delta and polar kinematics.
NOTE: Delta and polar kinematics is WIP (work in progress) and incomplete. Feedback is required as I do not have machines at hand for testing. Ref. issue #341 and #346.

20230816

Plugins:

WebUI: updated to handle blank commands, used to clear any repeating grblHAL errors. Needs the latest WebUI build.

Build 20230815

Core:

Added setting $484, Unlock required after E-stop cleared by reset, default on. From issue #337.
Fixed typo, added event grbl.on_parser_init.

Drivers:

Many: replaced parts of aux I/O driver code with calls to shared code in core. Digital aux input inversion bug fix.
ESP32: fix for incorrect Web Builder option handling for macros plugin.

Templates:

Added plugin for selecting secondary probe input connected to aux input.

Build 20230810

Core:

Fix for issue #340, CoreXY kinematics does not update position for axes A+.
Adds auto reporting state to realtime report sent on MPG mode change to off.

Drivers:

RP2040: fix for issue #70, incorrect handling of I2C/SPI interrupt claims.
Many: updated EEPROM option definition to select capacity by Kbits for 1:1 match with chip marking.

20230809

Drivers:

ESP32: fix for compilation error when VFD is the only spindle specified.

Plugins:

Many: added CMakeLists.txt for RP2040 builds.

Build 20230808

Core:

More fixes for issue #332: setting tool table data cleared current coordinate system offset, incomplete handling of G10 L10 and L11.
Added free memory to $I output when available, example: [FREE MEMORY:102K]
Changed reported position for failed probe to target. Parameters #5061 - #5069 returns position in coordinate system used when probing.

Drivers:

RP2040: added fans plugin.
STM32F4xx: implemented free memory call.

Plugins:

Fans: fixed some bugs and typos.

Build 20230805

Core:

Fix for issue #332, incorrect NGC parameter values returned for last probed position.

Drivers:

RP2040: updated PicoCNC board map++ for WizNet module based ethernet support.
STM32F4xx: tentative fix for issue #131, Fysetc S6 board hangs when TMC2209 drivers are enabled. Untested.

Plugins:

Spindle: fix for issue #21, missing VFD settings.
EEPROM: added option to select capacity by Kbits for 1:1 match with chip marking.

Build 20230729

Core:

Fix for ioSender issue #319, improved handling of cycle start input signal had side-effects.

Build 20230724

Core:

Fixed bug in WHILE loop handling when first statement in macro.

Drivers:

iMXRT1062: added E5XMCS_T41 board.
RP2040: fix to allow ModBus VFDs with BTT SKR Pico board. Issue #68.

20230718

Core:

Some tweaks for new Web Builder options++
Fixed regression in VFS file system handling causing hardfault when only one mount is present.

Plugins:

Fans: Updated for core change.
WebUI: Updated for core setting handling changes.

20230714

Core:

Added support for traversing directory structure across file system mounts. Allows access to littlefs mount via ftp.
Fixed inconsistent (random) real-time reporting of cycle start signal by adding a latch to ensure it is reported at least once.

Drivers:

ESP32: added WiFi settings for country, AP channel and BSSID. Changed default AP password to make it legal, was too short.
STM32F7xx: added EStop signal handling. Driver now defaults to this for the reset input.

Plugins:

Networking: improved telnet transmit handling.
WebUI: added file seek function for embedded files, may be used later by gcode macros.

20230711

Core:

Improved handling of critical events for adding |$C=1 to full realtime report.

Drivers:

STM32F1xx: fix for ioSender issue #312, EStop event not triggered.

Plugins:

Networking: fix for YModem upload to SD card failure via Telnet or WebSocket connection.

20230708

Drivers:

STM32F4xx: added four lane SDIO SD card support (for BTT SKR 2.0 - only tested with a NUCLEO-F446ZE dev board). Issue #123.
ESP32 and RP2040: fixed "bug" in $I NEWOPT string, "FTP" was added even if the FTP protocol was not active.

Plugins:

SD card: added .cnc and .ncc file types to default filter.

Build 20230704

Core:

Skip calling tool change code if current and selected tool number are equal.
Added 5s timeout/abort handling when waiting for index pulses prior to starting spindle synchronized motion.
Added definitions for M401 (deploy probe) and M402 (stow probe) for plugin use.
Added core support for probe protected message and alarm. Requires driver support for interrupt handled probe input.

Drivers:

STM32F1xx, STM32F4xx and STM32F7xx: simplified and made GPIO interrupt handling more generic/flexible. Fixes issue #116.

Build 20230626

Core:

Added |$C=1 to full realtime report (requested by 0x87) when controller is in a blocking state (after a critical event) but still accepts some $ commands.

Drivers:

ESP32: added missing file in CMakeLists.txt and option to enable NGC expression support. Updated Bluetooth code for core changes and added minimum 2ms delay after stepper enable before any motion.

Build 20230610

Core:

Added virtual Modbus API. Some internal settings handling improvements.

Drivers:

iMXRT1062, STM32F7xx and RP2040: added Modbus TCP network support.
STM32F1xx: rerouted Reset signal as Emergency stop per default. Can be overridden in my_machine.h or by setting COMPATIBILITY_LEVEL > 1.
STM32F4xx, ESP32, SAM3X8E and MSP432P401R: minor changes to handle new location of Modbus API.

Plugins:

Spindle: refactored and renamed Modbus RTU code as a driver implementation for the core Modbus API.
Networking: added Modbus TCP driver for core Modbus API with support for up to 8 devices. Default is four.
Added WIZNet support for Modbus TCP.
Modbus TCP is enabled by bit 2 in the MODBUS_ENABLE symbol in my_machine.h: #define MOBUS_ENABLE 4. This can be added to the previous define values for enabling Modbus RTU with or without RS 485 direction signal support.
NOTE: The new core API only supports the Modbus RTU protocol, this will be translated to/from Modbus TCP by the driver implementation.
User code can bypass the core API and transmit Modbus TCP messages directly if it wants/needs to.
NOTE: VFD spindle Modbus communication will be routed to Modbus TCP if the VFD device id (unit id) matches the Modbus TCP device id.
For now this is untested and may lock up the controller since the networking stack comes up too late to avoid power up selftest (POS) failure. To be addressed in a later revision if someone with a Modbus TCP capable spindle is willing to test.
Motors and encoder: updated for core setting handling improvements.

Build 20230607

Core:

Added initial support for macro based automatic tool changes (ATC).
Currently macros has to be stored on a SD card or in littlefs and expression support has to be enabled.
Added core events for file system mount/unmount.

Plugins:

SD Card, macro plugin: implemented automatic hook to tool change functions when tool change macros are found in the root mount directory.
Tool change macro: tc.macro, called on M6. (required).
Tool select macro: ts.macro, called on T. (optional).
NOTE: This functionality needs to be extensively tested by users having access to ATC hardware! Discuss here.

Build 20230606

Core:

Fixed regression related to CSS (Constant Surface Speed for lathes) mode.
Improved stream handling for native USB streams when another stream claims/releases full control. Depending on the driver some output, such as real-time reports, will now be sent to the USB stream if it is connected to a client (detected by DTR signal asserted). When a pendant is in control (via the MPG interface) the USB interface will no longer block transmission if it is the primary interface and no client is connected.

Drivers:

iMXRT1061, RP2040, all STM32 drivers, SAM3X8E and LPC176x: added DTR signal state detection and handling for native USB streams.
STM32F4xx, STM32F7xx: fixed regression in spindle sync code.
STM32F7xx: added optional SD card lowlevel driver support for the SDIO four lane interface (in addition to the single lane SPI interface). Currently this is running in polling mode, will update to DMA mode later.

Build 20230601

Core:

Improved experimental support for program flow control.

Drivers:

STM32F4xx: added alternative Blackpill map with I2C support and optional spindle sync support. From issue #121.
ESP32: Fixed typo in MKS Tinybee 1.0 map.

Plugins:

SD Card: improved macro support.

Build 20230529

Core:

Added experimental support for program flow control, mainly available for use in G65 macros stored on SD card or in littlefs.

Drivers:

STM32F4xx: fix for issue #116, incorrect spindle RPM reported from encoder.

Build 20230526

Core:

Expanded ioports API with generalized settings handling++.

Drivers:

RP2040, iMXRT1062, STM32F4xx: added/updated low-level ioports driver layer for analog output (PWM). NOTE: not yet used by any board map files.
STM32F4xx: workaround for issue #121, settings write failure.
iMXRT1062, STM32F1xx, STM32F4xx, STM32F7xx: Improved frequency range for spindle PWM.

Plugins:

Networking (WIZnet option): reduced memory footprint, issue #7.

Build 20230525

Core:

Expanded ioports API with some configuration and PWM related functions.

Drivers:

RP2040: added low-level ioports driver layer for analog output (PWM). NOTE: not yet used by any board map files.

20230521

Drivers:

RP2040: added build support for WIZnet ethernet breakouts (W5500 and W5100S).
iMXRT1062, SAM3X8E, SAMD21: fix for C++ serial code compilation issue.

Build 20230519

Core:

Extended handling of legacy printable real-time commands due to ESP32 RTOS issue.
Internal changes to crossbar definitions, improved stream handling and sleep handling.

Plugins:

Networking: added support for some WIZnet SPI based ethernet breakout boards, currently only W5100S and W5500. Updated for core changes.

Drivers:

STM32F4xx: added low level driver support for WIZnet SPI based ethernet breakout boards, updated SPI interface for DMA transfer.
RP2040: added low level driver support for WIZnet SPI based ethernet breakout boards, updated SPI interface for DMA transfer. NOTE: Build support for ethernet is not yet ready!
TI SimpleLink base, TM4C123, MSP432P401R, STM32F4xx, LPC176x, RP2040: added minimum delay from stepper enable to first step pulse.

Web Builder:

Added options for spindle sync and WIZnet networking for relevant driver and boards combinations.

Build 20230507

Core:

Added experimental support for G65 and M99, call and return from macro.

Drivers:

ESP32: Fix for issue #73 - spindle not disabled on reset/stop.
RP2040: Added Bluetooth support for Pico W. Discussion #61.
Some: updated for more flexible Bluetooth configuration.

Plugins:

SD card and macros: added low-level support for G65.

20230502

Plugins:

WebUI: fixes for issue #6 - block disabling of websocket daemon from WebUI v3 and issue #11 - SSDP failure (with ESP32 in SoftAP mode).

Build 20230501

Core:

Fixed typos.
Added grbl.on_gcode_comment event - can be subscribed to by plugin code to trap comments and act upon them. Intended for implementation of non-standard functionality outside the scope of gcode and $-commands.

Drivers:

ESP32: fix for spindle PWM not turning off on stop or soft reset.

Build 20230429

Core:

Now allows some $-commands while critical events are active or in sleep mode. E.g. settings commands can be used to configure the controller.
Added work envelope data to global sys struct, used by soft limits and jog limit handling. This can be modified by plugin code to restrict motion.

Drivers:

STM32F1xx: added driver support for ganged and auto-squared axes.
STM32F4xx: fixed typos.

Build 20230427

Core:

Fixed some typos, incorrect default value for setting $63 - Disable laser during hold flag. Added VFS property.

Drivers:

STM32F1xx: fix for issue #34, typo blocking GPIO interrupt for pin 4.
ESP32: improved handling of I2S/GPIO pin assignments, added CMakeLists.txt option to enable custom my_plugin.c.
RP2040: added CMakeLists.txt option to enable custom my_plugin.c.

Plugins:

WebUI: fix for issue #10 - problem with saving files.
SDCard: added VFS property.

20230417

Core:

Added missing files to CMakeLists.txt (used by RP2040 build).

Drivers:

RP2040: Fix for incorrect step signals sent to PIO for ganged axes, issue #60.

20230416

Core:

Added reboot required tag for setting $16 and $38.

Drivers:

ESP32: Improved handling of mixed I2S and GPIO signalling. Allows fix for issue #70.
STM32F4xx: Improved clock tree handling for the different MCU variants, spindle sync fixes and improvements. Fix for issue #117, random pauses.
RP2040: Fix for incorrect reporting of spindle and coolant states in some configurations. Fixes ioSender issue #286.

Plugins:

Embroidery: Fix for incorrect handling of jumps.

Build 20230411

Core:

Fix for issue #236, dual axis offsets.
NOTE: handling of negative offset values has changed. The primary motor will now be run to correct for negative offset values by moving away from the limit switch. Prior to this build the secondary motor was run to move towards the limit switch for negative values.
Changes to allow use of M4 for laser capable spindles in laser mode even if direction control is not available.

Drivers:

STM32F4xx: pin mappings fix for BTT SKR Pro 1.x to avoid IRQ conflicts.

Plugins:

Networking: improved handling of .gz compressed files by httpd daemon.
Webui: more fixes for issue #10, cannot download any file from local FS but preferences.json.

20230409

Plugins:

Networking: fix for incorrect header returned by httpd daemon for plain .gz files.
Webui: fixes for issue #10, cannot download any file from local FS but preferences.json.

Build 20230401

Core:

Fix for issue #279 - B-axis pin name typo.
Added HAL capability flags for limit switches supported.
Improved motor pins preprocessor code.

Drivers:

ESP32: fix for issue #64 and #67 - use single input for squaring two axes.
All: added call for setting new HAL limit switches capability flags.

20230331

Plugins:

Motors: fix for issue #11, potential infinite loop.

Build 20230321

Core:

Fix for issue #271 - unwanted motion after soft reset when feed hold was active, reported for canned cycle but may occur for other commands as well.
Added function for properly initializing planner struct, updated core to use it.

Plugins:

Embroidery: switched to new function for initializing planner struct.

Templates:

HPGL: switched to new function for initializing planner struct.

Build 20230320

Core:

Another fix for issue #269 - setting of piecewise spindle linearisation values not working.
Fix for incorrect reporting of SD card size.

Drivers:

ESP32: added sanity checks for http and websocket ports, sets websocket port to http port + 1 if equal.

Plugins:

Spindle: fix for issue #18 - incorrect spindle RPM limits set from VFD response.
SD card: fix for incorrect reporting of SD card size.
Embroidery: added option to use Z limit input as needle trigger.

Build 20230317

Core:

Fix for issue #269 - setting of piecewise spindle linearisation values not working.

Drivers:

STM32F3xx, STM32F4xx, STM32F7xx: Updated linker config to allow use of scanf, part of fix for issue #269.

Plugins:

Keypad: updated for core API changes.

20230316

Core:

Added preprosessor symbol handling for embroidery plugin.

Drivers:

iMXRT1062, RP2040, STM32F4xx, STM32F7xx and ESP32: Added option for enabling embroidery plugin.
NOTE: The plugin requires one interrupt capable auxillary input and SD card support.

Plugins:

Embroidery: initial commit for testing.

Build 20230312

Core:

Added event definition for SD card file open, fix for issue #118.

Drivers:

ESP32: Added aux I/O and cycle start/feed hold inputs to MKS DLC32 board, expanded max aux out to 4.
NOTE: The aux input 0 port on the MKS DLC32 board does not have an internal pullup.

Plugins:

SD card: added publish for file open event allowing plugins to take over stream handling. Added $F+ command for listing all files on card.

20230311

Core:

Fix for issue #264, stepper motors not disabled when entering sleep mode.
NOTE: all stepper motors will now be disabled even if the $37 setting is set to keep some enabled.
Fix for recent regression that disabled G7/G8 handling in lathe mode.

20230302

Core:

Minor fix for the grbl.on_state_changed event - incorrect state published following stop signal when streaming gcode.

Drivers:

RP2040: Added initial support for I2C display protocol, using DMA transfers.
STM32F4xx: Fix for EEPROM issue for ST Morpho CNC board maps.
STM32F7xx: Fix for missing motor enable outputs for ganged axes and fix for IRQ conflicts for 7+ axis configurations (reference map).

Plugins:

Keypad: I2C display protocol plugin, type fix for homed status field.

20230228

Core:

Fix for Arduino compiler issue with build 20230227. Added new core event and removed redundant code.

Drivers:

STM32F4xx: Fixed missing pullup enable for EStop input. NOTE: this may trigger EStop alarm for those who have not wired a switch to this input.

Plugins:

Keypad: I2C display protocol plugin updated to allow multiple message extensions, simplified code.

20230227

Core:

Enhanced API, reduced planner RAM footprint. Changed rotary fix implementation.

Drivers:

RP2040: Fix for issue #13. Fixed typo and added generic 4-axis board map.
Most networking capable: fixed incorrect MQTT setting description.
STM32F4xx: fix for incorrect compiler error beeing reported for boards that polls the Z limit switch input.

Plugins:

Keypad: I2C display protocol plugin updated to utilize gaps in data packet. Gcode message handling bug fix.

20230221

Core:

Added definitions for some "standard" I2C API calls, for driver/plugin use.
Added grbl.on_gcode_message event, can be used by driver/plugin writers to parse the message for extending functionality etc.
Triggered by (MSG, "some message") gcode comments.

Drivers:

Almost all: updated to match new core defined I2C API. Note that some drivers only has a partial implementation, to be updated on demand.
ESP32: fixed up W5500 ethernet middle layer driver code, now works in DHCP mode with telnet enabled. Other protocols may work, not extensively tested.
Note that board map definitions has to be adjusted (or added) for ethernet as a SPI port in addtion to an interrupt input is required, none are presently set up for that.
STM32F4xx: updated some board maps/Web Builder definitions to allow selection of EEPROM size or disabling EEPROM support altogether.

Plugins:

Keypad: I2C display plugins updated to probe for display on startup, no longer attaches themself if not present.
Expanded I2C display interface protocol to add gcode message, when present, by dynamically adjusting I2C message length.

20230220

Plugins:

Trinamic: Improved handling of per axis homing feedrates.
Spindle: Fix for issue #255 - fails to compile when single VFD spindle is selected.
Keypad: Initial commit of I2C display interface protocol. NOTE: this is not yet available for compilation.

Build 20230218

Core:

Fix for Grbl issue #1823 - some full circle arcs beeing ignored.

Drivers:

STM32F4xx: added optional support for USART6. Fixed preprossor issue.
STM32F7xx: Fixed preprossor issue.

20230217, update 2.

Core:

Fixed copy/paste "bug" that caused compilation error if compiling for 6-axes.

Drivers:

STM32F1xx: updated to support up to 6-axes. Note that ganged/auto squared axes are currently not supported - to be added later.
STM32F4xx: fixed typos and compile time check for IRQ pin assignments.
STM32F7xx: fixed compile time check for IRQ pin assignments.

20230217

Core:

Added compile time symbols and names for remaining control inputs, rephrased two alarm messages. No functional changes.

Drivers:

STM32F1xx: added support for MPG mode and option to use UART5 (untested) in RC variants.
Added support for ioports interface (aux I/O) and now allows pin naming for RC variants.
Changed RAM allocation for Cx variants to accomodate above changes, this might also allow a larger planner buffer size.
Fixed some inconsistencies in BOARD_MACH3_BOB (mach3_bob_map.h) - untested.
NOTE: Cx variants are no longer possible to debug due to limited flash, only the release version can be compiled.

Plugins:

Motors and plasma: updated for spindle handling refactoring.

Build 20230213

Core:

First phase of spindle handling refactoring with the aim to support multiple (up to four) simultaneously active spindles. Spindle selection by tool number has also been implemented as an option. More details can be found in the spindle plugin readme.
NOTE: This change is quite large, bugs may have sneaked in. Please report any issues encountered ASAP.

Drivers:

All: Updated for spindle handling refactoring.
iMXRT1062: updated readme for links to updated/patched libraries for SD card (uSDFS) and ethernet. User should switch to the updated/patched libraries if used.
MSP432P401R: fix for missing file include and serial stream registration.
RP2040: switched to SDK v1.5.0. Added new settings for RP2040, $78 for wifi country code and $337 for AP BSSID of AP to connect to. Both are optional.
STMF4xx: fix for issue #110, incorrect NVIC grouping.

Plugins:

SD Card: fixed some minor inconsistencies.
Spindle: updated for spindle handling refactoring. Improved ModBus exception handling in some.
New spindle select settings and improved functionality, see the spindle plugin readme for more.
Odometer and PPI: updated for spindle handling refactoring.
Networking: wifi (ESP32 and RP2040), changed networking settings from $30x range to $32x range for station mode.
Added MQTT API for plugin developers, example code using this can be found here.
NOTE: networking and other plugin settings will be reset on update for ESP32 and RP2040, backup and restore.

Build 20230129

Core:

Fixed regression in tool change handling related to refactoring of config.h in build 20230125.

Drivers:

ESP32: Added all supported VFD spindles as options in CMakeLists.txt, some code cleanup.

Build 20230128

Core:

Some internal changes to allow homing feed rate override from plugins, reserved setting numbers for per axis homing feedrate settings (not used by the core).

Motors plugin:

Fix for issue #9, added settings for per axis homing feed rates.
NOTE: Per axis homing feedrates will only be used for Trinamic driven axes with sensorless homing enabled, others will still use feedrates as set by the $24 and $25 settings.
NOTE: If more than one axis is homed in a cycle and the homing feedrates differ the cycle will be skipped.
NOTE: Per axis feedrates is currently for experimental use/testing - may be removed in a later build.

Trinamic plugin:

Fix for issue #41, wrong PWM autoscale mode selected for sensorless homing.

Build 20230126

Core:

Fixed include file issue causing macro warnings for drivers built with the Arduino platform.

Web Builder:

Added macros plugin to capable drivers, removed resizable planner buffer option as this is now always enabled and added option for rotary axes feed rate fix.

Build 20230125

Core:

Added settings, updated settings version to 22:
$398 - planner buffer blocks, default value 35.
$481 - auto real time report interval. Default value 0 (auto reporting disabled), range 100 - 1000 ms. When enabled |AR is added to the full real time report (requested by the real time command 0xA7). New real time command 0x8C can be used to toggle auto reporting on/off.
$482 - timezone offset. To be implemented.
Added parsing of gcode words O and $. O is currently not used by the core, $ value is for selecting the spindle to address for some gcode commands, currently only -1 or 0 is allowed.
Added allow null flag (0 for off, 1 for on) to $ES and $ESH outputs. When set to 1 for range restricted values they can be set to an empty string or 0 depending on the data type.
Merged defaults.h with config.h, deleted defaults.h. Changed some symbol/macro names for consistency, e.g. all starting with DEFAULT_ can be changed at run time with $ commands. Reorganized file and added doxygen documentation.
Fix for issue #43, Laser mode spindle enable after pause.

Note: Backup and restore your settings as they will be reset to default values.

Plugins:

Keypad: added macros plugin, up to 8 macros can be bound to pins and/or to keypad single character commands. Added jog support for A-axis to keypad plugin, extended programming interface.
Spindle: merged #14 - fix typo on GS20 driver to set RPM correctly.
Fans: added setting $483 for linking spindle enable signal to fan(s) enable.

Drivers:

All: updated for settings version change.
ESP32: added board map for OpenBuilds BlackBox X32, fix for issue #48, #49, #50, #56 (needs end user testing) and #58 plus some board map updates/fixes.
iMRX1062: now maps spindle enable and spindle direction signals as aux outputs if a single VFD spindle is configured.
RP2040: fix for motor plugin issue #7.
SAM3X8E: added probe pin assignment for Ramps 1.6 board.
STM32F1xx: some bug fixes, added board map for MACH3 breakout board.
STM32F4xx: fixed IRQ conflict for BTT SKR v1 and v2 boards by reducing max number of allowed auto squared axes.
STM32F7xx: some bug fixes, merged PR #11 and #12.

Build 20221101

Core:

Added single axis homing commands for U and V, remapping of ABC homing commands to UVW when configured.

Plugins:

WebUI and Networking: fixes for compiler warnings.

Drivers:

ESP32: fix for Web Builder failing when networking was enabled.

Build 20221115

Core:

Updated settings reports to output correct units and descriptions for settings related to axes configured as rotary.
Note: Senders may have to be restarted to display these after a configuration change ($376 - rotatational axes) and even then they might not display them correctly.
Internal change to allow flagging settings to have a minimum value or length different from 0 and still allow to them to be 0 or have length 0.

Plugins:

Some: updated for core settings change.

Drivers:

Some: updated for core settings change.

Build 20221101

Core:

Added single axis homing commands for U and V, remapping of ABC homing commands to UVW when configured.

Plugins

WebUI and Networking: fixes for compiler warnings.

Drivers:

ESP32: fix for Web Builder failing when networking was enabled.

20221031

Core:

Minor change to suppress compiler warnings for SAM3X8E (Arduino Due - bad framework code).

Drivers:

SAM3X8E : More compiler warnings supression, added missing PWM output for Mega2560 board map.
Some: Updated Web Builder definitions.

Build 20221028

Core:

Minor bug fix, preprocessor tuning.

Drivers:

LPC176x: fix for issue #31.
Some: Fixed some obscure bugs, updates for Web Builder.

Build 20221023

Core:

Fix for issue #209, incorrect handling of homing of more than one auto squared axis in each pass. Error 55 will now be returned.

Build 20221022

Core:

Fix for old regression, issue #204.
Now hides spindle PWM related settings if no PWM spindle is available.

Drivers:

Many: Fixes for incorrect code related to new spindle type property introduced in build 20221018. Updated Web Builder data.

Build 20221018

Core:

Added new setting $346 for action to take after tool change: either return controlled point (tool tip) back to the same position as before the M6 command (default) or move spindle to Z home only.
Added spindle type property to HAL, "hardened" code.
Fix for issue #191, allow homing of rotary axes with infinite rotation (max travel = 0).

Plugins:

Spindle: Added spindle type property to registration data.
Fans: Bug fix, added off delay option for fan 0 with setting $480 specifying number of minutes to delay. Useful for allowing an exhaust fan to clear a laser cutter enclosure before turning it off.
Note: The new setting may cause a reset of other plugin settings to default values, backup and restore.
Laser coolant: implemented off delay and coolant lost monitoring.

Drivers:

STM32F4xx: Fix for issue #99. Updated spindle registration.
SAM3X8E: Fix for issue #15.
Many: Improved driver PWM spindle code.
Some: Updated for Web Builder requirements.

Build 20221009

Core:

Fix for bug preventing some hosts (Win7) querying SSDP information.

Plugins:

WebUI: Removed ESP32 dependency in WiFi SoftAP mode.

Drivers:

ESP32: Updated for WebUI change.
RP2040: Fixed WiFi AP mode issues, fixed bug in $314 setting reporting.
NOTE: AP mode IP address cannot be changed from the default 192.168.4.1 address.
NOTE: There are limitations/bugs in the SDK preventing SSDP queries from arriving, this is likely to be fixed in a later SDK release.

Build 20221005

Core:

Added optional string pointers to HAL for driver and board URLs. If present they are announced by the SSDP protocol.

Plugins:

Networking: Added mDNS and SSDP protocol support.
Note: Some drivers require manual patching before enabling.
WebUI: Fix for bugs affecting settings handling. Issue #5 and issue #6.
Note: Issue 6 was about incorrect handling spaces in string settings, these are not permitted in hostnames according to RFC1123 and I may add validation later.

Drivers:

iMXRT1062, RP2040, ESP32, STM32F7xx and MSP432E401Y: Added options for enabling mDNS and/or SSDP protocols.
Note: iMXRT1062 and RP2040 require manual patching before enabling.
STM32F1xx: Added two alternatives for spindle PWM pin assignment.
STM32F4xx: Added support for PWM output on PE5 and PE6 (for BTT SKR 2.0).
STM32F7xx: Updated for latest STM32CubeIDE device driver HAL.

Templates:

my_plugin/hpgl: Added tentative support for most HP7475A ESC . ... device control sequences. Testing required!

Build 20220928:

Core:

Added crossbar support for UART RTS handshake output signal.

Drivers:

iMXRT1062: Fix for issue #48, coolant and mist outputs swapped.
SAM3X8E: Added SMART Ramps board map. By @MrAntza99.
RP2040: Added option to use RTS handshaking for UART comms via the primary port. Updated the citoh_cx6000 map to use it if UART comms is enabled.
ESP32: Added laser plugin submodule and updated CMakeLists.txt with enable options for it.

Templates:

my_plugin/hpgl: Added trapping of more HP7475A (possibly all?) ESC . ... device control sequences to avoid errors/hangs.

Build 20220925:

Core:

Added [AXS:<number of axes>:<axisletters>] line to $I report response, replaces the string ABC2UVW from the NEWOPT element in the $I response.
Fixed |Pn: real time report element pin state conflict: F is now used for motor fault and M for motor warning, U, V and W for limit switch status.

Further details can be found in the wiki.

Plugins:

Laser: Added experimental support for LaserBurn clusters, for faster engraving.
SDCard: Minor tweak to enable plugins to modify the file stream without losing real time report extensions.

Drivers:

ESP32: added directory for embedded read-only files and moved related files there.

Build 20220922:

Core:

Changed signature of spindle_update_caps(), third party developers must update driver.c if used.
Removed some superfluous code, improved handling of laser mode M4 for jogging and motion complete event.
Bug fixes + expanded step/dir map to 8 axes.

Drivers:

All: Updated for core signature change.
STM32F1xx: updated FatFs link to v0.14.

20220920:

Plugins:

Networking: Fix for http daemon not decoding the base URL when no URL handlers were registered.
WebUI: Fix for incorrect parsing of ESP701 action parameters.
Laser (PPI): Bug fixes.

Build 20220918:

Core:

Added configuration option BLOCK_BUFFER_DYNAMIC for dynamically allocate planner buffer. If enabled setting $398 can be used to set number of blocks in the buffer.
NOTE: A restart of the controller is required after changing $398.
NOTE: If not enough free memory is available the actual allocation size will be reduced until it fits. The actual allocation can be checked with $I.
Each block requires around 100 bytes of memory.
NOTE: All setting values will be reset when this option is changed, backup and restore!
NOTE: In a later version this option will be removed and dynamic allocation will become standard.
Added experimental configuration option AXIS_REMAP_ABC2UVW for remapping ABC axis letters to UVW.

Drivers:

ESP32: Applied workaround for wifi/pin36/pin39 silicon bug. Reenabled HAL function for reboot.
STM32F7xx: Added support for up to 8 axes in the driver, with the reference board map only. As of now untested but it compiles and runs!
Are there any senders that can candle 8 axes available? ioSender can not but that may change.

Plugins:

WebUI: added new and missing settings options for ESP400, added axisletters from configuration to ESP800 response.
SDCard: updated FatFs VFS wrapper for read-only configuration.
Some: moved reboot required message for some settings to reporting by using a settings flag.

Build 20220916:

Core:

Added setting definitions for WebUI client inactivity timeout and real time report auto interval.

Plugins:

WebUI: Added support for multiple client switchover and session inactivity timeout. Updated for websocket API changes.
Reorganized ESP v2 and v3 protocol code for readability and added settings for client inactivity ($396) real time report auto interval ($397).
NOTE: This will reset WebUI settings to default and possibly other plugin settings too. Backup and restore!
Networking: Enhanced websocket daemon API, now allows multiple clients - with the limitation that only one can claim the websocket "serial" stream.

20220914:

Core:

Added optional HAL entry point for getting free memory (ideally sum of free blocks on the heap), currently used by WebUI.

Plugins:

WebUI: Sort ESP400 output by settings group, fixed ESP410 response and added free memory to ESP420 response when available from the HAL. Updated for websocket API changes.
Networking: Removed WebUI specific code from websocket daemon, made API more flexible. Some bug fixes and a bit of code cleanup/refactoring.
SDCard: Switched to VFS file handling for the YModem protocol.

Drivers:

iMXRT1062, RP2040, ESP32 and STM32F7xx: added support for free memory HAL entry point.
ESP32: improved wifi AP scanning.
MSP432E401Y: added littlefs and WebDAV support.

20220912:

Plugins:

WebUI: Improved ESP800 response, updated embedded fallback page and fixes for file listing error and AP mode handling.

20220911:

Core:

Minor options preprocessor change for littlefs, "hardened" VFS code. Core build date not changed.

Plugins:

WebUI: Added all grblHAL settings to ESP400 response, file systems handling improvements++. Still WIP, but getting closer to final version!
Networking: some general enhancements (for WebUI).
SDCard: added VFS wrapper for littlefs. This plugin will be renamed later, likely to Plugin_storage.

Drivers:

iMXRT1062, RP2040 and ESP32: Added littlefs support for flash based file storage.
STM32F7xx: Fixed typo.

20220906:

Core:

Added $RTC system command for outputting or setting current real time clock date and time. Uses ISO8601 format.
Driver developers:
grbl/limits.h has been renamed to grbl/machine_limits.h (along with the .c counterpart).
hal.enumerate_pins and the associated callback function parameter has a new signature, a void pointer has been added. Driver implementations should pass this on to the callback.
The HAL version number has been increased to 10 due to this, update driver.c to match!

Plugins:

WebUI: added many ESP commands to v3 command handler, some code refactoring. Still WIP.
Networking: some minor bug fixes.

Drivers:

All: updated for grbl/limits.h name change and HAL version number increase.
iMXRT1062, STM32F4xx, STM32F7xx and ESP32: Added RTC support.
ESP32: WebUI backend support improved.

20220904:

Core:

Added optional RTC (Real Time Clock) support to the HAL. VFS improvements.

Plugins:

Networking: improved websocket subprotocol handling.
WebUI: separated command handlers for v2 and v3 and improved detection of v3 clients. Now sets RTC from ESP800 if HAL allows.

Drivers:

RP2040: Added RTC support++.
iMXRT1062: updated uSDFS patch - needed for VFS changes.
STM32F7xx: updated FatFs options file for better VFS integration.

20220903:

Core:

Tuning, VFS improvements.

Plugins:

Networking: improved timestamp handling, some other minor fixes.
WebUI: reverted to stream writer for command output (for now). Added RP2040 (Pi Pico W) to supported boards.

Drivers:

RP2040: Added networking and WebUI support for Pico W.
Note: Soft AP mode is WIP and not fully functional.
Note: NVS storage of settings has been moved to the end of flash, backup and restore!
STM32F7xx: committed missing update of .cproject file.

20220825:

Core:

Added virtual file system (VFS) handler, Linux/Unix style with mount directories.
Now raises alarm if homed state becomes invalid on settings changes when homing on startup is required. Issue #173.

Plugins:

Networking: added optional (and initial) support for WebDAV protocol to http daemon.
Added virtual file systems (VFS) for temporary RAM storage, direct or via hal.stream.write output.
Note: Saving files with WebDAV for Windows mounts does not work, some weird things going on like initial save beeing for a zero sized file.
Tested ok with WinSCP.
WebUI: Switched to use virtual file system (VFS) for file handling.
SDCard: Swithed to use virtual file system (VFS) for file handling. Added VFS implementation for FatFS, mounted as root (/).
Spindle: Added GS20 and YL620 VDF spindles from PR#9 by @andrewmarles.
Added option for extending VFD spindle functionality generically. Potential fix for core [issue #177}(grblHAL#177).
Encoder: fixed settings registration bug, issue #1.

Drivers:

ESP32: Switched to grblHAL http daemon and full use of WebUI plugin. Added virtual file system mounts (VFS) for SPIFFS and embedded files.
iMXRT1062: additional fix for encoder plugin issue #1.
ESP32, iMXRT1062, STM32F7xx:* ESP32, iMXRT1062, STM32F7xx: Added configuration option for WebDAV protocol to my_machine.h.

20220801 (2):

Core:

Added masking of password settings values for WebUI clients.

Plugins:

Networking: more include file fixes.
WebUI: Fixed incorrect type mapping for password settings.

Drivers:

ESP32, STM32F7xx, iMXRT1062: added actual MCU frequency to new HAL struct field (used by WebUI for reporting system information).

20220801:

Core:

Added MCU frequency variable to the HAL struct - to be set by the various drivers later on.

Plugins:

Networking: fixed some include files dependencies that caused issues in some configurations.
WebUI: added missing guards for SD card enabled and new compile time option. Added missing status message to file listings.

Drivers:

ESP32: added missing guards that caused compilation errors if WebUI option was enabled without SD card enabled and/or authentication enabled.
Added option for auto push the real time status report.

20220731:

Core:

Added core event on_homing_completed, some sanity checks on MPG stream registration.

Drivers:

ESP32: Added IP address to "WIFI STA ACTIVE" message published on startup when IP address has been assigned.
STM32F7xx: Fixed Release build settings, added .bin output.

20220729:

Core:

Updated for issue #169 - extend range of axis auto square offsets.

Plugins:

WebUI: moved SD card handling to separate file for sharing with the ESP32 driver. Still WIP.

Drivers:

ESP32: Switched to plugin code for WebUI login and SD card handling. Still WIP.
NOTE: Settings for WebUI passwords has been moved to the WebUI plugin, this will trigger a reset of the network settings!
SAM3X8E: Fix for issue #11.

20220728:

Plugins:

WebUI: "Hardened" code, a bit of cleanup. Still WIP.

Drivers:

ESP32: Attempted fix for TMC2209 UART comms, ESP32 issue #33. Still not 100% reliable.

20220724:

Core:

Added authentication related error codes and messages. Added reboot required per setting to various reports.

Plugins:

Networking: Various fixes/enhancements for WebUI 3 support.
WebUI: Added support for forms based authentication++ Still WIP.

Drivers:

ESP32: Some minor bug fixes, added TMC2209 option to CMakeLists.txt (untested).
STM32F4xx: Fix for issue #83.
STM32F7xx: Fixed regression introduced in previous build.

20220722:

Core:

Added settings flag for reboot required (currently unused) and API function for getting setting group details.

Plugins:

WebUI: refactored ESP command handling, added some commands. Added preliminary build of WebUI v3 for testing. Still WIP.

Drivers:

ESP32: Added board map for MKS Tinybee v1, improved I2S pin handling and secondary serial port options.
STM32F4xx: Fix for issue #82.
STM32F7xx: Added handling of Trinamic driver pins (currently unused - no Trinamic support yet).

20220720:

Plugins:

WebUI: fixed ESP701 response.

Drivers:

SAM3X8E: added tentative support for MPG mode.

20220718:

Core:

Added support for G5.1 (quadratic spline) and multi turn arc option for G2 and G3 via P-word.
Some additions to data structures used by plugins.

Plugins:

Networking: added optional function to API for querying current status of connection and running services. Required for the WebUI plugin.
Added support for client side ping message used by WebUI v3.
WebUI: added initial support for WebUI v3 messaging.
SDCard: added function call for querying current job status.

Drivers:

iMXRT1062, STM32F7xx, ESP32, TM4C1294 and MSP432E401Y: Implemented optional API function for querying current status of connection and running services.

20220710:

Core:

Moved initial stepper enable call to the core (from drivers).

Drivers:

Most: Updated for move of stepper enable initial stepper enable call to the core.
STM32F4xx: Fix for missing code guard, updated my_machine.h options.
STM32F7xx: Fix for incorrect $pins report for SPI pins.

20220709:

Core:

Fix for incorrect sequencing of init calls when corexy and backlash compensation is enabled at the same time, ESP32 issue #25.
Added call to driver to immediately set stepper enable signals when $37 (Stepper deenergize) is changed.
Some minor improvements in settings handling and options reporting.

Drivers:

iMXRT1062: Updated SD card driver patch with workaround for non word-aligned writes that caused file corruption. Fix for WebUI issue #4.
STM32F4xx: Added option for using timer 2 for spindle sync RPM timer as this allows spindle sync for low pin count MCUs.
Note that timer 2 is a 16 bit timer that had to be extended virtually to 32 bit - this may affect spindle sync operation/performance.

Templates:

Added plugin for Marlin style M17/M18 (M84) commands for enabling/disabling stepper drivers as fix for issue #184.

20220703:

Core:

Deprecated setting $7 (can be set as before but is no longer reported). Added setting $9 for PWM spindle options:

$9: PWM Spindle as bitfield where setting bit 0 enables the rest:
    0 - Enable (1)
    1 - RPM controls spindle enable signal (2)

Bit 1 in this setting replaces setting $7, bit 0 controls the PWM output.
NOTE: M3 and M4 with S0 will now set the spindle enable output if $9 is 1. Ref issue #156.
NOTE: the change is not backwards compatible with current 3rd party drivers, these has to be updated to match changes in the core.

Drivers:

All: Updated for core changes related to the new $9 setting.
ESP32: Prepared driver for ethernet interface.

20220625:

Core:

Reverted config.h change that enabled COREXY as default. ESP32 issue #31.

Drivers:

ESP32: Updated CMakeLists.txt for spindle plugin changes.

Plugins:

Spindle plugin: Added H100 VFD driver (untested).

20220618:

Core:

Added grbl.on_reset event, new settings for VFDs++

Plugins:

Spindle plugin: Added VFD manager, simplified VFD registration (no core changes required when adding a new type), added MODVFD VFD support, added M104Q<n> M-code for selecting spindle.
Some of these changes were adopted from PR#9.

20220616:

Core:

Delayed calling hal.driver_reset until alarm and abort states has been established.

Drivers:

STM32F4xx : Fix for issue #77 - serial port clock selection.

Plugins:

Spindle plugin: Fix for issue #9 - VFD spindle not stopped on STOP command.

20220612:

Core:

Changed kinematics API and implementations (corexy and wallplotter) to allow backlash compensation. Ref ESP32 issue 25.
Fixed feed rate handling for corexy kinematics. Ref issue #147.
Fixed tool table/tool change bugs. Ref. ioSender issue 228.

Drivers:

iMXRT1062 : Fix for issue #38.
STM32F4xx : Added missing code guard for boards not having a spindle direction pin. Improved UART channel assignment handling.
STM32F7xx : Improved UART channel assignment handling.
ESP32 : Added missing file (corexy.c) to filelist, fixed incorrect URL in readme.

20220416:

Drivers:

SAM3X8E: Fix for issue #7.
LPC176x: Allowed auto squared axes for RAMPS 1.6 board, routed serial port to the WiFi port when USB serial is disabled for BTT SKR v1.4 Turbo board.
STM32F4xx: Fix for issue #69. Added PB9 as option for spindle PWM.
RP2040: Added support for spindle plugin, issue #26.

20220325:

Core:

Changed spindle handling to allow dynamic spindle registration and support for multiple spindles selectable at run-time.
If more than one spindle is to be made available grbl/config.h has to be edited and the symbol N_SPINDLE has to be increased from the default value of 1 to the number of spindles to allow (currently max 8).
When more than one spindle is registered setting $395 becomes available for specifying the spindle to enable at startup. Use $$=395 to output a list of available spindles and the corresponding spindle id to use for configuration.
NOTE: Using $32 for switching between a PWM spindle and a VFD spindle is no longer supported, either use $395 or M104P0 to select the PWM spindle, M104P1 to select the configured VFD spindle. Note that laser mode ($32=1) will be disabled if the active spindle is not a PWM spindle.
NOTE: the change is not backwards compatible with current 3rd party drivers, these has to be updated to match the changed core.

Plugins:

The PPI and spindle plugins has been updated for the new spindle handling.

Drivers:

All: updated for the new spindle handling.
NOTE: I have only done limited testing of the changes, please report any problems!

20220315:

Drivers:

LPC176x: Fix for issue #122, polling of limit switches during homing.
SAM3X8E: Fix for issue #124, limit signals inversion did not work.
RP2040: Fixed typo in enable/disable of secondary UART port.
Fixed incorrect check for UART TX shift register empty and handling of stepper enable when Trinamic drivers are enabled.
Updated BTT SKR Pico map - may still need adjustments...

Build 20220215:

Core:

Added a MPG mode option for using input pin for mode switching when enabled together with keypad plugin. Added pin descriptions for UART pins used for MPG.

Plugins:

Keypad: added block for MPG mode change real-time command when input pin is used for mode switching.

Drivers:

Some: updated for new MPG mode option.
ESP32: bug fix for random guru wakeups and subsequent crash for I2S enabled boards.

Build 20220210:

Core:

Fixes for backlash compensation: no longer resets current direction on a soft reset/stop, added handling of backlash setting changes per axis.

20220209:

Plugins:

Trinamic: "Bug fix" for soft UART TMC2209 drivers.

Drivers:

LPC176x and STM32F4xx: Refactored soft UART code used for TMC2209 drivers. Hopefully this fixes remaining issues, however I do not have the actual hardware to verify the code.

Build 20220204:

Core:

Fix for regression where laser mode / lathe mode settings were ignored.

Plugins:

Motors: Added 100ms delay before attempting to initialize Trinamic drivers after power up. At least TMC2130 require this.

Drivers:

STM32F4xx: Removed Trinamc driver restriction for ganged axes configs for BTT SKR 2.0 board. Corrected linker script used for Nucleo F411 builds.

20220203:

Plugins:

Networking: Added critical sections for FreeRTOS builds and bit of code harmonization for the telnet and websocket daemons.

Drivers:

ESP32: Increased FreeRTOS tick rate to 1KHz, pinned tcp task to core 0 and increased network daemons polling rate. Hopefully this along with networking plugin changes fixes issue #10.
iMXRT1062: Added workaround for potential compiler bug, added small delay to PJRC USB polling to avoid overwhelming senders with responses in Check mode. This should fix issue #31.

Build 20220131:

Core:

Fixed tool change and spindle stop on reset/stop commands regressions.

Drivers:

ESP32: Updated WiFi stream handling on network connect/disconnect to use shared code in the core.

Plugins:

WebUI: Added number of configured axes to firmware status report. Issue [#18}(grblHAL/ESP32#18).
Networking: Added close (stream) connections calls.

Build 20220123:

Core:

The symbol ENABLE_SAFETY_DOOR_INPUT_PIN in grbl/config.h has been replaced with SAFETY_DOOR_ENABLE in my_machine.h.
Changed probe touch off handling to reduce deceleration overshoot.
Uncomment //#define MINIMIZE_PROBE_OVERSHOOT in grbl/stepper.c to enable this feature.
Later it may be permanently enabled if no side-effects are experienced, test with care!

Drivers:

Most: Added \\#define SAFETY_DOOR_ENABLE 1 to options in my_machine.h, uncomment to enable. Requires board support for safety door input.
RP2040: Added pin map and support code for the C.ITOH CX-6000 plotter project. Uses the HPGL and keypad plugins.
RP2040: Added tentative support for BTT SKR Pico 1.0 board. Incomplete and untested!
LPC176x: Made TMC2209 UART driver support for BTT SKR E3 Turbo board available for BTT SKR V1.4 Turbo, still untested!

Templates:

Added HPGL template plugin. Replaces the G-code parser with a HPGL parser and is a good example of grblHAL programmability. Not a single line of code was changed in the core for this!

Build 20220111:

Core:

Added new core event triggered during looping when executing a millisecond delay. Added ISR_FUNC macro for placing time critical functions in RAM.

Drivers:

RP2040: Limited max time between step pulses to avoid jog movements taking too long to complete. Moved time critical code run in interrupt context to RAM.
iMXRT1062: Fixed memory leak in ioports code.
Many: Forced ioports numbers (Aux <n>) to be contiguous regardless of how they are defined in the map file.

Plugins:

Spindle (Modbus): Added subscription to new core event to poll for responses during delays, fixes issue with spindle at speed check for some drivers.
Some: Moved time critical code run in interrupt context to RAM (for RP2040 driver).

Build 20220109:

Core:

Added optional spindle select event to core events, for dual spindle enabled configurations (VFD + PWM spindle).
Attempted fix for weird issue with VFD spindle when spindle at speed tolerance is set > 0 with $340.

Plugins:

Networking: fix for dependency issue with iMXRT1062 driver when lwIP library was not installed.
Spindle: updated Huanyang VFD driver to support the new spindle select event.
Added experimental M-code for switching spindles, M104P0 for PWM spindle, M104P1 for VFD spindle. Only available in DUAL_SPINDLE configurations.
Keypad: added many new single character commands, mostly the same as available as standard real time commands.

Drivers:

STM32F4xx: fixed name case for FatFs driver directory, added FatFs R0.13c source.
iMXRT1062, STM32F4xx and SAM3X8E: added DUAL_SPINDLE configuration option (for testing).

Build 20220105:

Core:

Moved and enhanced handling of pendant serial stream (MPG) to core. Added some new stream handling functions.
Added real time command character 0x8B for toggling MPG stream on/off.
Fix for issue #104.

Plugins:

Bluetooth: updated to use new stream open function.
Keypad: added MPG stream toggle support, bug fix.
Networking: refactored and renamed telnet and websocket daemons.
Spindle: changed to get actual RPM from encoder when available.

Drivers:

iMXRT1062, ESP32, STM32F7xx, MSP432E401Y and TM4C1294: updated for networking plugin refactor.
iMXRT1062, RP2040, ESP32, STM32F4xx, STM32F7xx, MSP432E401Y and TM4C1294: updated for pendant serial stream handling changes.

Build 20211226:

Core:

Fix for spindle sync PID $-settings not showing up when spindle sync option is enabled.
Made $392 (spindle spin up delay) available when spindle driver supports spindle at speed functionality.

Drivers:

iMRX1062, STM32F4xx, STM32F7xx and MSP432: Fix for changes to spindle sync PID $-settings requiring a hard reset to take effect.

Build 20211223:

Core:

Added function for connecting via specified serial port.
Changed internals to allow further VFD spindle drivers to be added.

Plugins:

Bluetooth and Modbus: increased number of serial ports that can be selected from (up to 4 - driver dependent).

Drivers:

Many: updated for changed VFD internals and shared I2C symbols.
ESP32: "hardened" code.
LPC176x: fixed bug in handling of counterclockwise (CCW) spindle direction.
STM32F4xx: added support for selecting primary serial port driver in board map specific code.

Build 20211218:

Core:

Fixed issue where VFD spindle alarm during homing failed to stop movement. Changed homing init to only stop spindle and coolant if already on.

Plugins:

Trinamic: Bug fixes and improvements for ganged axes handling.

Drivers:

All STM32 drivers, LPC176x, MSP432E401Y and TM4C1294:
Made folder references relative in Eclipse .cproject file to allow renaming of project.
STM32F4xx:
Added alternative startup code for F407 and F446 to allow use of additional peripherals in user code.
NOTE: This may break PlatformIO compilation. A possible workaround is to delete the startup folders not matching the MCU variant.
Added support for Bigtreetech SKR 1.2 boards (as a synonomym for SKR 1.1), switched soft UART pins for Trinamic drivers to direct connection.
ESP32: Bug fixes for ganged axes and output pins with pin number > 31.
SAM3X8E and SAMD21: Simplified USB polling.

Build 20211213:

Core:

Added generic stream switcher functions for driver use, to avoid duplicated code.
Added HAL entry point as workaround fix for random ESP32 crashes (related to unreferenced float variable in ISR context).

Drivers:

Most: updated to use new core based stream switcher.
STM32F4xx: updates for BTT SKR 1.1 & 2.0 UART mode Trinamic stepper driver support.
LPC176x: Added tentative support for BTT SKR E3 board including soft UART mode Trinamic TMC2209 drivers. Code by Dimitris Zervas, somewhat modified by Terje Io.
ESP32: added driver support for ganged/auto squared axes and Trinamic SPI mode stepper drivers. Untested for now since hardware is not available.
Added board map for xPro v5 controller with TMC5160 drivers. Untested.
Fix for random Guru crashes when streaming gcode at high feedrates/accelerations.

Plugins:

Trinamic: workaround for ESP32 enums always defaulting to 32bit(!)
Networking, Bluetooth: updated for core stream switcher.

Core:

Renamed unused function.

Plugins:

Networking: "hardened" websocket code. Increased ftpd buffer for faster ftp downloads.
SD Card: Added mount and unmount events to allow moving driver specific code out of the plugin.

Drivers:

RP2040, Simulator: updated for core changes that should have been committed for build 20211203.
ESP32, iMXRT1062 and MSP432E401Y: moved driver specific SD card mount/unmount code from the SD card plugin to driver.c.
ESP32: improved SD card mount/unmount code. Added $FU command to be used to unmount the card before removing it. The $FU command may be removed later.
LPC176x: Changed IRQ priorities in order to avoid random delays when sending lots of short movements (e.g. when laser engraving).
Fixed bug in SD card driver code.

Build 20211203:

Core:

Added flags for WebUI reconnect handling.
For developers: Changed debug stream initialization to claim specific stream instance and moved init call to core.
Enabling the debug stream is done in grbl/config.h.

Drivers:

All: updated for core changes (new flags).
iMRXRT driver: fixed regression causing UART mode to fail, driver issue #28.

Plugins:

SD card plugin: Fixed issue that crashes the controller if a client disconnects/reconnects while a job is running.
Added support for WebUI disconnect/reconnect without terminating a running job.

Build 20211130:

Core:

Fixed regression affecting ESP32 driver, crashes the controller in some circumstances. One is starting a second WebUI when the first is executing movements.

Drivers:

ESP32 driver: Added compiler flags to shut down some compiler warnings, increased main task stack size.
LPC176x driver: Added option to enable I2C current control for Smoothieboard. Not tested!
Some minor fixes in a couple.

Plugins:

Networking plugin: Fixed issue in WebSocket daemon that resulted in some clients not accepting connection offered.

Build 20211128:

Core:

Added functionality for serial stream registration and enumeration, allows plugins to claim stream(s) from free pool.
Simplified registration of settings, alarms and error codes from driver and plugin code.
Fixed $$ settings report, it reported some configuration dependent settings when not available.
Added pin id definitions for soft UART pins (used by Trinamic TMC2209) driver code.

Plugins, templates and drivers:

Updated for core changes above.

Drivers:

ESP32 driver: updated for ESP-IDF 4.3 API call change that prevented WiFi AP mode initialization. Rewrite of wifi code that used deprecated library calls.
STM32F4xx driver: added tentative support for Trinamic stepper drivers for BTT SKR Pro 1.1 (and 1.2 that can use the same map) board. Not tested!

Plugins:

Motors plugin: bug fixes for handling of ganged motors with Trinamic drivers. Added optional callbacks to low level driver code pre and post configuration (per driver).

Build 20211122:

Core:

Fixed silly typedef mistake in setting struct, added settings $392 and $393 for spindle and coolant startup delays on safety door open.
Removed Grbl v0.9 error messages.

Drivers:

Added setting $308 for FTP port to use for networking capable drivers. Defaults to 21.
Fixed WebUI processor clock speed report in ESP32 driver, added FTP port, board name and driver version to same.

Build 20211121:

Core:

Added some data fields to the settings structures and modified a HAL API call signature.
Due to this settings and HAL version numbers has been increased to 21 and 9 respectively.
NOTE: due to this settings will be reset to default values after an update. Backup and restore!
Added $8 setting for inverting direction signals for the second motor for ganged axes.
NOTE: This setting is applied after inversion is performed according to the $3 setting.
NOTE: I have only bench tested this for a couple of drivers, correct function should be verified after updating!
Changed default value for $4 stepper enable setting to invert all axes (active low).
Added reason code (flags) to "Incompatible driver" message, delayed halt so other POS (Power On Self-test) messages is not lost.
Some bug fixes in new ioports code.

Plugins:

Updated Bluetooth, Fans, Laser coolant and Plasma plugins with settings for selecting aux port(s) to use.
NOTE: Port settings are added under the Aux ports setting group even when the plugin has its own setting group.
Updated SD card plugin to support manual tool change on M6 (only available if the driver supports it).

Drivers:

Updated many for additional features in enhanced ioports API.
Updated drivers supporting ganged axes for the new $8 setting.
iMRXT1062 (Teensy 4): Added full ioports support for MCP3221 I2C ADC.
Some bug/regression fixes.

Build 20211117:

Core:

Enhanced ioports API with new calls for claiming ports and swapping pin to port mappings.
Fixed bug #87 where executing G28/G30 with explicit motion when a motion mode was not active (following a G80) raised error 31.
Replaced string symbol GRBL_VERSION_BUILD with numeric symbol GRBL_BUILD.
The new symbol can be used by plugin code to check for functionality.

Plugins:

Updated Bluetooth plugin for enhanced ioports API, bug fix.
Updated Spindle plugin for dual spindle support, merged PR#4.
Updated some to use the new GRBL_BUILD symbol.

Drivers:

Updated many for define symbol changes (harmonization) and enhanced ioports API.
iMRXT1062 (Teensy 4): Fixed bugs, one was a typo and one slowed down max USB streaming rate.
RP2040 (Pi Pico): Added support for SD card and ioports API for aux output pins on Pico CNC board.
STM32F3xx: Fixed typo and some compiler warnings.

Build 20211108:

Core:

Renamed default hostnames/device names from Grbl to grblHAL.
Added early application of constraints for feedrate and spindle RPM overrides to avoid variable under/overflow. From PR#83.
Added higher level (than generic GPIO) interrupt handler registration to HAL.
Added optional MCU peripheral (other than GPIO) pin registration to HAL. For $pins report.
Added region for third party plugin init functions to plugins_init.h.

Plugins:

Modified keypad plugin to claim strobe interrupt only when using I2C, added KEYPAD_ENABLE 2 option to my_machine.h to not claim it.
Fixed botched include in Bluetooth plugin, added pin description to claimed UART pins.
Made Modbus plugin configuration symbols settable from compiler command line, added pin description to claimed UART pins.

Drivers:

Updated to provide peripheral pin info to $pins report.
Some bug fixes.

Build 20211029:

Core:

Fixed variable name typo.
Renamed hal.stream.disable to hal.stream.disable_rx to better reflect function.

Plugins:

Spindle plugin modified to support multiple Modbus clients.

Drivers:

Updated for HAL function pointer rename, multiple Modbus clients where relevant.
Added support for using UART8 as serial port in iMXRT1062 driver.

Build 20211024:

Core:

Moved @ G59.3 probing event call earlier in code, added check for X and Y homed.
Minor "bug fix" for real-time report, no longer sends WCO and Ov elements in the same response.

Plugins:

A bit of cleanup in the websocket protocol code.
Fixed some miscopied lines in the Trinamic driver from a manual merge of PR#3.

Drivers:

Added map file for GRBLHAL2000 board to iMRXT1062 driver (Teensy 4.1) From PR#23 by @andrewmarles

Build 20211019:

Core:

Some minor changes to better support Trinamic drivers, probing and drivers/boards with limited number of control inputs (cycle start, feed hold, ...).

Plugins:

Trinamic driver enhancements: Allow different StallGuard threshold settings for seek and locate phases, option to reduce acceleration during homing, bug fixes++
NOTE: All plugin settings will be reset when updating if the Trinamic plugin is in use. Backup and restore.

Drivers:

Improved TMC2209 UART support for the STM32F407 based BTT SKR 2.0 board. By @fitch22
Added PicoBOB board support to RP2040 driver. By @andrewmarles

Templates:

Corrections for Arduino builds, a few minor bug fixes.

Build 20211015:

Core:

Improved grbl.on_probe_fixture event signature by adding pointer to the pending tool when fired when M6 is executing (NULL if not) and a flag indicating that the current XY-position is within 5mm of G59.3.
A few minor fixes.

Plugins:

I2C keypad: Switch to metric mode when jogging.
WebUI: added option to store read-only webui files in flash.

Templates:

Updated the probe select example for the grbl.on_probe_fixture signature change and added an optional mode select parameter to M401.

Build 20211010:

Core:

Added enum and associated get function for system defined named parameters.
Added events (function pointers) for tool change mode 2 and 3 events (can be used to switch between probes) and for publishing active homing feedrate.

Drivers:

Improved stream support in many drivers by adding support for write_n characters. This is mainly used for outputting human readable settings descriptions.
Added TMC2209 UART support to the STM32F407 based BTT SKR 2.0 board. By @fitch22

Plugins:

Added support for reading files from flash based storage to http daemon support code.
If a file is not found in the SD-card www folder an attempt will be made to locate in in flash.
Added WEBUI_INFLASH option to my_machine.h for storing WebUI files (index.html.gz and favicon.ico) in flash.
Note that if these files are found in the SD card www folder they will be used instead.
Improved Trinamic driver support both generally and for the TMC2209 silent stepstick.
The default feedrate for switching to SpreadCycle mode has been changed to 0 (never switch), use M913 to set it or set the default value in trinamic.h by changing the PWM_THRESHOLD_VELOCITY symbol.
This is still work in progress, sensorless homing is most problematic and is likely to require tuning of several parameters. E.g. the slow approach feed rate should not be too slow - the default 25 mm/min certainly seems to be.

Build 20210928:

Core:

Changed safety door/parking handling to be compliant with legacy Grbl - now a cycle start command has to be issued to resume after the door is closed.
Added $384 setting for controlling G92 offset persistence, set to 1 to disable persistence across a reboot, 0 to enable. Only available if compatibility level is < 2, default value is 0.
Improved $help command output and handling, added description to $$=<n> output.
Moved the optional tool table in non-volatile storage (typically EEPROM) to above the core area. This allows a larger number of tools (max. 16) to be defined.
NOTE: If you have tool table support enabled before upgrading the current table will be lost and possibly also all other settings. Backup and restore!
Added gcode parameter support. All NIST RS274NGC version 3 parameters (see section 3.2.1) and most LinuxCNC parameters are supported.
The $#=<n> or $#=<name> commands can be used to output a parameter value. Replace <n> with a parameter number, <name> with a parameter name.
NOTE 1: Named parameters and parameters in the range 1 to 5160 are volatile and will not persist across a reboot.
NOTE 2: Space for the volatile parameters is allocated at run-time, available memory (heap) sets a limit to how many can be set.
NOTE 3: Maximum name length is 20 characters, maximum number of parameters that can be set in a block (line) is 10.
Added gcode expression support. This has to be enabled in grbl/config.h by uncommenting //#define NGC_EXPRESSIONS_ENABLE 1. Experimental.
NOTE: Processors with limited memory may not compile with this enabled.

Drivers & plugins:

Added WebUI plugin support for some networking capable boards.
Updated some drivers for internal API changes. Some minor bug fixes.

Build 20210907:

Core:

Improved HAL/core stream handling for plugin issued realtime commands.
Some minor bug fixes and added rudimentary settings validations relevant when switching board map files.

Drivers & plugins:

Fixed regression in encoder plugin.
Updated all drivers and relevant plugins for HAL/core API changes.
Added PWM inversion option to iMXRT1062 driver.
Significantly improved STM32F7xx driver, still work in progress.

Build 20210819:

Core:

Added $376 setting for designating ABC-axes individually as rotational.
NOTE: This setting is only available when N_AXIS is > 3 and will force a settings reset on an upgrade for such configurations. Backup and restore settings when upgrading!
Scaling from inches to mm is disabled for axes designated as rotational, no other processing takes place.
Added $ESG and $ESH system commands for outputting current setting definitions in Grbl csv-format and grblHAL tab-format respectively. Only settings valid in the active configuration will be outputted, driver and plugin specific settings will be added as well - even from well behaved third party code.
Added setting descriptions to most core/driver/plugin settings. Third party drivers and plugins may also add descriptions to any settings implementented.
NOTE: Drivers for processors with limited flash may not have the descriptions compiled in.
Added $SED=<n> for outputting a description for setting <n> (if available), e.g. issue $SED=14 to get a description for $14. The description is formatted for sender use.

Drivers & plugins:

Cleaned up/simplified many pin mapping files, mostly by moving pin to bit transforms to a common preprocessor file.
Some general driver and plugin improvements, e.g. more flexible spindle PWM to pin mappings for STM32F4xx and STM32F7xx drivers.

Build 20210803:

Core:

Added optional HAL entry point for stepper motor enumeration (axis vs. motor id). Used by motors plugin.
Improved optional driver support files.

Drivers & plugins:

Added F103RC support and a board map for the BTT SKR MINI E3 V2.0 to the STMF1xx driver.
Added tentative plasma plugin support to the SAM3X8E (Arduino Due) driver.
Updated motors plugin to match updated Trinamic library, added support for TMC2209++.
Some minor bug fixes and improvements.

Build 20210726:

Core:

Added encapsulation in stream handlers for realtime processing. This allows more flexible use of additional streams.
Added optional debug stream to the HAL. Currently only used by the iMXRT1062 driver.
Position will now be recalculated on steps/mm setting changes.
Limited final $TPW retract on tool changes to Z home to avoid triggering Z-limit.
Moved some common driver code snippets to the core to avoid duplication.

Drivers & plugins:

Updated all for new stream encapsulation.
Added option to use UART input for I2C keypad plugin. Added fan toggle support.
Fixed some bugs and regressions.
Added support for ganged/autosquared axes to RP2040 driver.

Build 20210707:

Core:

Added realtime command 0x8A for toggling fan 0 on/off. Requires the Fans plugin.
Moved a bit of code to aid documentation structure.
Added option for plugins to add pin description for claimed pins to $pins report.
Simplified API for user added M-codes, backwards compatibility retained for now.

Drivers:

Updated a number of drivers for new style pin handling (allows $pins report and simpler pin mapping files).
Updated and verified driver for RP2040, mainly to support the PicoCNC board.
Added/improved interrupt support for auxiliary inputs for both plugin code (via API) and for M66.
Bug fixes.

Build 20210626:

Standardized handling of motors for ABC- and ganged/squared axes, configuration moved to my_machine.h.
First number of motors required is calculated, then ABC axes are added from bottom up and then ganged/squared axes from top down.
E.g if the board map supports six motors then the following allocations will be made:
A-axis and auto-squared Y axis: A-axis -> motor 4 and second Y-axis -> motor 5. Motor 6 pins may then be assigned to auxiliary I/O.
A-axis, B-axis and ganged X-axis: A-axis -> motor 4 and, B-axis -> motor 5 and second X-axis -> motor 6. Motor 6 limit pin(s) if available may be assigned to auxiliary I/O.
Auto-squared X and Y-axis: second X-axis -> motor 4 and second Y-axis -> motor 5. Motor 6 pins may then be assigned to auxiliary I/O.
etc...
IMPORTANT: For those who have used auto-squared/ganged axes with previous builds be sure to check that the motors allocated matches the current wiring. Tip: use the $pins system command to list the pin allocations when checking. Rewire as necessary.
Added ganged axis/auto-squaring support to some board maps for the LPC176x driver.
Expanded on HAL entry points for stream communication and added initial documentation for the HAL and parts of the core.
Encapsulated UART/USB CDC code for many drivers, for most only the init function is now available for direct access from the outside. Simplified main driver code and plugins using streams.
NOTE: For driver developers: hal.stream.get_rx_buffer_available has been renamed to hal.stream.get_rx_buffer_free as it was ambiguous (free space vs. available characters).
Added preview version of Bluetooth plugin - allows auto configuration and auto stream switching for drivers/boards that supports it.
Added number of auxiliary I/O ports available to $I command response.
Added value read from last M66 to the first real-time report following the read. The element |In:<value> is used for the report. If the value reported is -1 the read failed.

Build 20210608:

Fixes for $70 setting handling, networking services. Only compile time enabled services (or protocols) can now be configured.

Build 20210604:

Added some HAL entry points and properties, shared file for mapped step and dir output.
Added $pins system command, for listing current pin assignments. Work in progress, only supported by a couple of drivers. For now only plain GPIO pins are listed.
Some minor bugs fixed.

Build 20210515:

Fixed G43 "bug" by changing to LinuxCNC specification. NIST specification is ambiguous.
Added acceleration override handling, to be used by OpenPNP plugin M-code.

Build 20210505:

Some bug fixes: relative canned cycles repeat error, comment handling...
Check mode changes to allow use with SD card streaming.
Internal buffer changes for reducing RAM footprint. Some HAL extensions.

Build 20210314:

Added support for tool change protocol to networking protocols using shared stream buffer.
Added $S system command for toggling single step mode, when enabled cycle start has to be issued after each block.
Some bug fixes.

Build 20210207:

Added #define BOARD_MY_MACHINE option in my_machine.h for building using my_machine-map.c, this for simpler handling of user defined pin mappings.
my_machine-map.c is not part of the distributed source and must by added to the project by the user before enabled, typically by copying an existing map file.
Added HAL layer on top of Trinamic driver low-level code. Unified Triniamic plugins into single plugin.
This is still work in progress, testers wanted.
Added core support for up to four limit switches per axis.
Added $LEV command for outputting report containing which limit or control switch(es) caused the last event.
Report format:
[LASTEVENTS:<control signals>,<min>,<max>,<min2>,<max2)]
Where <control signals> field may contain controls signal letters (H, S etc.) and the rest axis letters for the corresponding limit switches inputs.
More settings subsystem changes and refactored $-system commands parser.
There are some API changes related to this that may affect user defined plugins.
Added $7 setting for option "Spindle off with zero speed".
Added |FW:grblHAL element to full real-time report requested by sending 0x87.
Simplified settings handling.
No longer sends any messages to networking streams on connect.
Added driver for STM32F303 based Blackpills.
Updated support for Trinamic TMC5160 drivers, currently for the SKR 1.x boards (LPC176x driver) - testing i progress.
Initial support for Trinamic TMC5160 drivers added, currently for the SKR 1.x boards (LPC176x driver) - not yet tested.
Added handling for motor fault signal to the core, similar to E-stop handling. Added new alarm and error code for this.
Changed to clear homed status on a soft reset only if machine was in motion. Added setting flag for always keeping homed status on soft reset to $22 setting.
NOTE: This change is experimental and might be changed or reverted. Please report any problems related to this.
Updated gcode parser (grbl/gcode.c) to use bitfields structs instead of bitfield variables.
Done to improve readability and for easier debugging.
Note that this is a major change and there is a non-zero risk that mistakes has been made.
Changed signature of user mcode validation function to use a bitfield union for value words available.
Removed the need for user mcode parameter words to have an associated value. This means that user mcode implementations now must check this locally.
If no associated value is provided the corresponding value in the value struct is set to NAN (Not A Number) for floats and all bits set to 1 for integers.
Refactored Trinamic driver code, added initial support for TMC2209. Work in progress.
Removed the need to copy the core grbl and plugin code to the driver chosen, this is now kept in sync with the master Subversion repository automatically.
Added initial support for RADDS 1.6 board to SAM3X8E driver (Arduino Due). Untested!
Added C-axis support to iMXRT1062 driver (Teensy 4.x).
Untested and none of the current board maps has the needed pins defined.
Added alarm and error message for power on self-test (POS) failure.
If POS fails only $-commands are accepted.
Work in good progress for Trinamic TMC2209 driver support (UART mode).
Processor/board specific driver code has to be added for this, currently testing with STM32F446 and Nucleo-64 breakout board.
Renumbered setting groups for more logical sorting (by id).
Harmonized probing code across drivers for planned future extensions.
Added additional I/O support for the Teensy 4.1 T41U5XBB board (iMXRT1062 driver), 3 outputs and 4 inputs available via M62 - M66.
Not that the result from reading inputs with M66 cannot be used in a gcode program in any meaningful way.
Fixed excessive step pulse jitter in STM32F4xx driver.
Added more options to the NEWOPT tag in the extended $I report.
Error 7 is no longer issued on startup if non-volatile storage (Flash/EEPROM/FRAM) for settings is not available.
Alarm substate (if available) is always added to the real-time report if a complete report is requested by sending 0x87.
Added input signal and handling for limit switches override.
The pin is pulled high and requires a normally open (NO) push switch for operation. When closed limit pins are excluded from the status report and alarm 12 will not be raised if a limit switch is asserted on a soft reset when "Hard limits" and "Strict mode" is enabled with $21. This allows normal operation so that a manual pull-off can be done before e.g. homing the machine.
Currently only the iMXRT1062 (Teensy 4.x) driver has support for this, for now by reassigning the safety door input when this is not used for its intended purpose.
NOTE: A override will not affect handling of homing and limit switch events elsewhere.
Now adds ODO to NEWOPT tag values if odometer data is available.
Updated my_plugin.c template with settings details for $HELP and $ES/$EG enumerations.
Settings/setting groups handling enhanced, moved some to plugins and added sorting (requires enough heap).
Removed external dependencies by adding driver source/USB blob to LPC176x driver.
Enhanced and improved ModBus support code for VFD spindle, added settings for baud rate and receive timeout.
Added support for enumeration of and help for driver and plugin provided settings and setting groups.
Moved board selection etc. to CMakeLists.txt for ESP32 driver for simpler configuration.
Fixed regression for VFD spindle code, should now be able to run tests.
Added build configurations for processor variants and Nucleo-64 boards for the STM32F4xx driver.
Added initial board map file for BTT SKR 1.4 Turbo board to the LPC176x driver including build configuration for bootloader compatible executable.
Added polling of limit switches to the LPC176x driver, enabling hard limits is now possible.
Added $ commands for getting details about alarm codes, error codes, settings and settings groups.
$EA - enumerate alarm codes.
$EE - enumerate error codes.
$ES - enumerate settings.
$EG - enumerate setting groups.
$E* - enumerate all above.
The output from these is intended for sender developers and can be used instead of loading this information from .csv files.
The settings enumeration contains additional information such as group assignment, datatype and format, value list for bitfields, min allowed value and max allowed value. For now descriptions of the settings are not included.
NOTE: This is a preview version, format and group codes may change for settings and setting groups.
Added $HELP command and $$<n> command for listing information about a specific setting.
$HELP on its own prints arguments that can be used with $HELP.
$HELP Commands - print $ commands available with a short description.
$HELP Settings - print information about all available settings.
$HELP <argument> print information about settings from the setting group provided in <argument>. E.g. $HELP Spindle will print information about spindle settings.
NOTE: do NOT issue these commands from a sender MDI as the output may crash it, output is in plaintext and thus intended for use from a terminal only. NOTE: Settings data format has been changed and settings will be reset to default on update. Backup and restore.
Moved #define values to settings for auto square failure distances:
$347 - default value from DUAL_AXIS_HOMING_FAIL_AXIS_LENGTH_PERCENT (5%) in grbl/config.h.
$348 - default value from DUAL_AXIS_HOMING_FAIL_DISTANCE_MIN (2.5mm) in grbl/config.h.
$349 - default value from DUAL_AXIS_HOMING_FAIL_DISTANCE_MAX (25mm) in grbl/config.h.
Added settings and functionality for moving the second axis up to ±2mm after successful auto squaring to compensate for any switch alignment error.
The settings is per axis, $17n where n is the axis index: n = 0 -> X axis, 1 -> Y axis, ...
Note that settings values will only be reported for axes with dual motors installed and configured for auto squaring.
Added setting $345 for pull-off rate from tool length sensor used for tool change. Default value is 100mm/min.
Added setting flag to $10 for enabling override of Homing on startup required (if enabled) by a soft reset.
Blocked loophole where machine could be unlocked by issuing a single axis homing command when Homing on startup required is enabled.
Alarm 11 will now be reissued until all axes configured for homing are homed.
Added software debounce for the safety door switch to STM32 drivers.
"Hardened" parking functionality. It should now tolerate a bouncy door switch and multiple closing/reopenings of the door during retract/restore.
NOTE: Not extensively tested. Use with care!
Added $I+ system command. This can be used when compatibility level is > 0 to get the extended version including the current compatibility setting.
Added basic support for separating limit switches from homing switches in the core. If a driver does not handle separate inputs for these the core "connects" the homing switches to the limit switches in code.
Improved auto squaring. If a limit switch is engaged when homing starts the axis will be moved pull-off distance * 5 away from them. If still engaged homing will fail.
NOTE: Auto squaring is currently only tested with a simulator. Use with care!

Build 20201103:

Added data structures for spindle encoder/spindle sync to the core. Used by drivers supporting spindle sync.
Updated spindle sync code for MSP432 and added spindle sync capability to iMXRT1060 and STM32F4xx drivers.
NOTE: Spindle sync support is still in alpha stage! The current code has only been tested with a simulator.
Fixed bug that could lead to settings storage area fail to reinitialize properly when corrupted.
Moved some symbols in preparation for adding $-settings for them.
Improved rewind capability (on M2) of SD card plugin. Added $ command for dumping SD card file contents to output stream.

Build 20201020:

NOTE: Settings data format has been changed and settings will be reset to default on update. Backup and restore.

Added support for STM32F446 based Nucleo-64 boards to STM32F4xx driver.
Fix for regression that set laser mode as default - $32=1. Check that this is correct after restoring settings from backup.
Added new settings option $341=4 for ignoring M6 tool change command.
Bug fix for M61Q0 - returned error previously.
Changed clearing of tool length offset reference on homing to be done only if relevant axis is/axes are homed.
Fixed check for running startup scripts on homing to check that all axes configured for homing are actually homed.
Changes to message display from (MSG,..) comments in gcode.
(MSG,..) strings will be sent back to the sender in sync with gcode execution.
Added * prefix to NVS storage type in $I report if buffered, e.g: [NEWOPT:*EEPROM,ES,TC]
Increased heap allocation for nearly all drivers.
Memory from heap is used for the NVS buffer and for temporary storage of (MSG,..) strings.
Added option for adding substates to the Run state in the real time report to $11 setting (bit 11).
If enabled Run:2 will be reported when a probing motion is ongoing, this can be used by senders to provide a simple probe protection scheme.
Another refactoring of the settings subsystem, this time for handling plugin settings. Plugins settings storage space is now dynamically allocated and handled locally by the plugin code, this allows user defined plugins to add settings too! Ten setting codes are reserved for user defined plugins.
Added template for basic plugin with two settings.
HAL pointers refactored for code readability, many moved to separate structures for each subsystem. Added typedefs.
Some minor bug fixes and other code readability improvements. Prepared for switch to 16-bit CRC for settings data validation.

Build 20200923:

Added support for STM32F411 based Blackpill boards to STM32F4xx driver.
Initial changes to ESP32 driver to allow compilation with PlatformIO, added my_machine.h for this. Note that my_machine.h is not used if compiling with idf.py.
Added home position to $# ngc report, e.g. [HOME,0.000,0.000,0.000:7] - means all axes are homed. Position is reported in machine coordinates. :7 in the example is an axis bitfield, the reported value is for which axes are homed: bit 0 is Z, 1 is X etc. :0 = no axes homed.
"Hardened" the new tool change functionality even more. Initial changes for multi-axis tool reference offset made.
An empty message will now be sent when tool change is complete, this to clear any tool change related message in the sender.
Added call to weak my_plugin_init() function at startup, name your plugin init function void my_plugin_init (void) and there is no need to change any grblHAL source files to bring it alive.
Use this feature for your private plugin only, multiple public plugins using this name cannot coexist!
Some changes to improve code readability and added strict check for G59.x gcodes.

Build 20200911:

Core refactored for better support for non-volatile storage. Some HAL entry points renamed for readability and moved to a new data structure.
Added plugin for axis odometers. This logs total distance traveled and machining time to EEPROM/FRAM.
FRAM is recommended for storage as it is faster and can sustain a larger number of write cycles. FRAM chips are sold in packages that is pin compatible with EEPROM.
NOTE: Currently for review and for now only for the iMRXT1061 (Teensy 4.x) driver. It will not be available in configurations that stores non-volatile data to flash.
"Hardening" of new manual tool change functionality.
Improved auto squaring algorithm in core.
Enhanced some plugins so they can coexist.

Build 20200830:

Improved tool change functionality, a status report is forced on end of tool change to inform change is completed.
Fix for iMRXT1062 homing failure when serial over USB is used.
Standardized serial over USB #define macro across drivers to USB_SERIAL_CDC.

Build 20200818:

Part two of large overhaul of configuration system.

Driver configuration has been moved from driver.h to my_machine.h and options has been made available to be defined as compiler defined symbols/macros with the -D compiler command line option. In order to allow compiler defined symbols to override my_machine.h settings the symbol OVERRIDE_MY_MACHINE should always be added to the command line. See compiling grblHAL for more information. Available driver options in my_machine.h can now be listed from the driver ReadMe page.

Build 20200813:

"Hardened" step pulse generation when delay is enabled. The delay will now only be added on direction changes. The minimum possible delay is dependent on many factors and will be adjusted to match what the processor is capable of. By default driver code is calibrated for a 2.5 µs delay and may deviate a bit for other settings and configurations. The actual delay should be checked with an oscilloscope when high step rates are used. NOTE: A delay is only added if AMASS is disabled, when AMASS is enabled (it is by default) there is always a implicit delay on direction changes.

Build 20200811:

Part one of large overhaul of configuration system. This has been done to allow a global configuration file and/or setting compile time options as compiler symbols/macros with the -D compiler command line option.
Networking (cabled ethernet), SD Card and I2C keypad plugin support added to Teensy 4.x driver. A Teensy 4.1 is required for networking.
Tool number range changed from 8-bit (0-255) to 32-bit (0-4294967294). Note that if the optional tool table is enabled the max tool number is limited by number of entries in the tool table.
M60 and corresponding pallet shuttle HAL entry point added. No driver support for this yet.

Configuration system changes:

Symbols (#define macros) that are unlikely to be changed or is used for conditional compilation has been moved from grbl/config.h to grbl/grbl.h. Symbols used for conditional compilation can be overridden by -D compiler command line options or by editing grbl/config.h.

grbl/defaults.h is now used for default values for settings that can be changed at run-time with the $$ command. Important: grbl/defaults.h should only be changed when adding new settings.

grbl/config.h is now used for overriding default values in grbl/grbl.h or grbl/defaults.h. Out of the box all overridable symbols are commented out, uncomment and change as needed to override default definitions in grbl/grbl.h or grbl/defaults.h.

These changes are part of a long term plan to create a user friendly front end for configuring and building grblHAL.

Build 20200805:

Important: settings has been changed again and settings will be restored to defaults after updating. Backup & restore!
Added tool change handler for manual tool change on M6. Four different modes available, selectable with $341 setting.
STMF4xx driver updated for optional I2C EEPROM plugin support.

Build 20200722:

Important: settings version has been changed again and settings will be restored to defaults after updating. Backup & restore!
Changed step pulse width and delay settings from int to float and reduced minimum allowed value to 2 microseconds¹. Useful for very high step rates.
New plugin for quadrature encoder input for up to 5 encoders (driver dependent). Can be used to adjust overrides and has rudimentary support for MPG functionality. Work in progress and the iMXRT1062 (Teensy 4) driver is currently the only driver with low-level support for this (one encoder).
New plugin for ModBus VFD spindle controllers. Untested and with limited driver support in this build.
Added setting, $340 for spindle at speed tolerance (percent). If spindle fails to reach speed within limits in 4 seconds alarm 14 will be raised. Set to 0 to disable. Availability driver dependent.
All new settings are now possibly to set independent of the compatibility level except some settings that has flags added to them. The added flags will not be available at all compatibility levels. A new command, $+, can be used to list all settings independent of compatibility level.
Internal changes to settings data in order to simplify automatic migration on changes. Automatic migration is on the roadmap.

¹ Note that several factors may affect the accuracy of these settings such as step output mode, number of axes defined and compiler optimization settings. A new #define, STEP_PULSE_LATENCY, has been added to driver.h for those drivers that requires it so that fine tuning can be done. I may move this to a setting later. In setups where very high step rates are used the actual step pulse width should be confirmed with an oscilloscope.

The step pulse delay has not been fine tuned yet as setting this to a value > 0 is not normally needed as there seems to be a implicit delay on direction changes when AMASS is enabled.

Note: high step rates (e.g. above 80 kHz) cannot be achieved with the step pulse setting set to the default 10 microseconds. This has to be reduced so that both the on and off time is within specifications of the stepper driver. At 100 kHz the time available for a pulse (on + off) is 10 microseconds.

Note: The SAMD21 (MKRZERO) driver needs updating in for it to allow short step pulses. My mistake was to use some Arduino code so that the Arduino pin numbers could be used for pin mappings. This adds around 500 ns per axis of overhead... To be fixed later.

For the curious: I have managed to achieve a 400 kHz step rate with the iMXRT1062 before everything breaks down, this with a command entered from MDI. I have not tested this with a running program, but I am pretty sure that a step rate at or above 200 kHz is sustainable.

2020/06/18: Added driver for STM32F4xx Black Pill, code modified by @shaise from the STM32F1xx driver. This is the first driver provided by someone else than me, thanks for that.

This driver is a candidate along with the IMXRT1062 (Teensy 4.x) driver to get spindle sync support. I have a NucleoF411RE development board on order and will look into adding a pin mapping for that when it arrives.

Build 20200603:

Important: settings version has been changed and settings will be restored to defaults after updating. Backup & restore!
Optimizations for ring buffer handling in planner and step generator.
New optional input signal for probe connected status, driver support will be added later to selected drivers.
Automatic reporting of tool length offset ([TLO:...]) when changed.
Support for G5 (cubic spline) added.
G43.x, G49 and G92 added to parser state report.
G76 threading cycle refactored.
(Re)added REPORT_PROBE_COORDINATES and TOOL_LENGTH_OFFSET_AXIS configuration options, the latter available when COMPATIBILITY_LEVEL > 2.
Improved backwards compatibility with vanilla grbl, e.g. G92 and tool offset(s) will be lost on a soft reset. Dependent on COMPATIBILITY_LEVEL setting.
Board name added to $I report if provided by driver.
Grbl-Sim ported to grblHAL as a driver. Added telnet support++. Can be used to test senders. Note: currently only compiled/tested for Linux.
Some minor bug fixes.

Build 20200503: Added configuration flag for manual homing. (Re)added compile time option ENABLE_SAFETY_DOOR_INPUT_PIN for safety door switch, default is now disabled. Some bug fixes and "hardening" of code.

Added some template code to aid customizations such as driver support for M62 - M68 M-codes mentioned below.

Build 20191222: Added digital and analog output support to the core (and HAL) as per linuxcnc specifications for M62 - M68, number of outputs available (if any) is driver dependent. Adding support for these M-commands makes it fairly easy to add driver code (for up to 256 outputs) as parsing and synchronization is taken care of by the core.

Build 20191215: Moved spindle RPM linearization to $-settings, option needs to be enabled in config.h - driver support required. Optimized EEPROM allocation handling. WebUI support for ESP32 driver improved.

MSP432 driver enhanced for spindle linearization app in the pipeline (for Windows only - needs input from spindle encoder), more work done on closed loop spindle RPM control and spindle synchronized motion - still at experimental stage.

NOTE: settings version number has been increased so settings will be reset to default after update, make a backup first!

Added #define COMPATIBILITY_LEVEL to config.h for backwards compatibility with Grbl v1.1 protocol definition, this for enabling the use of more GCode senders. Please raise an issue if your sender still does not behave well after setting this as the current implementation does not yet disable all extensions, notably new $xx settings.

G76 threading support added to grblHAL in combination with the MSP432 driver. Extensive testing is required before it can be regarded as safe.

WARNING! This is a potentially dangerous addition. Do NOT use if you do not understand the risks. A proper E-Stop is a must, it should cut power to the steppers and if possible engage any spindle brake. The implementation is based on the linuxcnc specification. Please note that I am not a machinist so my interpretation and implementation may be wrong!

G76 availability requires a spindle encoder with index pulse, grblHAL configured to lathe mode and tuning of the spindle sync PID loop.
NOTE: Feed hold is delayed until spindle synced cut is complete, spindle RPM overrides and CSS mode disabled through the whole cycle.

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