v4.1.0

TLDR

This release has a ton of bug fixes for crashes and other problems that were present in v4.0.4, improves stability by reducing baseline memory usage, and has several new features, notably

• GCode Single Stepping - see http://wiki.fluidnc.com/en/features/single_block_mode
• Unipolar motor support
• Telnet improvements
• Config files now allow comments at the end of a line, not only on lines by themselves
• GCode clustering for optimized transfer of laser rasters
• VFD improvements
• TMC driver improvements, mainly related to stallguard
• WebUI3 tablet improvements - single step mode support and visualizer handles nested files, parameters, and expressions

What's Changed

• Restore FatFs SD usage statistics by @figamore in #1780
• Add @tuning/@default_note config-item annotations by @MitchBradley in #1781
• Fixes #1775 - stalls in timed_engine - for both esp32 and rp2040 by @MitchBradley in #1778
• Fix telnet channel unresponsive after connect (#1776) by @MitchBradley in #1777
• [docs] added section covering updates by @tcurdt in #1734
• Fix #1786 - Init fnc_uart on core 0 using a task instead of IPC by @MitchBradley in #1790
• Fix xmodem by @MitchBradley in #1791
• Added per-spindle speed_map defaults by @MitchBradley in #1783
• feat(esp32s3): enable and optimize RMT step engine by @tt33415366 in #1622
• Revert "feat(esp32s3): enable and optimize RMT step engine" by @MitchBradley in #1792
• Max open SD files from 3 to 2, to avoid out of memory crashes by @MitchBradley in #1794
• Added ESP-Now to wifi_s3 build by @MitchBradley in #1795
• Fix ESP-NOW RX queue heap exhaustion by @figamore in #1803
• Fix SD card crash after WebUI uploads by @figamore in #1802
• Fix WebUI memory leak by @MitchBradley in #1806
• Multiple heap savings by @MitchBradley in #1807
• Fix telnet TX stall detector dropping healthy clients by @thcasssio in #1798
• Added HeapDiff tool, not built for production by @MitchBradley in #1808
• Run informational commands during a job: two-task command dispatch by @MitchBradley in #1811
• WIP: Test of VFD polling by @bdring in #1785
• WebUI: reap orphaned WebSocket channels by @MitchBradley in #1814
• channels: AllChannels::kill() reports queue-full failure by @MitchBradley in #1813
• WebUI: make WS_EVT_CONNECT exception-safe by @MitchBradley in #1812
• Fix stepping engine web UI by @MitchBradley in #1815
• ESP32: Fix guard disabling the task-watchdog layer by @f1adang in #1816
• platformio_override.ini silently disables the vtable-in-DRAM script by @f1adang in #1821
• esp32: keep state_is() and the spindle ISR dispatch out of flash by @f1adang in #1817
• Fix two channel-lifetime bugs in the job path by @f1adang in #1818
• Do not report a file read error as the end of a job by @f1adang in #1819
• Stop an exception in a support task from killing the controller by @f1adang in #1820
• Add ULN2003 support by @f1adang in #1797
• A WebClient can be freed while its command is still queued by @f1adang in #1822
• Tokenizer: accept inline # comments, matching standard YAML; support quoted keys by @MitchBradley in #1823
• Add clustered GCode support by @MitchBradley in #1730
• Answer ESP410 WiFi AP scans asynchronously (portable) by @MitchBradley in #1824
• Fix nested $sd/run losing the parent file by @MitchBradley in #1825
• Sensorless homing: per-phase StallGuard threshold (stallguard_seek) and homing_amps for SPI Trinamic drivers by @siganberg in #1765
• Generate the config validator schema from config_items.yaml; retire the hand JSON by @MitchBradley in #1828
• Fix task-watchdog stall on soft reset in S3/RP2040 step engines (#1775) by @MitchBradley in #1827
• Fix stepping stutter by @MitchBradley in #1831
• Fixed atc_manual return to location by @bdring in #1830
• ESP-NOW: stage heap allocation, deferring ~29K until first use by @MitchBradley in #1833
• Remove libstdc++ iostream/locale from the image (~4.4 KB RAM, ~46 KB flash) by @MitchBradley in #1838
• WebUI /command: run as a plain channel, drop the background task by @MitchBradley in #1839
• Merge the output task into the polling task by @MitchBradley in #1840
• Telnet: strip IAC negotiation; let ~ escape a motionless Hold by @MitchBradley in #1837
• Fix swapped miso/mosi arguments in ETH.begin() for SPI Ethernet PHYs by @YORROY123 in #1835
• Single block (single step) mode by @MitchBradley in #1832
• Fix hosted builds after addition of new FreeRTOS call to Protocol by @MitchBradley in #1841
• Add Wasm port for running FluidNC in a browser as a demonstration. by @MitchBradley in #1842

New Contributors

• @tcurdt made their first contribution in #1734
• @tt33415366 made their first contribution in #1622
• @thcasssio made their first contribution in #1798
• @f1adang made their first contribution in #1816
• @siganberg made their first contribution in #1765
• @YORROY123 made their first contribution in #1835

Full Changelog: v4.0.4...v4.1.0