Refactored M70-M73 modal state handling, should now be fully compatible with LinuxCNC behaviour.

Added ADC/DAC resolution to $pinstate command, changed reported values to integer for ADC/DAC devices and float formatted for PWM devices.
Numeric settings can now be set via G65P1Q<n>S<value>, <n> is the setting number, <value> is the new value.
Changed alarm code for Modbus exceptions (communication errors) from 14 to 19.
Refactored MPG stream code to allow plugins to hook into MPG streams (via event handler).
Added _free memory system parameter, returns value in KBytes or -1 if not available from driver.
Changed basic stream data type from char to uint8_t, added HAL function and core API for releasing/closing UART streams.

Author: terjeio

README.md

@@ -1,6 +1,6 @@
 ## grblHAL ##
 
-Latest build date is 20251018, see the [changelog](changelog.md) for details.  
+Latest build date is 20251108, see the [changelog](changelog.md) for details.  
 
 > [!NOTE]
 >  A settings reset will be performed on an update of builds prior to 20241208. Backup and restore of settings is recommended.  

alarms.c

@@ -27,7 +27,6 @@
 #include "core_handlers.h"
 
 PROGMEM static const alarm_detail_t alarm_detail[] = {
-#ifndef NO_SETTINGS_DESCRIPTIONS
     { Alarm_HardLimit, "Hard limit has been triggered. Machine position is likely lost due to sudden halt. Re-homing is highly recommended." },
     { Alarm_SoftLimit, "Soft limit alarm. G-code motion target exceeds machine travel. Machine position retained. Alarm may be safely unlocked." },
     { Alarm_AbortCycle, "Reset/E-stop while in motion. Machine position is likely lost due to sudden halt. Re-homing is highly recommended." },
@@ -45,8 +44,9 @@ PROGMEM static const alarm_detail_t alarm_detail[] = {
     { Alarm_HomingFailAutoSquaringApproach, "Homing fail. Could not find second limit switch for auto squared axis within search distances. Try increasing max travel, decreasing pull-off distance, or check wiring." },
     { Alarm_SelftestFailed, "Power on selftest (POS) failed." },
     { Alarm_MotorFault, "Motor fault." },
-    { Alarm_HomingFail, "Homing fail. Bad configuration." }
-#endif // NO_SETTINGS_DESCRIPTIONS
+    { Alarm_HomingFail, "Homing fail. Bad configuration." },
+    { Alarm_ModbusException, "Modbus exception. Timeout or message error." },
+    { Alarm_ExpanderException, "I/O expander communication failed." }
 };
 
 static alarm_details_t details = {

alarms.h

@@ -45,7 +45,9 @@ typedef enum {
     Alarm_SelftestFailed = 16,                  //!< 16
     Alarm_MotorFault = 17,                      //!< 17
     Alarm_HomingFail = 18,                      //!< 18
-    Alarm_AlarmMax = Alarm_HomingFail
+    Alarm_ModbusException = 19,                 //!< 19
+    Alarm_ExpanderException = 20,               //!< 20
+    Alarm_AlarmMax = Alarm_ExpanderException
 } alarm_code_t;
 
 typedef struct {

changelog.md

@@ -1,6 +1,6 @@
 ## grblHAL changelog
 
-<a name="20251106">Build 20251106
+<a name="20251108">Build 20251108
 
 Core:
 
@@ -16,18 +16,25 @@ Core:
 
 * Added `_free memory` system parameter, returns value in KBytes or -1 if not available from driver.
 
+* Changed basic stream data type from `char` to `uint8_t`, added HAL function and core API for releasing/closing UART streams.
+
 Drivers:
 
+* All: updated for core stream changes.
+
 * iMRX1062: Decorated constant data with `PROGMEM` and some rarely used functions with `FLASHMEM` to reduce RAM footprint. Fixed buggy Laser PPI mode.
 
 Plugins:
 
 * Many: decoracted constant data with `PROGMEM` to reduce RAM footprint for Arduino based drivers \(iMXRT1062 and SAM3X8E\).
+Updated for core stream changes.
 
 * Keypad, macros: macros can now be executed via `M81<x>` commands, `<x>` is the macro number matching the `$49<x>` macro setting values.
 
 * Misc, FluidNC I/O Expander: new experimental plugin for the STM32 based I/O expander; adds up to 8 digtal inputs, 10 outputs and a RGB LED.
 
+---
+
 <a name="20251107">20251107
 
 Plugins:

core_handlers.h

@@ -106,6 +106,7 @@ typedef void (*on_global_settings_restore_ptr)(void);
 typedef void (*on_realtime_report_ptr)(stream_write_ptr stream_write, report_tracking_flags_t report);
 typedef void (*on_unknown_feedback_message_ptr)(stream_write_ptr stream_write);
 typedef void (*on_stream_changed_ptr)(stream_type_t type);
+typedef void (*on_mpg_registered_ptr)(io_stream_t *stream, bool tx_capable);
 typedef bool (*on_laser_ppi_enable_ptr)(uint_fast16_t ppi, uint_fast16_t pulse_length);
 typedef void (*on_homing_rate_set_ptr)(axes_signals_t axes, float rate, homing_mode_t mode);
 
@@ -251,6 +252,7 @@ typedef struct {
     on_get_commands_ptr on_get_commands;                        //!< Deprecated, use system_register_commands() to register new commands.
     on_user_command_ptr on_user_command;
     on_stream_changed_ptr on_stream_changed;
+    on_mpg_registered_ptr on_mpg_registered;
     on_homing_rate_set_ptr on_homing_rate_set;
     on_homing_completed_ptr on_homing_completed;
     on_probe_toolsetter_ptr on_probe_toolsetter;

crossbar.c

@@ -184,3 +184,8 @@ control_signals_t xbar_fn_to_signals_mask (pin_function_t fn)
 
     return signals;
 }
+
+const char *xbar_resolution_to_string (pin_cap_t cap)
+{
+    return !cap.analog || cap.pwm || cap.servo_pwm ? "?" : ((const char * const[]){"4", "8", "10", "12", "14", "16", "18", "20", "24", "32"})[cap.resolution];
+}

crossbar.h

@@ -322,7 +322,6 @@ PROGMEM static const pin_name_t pin_names[] = {
     { .function = Input_LimitZ_Max,           .name = "Z limit max" },
     { .function = Input_HomeZ,                .name = "Z home" },
     { .function = Input_HomeZ_2,              .name = "Z home 2" },
-#ifndef NO_SETTINGS_DESCRIPTIONS
     { .function = Input_SpindleIndex,         .name = "Spindle index" },
     { .function = Input_SpindlePulse,         .name = "Spindle pulse" },
     { .function = Input_Aux0,                 .name = "Aux in 0" },
@@ -357,7 +356,6 @@ PROGMEM static const pin_name_t pin_names[] = {
     { .function = Input_Analog_Aux5,          .name = "Aux analog in 5" },
     { .function = Input_Analog_Aux6,          .name = "Aux analog in 6" },
     { .function = Input_Analog_Aux7,          .name = "Aux analog in 7" },
-#endif
     { .function = Output_StepX,               .name = "X step" },
     { .function = Output_StepX2,              .name = "X2 step" },
     { .function = Output_StepY,               .name = "Y step" },
@@ -422,7 +420,6 @@ PROGMEM static const pin_name_t pin_names[] = {
     { .function = Input_HomeV,                .name = "V home" },
     { .function = Input_MotorFaultV,          .name = "V motor fault" },
 #endif
-#ifndef NO_SETTINGS_DESCRIPTIONS
     { .function = Output_MotorChipSelect,     .name = "Motor CS" },
     { .function = Output_MotorChipSelectX,    .name = "Motor CSX" },
     { .function = Output_MotorChipSelectY,    .name = "Motor CSY" },
@@ -511,7 +508,6 @@ PROGMEM static const pin_name_t pin_names[] = {
     { .function = Bidirectional_MotorUARTM5,  .name = "UART M5" },
     { .function = Bidirectional_MotorUARTM6,  .name = "UART M6" },
     { .function = Bidirectional_MotorUARTM7,  .name = "UART M7" }
-#endif
 };
 
 typedef enum {
@@ -815,12 +811,18 @@ static inline bool xbar_is_probe_in (pin_function_t fn)
     return fn == Input_Probe || fn == Input_Probe2 || fn == Input_Toolsetter;
 }
 
+#define N_AUX_AIN_MAX (Input_Analog_AuxMax - Input_Analog_Aux0 + 1)
+#define N_AUX_AOUT_MAX (Output_Analog_AuxMax - Output_Analog_Aux0 + 1)
+#define N_AUX_DIN_MAX (Input_AuxMax - Input_Aux0 + 1)
+#define N_AUX_DOUT_MAX (Output_AuxMax - Output_Aux0 + 1)
+
 void xbar_set_homing_source (void);
 limit_signals_t xbar_get_homing_source (void);
 limit_signals_t xbar_get_homing_source_from_cycle (axes_signals_t homing_cycle);
 axes_signals_t xbar_fn_to_axismask (pin_function_t id);
 const char *xbar_fn_to_pinname (pin_function_t id);
 const char *xbar_group_to_description ( pin_group_t group);
+const char *xbar_resolution_to_string (pin_cap_t cap);
 control_signals_t xbar_fn_to_signals_mask (pin_function_t id);
 
 #endif

errors.c

@@ -27,7 +27,6 @@
 #include "core_handlers.h"
 
 PROGMEM static const status_detail_t status_detail[] = {
-#ifndef NO_SETTINGS_DESCRIPTIONS
     { Status_OK, NULL },
     { Status_ExpectedCommandLetter, "G-code words consist of a letter and a value. Letter was not found." },
     { Status_BadNumberFormat, "Missing the expected G-code word value or numeric value format is not valid." },
@@ -109,7 +108,6 @@ PROGMEM static const status_detail_t status_detail[] = {
     { Status_FileOpenFailed, "Could not open file." },
     { Status_UserException, "User defined error occured." },
     { Status_AuxiliaryPortUnusable, "Port is not usable." }
-#endif // NO_SETTINGS_DESCRIPTIONS
 };
 
 static error_details_t details = {

expanders_init.h

@@ -91,6 +91,10 @@ extern void picohal_io_init (void);
     extern void thcad2_init (void);
 #endif
 
+#if FNC_EXPANDER_ENABLE
+    void fnc_expander_init (void);
+#endif
+
 //
 
 static inline void io_expanders_init (void)
@@ -117,6 +121,10 @@ static inline void io_expanders_init (void)
     picohal_io_init();
 #endif
 
+#if FNC_EXPANDER_ENABLE
+    fnc_expander_init();
+#endif
+
 #if THCAD2_ENABLE
     thcad2_init();
 #endif

fs_device.c

@@ -149,15 +149,15 @@ static size_t fs_read (void *buffer, size_t size, size_t count, vfs_file_t *file
 
     if((rcount = min(rcount, size * count))) {
         while(rcount--)
-            *pos++ = iostream((io_stream_t **)&file->handle)->read();
+            *pos++ = (uint8_t)iostream((io_stream_t **)&file->handle)->read();
     }
 
     return rcount;
 }
 
 static size_t fs_write (const void *buffer, size_t size, size_t count, vfs_file_t *file)
 {
-    iostream((io_stream_t **)&file->handle)->write_n(buffer, size * count);
+    iostream((io_stream_t **)&file->handle)->write_n((uint8_t *)buffer, size * count);
 
     return size * count;
 }