Added new mid/low level HAL/API to ioports (auxiliary ports).

Added '$709' setting for second PWM spindle when available - PWM options.
Added properties to PWM spindles to allow "overdriving" PWM output when _RPM controls spindle enable signal is enabled with '$9' or '$709'.
Optimized Modbus CRC calculation, may fix issue with a compiler generating different code compared to most others. Ref. issue #723.

Author: terjeio

README.md

@@ -1,6 +1,6 @@
 ## grblHAL ##
 
-Latest build date is 20250328, see the [changelog](changelog.md) for details.  
+Latest build date is 20250405, 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

@@ -3,7 +3,7 @@
 
   Part of grblHAL
 
-  Copyright (c) 2017-2022 Terje Io
+  Copyright (c) 2017-2025 Terje Io
   Copyright (c) 2011-2016 Sungeun K. Jeon for Gnea Research LLC
   Copyright (c) 2009-2011 Simen Svale Skogsrud
 
@@ -30,7 +30,7 @@ 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 while in motion. Machine position is likely lost due to sudden halt. Re-homing is highly recommended." },
+    { Alarm_AbortCycle, "Reset/E-stop while in motion. Machine position is likely lost due to sudden halt. Re-homing is highly recommended." },
     { Alarm_ProbeFailInitial, "Probe fail. Probe is not in the expected initial state before starting probe cycle when G38.2 and G38.3 is not triggered and G38.4 and G38.5 is triggered." },
     { Alarm_ProbeFailContact, "Probe fail. Probe did not contact the workpiece within the programmed travel for G38.2 and G38.4." },
     { Alarm_HomingFailReset, "Homing fail. The active homing cycle was reset." },

changelog.md

@@ -1,5 +1,36 @@
 ## grblHAL changelog
 
+<a name="20250405">Build 20250405
+
+Core:
+
+* Added new mid/low level HAL/API to ioports \(auxiliary ports\), makes it simpler to add ports both for base drivers and "standard"/third party plugins.  
+Ports/pins added via the new HAL/API can be "claimed" by plugin code or used by 'M62' - 'M68' M-codes.
+
+* Added '$709' setting for second PWM spindle when available, same functionality as '$9' - _PWM options_.
+
+* Added properties to PWM spindles to allow "overdriving" PWM output when _RPM controls spindle _enable signal_ is enabled with '$9' or '$709'.
+This may [improve CO2 laser engraving](https://github.com/grblHAL/core/issues/721#issuecomment-2776210888), especially for short "pixels".
+
+* Optimized Modbus CRC calculation, may fix issue with a compiler generating different code compared to most others. Ref. issue [#723](https://github.com/grblHAL/core/issues/723).
+
+Drivers:
+
+* All: Updated to use new low level ioports HAL/API.
+
+* Some: Moved support code for MCP3221 I2C ADC to shared plugin. Updated to support PWM "overdrive" mentioned above.
+
+* STM32F4xx: Fixed bug/regression in the core causing spindle encoder to spindle binding to fail. Ref. STM32F4xx issue [#149](https://github.com/grblHAL/STM32F4xx/issues/149#issuecomment-2777509562).
+
+Plugins:
+
+* Misc: added MCP3221 I2C ADC plugin.
+
+* Laser: added plugin for PWM "overdrive" support, adds 'M129P<n>' M-code where '<n>' is percentage of current 'S'-value to add as overdrive.  
+Fixed minor bug in PPI plugin interfering with the new PWM "overdrive" plugin.
+
+---
+
 <a name="20250329">Build 20250329
 
 Core:

coolant_control.c

@@ -48,6 +48,7 @@ void coolant_set_state (coolant_state_t mode)
         hal.coolant.set_state(mode);
         if(mode.value && settings.coolant.on_delay)
             delay_sec((float)settings.coolant.on_delay / 1000.0f, DelayMode_Dwell);
+        system_add_rt_report(Report_Coolant);
     }
 }
 

crc.c

@@ -37,17 +37,17 @@ uint16_t grbl_crc8 (const uint8_t *buf, uint32_t size)
 // Lifted from his FreeModbus Libary
 uint16_t modbus_crc16x (const uint8_t *buf, uint_fast16_t len)
 {
+    uint_fast8_t i;
     uint16_t crc = 0xFFFF;
-    uint_fast8_t pos, i;
-
-    for (pos = 0; pos < len; pos++) {
-        crc ^= (uint16_t)buf[pos];          // XOR byte into least sig. byte of crc
-        for (i = 8; i != 0; i--) {          // Loop over each bit
-            if ((crc & 0x0001) != 0) {      // If the LSB is set
-                crc >>= 1;                  // Shift right and XOR 0xA001
+ 
+    while(len--) {
+        crc ^= (uint16_t)*buf++;;       // XOR byte into least sig. byte of crc
+        for(i = 8; i != 0; i--) {       // Loop over each bit
+            if(crc & 0x0001) {          // If the LSB is set
+                crc >>= 1;              // Shift right and XOR 0xA001
                 crc ^= 0xA001;
-            } else                          // Else LSB is not set
-                crc >>= 1;                  // Just shift right
+            } else                      // Else LSB is not set
+                crc >>= 1;              // Just shift right
         }
     }
 

driver_opts2.h

@@ -39,7 +39,7 @@
 #warning "Selected spindle is not supported!"
 #endif
 
-#if (DRIVER_SPINDLE1_ENABLE & SPINDLE_PWM) && !defined(SPINDLE_PWM_PIN)
+#if (DRIVER_SPINDLE1_ENABLE & SPINDLE_PWM) && !defined(SPINDLE1_PWM_PIN)
 #warning "Selected spindle 1 is not supported!"
 #endif
 

gcode.c

@@ -3818,6 +3818,7 @@ status_code_t gc_execute_block (char *block)
                         FAIL(status);
 
                     plan_data.spindle.state.synchronized = On;
+                    plan_data.overrides.feed_hold_disable = On; // Disable feed hold.
 
                     mc_line(gc_block.values.xyz, &plan_data);
 

gcode.h

@@ -253,6 +253,7 @@ typedef enum {
     LaserPPI_Enable = 126,              //!< 126 - M126
     LaserPPI_Rate = 127,                //!< 127 - M127
     LaserPPI_PulseLength = 128,         //!< 128 - M128
+    Laser_Overdrive = 129,              //!< 129 - M129
     RGB_WriteLEDs = 150,                //!< 150 - M150, Marlin format
     Plasma_SelectMaterial = 190,        //!< 150 - M190, LinuxCNC format
     OpenPNP_SetJerk = 20130,            //!< 20130 - M201.3

grbl.h

@@ -42,7 +42,7 @@
 #else
 #define GRBL_VERSION "1.1f"
 #endif
-#define GRBL_BUILD 20250329
+#define GRBL_BUILD 20250405
 
 #define GRBL_URL "https://github.com/grblHAL"