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Marked a large number of non-critical functions with FLASHMEM to save RAM for the iMXRT1062 driver.

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Improved alarm handling, if a critical alarm is active when a non-critical alarm is raised the non-critical alarm will be delayed until after reset for the critical alarm.
Improved Modbus exception handling and added high level API call for creating and sending Modbus messages.
Added G65P7 inbuilt macro for interacting with Modbus devices from gcode. See the Wiki for details.
This commit is contained in:
Terje Io
2026-02-15 22:16:03 +01:00
parent f0fa009f5e
commit 16e5df9d93
35 changed files with 988 additions and 707 deletions
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12
stepper.c
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@@ -223,7 +223,7 @@ extern void gc_output_message (char *message);
// Callback from delay to deenergize steppers after movement, might been cancelled
void st_deenergize (void *data)
FLASHMEM void st_deenergize (void *data)
{
if(sys.steppers_deenergize) {
hal.stepper.enable(settings.steppers.energize, true);
@@ -233,7 +233,7 @@ void st_deenergize (void *data)
// Stepper state initialization. Cycle should only start if the st.cycle_start flag is
// enabled. Startup init and limits call this function but shouldn't start the cycle.
void st_wake_up (void)
FLASHMEM void st_wake_up (void)
{
// Initialize stepper data to ensure first ISR call does not step and
// cancel any pending steppers deenergize
@@ -302,7 +302,7 @@ typedef struct {
static spindle_sync_t spindle_tracker;
static on_settings_changed_ptr on_settings_changed = NULL;
void st_spindle_sync_cfg (settings_t *settings, settings_changed_flags_t changed)
FLASHMEM void st_spindle_sync_cfg (settings_t *settings, settings_changed_flags_t changed)
{
if(!on_settings_changed) {
on_settings_changed = grbl.on_settings_changed;
@@ -722,7 +722,7 @@ ISR_CODE void ISR_FUNC(stepper_driver_interrupt_handler)(void)
//! \endcond
// Reset and clear stepper subsystem variables
void st_reset (void)
FLASHMEM void st_reset (void)
{
if(hal.probe.configure)
hal.probe.configure(false, false);
@@ -830,7 +830,7 @@ void st_update_plan_block_parameters (bool fast_hold)
}
// Changes the run state of the step segment buffer to execute the special parking motion.
void st_parking_setup_buffer (void)
FLASHMEM void st_parking_setup_buffer (void)
{
// Store step execution data of partially completed block, if necessary.
if (prep.recalculate.hold_partial_block && !prep.recalculate.parking) {
@@ -848,7 +848,7 @@ void st_parking_setup_buffer (void)
// Restores the step segment buffer to the normal run state after a parking motion.
void st_parking_restore_buffer (void)
FLASHMEM void st_parking_restore_buffer (void)
{
// Restore step execution data and flags of partially completed block, if necessary.
if (prep.recalculate.hold_partial_block) {