Added support for MPG real time command character stream switching for RX only streams.

changelog.md

@@ -1,5 +1,17 @@
 ## grblHAL changelog
 
+<a name="20260709">Build 20260709
+
+Core:
+
+* Added support for MPG real time command character stream switching for RX only streams.
+
+Drivers:
+
+* RP2040: added support for optional third PIO based UART port. Added tentative map for Bolangsk board.
+
+---
+
 <a name="20260626">20260626
 
 Core:

crossbar.c

@@ -139,6 +139,16 @@ axes_signals_t xbar_fn_to_axismask (pin_function_t fn)
     return mask;
 }
 
+bool xbar_fn_for_secondary_motor (pin_function_t fn)
+{
+    return fn == Input_LimitX_2 ||
+            fn == Input_LimitY_2 ||
+             fn == Input_LimitZ_2 ||
+              fn == Input_MotorFaultX2 ||
+               fn == Input_MotorFaultY2 ||
+                fn == Input_MotorFaultZ2;
+}
+
 // Sets limit signals used by homing when home signals are not available.
 // For internal use, called by settings.c when homing direction mask is changed.
 void xbar_set_homing_source (void)

crossbar.h

@@ -970,6 +970,7 @@ 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);
+bool xbar_fn_for_secondary_motor (pin_function_t fn);
 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);

gcode.c

@@ -3051,14 +3051,10 @@ status_code_t gc_execute_block (char *block)
             if((axis_words.mask || gc_block.modal.motion == MotionMode_CwArc || gc_block.modal.motion == MotionMode_CcwArc) && axis_command != AxisCommand_ToolLengthOffset) { // TLO block any axis command.
 
 #ifdef ROTATION_ENABLE
-                axes_signals_t r_axes, r_around;
+                axes_signals_t r_axes = {0}, r_around;
-                uint_fast8_t idx_0, idx_1;
+                uint_fast8_t idx_0 = 0, idx_1 = 0;
-                r_axes.mask = 0;   // keep defined when the transform is bypassed (jog / G53)
+
-                // G53 (absolute machine override) must ignore the active WCS entirely - rotation AND offset. Without
+                if(!(gc_parser_flags.jog_motion || gc_block.non_modal_command == NonModal_AbsoluteOverride) && (r_axes.mask = (gc_block.modal.g5x_offset.data.rotation == 0.0f ? 0 : (axis_words.mask & (r_around.mask = rotate_axes[gc_block.modal.plane_select].mask))))) {
-                // the AbsoluteOverride guard this block adds the g5x offset to the plane axes, so e.g. "G53 G0 X0 Y0"
-                // goes to the work origin instead of machine 0,0 (and false soft-limits when that lands out of travel).
-                // A near-zero garbage rotation (stale NVS after enabling ROTATION_ENABLE) is enough to arm it.
-                if(!gc_parser_flags.jog_motion && gc_block.non_modal_command != NonModal_AbsoluteOverride && (r_axes.mask = (gc_block.modal.g5x_offset.data.rotation == 0.0f ? 0 : (axis_words.mask & (r_around.mask = rotate_axes[gc_block.modal.plane_select].mask))))) {
 
                     if(r_axes.mask != r_around.mask) {
                         point_3d_t pos;
@@ -3898,7 +3894,7 @@ status_code_t gc_execute_block (char *block)
 
         if(!check_mode) {
 
-			bool set_current;
+            bool set_current;
             tool_data_t *tool = tool_get_pending(gc_state.tool_pending, NULL);
 
             // If M6 not available or M61 commanded set new tool immediately

grbl.h

@@ -42,7 +42,7 @@
 #else
 #define GRBL_VERSION "1.1f"
 #endif
-#define GRBL_BUILD 20260622
+#define GRBL_BUILD 20260709
 
 #define GRBL_URL "https://github.com/grblHAL"
 

stream.c

@@ -664,6 +664,9 @@ FLASHMEM bool stream_mpg_register (const io_stream_t *stream, bool rx_only, stre
         if(grbl.on_mpg_registered)
             grbl.on_mpg_registered(&mpg.stream, false);
 
+        if(mpg.write_char)
+            mpg.stream.set_enqueue_rt_handler(mpg.write_char);
+
         return true;
     }