Fix for custom M-code commands claiming all axis words even when not using any.

Added setting $680 for configuring delay from stepper enable to first dir/step pulse.
Adds to fixed ~2ms delay provided by most drivers.

changelog.md

@@ -1,5 +1,27 @@
 ## grblHAL changelog
 
+<a name="20250518">Build 20250518
+
+Core:
+
+* Fix for custom M-code commands claiming all axis words even when not using any.
+
+* Added setting `$680` for configuring delay from stepper enable to first dir/step pulse. Added to fixed ~2ms delay provided by most drivers.
+
+Drivers:
+
+* STM32F4xx: added OpenPNP plugin.
+
+* STM32F4xx, STM32F7xx: fix for second PWM spindle failing to compile and reading analog inputs returning the value from the last configured.
+
+Plugins:
+
+* OpenPNP: added support for reading/scaling analog inputs via `M123`, `M124` and `M125` custom M-codes.
+
+* Keypad: changed to report itself even if no keypad is connected, added delay before probing the I2C bus to allow the keypad time to boot.
+
+--- 
+
 <a name="20250514">Build 20250514
 
 Core:
@@ -15,6 +37,8 @@ When more than one probe is available `PROBES:<bits>` is added to the `NEWOPTS`
 
 Drivers:
 
+* iMXRT1062: added `$BL` command for entering bootloader mode, allows use of the _Teensy Loader_ when access to the programming button is restricted.
+
 * All: fix for potential/actual hard fault when a basic on/off spindle is configured. Ref. ESP32 issue [#164](https://github.com/grblHAL/ESP32/issues/164).
 
 * STM32 drivers: fix for incorrect PWM output at max RPM when PWM output is inverted.

config.h

@@ -1925,8 +1925,8 @@ Specify at least \ref X_AXIS_BIT if a common enable signal is used.
 #endif
 ///@}
 
-/*! @name $376 - Settings_Axis_Rotational
-Designate ABC axes as rotational by \ref axismask. This will disable scaling (to mm) in inches mode.
+/*! @name $376 - Settings_RotaryAxes
+Designate ABC axes as rotary by \ref axismask. This will disable scaling (to mm) in inches mode.
 Set steps/mm for the axes to the value that represent the desired movement per unit.
 For the controller the distance is unitless and and can be in degrees, radians, rotations, ...
 */
@@ -1936,6 +1936,15 @@ For the controller the distance is unitless and and can be in degrees, radians,
 #endif
 ///@}
 
+/*! @name $680 - Setting_StepperEnableDelay
+Allowed range 0 - 250 milliseconds. Driver adds ~2 milliseconds.
+*/
+///@{
+#if !defined DEFAULT_STEPPER_ENABLE_DELAY || defined __DOXYGEN__
+#define DEFAULT_STEPPER_ENABLE_DELAY 0
+#endif
+///@}
+
 /*! @name $742 - Setting_MotorWarningsEnable
 \brief \ref axismask controlling the which motor warning signals to enable.
 Set this value to -1 or AXES_BITMASK to enable for all axes or specify which by mask.

gcode.c

@@ -1776,14 +1776,16 @@ status_code_t gc_execute_block (char *block)
         user_words.mask = gc_block.words.mask;
         if((int_value = (uint_fast16_t)grbl.user_mcode.validate(&gc_block)))
             FAIL((status_code_t)int_value);
-        user_words.mask ^= gc_block.words.mask; // Flag "taken" words for execution
 
-        if(user_words.i)
-            ijk_words.i = Off;
-        if(user_words.j)
-            ijk_words.j = Off;
-        if(user_words.k)
-            ijk_words.k = Off;
+        parameter_words_t taken_words;
+
+        user_words.mask ^= gc_block.words.mask; // Flag "taken" words for user M-code execution
+
+        if((taken_words.mask = user_words.mask & axis_words_mask.mask))
+            axis_words.mask &= ~gc_paramwords_to_axes(taken_words).mask;
+
+        ijk_words.mask &= ~(uint8_t)((user_words.mask >> 4) & 0b111);
+
         if(user_words.f) {
             single_meaning_value.f = gc_block.values.f;
             gc_block.values.f = 0.0f;
@@ -1800,7 +1802,6 @@ status_code_t gc_execute_block (char *block)
             single_meaning_value.t = gc_block.values.t;
             gc_block.values.t = (tool_id_t)0;
         }
-        axis_words.mask = 0;
     }
 
     // [1. Comments ]: MSG's may be supported by driver layer. Comment handling performed by protocol.

gcode.h

@@ -242,7 +242,6 @@ typedef enum {
     UserMCode_Generic2 = 102,           //!< 102 - For private use only
     UserMCode_Generic3 = 103,           //!< 103 - For private use only
     UserMCode_Generic4 = 104,           //!< 104 - For private use only
-    OpenPNP_GetADCReading = 105,        //!< 105 - M105
     Fan_On = 106,                       //!< 106 - M106, Marlin format
     Fan_Off = 107,                      //!< 107 - M107, Marlin format
     OpenPNP_GetCurrentPosition = 114,   //!< 114 - M114
@@ -254,6 +253,9 @@ typedef enum {
     LaserPPI_Rate = 127,                //!< 127 - M127
     LaserPPI_PulseLength = 128,         //!< 128 - M128
     Laser_Overdrive = 129,              //!< 129 - M129
+    OpenPNP_GetADCRaw = 143,            //!< 143 - M143
+    OpenPNP_GetADCScaled = 144,         //!< 144 - M144
+    OpenPNP_SetADCScaling = 145,        //!< 145 - M145
     RGB_WriteLEDs = 150,                //!< 150 - M150, Marlin format
     Plasma_SelectMaterial = 190,        //!< 150 - M190, LinuxCNC format
     OpenPNP_SetJerk = 20130,            //!< 20130 - M201.3
@@ -457,7 +459,7 @@ typedef struct {
     uint8_t l;                 //!< G10 or canned cycles parameters
 } gc_values_t;
 
-//! Parameter words found by parser - do not change order!
+//! Parameter words found by parser - do NOT change order!
 typedef union {
     uint32_t mask;      //!< All flags as a bitmap.
     uint32_t value;     //!< Synonymous with \a mask.
@@ -676,6 +678,16 @@ typedef struct {
 #endif
 } parser_block_t;
 
+
+static inline axes_signals_t gc_paramwords_to_axes (parameter_words_t p_words)
+{
+#if N_AXIS == 3
+    return (axes_signals_t){ (uint8_t)(p_words.mask >> 24) };
+#else
+    return (axes_signals_t){ (uint8_t)(((p_words.mask >> 24) | ((p_words.mask << 2) & 0b00111000) | ((p_words.mask >> (21 - 6)) & 0b11000000)) & AXES_BITMASK) };
+#endif
+}
+
 // Initialize the parser
 void gc_init (bool stop);
 

grbl.h

@@ -42,7 +42,7 @@
 #else
 #define GRBL_VERSION "1.1f"
 #endif
-#define GRBL_BUILD 20250514
+#define GRBL_BUILD 20250518
 
 #define GRBL_URL "https://github.com/grblHAL"
 

nvs_buffer.c

@@ -404,7 +404,7 @@ nvs_io_t *nvs_buffer_get_physical (void)
     return hal.nvs.type == NVS_Emulated ? &physical_nvs : &hal.nvs;
 }
 
-#ifdef DEBUGOUT
+#ifdef DEBUG
 
 #include "report.h"
 

settings.c

@@ -99,6 +99,7 @@ PROGMEM const settings_t defaults = {
     .probe.invert_toolsetter_input = DEFAULT_TOOLSETTER_SIGNAL_INVERT,
     .probe.disable_toolsetter_pullup = DEFAULT_TOOLSETTER_SIGNAL_DISABLE_PULLUP,
 
+    .stepper_enable_delay = DEFAULT_STEPPER_ENABLE_DELAY,
     .steppers.pulse_microseconds = DEFAULT_STEP_PULSE_MICROSECONDS,
     .steppers.pulse_delay_microseconds = DEFAULT_STEP_PULSE_DELAY,
     .steppers.idle_lock_time = DEFAULT_STEPPER_IDLE_LOCK_TIME,
@@ -2152,7 +2153,8 @@ PROGMEM static const setting_detail_t setting_detail[] = {
      { Setting_MotorWarningsInvert, Group_Stepper, "Invert motor warning inputs", NULL, Format_AxisMask, NULL, NULL, NULL, Setting_IsExtended, &settings.motor_warning_invert, NULL, is_setting_available },
      { Setting_MotorFaultsEnable, Group_Stepper, "Motor fault inputs enable", NULL, Format_AxisMask, NULL, NULL, NULL, Setting_IsExtended, &settings.motor_fault_enable, NULL, is_setting_available },
      { Setting_MotorFaultsInvert, Group_Stepper, "Invert motor fault inputs", NULL, Format_AxisMask, NULL, NULL, NULL, Setting_IsExtended, &settings.motor_fault_invert, NULL, is_setting_available },
-     { Setting_ResetActions, Group_General, "Reset actions", NULL, Format_Bitfield, "Clear homed status if position was lost,Clear offsets (except G92)", NULL, NULL, Setting_IsExtendedFn, set_reset_actions, get_int, NULL }
+     { Setting_ResetActions, Group_General, "Reset actions", NULL, Format_Bitfield, "Clear homed status if position was lost,Clear offsets (except G92)", NULL, NULL, Setting_IsExtendedFn, set_reset_actions, get_int, NULL },
+     { Setting_StepperEnableDelay, Group_Stepper, "Stepper enable delay", "ms", Format_Int16, "##0", NULL, "250", Setting_IsExtended, &settings.stepper_enable_delay, NULL, NULL },
 };
 
 #ifndef NO_SETTINGS_DESCRIPTIONS
@@ -2357,7 +2359,8 @@ PROGMEM static const setting_descr_t setting_descr[] = {
     { Setting_FSOptions, "Auto mount SD card on startup." },
     { Setting_HomePinsInvertMask, "Inverts the axis home input signals." },
     { Setting_CoolantOnDelay, "Delay to allow coolant to start. 0 or 0.5 - 20s." },
-    { Setting_ResetActions, "Controls actions taken on a soft reset." }
+    { Setting_ResetActions, "Controls actions taken on a soft reset." },
+    { Setting_StepperEnableDelay, "Delay from stepper enable to first step output. The driver typically adds ~2ms to this." }
 /*
     { Setting_MotorWarningsEnable, "Motor warning enable" },
     { Setting_MotorWarningsInvert, "Invert motor warning inputs" },

settings.h

@@ -458,6 +458,7 @@ typedef enum {
     Setting_StepperSpindle_Options = 677,
     Setting_RelayPortToolsetter = 678,
     Setting_RelayPortProbe2 = 679,
+    Setting_StepperEnableDelay = 680,
 
     Setting_SpindlePWMOptions1 = 709,
 
@@ -895,7 +896,8 @@ typedef struct {
     axes_signals_t motor_fault_invert;
     macro_atc_flags_t macro_atc_flags;
     stepper_spindle_settings_flags_t stepper_spindle_flags;
-    char reserved[18];          // Reserved For future expansion
+    uint16_t stepper_enable_delay; // Move to stepper_settings_t
+    char reserved[16];          // Reserved For future expansion
 } settings_t;
 
 typedef enum {

stepper.c

@@ -201,6 +201,9 @@ void st_wake_up (void)
 
     hal.stepper.go_idle(true); // Reset step & dir outputs
     hal.stepper.wake_up();
+
+    if(settings.stepper_enable_delay) // TODO: do not add delay if deenergize is pending?
+        hal.delay_ms(settings.stepper_enable_delay, NULL);
 }
 
 // Stepper shutdown

system.c

@@ -762,7 +762,7 @@ static status_code_t rtc_action (sys_state_t state, char *args)
     return retval;
 }
 
-#ifdef DEBUGOUT
+#ifdef DEBUG
 
 #include "nvs_buffer.h"
 
@@ -772,6 +772,7 @@ static status_code_t output_memmap (sys_state_t state, char *args)
 
     return Status_OK;
 }
+
 #endif
 
 const char *help_rst (const char *cmd)
@@ -972,7 +973,7 @@ PROGMEM static const sys_command_t sys_commands[] = {
     { "SDS", report_stepper_status, { .noargs = On, .allow_blocking = On, .help_fn = On }, { .fn = help_steppers } },
     { "RTC", rtc_action, { .allow_blocking = On, .help_fn = On }, { .fn = help_rtc } },
     { "DWNGRD", settings_downgrade, { .noargs = On, .allow_blocking = On }, { .str = "toggle setting flags for downgrade" } },
-#ifdef DEBUGOUT
+#ifdef DEBUG
     { "Q", output_memmap, { .noargs = On }, { .str = "output NVS memory allocation" } },
 #endif
 };