diff --git a/changelog.md b/changelog.md
index c8952fb..9185977 100644
--- a/changelog.md
+++ b/changelog.md
@@ -1,5 +1,21 @@
## grblHAL changelog
+20230401
+
+Core:
+
+* Fix for issue #279 - B-axis pin name typo.
+* Added HAL capability flags for limit switches supported.
+* Improved motor pins preprocessor code.
+
+Drivers:
+
+* ESP32: fix for [issue #64](https://github.com/grblHAL/ESP32/issues/64) and [#67](https://github.com/grblHAL/ESP32/issues/67) - use single input for squaring two axes.
+
+* All: added call for setting new HAL limit switches capability flags.
+
+---
+
20230331
Plugins:
@@ -8,20 +24,11 @@ Plugins:
---
-20230327
-
-Drivers:
-
-* ESP32: Fix for [issue #63](https://github.com/grblHAL/ESP32/issues/63), use static I2S mode when laser mode is configured \($32=1\). Untested!
-
----
-
Build 20230321
Core:
* Fix for issue #271 - unwanted motion after soft reset when feed hold was active, reported for canned cycle but may occur for other commands as well.
-
* Added function for properly initializing planner struct, updated core to use it.
Plugins:
diff --git a/grbl.h b/grbl.h
index de17b22..59e180c 100644
--- a/grbl.h
+++ b/grbl.h
@@ -42,7 +42,7 @@
#else
#define GRBL_VERSION "1.1f"
#endif
-#define GRBL_BUILD 20230321
+#define GRBL_BUILD 20230401
#define GRBL_URL "https://github.com/grblHAL"
diff --git a/hal.h b/hal.h
index 03c2957..3d8a955 100644
--- a/hal.h
+++ b/hal.h
@@ -623,7 +623,8 @@ typedef struct {
bool (*stream_blocking_callback)(void);
driver_cap_t driver_cap; //!< Basic driver capabilities flags.
- control_signals_t signals_cap; //!< Control input signals supported by the core.
+ control_signals_t signals_cap; //!< Control input signals supported by the driver.
+ limit_signals_t limits_cap; //!< Limit input signals supported by the driver.
} grbl_hal_t;
diff --git a/motion_control.c b/motion_control.c
index bfb5cf5..427f6d7 100644
--- a/motion_control.c
+++ b/motion_control.c
@@ -139,7 +139,7 @@ bool mc_line (float *target, plan_line_data_t *pl_data)
plan_line_data_t pl_backlash;
- plan_data_init(&pl_backlash, 0);
+ plan_data_init(&pl_backlash);
pl_backlash.condition.rapid_motion = On;
pl_backlash.condition.backlash_motion = On;
pl_backlash.line_number = pl_data->line_number;
diff --git a/motor_pins.h b/motor_pins.h
index 0d0dadc..adb09bb 100644
--- a/motor_pins.h
+++ b/motor_pins.h
@@ -5,7 +5,7 @@
Part of grblHAL
- Copyright (c) 2021-2022 Terje Io
+ Copyright (c) 2021-2023 Terje Io
Grbl is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
@@ -160,6 +160,76 @@
#define X2_ENABLE_BIT (1<