added HAL entry for writing single character to output stream, core event for unknown real time command (character)

grbl.h

@@ -34,7 +34,7 @@
 #else
 #define GRBL_VERSION "1.1f"
 #endif
-#define GRBL_VERSION_BUILD "20210408"
+#define GRBL_VERSION_BUILD "20210421"
 
 // The following symbols are set here if not already set by the compiler or in config.h
 // Do NOT change here!

hal.h

@@ -73,16 +73,18 @@ typedef void (*driver_reset_ptr)(void);
 
 // I/O stream
 
+typedef int16_t (*stream_read_ptr)(void);
 typedef void (*stream_write_ptr)(const char *s);
+typedef bool (*stream_write_char_ptr)(const char c);
 typedef bool (*enqueue_realtime_command_ptr)(char data);
 
 typedef struct {
     stream_type_t type;
     uint16_t (*get_rx_buffer_available)(void);
-//    bool (*stream_write)(char c);
-    stream_write_ptr write;     // write string to current I/O stream only.
-    stream_write_ptr write_all; // write string to all active output streams.
-    int16_t (*read)(void);
+    stream_write_ptr write;             // write string to current I/O stream only.
+    stream_write_ptr write_all;         // write string to all active output streams.
+    stream_write_char_ptr write_char;   // write single character to current I/O stream only.
+    stream_read_ptr read;
     void (*reset_read_buffer)(void);
     void (*cancel_read_buffer)(void);
     bool (*suspend_read)(bool await);
@@ -343,11 +345,12 @@ typedef void (*on_probe_completed_ptr)(void);
 typedef void (*on_program_completed_ptr)(program_flow_t program_flow, bool check_mode);
 typedef void (*on_execute_realtime_ptr)(sys_state_t state);
 typedef void (*on_unknown_accessory_override_ptr)(uint8_t cmd);
+typedef bool (*on_unknown_realtime_cmd_ptr)(char c);
 typedef void (*on_report_options_ptr)(bool newopt);
 typedef void (*on_report_command_help_ptr)(void);
 typedef void (*on_global_settings_restore_ptr)(void);
 typedef setting_details_t *(*on_get_settings_ptr)(void); // NOTE: this must match the signature of the same definition in
-                                                            // the setting_details_t structure in settings.h!
+                                                         // the setting_details_t structure in settings.h!
 typedef void (*on_realtime_report_ptr)(stream_write_ptr stream_write, report_tracking_flags_t report);
 typedef void (*on_unknown_feedback_message_ptr)(stream_write_ptr stream_write);
 typedef bool (*on_laser_ppi_enable_ptr)(uint_fast16_t ppi, uint_fast16_t pulse_length);
@@ -370,6 +373,7 @@ typedef struct {
     on_get_settings_ptr on_get_settings;
     on_realtime_report_ptr on_realtime_report;
     on_unknown_feedback_message_ptr on_unknown_feedback_message;
+    on_unknown_realtime_cmd_ptr on_unknown_realtime_cmd;
     on_unknown_sys_command_ptr on_unknown_sys_command; // return Status_Unhandled if not handled.
     on_get_commands_ptr on_get_commands;
     on_user_command_ptr on_user_command;

protocol.c

@@ -855,13 +855,13 @@ ISR_CODE bool protocol_enqueue_realtime_command (char c)
 
         default:
             if(c < ' ' || (c >= 0x7F && c <= 0xBF))
-                drop = true;
+                drop = grbl.on_unknown_realtime_cmd == NULL || grbl.on_unknown_realtime_cmd(c);
             break;
     }
 
     // 2. Process printable ASCII characters and top-bit set characters
     //    If legacy realtime commands are disabled they are returned to the input stream
-    //    when appering in settings ($ commands) or comments
+    //    when appearing in settings ($ commands) or comments
 
     if(!drop) switch ((unsigned char)c) {
 

stream.c

@@ -26,7 +26,7 @@
 static stream_rx_buffer_t rxbackup;
 
 // "dummy" version of serialGetC
-static int16_t stream_get_null (void)
+int16_t stream_get_null (void)
 {
     return SERIAL_NO_DATA;
 }

stream.h

@@ -3,7 +3,7 @@
 
   Part of grblHAL
 
-  Copyright (c) 2019-2020 Terje Io
+  Copyright (c) 2019-2021 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
@@ -22,7 +22,10 @@
 #ifndef _STREAM_H_
 #define _STREAM_H_
 
+#define ASCII_SOH  0x01
+#define ASCII_STX  0x02
 #define ASCII_ETX  0x03
+#define ASCII_EOT  0x04
 #define ASCII_ACK  0x06
 #define ASCII_BS   0x08
 #define ASCII_TAB  0x09
@@ -104,7 +107,16 @@ typedef struct {
     char data[BLOCK_TX_BUFFER_SIZE];
 } stream_block_tx_buffer_t;
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+int16_t stream_get_null (void);
 bool stream_rx_suspend (stream_rx_buffer_t *rxbuffer, bool suspend);
 void stream_rx_backup (stream_rx_buffer_t *rxbuffer);
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif