Changes to allow I/O expander pins for motor fault inputs. Ref. PR #920.

README.md

@@ -1,6 +1,6 @@
 ## grblHAL ##
 
-Latest build date is 20260303, see the [changelog](changelog.md) for details.  
+Latest build date is 20260308, see the [changelog](changelog.md) for details.  
 
 > [!NOTE]
 >  A settings reset will be performed on an update of builds prior to 20241208. Backup and restore of settings is recommended.  

changelog.md

@@ -1,6 +1,22 @@
 ## grblHAL changelog
 
-<a name="202600303">Build 20260303
+<a name="20260308">Build 20260308
+
+Core:
+
+* Changes to allow I/O expander pins for motor fault inputs. Ref. PR [#920](https://github.com/grblHAL/core/pull/920).
+
+Drivers:
+
+* ESP32: fix for compiler error when analog inputs were enabled.
+
+* RP2040, STM32F4xx and STM32F7xx: updated for core change.
+
+* STM32F1xx: removed some superfluous code, added reentry lock for MPG mode switch.
+
+---
+
+<a name="20260303">Build 20260303
 
 Core:
 

crossbar.c

@@ -3,7 +3,7 @@
 
   Part of grblHAL
 
-  Copyright (c) 2023-2025 Terje Io
+  Copyright (c) 2023-2026 Terje Io
 
   grblHAL is free software: you can redistribute it and/or modify
   it under the terms of the GNU General Public License as published by
@@ -53,7 +53,7 @@ axes_signals_t xbar_fn_to_axismask (pin_function_t fn)
         case Input_LimitX_2:
         case Input_HomeX:
         case Input_MotorFaultX:
-        case Input_MotorFaultX_2:
+        case Input_MotorFaultX2:
         case Output_StepperEnableX:
             mask.x = On;
             break;
@@ -63,7 +63,7 @@ axes_signals_t xbar_fn_to_axismask (pin_function_t fn)
         case Input_LimitY_2:
         case Input_HomeY:
         case Input_MotorFaultY:
-        case Input_MotorFaultY_2:
+        case Input_MotorFaultY2:
         case Output_StepperEnableY:
             mask.y = On;
             break;
@@ -73,7 +73,7 @@ axes_signals_t xbar_fn_to_axismask (pin_function_t fn)
         case Input_LimitZ_2:
         case Input_HomeZ:
         case Input_MotorFaultZ:
-        case Input_MotorFaultZ_2:
+        case Input_MotorFaultZ2:
         case Output_StepperEnableZ:
             mask.z = On;
             break;

crossbar.h

@@ -51,9 +51,9 @@ typedef enum {
     Input_MotorFaultU,
     Input_MotorFaultV,
     Input_MotorFaultW,
-    Input_MotorFaultX_2,
+    Input_MotorFaultX2,
-    Input_MotorFaultY_2,
+    Input_MotorFaultY2,
-    Input_MotorFaultZ_2,
+    Input_MotorFaultZ2,
     Input_Probe2,
     Input_Probe2Overtravel,
     Input_Toolsetter,
@@ -306,9 +306,9 @@ PROGMEM static const pin_name_t pin_names[] = {
     { .function = Input_MotorFaultX,          .name = "X motor fault" },
     { .function = Input_MotorFaultY,          .name = "Y motor fault" },
     { .function = Input_MotorFaultZ,          .name = "Z motor fault" },
-    { .function = Input_MotorFaultX_2,        .name = "X motor fault 2" },
+    { .function = Input_MotorFaultX2,         .name = "X motor fault 2" },
-    { .function = Input_MotorFaultY_2,        .name = "Y motor fault 2" },
+    { .function = Input_MotorFaultY2,         .name = "Y motor fault 2" },
-    { .function = Input_MotorFaultZ_2,        .name = "Z motor fault 2" },
+    { .function = Input_MotorFaultZ2,         .name = "Z motor fault 2" },
     { .function = Input_Probe2,               .name = "Probe 2" },
     { .function = Input_Probe2Overtravel,     .name = "Probe 2 overtravel" },
     { .function = Input_Toolsetter,           .name = "Toolsetter" },
@@ -804,7 +804,7 @@ typedef union {
 
 static inline uint8_t xbar_fault_pin_to_axis (pin_function_t fn)
 {
-    return fn >= Input_MotorFaultX && fn <= Input_MotorFaultV ? fn - Input_MotorFaultX : (fn >= Input_MotorFaultX_2 && fn <= Input_MotorFaultZ_2 ? fn - Input_MotorFaultX_2 : 0);
+    return fn >= Input_MotorFaultX && fn <= Input_MotorFaultV ? fn - Input_MotorFaultX : (fn >= Input_MotorFaultX2 && fn <= Input_MotorFaultZ2 ? fn - Input_MotorFaultX2 : 0);
 }
 
 static inline stepper_state_t xbar_stepper_state_set (stepper_state_t *state, uint8_t axis, bool b)
@@ -827,6 +827,16 @@ static inline bool xbar_is_probe_in (pin_function_t fn)
     return fn == Input_Probe || fn == Input_Probe2 || fn == Input_Toolsetter;
 }
 
+static inline bool xbar_is_encoder_in (pin_function_t function)
+{
+    return function == Input_QEI_A || function == Input_QEI_B || function == Input_QEI_Select;
+}
+
+static inline bool xbar_is_motor_fault_in (pin_function_t function)
+{
+    return function >= Input_MotorFaultX && function <= Input_MotorFaultZ2;
+}
+
 #define N_AUX_AIN_MAX (Input_Analog_AuxMax - Input_Analog_Aux0 + 1)
 #define N_AUX_AOUT_MAX (Output_Analog_AuxMax - Output_Analog_Aux0 + 1)
 #define N_AUX_DIN_MAX (Input_AuxMax - Input_Aux0 + 1)

driver_opts2.h

@@ -182,6 +182,62 @@
 #endif
 #endif // DIRECTION_PORT
 
+#ifdef MOTOR_FAULT_PORT
+
+#if defined(X_MOTOR_FAULT_PIN) && !defined(X_MOTOR_FAULT_PORT)
+#define X_MOTOR_FAULT_PORT MOTOR_FAULT_PORT
+#endif
+#if defined(Y_MOTOR_FAULT_PIN) && !defined(Y_MOTOR_FAULT_PORT)
+#define Y_MOTOR_FAULT_PORT MOTOR_FAULT_PORT
+#endif
+#if defined(Z_MOTOR_FAULT_PIN) && !defined(Z_MOTOR_FAULT_PORT)
+#define Z_MOTOR_FAULT_PORT MOTOR_FAULT_PORT
+#endif
+#if defined(M3_MOTOR_FAULT_PIN) && !defined(M3_MOTOR_FAULT_PORT)
+#define M3_MOTOR_FAULT_PORT MOTOR_FAULT_PORT
+#endif
+#if defined(M4_MOTOR_FAULT_PIN) && !defined(M4_MOTOR_FAULT_PORT)
+#define M4_MOTOR_FAULT_PORT MOTOR_FAULT_PORT
+#endif
+#if defined(M5_MOTOR_FAULT_PIN) && !defined(M5_MOTOR_FAULT_PORT)
+#define M5_MOTOR_FAULT_PORT MOTOR_FAULT_PORT
+#endif
+#if defined(M6_MOTOR_FAULT_PIN) && !defined(M6_MOTOR_FAULT_PORT)
+#define M6_MOTOR_FAULT_PORT MOTOR_FAULT_PORT
+#endif
+#if defined(M7_MOTOR_FAULT_PIN) && !defined(M7_MOTOR_FAULT_PORT)
+#define M7_MOTOR_FAULT_PORT MOTOR_FAULT_PORT
+#endif
+
+#elif defined(ESP_PLATFORM) || defined(RP2040) || defined(__IMXRT1062__)
+
+#if defined(X_MOTOR_FAULT_PIN) && !defined(X_MOTOR_FAULT_PORT)
+#define X_MOTOR_FAULT_PORT NULL
+#endif
+#if defined(Y_MOTOR_FAULT_PIN) && !defined(Y_MOTOR_FAULT_PORT)
+#define Y_MOTOR_FAULT_PORT NULL
+#endif
+#if defined(Z_MOTOR_FAULT_PIN) && !defined(Z_MOTOR_FAULT_PORT)
+#define Z_MOTOR_FAULT_PORT NULL
+#endif
+#if defined(M3_MOTOR_FAULT_PIN) && !defined(M3_MOTOR_FAULT_PORT)
+#define M3_MOTOR_FAULT_PORT NULL
+#endif
+#if defined(M4_MOTOR_FAULT_PIN) && !defined(M4_MOTOR_FAULT_PORT)
+#define M4_MOTOR_FAULT_PORT NULL
+#endif
+#if defined(M5_MOTOR_FAULT_PIN) && !defined(M5_MOTOR_FAULT_PORT)
+#define M5_MOTOR_FAULT_PORT NULL
+#endif
+#if defined(M6_MOTOR_FAULT_PIN) && !defined(M6_MOTOR_FAULT_PORT)
+#define M6_MOTOR_FAULT_PORT NULL
+#endif
+#if defined(M7_MOTOR_FAULT_PIN) && !defined(M7_MOTOR_FAULT_PORT)
+#define M7_MOTOR_FAULT_PORT NULL
+#endif
+
+#endif // MOTOR_FAULT_PORTS
+
 #ifdef SPINDLE_PORT
 #ifndef SPINDLE_ENABLE_PORT
 #define SPINDLE_ENABLE_PORT SPINDLE_PORT

grbl.h

@@ -42,7 +42,7 @@
 #else
 #define GRBL_VERSION "1.1f"
 #endif
-#define GRBL_BUILD 20260303
+#define GRBL_BUILD 20260308
 
 #define GRBL_URL "https://github.com/grblHAL"
 

ioports.c

@@ -400,7 +400,7 @@ FLASHMEM bool ioport_set_function (xbar_t *pin, pin_function_t function, driver_
                 case Port_DigitalIn:
                     if(caps.control)
                         hal.signals_cap.mask |= caps.control->mask;
-                    if(function == Input_Probe || function == Input_Probe2 || function == Input_Toolsetter || xbar_fn_to_signals_mask(function).mask)
+                    if(xbar_is_probe_in(function) || xbar_is_motor_fault_in(function) || xbar_fn_to_signals_mask(function).mask)
                         setting_remove_elements(Settings_IoPort_InvertIn, cfg->bus.mask, false);
                     break;
 
@@ -1443,6 +1443,18 @@ FLASHMEM static bool config_probe_pins (pin_function_t function, gpio_in_config_
     return ok;
 }
 
+FLASHMEM static bool config_fault_pins (pin_function_t function, gpio_in_config_t *config)
+{
+    bool ok;
+
+    if((ok = xbar_is_motor_fault_in(function))) {
+        config->debounce  = Off;
+        config->inverted  = bit_istrue(settings.motor_fault_invert.mask, bit(xbar_fault_pin_to_axis(function)));
+    }
+
+    return ok;
+}
+
 FLASHMEM void ioport_setting_changed (setting_id_t id)
 {
     if(on_setting_changed)
@@ -1452,6 +1464,7 @@ FLASHMEM void ioport_setting_changed (setting_id_t id)
 
         case Setting_InvertProbePin:
         case Setting_ProbePullUpDisable:
+        case Setting_MotorFaultsInvert:
             {
                 xbar_t *xbar;
                 gpio_in_config_t in_config = {0};
@@ -1459,7 +1472,7 @@ FLASHMEM void ioport_setting_changed (setting_id_t id)
 
                 do {
                     if((xbar = hal.port.get_pin_info(Port_Digital, Port_Input, map_reverse(&ports_cfg[Port_DigitalIn], --port)))) {
-                        if(xbar->config && config_probe_pins(xbar->function, &in_config)) {
+                        if(xbar->config && (config_probe_pins(xbar->function, &in_config) || config_fault_pins(xbar->function, &in_config))) {
                             if(in_config.inverted)
                                 settings.ioport.invert_in.mask |= (1 << port);
                             else
@@ -1539,7 +1552,7 @@ FLASHMEM static void ioports_configure (settings_t *settings)
 #endif
             } else { // For probe and control signals higher level config takes priority
                 in_config.inverted = Off;
-                if(!config_probe_pins(xbar->function, &in_config) && xbar->function < Input_Probe) {
+                if(!(config_probe_pins(xbar->function, &in_config) || config_fault_pins(xbar->function, &in_config)) && xbar->function < Input_Probe) {
                     control_signals_t ctrl;
                     if((ctrl = xbar_fn_to_signals_mask(xbar->function)).mask) {
                         in_config.inverted = !!(settings->control_invert.mask & ctrl.mask);

pin_bits_masks.h

@@ -124,6 +124,7 @@
 #define add_aux_output(fn, aux) { .function = fn, .port = IOPORT_UNASSIGNED, .gpio.port = (void *)aux##_PORT, .gpio.pin = aux##_PIN },
 #endif
 #define add_aux_input_scan(fn, irq, signal_bit) { .function = fn, .irq_mode = irq, .signal.value = signal_bit, .port = IOPORT_UNASSIGNED, .gpio.pin = 0xFF, .scan = On },
+#define add_aux_motor_input(fn, motor, aux, irq) { .function = fn##motor, .irq_mode = irq, .port = IOPORT_UNASSIGNED, .gpio.port = (void *)motor##_##aux##_PORT, .gpio.pin = motor##_##aux##_PIN },
 #define add_aux_input_no_signal(fn, irq) { .function = fn, .irq_mode = irq, .port = IOPORT_UNASSIGNED, .gpio.pin = 0xFE },
 #define add_aux_output_exp(fn, aux) { .function = fn, .port = IOPORT_UNASSIGNED, .gpio.port = (void *)aux##_PORT, .gpio.pin = aux##_PIN },
 
@@ -137,7 +138,7 @@ static aux_ctrl_t aux_ctrl[] = {
   #endif
 #endif
 #if (CONTROL_ENABLE & CONTROL_FEED_HOLD) && defined(FEED_HOLD_PIN)
-    add_aux_input(Input_FeedHold, FEED_HOLD, IRQ_Mode_RisingFalling, SIGNALS_FEEDHOLD_BIT)
+   add_aux_input(Input_FeedHold, FEED_HOLD, IRQ_Mode_RisingFalling, SIGNALS_FEEDHOLD_BIT)
 #endif
 #if (CONTROL_ENABLE & CONTROL_CYCLE_START) && defined(CYCLE_START_PIN)
     add_aux_input(Input_CycleStart, CYCLE_START, IRQ_Mode_RisingFalling, SIGNALS_CYCLESTART_BIT)
@@ -147,7 +148,44 @@ static aux_ctrl_t aux_ctrl[] = {
 #endif
 #if MOTOR_FAULT_ENABLE && defined(MOTOR_FAULT_PIN)
     add_aux_input(Input_MotorFault, MOTOR_FAULT, IRQ_Mode_RisingFalling, SIGNALS_MOTOR_FAULT_BIT)
+#else
+#if defined(X_MOTOR_FAULT_PIN)
+    add_aux_motor_input(Input_MotorFault, X, MOTOR_FAULT, IRQ_Mode_None)
 #endif
+#if defined(Y_MOTOR_FAULT_PIN)
+    add_aux_motor_input(Input_MotorFault, Y, MOTOR_FAULT, IRQ_Mode_None)
+#endif
+#if defined(Z_MOTOR_FAULT_PIN)
+    add_aux_motor_input(Input_MotorFault, Z, MOTOR_FAULT, IRQ_Mode_None)
+#endif
+#if defined(A_MOTOR_FAULT_PIN)
+    add_aux_motor_input(Input_MotorFault, A, MOTOR_FAULT, IRQ_Mode_None)
+#endif
+#if defined(B_MOTOR_FAULT_PIN)
+    add_aux_motor_input(Input_MotorFault, B, MOTOR_FAULT, IRQ_Mode_None)
+#endif
+#if defined(C_MOTOR_FAULT_PIN)
+    add_aux_motor_input(Input_MotorFault, C, MOTOR_FAULT, IRQ_Mode_None)
+#endif
+#if defined(U_MOTOR_FAULT_PIN)
+    add_aux_motor_input(Input_MotorFault, U, MOTOR_FAULT, IRQ_Mode_None)
+#endif
+#if defined(V_MOTOR_FAULT_PIN)
+    add_aux_motor_input(Input_MotorFault, V, MOTOR_FAULT, IRQ_Mode_None)
+#endif
+#if defined(W_MOTOR_FAULT_PIN)
+    add_aux_motor_input(Input_MotorFault, W, MOTOR_FAULT, IRQ_Mode_None)
+#endif
+#if defined(X2_MOTOR_FAULT_PIN)
+    add_aux_motor_input(Input_MotorFault, X2, MOTOR_FAULT, IRQ_Mode_None)
+#endif
+#if defined(Y2_MOTOR_FAULT_PIN)
+    add_aux_motor_input(Input_MotorFault, Y2, MOTOR_FAULT, IRQ_Mode_None)
+#endif
+#if defined(Z2_MOTOR_FAULT_PIN)
+    add_aux_motor_input(Input_MotorFault, Z2, MOTOR_FAULT, IRQ_Mode_None)
+#endif
+#endif // MOTOR_FAULT_ENABLE
 #if MOTOR_WARNING_ENABLE && defined(MOTOR_WARNING_PIN)
     add_aux_input(Input_MotorWarning, MOTOR_WARNING, IRQ_Mode_RisingFalling, SIGNALS_MOTOR_WARNING_BIT)
 #endif
@@ -205,16 +243,6 @@ static aux_ctrl_t aux_ctrl[] = {
 
 // General inputs
 
-static inline bool aux_ctrl_is_probe (pin_function_t function)
-{
-    return function == Input_Probe || function == Input_Probe2 || function == Input_Toolsetter;
-}
-
-static inline bool aux_ctrl_is_encoder (pin_function_t function)
-{
-    return function == Input_QEI_A || function == Input_QEI_B || function == Input_QEI_Select;
-}
-
 #ifdef STM32_PLATFORM
 
 static inline aux_ctrl_t *aux_ctrl_get_fn (aux_gpio_t gpio)
@@ -290,7 +318,7 @@ static inline void aux_ctrl_irq_enable (settings_t *settings, ioport_interrupt_c
 
     if(idx) do {
         if(aux_ctrl[--idx].port != 0xFF && aux_ctrl[idx].irq_mode != IRQ_Mode_None) {
-            if(!(aux_ctrl_is_probe(aux_ctrl[idx].function) || aux_ctrl_is_encoder(aux_ctrl[idx].function))) {
+            if(!(xbar_is_probe_in(aux_ctrl[idx].function) || xbar_is_encoder_in(aux_ctrl[idx].function))) {
                 pin_irq_mode_t irq_mode;
                 if((irq_mode = aux_ctrl[idx].irq_mode) & IRQ_Mode_RisingFalling)
                     irq_mode = (settings->control_invert.mask & aux_ctrl[idx].signal.mask) ? IRQ_Mode_Falling : IRQ_Mode_Rising;
@@ -316,6 +344,16 @@ static bool __claim_in_port (xbar_t *properties, uint8_t port, void *data)
     return ((aux_ctrl_t *)data)->port != IOPORT_UNASSIGNED;
 }
 
+static bool __find_in_ext (xbar_t *properties, uint8_t port, void *data)
+{
+    bool ok;
+
+    if((ok = properties->pin == ((aux_ctrl_t *)data)->gpio.pin))
+        ((aux_ctrl_t *)data)->port = port;
+
+    return ok;
+}
+
 static bool __find_in_port (xbar_t *properties, uint8_t port, void *data)
 {
     ((aux_ctrl_t *)data)->port = port;
@@ -334,9 +372,11 @@ static inline void aux_ctrl_claim_ports (aux_claim_explicit_ptr aux_claim_explic
 
     if(sizeof(aux_ctrl)) for(idx = 0; idx < sizeof(aux_ctrl) / sizeof(aux_ctrl_t); idx++) {
 
-        if(aux_ctrl[idx].port != IOPORT_UNASSIGNED)
+        if(aux_ctrl[idx].gpio.port == (void *)EXPANDER_PORT) {
+            if(ioports_enumerate(Port_Digital, Port_Input, (pin_cap_t){ .irq_mode = aux_ctrl[idx].irq_mode, .external = On, .claimable = On }, __find_in_ext, &aux_ctrl[idx]))
+                aux_claim_explicit(&aux_ctrl[idx]);         
+        } else if(aux_ctrl[idx].port != IOPORT_UNASSIGNED)
             aux_claim_explicit(&aux_ctrl[idx]);
-
         else {
 
             pin_cap_t cap = { .irq_mode = aux_ctrl[idx].irq_mode, .claimable = On };
@@ -346,7 +386,7 @@ static inline void aux_ctrl_claim_ports (aux_claim_explicit_ptr aux_claim_explic
                 aux_claim_explicit(&aux_ctrl[idx]);
 
 #ifdef STM32_PLATFORM
-            if(aux_ctrl[idx].irq_mode == IRQ_Mode_None && !(aux_ctrl_is_probe(aux_ctrl[idx].function) || aux_ctrl[idx].function == Input_LimitsOverride))
+            if(aux_ctrl[idx].irq_mode == IRQ_Mode_None && !(xbar_is_probe_in(aux_ctrl[idx].function) || aux_ctrl[idx].function == Input_LimitsOverride))
                 continue;
 #endif
             if(aux_ctrl[idx].gpio.pin == 0xFF) {
@@ -598,7 +638,7 @@ static inline void aux_ctrl_claim_out_ports (aux_claim_explicit_out_ptr aux_clai
 
 #if SPINDLE_ENCODER_ENABLE
 #ifndef SPINDLE_PULSE_PIN
-#error "Spindle encoder requires at least SPINDLE_PULSE_PIN defined in the board map!"
+//#error "Spindle encoder requires at least SPINDLE_PULSE_PIN defined in the board map!"
 #endif
 #if !defined(SPINDLE_PULSE_BIT) && defined(SPINDLE_PULSE_PIN)
 #define SPINDLE_PULSE_BIT (1<<SPINDLE_PULSE_PIN)
@@ -780,9 +820,9 @@ static inline void aux_ctrl_claim_out_ports (aux_claim_explicit_out_ptr aux_clai
 
 #ifndef AUXINPUT_MASK
 #define AUXINPUT_MASK (AUXINPUT0_BIT|AUXINPUT1_BIT|AUXINPUT2_BIT|AUXINPUT3_BIT|AUXINPUT4_BIT|AUXINPUT5_BIT|AUXINPUT6_BIT|AUXINPUT7_BIT|\
-                       AUXINPUT8_BIT|AUXINPUT9_BIT|AUXINPUT10_BIT|AUXINPUT11_BIT|AUXINPUT12_BIT|AUXINPUT13_BIT|AUXINPUT4_BIT|AUXINPUT15_BIT)
+                       AUXINPUT8_BIT|AUXINPUT9_BIT|AUXINPUT10_BIT|AUXINPUT11_BIT|AUXINPUT12_BIT|AUXINPUT13_BIT|AUXINPUT14_BIT|AUXINPUT15_BIT)
 #define AUXINPUT_MASK_SUM (AUXINPUT0_BIT+AUXINPUT1_BIT+AUXINPUT2_BIT+AUXINPUT3_BIT+AUXINPUT4_BIT+AUXINPUT5_BIT+AUXINPUT6_BIT+AUXINPUT7_BIT+\
-                           AUXINPUT8_BIT+AUXINPUT9_BIT+AUXINPUT10_BIT+AUXINPUT11_BIT+AUXINPUT12_BIT+AUXINPUT13_BIT+AUXINPUT4_BIT+AUXINPUT15_BIT)
+                           AUXINPUT8_BIT+AUXINPUT9_BIT+AUXINPUT10_BIT+AUXINPUT11_BIT+AUXINPUT12_BIT+AUXINPUT13_BIT+AUXINPUT14_BIT+AUXINPUT15_BIT)
 #endif
 
 /*EOF*/