Added (PRINT, <msg>) support and parameter formatting for DEBUG and PRINT commands.

Added named parameters for getting absolute (G53) position: _abs_x, abs_y, ...
Available when expression support is enabled.

Changed stepper enable HAL signature to allow current reduction when idle.
Added reference id to spindle registration in order to allow configuring default spindle, and possibly additional spindles, at compile time.

Author: terjeio

README.md

@@ -13,7 +13,7 @@ It has been written to complement grblHAL and has features such as proper keyboa
 
 ---
 
-Latest build date is 20240907, see the [changelog](changelog.md) for details.  
+Latest build date is 20240928, see the [changelog](changelog.md) for details.  
 
 __NOTE:__ Build 20240222 has moved the probe input to the ioPorts pool of inputs and will be allocated from it when configured.
 The change is major and _potentially dangerous_, it may damage your probe, so please _verify correct operation_ after installing this, or later, builds.

changelog.md

@@ -1,18 +1,42 @@
 ## grblHAL changelog
 
+<a name="20240928">Build 20240928
+
+* Added `(PRINT, <msg>)` support and parameter formatting for `DEBUG` and `PRINT` commands. Available when expression support is enabled.
+
+* Added named parameters for getting absolute \(G53\) position: `_abs_x`, `abs_y`, ... Available when expression support is enabled.
+
+* Changed stepper enable HAL signature to allow current reduction when idle. Requires compatible stepper drivers and low level code support.
+
+* Added reference id to spindle registration in order to allow configuring default spindle, and possibly additional spindles, at compile time.
+
+* Fix for hardfault when some $-settings are changed and there are no auxilary inputs defined in the board map. Ref. [issue #588](https://github.com/grblHAL/core/issues/588).
+
+Drivers:
+
+* All: updated for core changes mentioned above.
+
+* ESP32, STM32F4xx, STM32F7xx: added basic support for the core HAL timer API. Changed step inject code to interrupt driven instead of polled.
+
+Plugins:
+
+* Spindle: updated to support new spindle reference id in the core, simplified code.
+
+* SD Card \(macros\): fixed bug in handling of repeat loops.
+
+---
+
 <a name="20240921">Build 20240921
 
 Core:
 
 * Added generic HAL timer API and function for getting which `G65` parameter words were supplied. 
 
-Networking:
-
-* Made parsing of HTTP header keywords case insensitive. Ref. [issue #11](https://github.com/grblHAL/Plugin_networking/issues/11).
+Plugins:
 
-SD card (macros):
+* Networking: made parsing of HTTP header keywords case insensitive. Ref. [issue #11](https://github.com/grblHAL/Plugin_networking/issues/11).
 
-* Added inbuilt `G65` macro `P3` for getting and setting NGC numerical parameters, typical use case will be for indexed access. Ref. [discussion #309 comment](https://github.com/grblHAL/core/discussions/309#discussioncomment-10710468). 
+* SD card \(macros\): added inbuilt `G65` macro `P3` for getting and setting NGC numerical parameters, typical use case will be for indexed access. Ref. [discussion #309 comment](https://github.com/grblHAL/core/discussions/309#discussioncomment-10710468). 
 
 ---
 

config.h

@@ -1115,6 +1115,14 @@ Default value is 0, meaning spindle sync is disabled
 #endif
 ///@}
 
+/*! @name $395 - Setting_SpindleType
+*/
+///@{
+#if !defined DEFAULT_SPINDLE || defined __DOXYGEN__
+#define DEFAULT_SPINDLE SPINDLE_PWM0 // Spindle number from spindle_control.h
+#endif
+///@}
+
 // Closed loop spindle settings (Group_Spindle_ClosedLoop)
 
 // $9 - Setting_SpindlePWMOptions

driver_opts.h

@@ -225,40 +225,38 @@
 #endif
 #endif
 
-// TODO: remove?
-#ifndef VFD_SPINDLE
-#if VFD_ENABLE
-#define VFD_SPINDLE         1
-#else
-#define VFD_SPINDLE         0
-#endif
-#endif
-
 #ifndef SPINDLE0_ENABLE
-  #if VFD_ENABLE
-    #define SPINDLE0_ENABLE VFD_ENABLE
-    #if N_SPINDLE > 1 && !defined(SPINDLE1_ENABLE)
-      #define SPINDLE1_ENABLE SPINDLE_PWM0
-    #endif
-  #else
-    #define SPINDLE0_ENABLE SPINDLE_PWM0
-  #endif
+#define SPINDLE0_ENABLE SPINDLE_PWM0
 #endif
 
 #ifndef SPINDLE1_ENABLE
 #define SPINDLE1_ENABLE     0
+#elif SPINDLE1_ENABLE == -1 || SPINDLE1_ENABLE == SPINDLE_ALL || SPINDLE1_ENABLE == SPINDLE_ALL_VFD
+#warning "SPINDLE1_ENABLE cannot be set to -1, SPINDLE_ALL or SPINDLE_ALL_VFD"
+#undef SPINDLE1_ENABLE
+#define SPINDLE1_ENABLE     0
 #endif
 
 #ifndef SPINDLE2_ENABLE
 #define SPINDLE2_ENABLE     0
+#elif SPINDLE2_ENABLE == -1 || SPINDLE2_ENABLE == SPINDLE_ALL || SPINDLE2_ENABLE == SPINDLE_ALL_VFD
+#warning "SPINDLE2_ENABLE cannot be set to -1, SPINDLE_ALL or SPINDLE_ALL_VFD"
+#undef SPINDLE2_ENABLE
+#define SPINDLE2_ENABLE     0
 #endif
 
 #ifndef SPINDLE3_ENABLE
 #define SPINDLE3_ENABLE     0
+#elif SPINDLE3_ENABLE == -1 || SPINDLE3_ENABLE == SPINDLE_ALL || SPINDLE3_ENABLE == SPINDLE_ALL_VFD
+#warning "SPINDLE3_ENABLE cannot be set to -1, SPINDLE_ALL or SPINDLE_ALL_VFD"
+#undef SPINDLE1_ENABLE
+#define SPINDLE1_ENABLE     0
 #endif
 
-#if SPINDLE0_ENABLE == SPINDLE_ALL
-#define SPINDLE_ENABLE SPINDLE_ALL
+#if SPINDLE0_ENABLE == -1 || SPINDLE0_ENABLE == SPINDLE_ALL
+#define SPINDLE_ENABLE (SPINDLE_ALL|(1<<SPINDLE1_ENABLE)|(1<<SPINDLE2_ENABLE)|(1<<SPINDLE3_ENABLE))
+#elif SPINDLE0_ENABLE == SPINDLE_ALL_VFD
+#define SPINDLE_ENABLE (SPINDLE_ALL_VFD|SPINDLE_ALL|(1<<SPINDLE1_ENABLE)|(1<<SPINDLE2_ENABLE)|(1<<SPINDLE3_ENABLE))
 #else
 #define SPINDLE_ENABLE ((1<<SPINDLE0_ENABLE)|(1<<SPINDLE1_ENABLE)|(1<<SPINDLE2_ENABLE)|(1<<SPINDLE3_ENABLE))
 #endif
@@ -314,7 +312,7 @@
 //
 
 #ifndef VFD_ENABLE
-  #if SPINDLE_ENABLE & ((1<<SPINDLE_HUANYANG1)|(1<<SPINDLE_HUANYANG2)|(1<<SPINDLE_GS20)|(1<<SPINDLE_YL620A)|(1<<SPINDLE_MODVFD)|(1<<SPINDLE_H100)|(1<<SPINDLE_NOWFOREVER))
+  #if SPINDLE_ENABLE & SPINDLE_ALL_VFD
     #define VFD_ENABLE 1
   #else
     #define VFD_ENABLE 0

errors.h

@@ -113,6 +113,7 @@ typedef enum {
     Status_FlowControlStackOverflow = 82,
     Status_FlowControlOutOfMemory = 83,
 
+    Status_Handled,   // For internal use only
     Status_Unhandled, // For internal use only
     Status_StatusMax = Status_Unhandled
 } __attribute__ ((__packed__)) status_code_t;