Under development. Adds some M-codes to allow grblHAL to be used for OpenPNP machines.

• M42 P- S- Set digital output. The P-word must be a valid ioport number, see below. The S-word is used to turn the output on or off. Use 0 for off, > 0 for on.

• M114 <P-> reports current position. The P-word is ignored if provided.

• M115 Reports firmware information.

• M204 <P-> <S-> <T-> Use S- or T-word to set acceleration for all axes except the linear axis (Z-axis), use P-word to set it for all axes. If the word parameter is 0 acceleration is reset to default values.

• M205 axes - set jerk per axis. If the parameter value is 0 the configured value is restored.

• M400 Waits until the motion buffers are cleared and motion stopped. Same function as G4P0.

M-codes under consideration, may change:

• M143 P- Read digital input, P-word must be a valid digital input port number.

• M143 E- Read raw analog input, E-word must be a valid analog input port number. Returned data from M143 is in the format A<n>:<value> for analog inputs and D<n>:<value> for digital. <n> is the port number and <value> is the value read.

• M144 E- Read scaled analog input, E-word must be a valid analog input port number.
  Returned data from M144 is in the format A<n>:<value> where <n> is the port number and <value> is the value read. The returned value is raw value * P + Q, P and Q values as set by a previous M145 command, defaults for these are 1 and 0 respectively.

• M145 E- S- Q- Set scaling data for analog input port, E-word must be a valid port number, S-word is the scaling factor and Q-word the scaling offset. Scaling data is volatile.

The driver must have one or more auxiliary input/output ports available for the relevant M-codes documented above.

2025-05-19