Reset/Stop/Motor alarm input

[LucaCortelli]

Hello everyone, I'm creating a grblHall PCB with teensy4.1 and I was wondering if in addition to the hard reset you could add a stop pin (softer than the hard reset input) to possibly assign to an alarm coming from the motor drivers, can you advise me something?

[andrewmarles]

Yes, you can do this. The signal is defined in the core, you just need to modify the driver to connect it to an external pin to the "Input_MotorFault" in the crossbar. You can see in driver.c how the "input_signal_t inputpin[]" are set up for the other input signals.

[terjeio]

There are two motor related input signals defined, fault and warning. Asserting the fault signal raises alarm 17. The warning signal currently has no default action associated.

In the next build I will add preprocessor handling of all input signals in an attempt to ensure consistent naming across drivers, these were missing:

ESTOP_PIN
PROBE_DISCONNECT_PIN
STOP_DISABLE_PIN
BLOCK_DELETE_PIN
SINGLE_BLOCK_PIN
MOTOR_FAULT_PIN
MOTOR_WARNING_PIN
LIMITS_OVERRIDE_PIN

I'll also add the missing ones to the crossbar definitions.

Code has to be added to drivers to support these inputs - I may add support when requested or accept PRs with the needed code changes.
Note that I will not add all the input options for all drivers as standard as this will require a lot of work that I am not prepared to do...