diff --git a/FLEXI_STM32F446RETX_BL_FLASH.ld b/FLEXI_STM32F446RETX_BL_FLASH.ld
new file mode 100644
index 00000000..b95147ee
--- /dev/null
+++ b/FLEXI_STM32F446RETX_BL_FLASH.ld
@@ -0,0 +1,178 @@
+/**
+ ******************************************************************************
+ * @file LinkerScript.ld
+ * @author Auto-generated by STM32CubeIDE
+ * Abstract : Linker script for NUCLEO-F446RE Board embedding STM32F446RETx Device from stm32f4 series
+ * 512Kbytes FLASH
+ * 128Kbytes RAM
+ *
+ * Set heap size, stack size and stack location according
+ * to application requirements.
+ *
+ * Set memory bank area and size if external memory is used
+ ******************************************************************************
+ * @attention
+ *
+ * © Copyright (c) 2020 STMicroelectronics.
+ * All rights reserved.
+ *
+ * This software component is licensed by ST under BSD 3-Clause license,
+ * the "License"; You may not use this file except in compliance with the
+ * License. You may obtain a copy of the License at:
+ * opensource.org/licenses/BSD-3-Clause
+ *
+ ******************************************************************************
+ */
+
+/* Entry Point */
+ENTRY(Reset_Handler)
+
+/* Highest address of the user mode stack */
+_estack = ORIGIN(RAM) + LENGTH(RAM); /* end of "RAM" Ram type memory */
+
+_Min_Heap_Size = 0x2000 ; /* required amount of heap */
+_Min_Stack_Size = 0x400 ; /* required amount of stack */
+
+/* Memories definition */
+MEMORY
+{
+ RAM (xrw) : ORIGIN = 0x20000000, LENGTH = 128K
+ BOOT_FLASH (rx) : ORIGIN = 0x8000000, LENGTH = 64K
+ FLASH (rx) : ORIGIN = 0x8010000, LENGTH = 512K - 64K
+}
+
+_FLASH_VectorTable = ORIGIN(FLASH);
+
+/* Sections */
+SECTIONS
+{
+ /* The startup code into "FLASH" Rom type memory */
+ .isr_vector :
+ {
+ . = ALIGN(4);
+ KEEP(*(.isr_vector)) /* Startup code */
+ . = ALIGN(4);
+ } >FLASH
+
+ /* The program code and other data into "FLASH" Rom type memory */
+ .text :
+ {
+ . = ALIGN(4);
+ *(.text) /* .text sections (code) */
+ *(.text*) /* .text* sections (code) */
+ *(.glue_7) /* glue arm to thumb code */
+ *(.glue_7t) /* glue thumb to arm code */
+ *(.eh_frame)
+
+ KEEP (*(.init))
+ KEEP (*(.fini))
+
+ . = ALIGN(4);
+ _etext = .; /* define a global symbols at end of code */
+ } >FLASH
+
+ /* Constant data into "FLASH" Rom type memory */
+ .rodata :
+ {
+ . = ALIGN(4);
+ *(.rodata) /* .rodata sections (constants, strings, etc.) */
+ *(.rodata*) /* .rodata* sections (constants, strings, etc.) */
+ . = ALIGN(4);
+ } >FLASH
+
+ .ARM.extab : {
+ . = ALIGN(4);
+ *(.ARM.extab* .gnu.linkonce.armextab.*)
+ . = ALIGN(4);
+ } >FLASH
+
+ .ARM : {
+ . = ALIGN(4);
+ __exidx_start = .;
+ *(.ARM.exidx*)
+ __exidx_end = .;
+ . = ALIGN(4);
+ } >FLASH
+
+ .preinit_array :
+ {
+ . = ALIGN(4);
+ PROVIDE_HIDDEN (__preinit_array_start = .);
+ KEEP (*(.preinit_array*))
+ PROVIDE_HIDDEN (__preinit_array_end = .);
+ . = ALIGN(4);
+ } >FLASH
+
+ .init_array :
+ {
+ . = ALIGN(4);
+ PROVIDE_HIDDEN (__init_array_start = .);
+ KEEP (*(SORT(.init_array.*)))
+ KEEP (*(.init_array*))
+ PROVIDE_HIDDEN (__init_array_end = .);
+ . = ALIGN(4);
+ } >FLASH
+
+ .fini_array :
+ {
+ . = ALIGN(4);
+ PROVIDE_HIDDEN (__fini_array_start = .);
+ KEEP (*(SORT(.fini_array.*)))
+ KEEP (*(.fini_array*))
+ PROVIDE_HIDDEN (__fini_array_end = .);
+ . = ALIGN(4);
+ } >FLASH
+
+ /* Used by the startup to initialize data */
+ _sidata = LOADADDR(.data);
+
+ /* Initialized data sections into "RAM" Ram type memory */
+ .data :
+ {
+ . = ALIGN(4);
+ _sdata = .; /* create a global symbol at data start */
+ *(.data) /* .data sections */
+ *(.data*) /* .data* sections */
+
+ . = ALIGN(4);
+ _edata = .; /* define a global symbol at data end */
+
+ } >RAM AT> FLASH
+
+ /* Uninitialized data section into "RAM" Ram type memory */
+ . = ALIGN(4);
+ .bss :
+ {
+ /* This is used by the startup in order to initialize the .bss section */
+ _sbss = .; /* define a global symbol at bss start */
+ __bss_start__ = _sbss;
+ *(.bss)
+ *(.bss*)
+ *(COMMON)
+
+ . = ALIGN(4);
+ _ebss = .; /* define a global symbol at bss end */
+ __bss_end__ = _ebss;
+ } >RAM
+
+ /* User_heap_stack section, used to check that there is enough "RAM" Ram type memory left */
+ ._user_heap_stack :
+ {
+ . = ALIGN(8);
+ PROVIDE ( end = . );
+ PROVIDE ( _end = . );
+ . = . + _Min_Heap_Size;
+ . = . + _Min_Stack_Size;
+ . = ALIGN(8);
+ } >RAM
+
+ /* Remove information from the compiler libraries */
+ /DISCARD/ :
+ {
+ libc.a ( * )
+ libm.a ( * )
+ libgcc.a ( * )
+ }
+
+ .ARM.attributes 0 : { *(.ARM.attributes) }
+}
diff --git a/Inc/driver.h b/Inc/driver.h
index 4db72400..8ce4b5ac 100644
--- a/Inc/driver.h
+++ b/Inc/driver.h
@@ -139,6 +139,8 @@
#include "st_morpho_dac_map.h"
#elif defined(BOARD_MINI_BLACKPILL)
#include "mini_blackpill_map.h"
+#elif defined(BOARD_FLEXI_HAL)
+ #include "flexi_hal_map.h"
#elif defined(BOARD_MY_MACHINE)
#include "my_machine_map.h"
#else // default board
@@ -328,13 +330,21 @@
#define KEYPAD_TEST 0
#endif
+#if IS_FLEXI_CNC
+#if MODBUS_TEST + KEYPAD_TEST + MPG_TEST + TRINAMIC_TEST + BLUETOOTH_ENABLE > 2
+#error "Only one option that uses the serial port can be enabled!"
+#endif
+#else
#if MODBUS_TEST + KEYPAD_TEST + MPG_TEST + TRINAMIC_TEST + BLUETOOTH_ENABLE > 1
#error "Only one option that uses the serial port can be enabled!"
#endif
+#endif
#if MODBUS_TEST || KEYPAD_TEST || MPG_TEST || TRINAMIC_TEST || BLUETOOTH_ENABLE
#if IS_NUCLEO_DEVKIT
#define SERIAL2_MOD 1
+#elif IS_FLEXI_CNC
+#define SERIAL2_MOD 3
#else
#define SERIAL2_MOD 2
#endif
@@ -369,7 +379,11 @@
#endif
#if I2C_ENABLE && !defined(I2C_PORT)
-#define I2C_PORT 2 // GPIOB, SCL_PIN = 10, SDA_PIN = 11
+ #ifdef FMP_I2C
+ #define I2C_PORT 4
+ #else
+ #define I2C_PORT 2 // GPIOB, SCL_PIN = 10, SDA_PIN = 11
+ #endif
#endif
#if SPI_ENABLE && !defined(SPI_PORT)
diff --git a/Inc/flexi_hal_map.h b/Inc/flexi_hal_map.h
new file mode 100644
index 00000000..1cbd1857
--- /dev/null
+++ b/Inc/flexi_hal_map.h
@@ -0,0 +1,181 @@
+/*
+ generic_map.h - driver code for STM32F4xx ARM processors
+
+ Part of grblHAL
+
+ Copyright (c) 2020-2021 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
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ Grbl is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with Grbl. If not, see .
+*/
+
+#define IS_FLEXI_CNC 1
+
+#if N_ABC_MOTORS > 2
+#error "Axis configuration is not supported!"
+#endif
+
+#if TRINAMIC_ENABLE
+#error "Trinamic plugin not supported!"
+#endif
+
+#define BOARD_NAME "Flexi-HAL"
+#ifdef I2C_ENABLE
+ #define FMP_I2C 1
+#endif
+
+//#define EEPROM_ENABLE 1
+#define STM32F446xx 1
+#define HAS_IOPORTS 1
+#define HAS_BOARD_INIT 1
+
+#if MODBUS_ENABLE
+#define MODBUS_SERIAL_PORT 2
+#endif
+
+#if MPG_MODE == 1
+#define MPG_MODE_PORT GPIOA
+#define MPG_MODE_PIN 15
+#endif
+
+//********on first revision of this board Y step/dir was flipped. Use below config?
+
+// Define step pulse output pins.
+#define X_STEP_PORT GPIOA
+#define X_STEP_PIN 3
+#define Y_STEP_PORT GPIOC
+#define Y_STEP_PIN 1
+#define Z_STEP_PORT GPIOB
+#define Z_STEP_PIN 8
+#define STEP_OUTMODE GPIO_BITBAND
+//#define STEP_PINMODE PINMODE_OD // Uncomment for open drain outputs
+
+// Define step direction output pins.
+#define X_DIRECTION_PORT GPIOC
+#define X_DIRECTION_PIN 2
+#define Y_DIRECTION_PORT GPIOC
+#define Y_DIRECTION_PIN 0
+#define Z_DIRECTION_PORT GPIOC
+#define Z_DIRECTION_PIN 15
+#define DIRECTION_OUTMODE GPIO_BITBAND
+//#define DIRECTION_PINMODE PINMODE_OD // Uncomment for open drain outputs
+
+// Define stepper driver enable/disable output pin.
+#define X_ENABLE_PORT GPIOA
+#define X_ENABLE_PIN 14
+#define Y_ENABLE_PORT GPIOA
+#define Y_ENABLE_PIN 14
+#define Z_ENABLE_PORT GPIOA
+#define Z_ENABLE_PIN 13
+//#define STEPPERS_ENABLE_PORT GPIOA
+//#define STEPPERS_ENABLE_PIN 14
+#define STEPPERS_ENABLE_OUTMODE GPIO_BITBAND
+
+// Define homing/hard limit switch input pins.
+#define X_LIMIT_PORT GPIOA
+#define X_LIMIT_PIN 5
+#define Y_LIMIT_PORT GPIOB
+#define Y_LIMIT_PIN 9
+#define Z_LIMIT_PORT GPIOC
+#define Z_LIMIT_PIN 13
+#define LIMIT_INMODE GPIO_BITBAND
+
+// Define ganged axis or A axis step pulse and step direction output pins.
+#if N_ABC_MOTORS > 0
+#define M3_AVAILABLE
+#define M3_STEP_PORT GPIOD
+#define M3_STEP_PIN 2
+#define M3_DIRECTION_PORT GPIOC
+#define M3_DIRECTION_PIN 12
+#define M3_LIMIT_PORT GPIOB
+#define M3_LIMIT_PIN 6
+#define M3_ENABLE_PORT GPIOA
+#define M3_ENABLE_PIN 14
+#endif
+
+// Define ganged axis or A axis step pulse and step direction output pins.
+#if N_ABC_MOTORS == 2
+#define M4_AVAILABLE
+#define M4_STEP_PORT GPIOB
+#define M4_STEP_PIN 14
+#define M4_DIRECTION_PORT GPIOB
+#define M4_DIRECTION_PIN 15
+#define M4_LIMIT_PORT GPIOC
+#define M4_LIMIT_PIN 14
+#define M4_ENABLE_PORT GPIOA
+#define M4_ENABLE_PIN 14
+#endif
+
+// Define spindle enable and spindle direction output pins.
+#define SPINDLE_ENABLE_PORT GPIOB
+#define SPINDLE_ENABLE_PIN 2
+#define SPINDLE_DIRECTION_PORT GPIOB
+#define SPINDLE_DIRECTION_PIN 1
+#define SPINDLE_OUTMODE GPIO_BITBAND
+
+// Define spindle PWM output pin.
+#define SPINDLE_PWM_PORT_BASE GPIOA_BASE
+#define SPINDLE_PWM_PIN 8
+
+// Define flood and mist coolant enable output pins.
+#define COOLANT_FLOOD_PORT GPIOC
+#define COOLANT_FLOOD_PIN 9
+#define COOLANT_MIST_PORT GPIOA
+#define COOLANT_MIST_PIN 7
+#define COOLANT_OUTMODE GPIO_BITBAND
+
+#define AUXOUTPUT0_PORT GPIOB
+#define AUXOUTPUT0_PIN 13
+#define AUXOUTPUT1_PORT GPIOB
+#define AUXOUTPUT1_PIN 0
+#define AUXOUTPUT2_PORT GPIOA
+#define AUXOUTPUT2_PIN 4
+#define AUXOUTPUT3_PORT GPIOA
+#define AUXOUTPUT3_PIN 6
+#define AUXOUTPUT_OUTMODE GPIO_BITBAND
+
+#define AUXINPUT0_PORT GPIOA
+#define AUXINPUT0_PIN 0
+#define AUXINPUT1_PORT GPIOA
+#define AUXINPUT1_PIN 1
+#define AUXINPUT2_PORT GPIOA
+#define AUXINPUT2_PIN 2
+
+
+// Define user-control controls (cycle start, reset, feed hold) input pins.
+#define RESET_PORT GPIOB
+#define RESET_PIN 12
+#define FEED_HOLD_PORT GPIOC
+#define FEED_HOLD_PIN 8
+#define CYCLE_START_PORT GPIOC
+#define CYCLE_START_PIN 11
+#if SAFETY_DOOR_ENABLE
+#define SAFETY_DOOR_PORT GPIOC
+#define SAFETY_DOOR_PIN 4
+#endif
+#define CONTROL_INMODE GPIO_BITBAND
+
+// Define probe switch input pin.
+#define PROBE_PORT GPIOB
+#define PROBE_PIN 7
+
+#if I2C_STROBE_ENABLE
+#define I2C_STROBE_PORT GPIOB
+#define I2C_STROBE_PIN 10
+#endif
+
+#if SDCARD_ENABLE
+#define SD_CS_PORT GPIOA
+#define SD_CS_PIN 3
+#define SPI_PORT 1 // GPIOA, SCK_PIN = 5, MISO_PIN = 6, MOSI_PIN = 7
+#endif
diff --git a/Inc/my_machine.h b/Inc/my_machine.h
index 4a476b79..9d8eb7d1 100644
--- a/Inc/my_machine.h
+++ b/Inc/my_machine.h
@@ -34,6 +34,7 @@
//#define BOARD_BTT_SKR_20 // F407 based 3D Printer board
//#define BOARD_BTT_SKR_20_DAC // F407 based 3D Printer board, uses analog output (DAC) for spindle speed control
//#define BOARD_FYSETC_S6 // F446 based 3D Printer board
+#define BOARD_FLEXI_HAL // F446 CNC board
//#define BOARD_MY_MACHINE // Add my_machine_map.h before enabling this!
// WARNING: BOARD_BTT_SKR_20 may fry your Trinamic drivers due to bad hardware design.
diff --git a/Src/flexi_hal.c b/Src/flexi_hal.c
new file mode 100644
index 00000000..c24ed318
--- /dev/null
+++ b/Src/flexi_hal.c
@@ -0,0 +1,235 @@
+/*
+ flexi_hal.c - driver code for STM32F4xx ARM processors on Flexi-HAL board
+
+ Part of grblHAL
+
+ Copyright (c) 2020-2021 Terje Io
+ Modifications for Flexi-Hal Copyright (c) 2022 Expatria Technologies
+
+ Grbl is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ Grbl is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with Grbl. If not, see .
+*/
+
+#include "driver.h"
+
+#if defined(BOARD_FLEXI_HAL)
+
+#include
+#include
+
+#include "main.h"
+#include "i2c.h"
+#include "grbl/protocol.h"
+#include "grbl/settings.h"
+
+static uint8_t keycode = 0;
+static keycode_callback_ptr keypad_callback = NULL;
+static bool pendant_tx_active = 0;
+
+ #define I2C1_SCL_PIN 6
+ #define I2C1_SDA_PIN 7
+
+static FMPI2C_HandleTypeDef i2c_port = {
+ .Instance = FMPI2C1,
+ //.Init.Timing = 0xC0000E12, //100 KHz
+ //.Init.Timing = 0x0020081B, //1000 KHz
+ .Init.Timing =0x00401650, //400 KHz
+ .Init.OwnAddress1 = 0,
+ .Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT,
+ .Init.DualAddressMode = I2C_DUALADDRESS_DISABLE,
+ .Init.OwnAddress2 = 0,
+ .Init.OwnAddress2Masks = FMPI2C_OA2_NOMASK,
+ .Init.GeneralCallMode = I2C_GENERALCALL_DISABLE,
+ .Init.NoStretchMode = I2C_NOSTRETCH_DISABLE
+};
+
+void i2c_init (void)
+{
+ GPIO_InitTypeDef GPIO_InitStruct = {
+ .Pin = (1 << I2C1_SCL_PIN)|(1 << I2C1_SDA_PIN),
+ .Mode = GPIO_MODE_AF_OD,
+ .Pull = GPIO_PULLUP,
+ .Speed = GPIO_SPEED_FREQ_VERY_HIGH,
+ .Alternate = GPIO_AF4_FMPI2C1
+ };
+ HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
+
+ __HAL_RCC_FMPI2C1_CLK_ENABLE();
+ HAL_FMPI2CEx_ConfigAnalogFilter(&i2c_port, FMPI2C_ANALOGFILTER_ENABLE);
+
+ HAL_FMPI2C_Init(&i2c_port);
+ __HAL_FMPI2C_ENABLE(&i2c_port);
+
+ /* FMPI2C1 interrupt Init */
+ HAL_NVIC_SetPriority(FMPI2C1_EV_IRQn, 0, 0);
+ HAL_NVIC_EnableIRQ(FMPI2C1_EV_IRQn);
+
+ static const periph_pin_t scl = {
+ .function = Output_SCK,
+ .group = PinGroup_I2C,
+ .port = GPIOC,
+ .pin = 6,
+ .mode = { .mask = PINMODE_OD }
+ };
+
+ static const periph_pin_t sda = {
+ .function = Bidirectional_SDA,
+ .group = PinGroup_I2C,
+ .port = GPIOC,
+ .pin = 7,
+ .mode = { .mask = PINMODE_OD }
+ };
+
+
+ hal.periph_port.register_pin(&scl);
+ hal.periph_port.register_pin(&sda);
+}
+
+void FMPI2C1_EV_IRQHandler(void)
+{
+ HAL_FMPI2C_EV_IRQHandler(&i2c_port);
+}
+
+void FMPI2C1_ER_IRQHandler(void)
+{
+ HAL_FMPI2C_ER_IRQHandler(&i2c_port);
+}
+
+void I2C_Send (uint32_t i2cAddr, uint8_t *buf, uint16_t bytes, bool block)
+{
+ //wait for bus to be ready
+ while (HAL_FMPI2C_GetState(&i2c_port) != HAL_FMPI2C_STATE_READY);
+
+ HAL_FMPI2C_Master_Transmit_IT(&i2c_port, i2cAddr<<1, buf, bytes);
+
+ if (block)
+ while (HAL_FMPI2C_GetState(&i2c_port) != HAL_FMPI2C_STATE_READY);
+}
+
+nvs_transfer_result_t i2c_nvs_transfer (nvs_transfer_t *i2c, bool read)
+{
+ while (HAL_FMPI2C_GetState(&i2c_port) != HAL_FMPI2C_STATE_READY);
+
+ HAL_StatusTypeDef ret;
+
+ if(read)
+ ret = HAL_FMPI2C_Mem_Read(&i2c_port, i2c->address << 1, i2c->word_addr, i2c->word_addr_bytes, i2c->data, i2c->count, 100);
+ else {
+ ret = HAL_FMPI2C_Mem_Write(&i2c_port, i2c->address << 1, i2c->word_addr, i2c->word_addr_bytes, i2c->data, i2c->count, 100);
+#if !EEPROM_IS_FRAM
+ hal.delay_ms(6, NULL);
+#endif
+ }
+ i2c->data += i2c->count;
+
+ return ret == HAL_OK ? NVS_TransferResult_OK : NVS_TransferResult_Failed;
+}
+
+void I2C_PendantRead (uint32_t i2cAddr, uint8_t memaddress, uint8_t size, uint8_t * data, keycode_callback_ptr callback)
+{
+
+ uint32_t ms = hal.get_elapsed_ticks(); //50 ms timeout
+ uint32_t timeout_ms = ms + 50;
+
+ if(keypad_callback != NULL || pendant_tx_active) //we are in the middle of a read
+ return;
+
+ keycode = 'r';
+ keypad_callback = callback;
+
+ while((HAL_FMPI2C_Mem_Read_IT(&i2c_port, i2cAddr << 1, memaddress, 1, data, size)) != HAL_OK){
+ if (ms > timeout_ms){
+ keypad_callback = NULL;
+ keycode = 0;
+ i2c_init();
+ return;
+ }
+ hal.delay_ms(1, NULL);
+ ms = hal.get_elapsed_ticks();
+ }
+}
+
+void I2C_PendantWrite (uint32_t i2cAddr, uint8_t *buf, uint16_t bytes)
+{
+
+ uint32_t ms = hal.get_elapsed_ticks(); //50 ms timeout
+ uint32_t timeout_ms = ms + 50;
+
+ if(keypad_callback != NULL || pendant_tx_active) //we are in the middle of a read
+ return;
+ pendant_tx_active = 1;
+
+ while((HAL_FMPI2C_Master_Transmit_IT(&i2c_port, i2cAddr<<1, buf, bytes) != HAL_OK)){
+ if (ms > timeout_ms){
+ pendant_tx_active = 0;
+ i2c_init();
+ return;
+ }
+ hal.delay_ms(1, NULL);
+ ms = hal.get_elapsed_ticks();
+ }
+}
+
+void HAL_FMPI2C_MemRxCpltCallback(FMPI2C_HandleTypeDef *hi2c)
+{
+ if(keypad_callback && keycode != 0) {
+ keypad_callback(keycode);
+ keypad_callback = NULL;
+ }
+}
+
+void HAL_FMPI2C_MasterRxCpltCallback(FMPI2C_HandleTypeDef *hi2c)
+{
+
+ if(keypad_callback && keycode != 0) {
+ keypad_callback(keycode);
+ keypad_callback = NULL;
+ }
+}
+
+void HAL_FMPI2C_MasterTxCpltCallback(FMPI2C_HandleTypeDef *hi2c)
+{
+ pendant_tx_active = 0;
+}
+
+void I2C_GetKeycode (uint32_t i2cAddr, keycode_callback_ptr callback)
+{
+ keycode = 0;
+ keypad_callback = callback;
+
+ HAL_FMPI2C_Master_Receive_IT(&i2c_port, i2cAddr << 1, &keycode, 1);
+}
+
+// called from stream drivers while tx is blocking, returns false to terminate
+
+#if 0
+bool flexi_stream_tx_blocking (void)
+{
+ // TODO: Restructure st_prep_buffer() calls to be executed here during a long print.
+
+ grbl.on_execute_realtime(state_get());
+
+ return !(sys.rt_exec_state & EXEC_RESET);
+}
+#endif
+
+void board_init (void)
+{
+//put new stuff here.
+
+
+}
+
+#endif
+
+
diff --git a/Src/i2c.c b/Src/i2c.c
index a495041b..8c27add4 100644
--- a/Src/i2c.c
+++ b/Src/i2c.c
@@ -24,6 +24,8 @@
#include "i2c.h"
#include "grbl/hal.h"
+#if !defined(BOARD_FLEXI_HAL)
+
#if KEYPAD_ENABLE == 1
#include "keypad/keypad.h"
#endif
@@ -253,3 +255,5 @@ TMC_spi_status_t tmc_spi_write (trinamic_motor_t driver, TMC_spi_datagram_t *reg
#endif // TRINAMIC_ENABLE && TRINAMIC_I2C
#endif // I2C_ENABLE
+
+#endif // Flexi_hal
\ No newline at end of file
diff --git a/platformio.ini b/platformio.ini
index 6266f798..2811cc0d 100644
--- a/platformio.ini
+++ b/platformio.ini
@@ -257,4 +257,19 @@ lib_deps = ${common.lib_deps}
lib_extra_dirs = ${common.lib_extra_dirs}
# Alternatively, place the .pio/build//firmware.bin on the NODE_F4xxRE drive
; change MCU frequency
-upload_protocol = dfu
+upload_protocol = dfu
+
+[env:f446re_flexi_cnc]
+board = genericSTM32F446RE
+; change microcontroller
+board_build.mcu = stm32f446ret6
+board_build.ldscript = FLEXI_STM32F446RETX_BL_FLASH.ld
+build_flags = ${common.build_flags}
+ -D HSE_VALUE=25000000
+ -D EEPROM_ENABLE=2
+ -D HAS_BOOTLOADER=1
+lib_deps = ${common.lib_deps}
+ eeprom
+lib_extra_dirs = ${common.lib_extra_dirs}
+# Alternatively, place the .pio/build//firmware.bin on the NODE_F4xxRE drive
+upload_protocol = stlink