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Serial RX count bug fix. Settings codes CSV. More documentation.

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- Reverted back the serial RX count function to how it was. The
variable type was unsigned and cause an integer underflow whenever the
calculation produced a negative number. The old way was the correct way.

- Lots of minor edits to the code CSVs and markdown documents.

- Expanded on explaining feedback messages and startup line execution
feedback.

- Created a new settings codes CSV to help GUIs import the values and
meanings.
This commit is contained in:
Sonny Jeon 2016-09-24 14:41:41 -06:00
parent e51e691eeb
commit c0f61e4aac
9 changed files with 207 additions and 201 deletions
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19
doc/csv/alarm_codes_en_US.csv
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1,Hard limit,Hard limit has been triggered. Machine position is likely lost due to sudden stop. Re-homing is highly recommended. (KEY: Alarm Code in v1.1+, Alarm Message in v1.0-, Alarm Description)
2,Soft limit,G-code motion target exceeds machine travel. Machine position safely retained. Alarm may be unlocked. 1,Hard limit,Hard limit has been triggered. Machine position is likely lost due to sudden halt. Re-homing is highly recommended.
3,Abort during cycle,Reset while in motion. Grbl cannot guarantee position. Lost steps are likely. Re-homing is highly recommended. 2,Soft limit,Soft limit alarm. G-code motion target exceeds machine travel. Machine position retained. Alarm may be safely unlocked.
4,Probe fail,If probe is not in the expected initial state before starting probe cycle when G38.2 and G38.3 is not triggered and G38.4 and G38.5 is triggered. 3,Abort during cycle,Reset while in motion. Machine position is likely lost due to sudden halt. Re-homing is highly recommended.
5,Probe fail,If the probe fails to contact the workpiece within the programmed travel for G38.2 and G38.4. 4,Probe fail,Probe fail. Probe is not in the expected initial state before starting probe cycle when G38.2 and G38.3 is not triggered and G38.4 and G38.5 is triggered.
6,Homing fail,If the active homing cycle was reset. 5,Probe fail,Probe fail. Probe did not contact the workpiece within the programmed travel for G38.2 and G38.4.
7,Homing fail,If the safety door was opened during homing cycle. 6,Homing fail,Homing fail. The active homing cycle was reset.
8,Homing fail,Pull off travel failed to clear limit switch. Try increasing pull-off setting or check wiring. 7,Homing fail,Homing fail. Safety door was opened during homing cycle.
9,Homing fail,Failed to find limit switch within travel. Defined as `1.5 * max_travel` on search and `5 * pulloff` on locate phases. 8,Homing fail,Homing fail. Pull off travel failed to clear limit switch. Try increasing pull-off setting or check wiring.
9,Homing fail,Homing fail. Could not find limit switch within search distances. Try increasing max travel, decreasing pull-off distance, or check wiring.

1 1 (KEY: Alarm Code in v1.1+, Alarm Message in v1.0-, Alarm Description) Hard limit Hard limit has been triggered. Machine position is likely lost due to sudden stop. Re-homing is highly recommended.
2 2 1,Hard limit,Hard limit has been triggered. Machine position is likely lost due to sudden halt. Re-homing is highly recommended. Soft limit G-code motion target exceeds machine travel. Machine position safely retained. Alarm may be unlocked.
3 3 2,Soft limit,Soft limit alarm. G-code motion target exceeds machine travel. Machine position retained. Alarm may be safely unlocked. Abort during cycle Reset while in motion. Grbl cannot guarantee position. Lost steps are likely. Re-homing is highly recommended.
4 4 3,Abort during cycle,Reset while in motion. Machine position is likely lost due to sudden halt. Re-homing is highly recommended. Probe fail If probe is not in the expected initial state before starting probe cycle when G38.2 and G38.3 is not triggered and G38.4 and G38.5 is triggered.
5 5 4,Probe fail,Probe fail. Probe is not in the expected initial state before starting probe cycle when G38.2 and G38.3 is not triggered and G38.4 and G38.5 is triggered. Probe fail If the probe fails to contact the workpiece within the programmed travel for G38.2 and G38.4.
6 6 5,Probe fail,Probe fail. Probe did not contact the workpiece within the programmed travel for G38.2 and G38.4. Homing fail If the active homing cycle was reset.
7 7 6,Homing fail,Homing fail. The active homing cycle was reset. Homing fail If the safety door was opened during homing cycle.
8 8 7,Homing fail,Homing fail. Safety door was opened during homing cycle. Homing fail Pull off travel failed to clear limit switch. Try increasing pull-off setting or check wiring.
9 9 8,Homing fail,Homing fail. Pull off travel failed to clear limit switch. Try increasing pull-off setting or check wiring. Homing fail Failed to find limit switch within travel. Defined as `1.5 * max_travel` on search and `5 * pulloff` on locate phases.
10 9,Homing fail,Homing fail. Could not find limit switch within search distances. Try increasing max travel, decreasing pull-off distance, or check wiring.

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doc/csv/error_codes_en_US.csv
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(KEY: Error Code in v1.1+ ,Error Message in v1.0-, Error Description)
1,Expected command letter,G-code words consist of a letter and a value. Letter was not found. 1,Expected command letter,G-code words consist of a letter and a value. Letter was not found.
2,Bad number format,Numeric value format is not valid or missing an expected value. 2,Bad number format,Missing the expected G-code word value or numeric value format is not valid.
3,Invalid statement,Grbl '$' system command was not recognized or supported. 3,Invalid statement,Grbl '$' system command was not recognized or supported.
4,Value < 0`,Negative value received for an expected positive value. 4,Value < 0,Negative value received for an expected positive value.
5,Setting disabled,Homing cycle is not enabled via settings. 5,Setting disabled,Homing cycle failure. Homing is not enabled via settings.
6,Value < 3 usec,Minimum step pulse time must be greater than 3usec. 6,Value < 3 usec,Minimum step pulse time must be greater than 3usec.
7,EEPROM read fail. Using defaults,EEPROM read failed. Reset and restored to default values. 7,EEPROM read fail. Using defaults,An EEPROM read failed. Auto-restoring affected EEPROM to default values.
8,Not idle,Grbl '$' command cannot be used unless Grbl is IDLE. Ensures smooth operation during a job. 8,Not idle,Grbl '$' command cannot be used unless Grbl is IDLE. Ensures smooth operation during a job.
9,G-code lock,G-code locked out during alarm or jog state. 9,G-code lock,G-code commands are locked out during alarm or jog state.
10,Homing not enabled,Soft limits cannot be enabled without homing also enabled. 10,Homing not enabled,Soft limits cannot be enabled without homing also enabled.
11,Line overflow,Max characters per line exceeded. Line was not processed and executed. 11,Line overflow,Max characters per line exceeded. Received command line was not executed.
12,Step rate > 30kHz,Grbl '$' setting value exceeds the maximum step rate supported. 12,Step rate > 30kHz,Grbl '$' setting value cause the step rate to exceed the maximum supported.
13,Check Door,Safety door detected as opened and door state initiated. 13,Check Door,Safety door detected as opened and door state initiated.
14,Line length exceeded,Build info or startup line exceeded EEPROM line length limit. 14,Line length exceeded,Build info or startup line exceeded EEPROM line length limit. Line not stored.
15,Travel exceeded,Jog target exceeds machine travel. Command ignored. 15,Travel exceeded,Jog target exceeds machine travel. Jog command has been ignored.
16,Invalid jog command,Jog command with no '=' or contains prohibited g-code. 16,Invalid jog command,Jog command has no '=' or contains prohibited g-code.
20,Unsupported command,Unsupported or invalid g-code command found in block. 20,Unsupported command,Unsupported or invalid g-code command found in block.
21,Modal group violation,More than one g-code command from same modal group found in block. 21,Modal group violation,More than one g-code command from same modal group found in block.
22,Undefined feed rate,Feed rate has not yet been set or is undefined. 22,Undefined feed rate,Feed rate has not yet been set or is undefined.
23,Invalid gcode ID:23,G-code command in block requires an integer value. 23,Invalid gcode ID:23,G-code command in block requires an integer value.
24,Invalid gcode ID:24,More than one g-code command that requires axis words found in block. 24,Invalid gcode ID:24,More than one g-code command that requires axis words found in block.
25,Invalid gcode ID:25,Repeated g-code word found in block. 25,Invalid gcode ID:25,Repeated g-code word found in block.
26,Invalid gcode ID:26,No axis words found in block for g-code command or mode which requires them. 26,Invalid gcode ID:26,No axis words found in block for g-code command or current modal state which requires them.
27,Invalid gcode ID:27,Line number value is invalid. 27,Invalid gcode ID:27,Line number value is invalid.
28,Invalid gcode ID:28,G-code command is missing a required value word. 28,Invalid gcode ID:28,G-code command is missing a required value word.
29,Invalid gcode ID:29,Work coordinate system commanded not supported. 29,Invalid gcode ID:29,G59.x work coordinate systems are not supported.
30,Invalid gcode ID:30,G53 only allowed during G0 and G1 motion modes. 30,Invalid gcode ID:30,G53 only allowed with G0 and G1 motion modes.
31,Invalid gcode ID:31,Axis words found in block while no command uses them. 31,Invalid gcode ID:31,Axis words found in block when no command or current modal state uses them.
32,Invalid gcode ID:32,G2/3 arcs require at least one in-plane axis word. 32,Invalid gcode ID:32,G2 and G3 arcs require at least one in-plane axis word.
33,Invalid gcode ID:33,Motion command target is invalid. 33,Invalid gcode ID:33,Motion command target is invalid.
34,Invalid gcode ID:34,Arc radius value is invalid. 34,Invalid gcode ID:34,Arc radius value is invalid.
35,Invalid gcode ID:35,G2/3 arcs require at least one in-plane offset word. 35,Invalid gcode ID:35,G2 and G3 arcs require at least one in-plane offset word.
36,Invalid gcode ID:36,Unused value words found in block. 36,Invalid gcode ID:36,Unused value words found in block.
37,Invalid gcode ID:37,G43.1 dynamic tool length offset assigned to wrong axis. 37,Invalid gcode ID:37,G43.1 dynamic tool length offset is not assigned to configured tool length axis.

1 1 (KEY: Error Code in v1.1+ Expected command letter Error Message in v1.0- G-code words consist of a letter and a value. Letter was not found. Error Description)
1 (KEY: Error Code in v1.1+ Error Message in v1.0- Error Description)
2 1 1 Expected command letter Expected command letter G-code words consist of a letter and a value. Letter was not found. G-code words consist of a letter and a value. Letter was not found.
3 2 2 Bad number format Bad number format Numeric value format is not valid or missing an expected value. Missing the expected G-code word value or numeric value format is not valid.
4 3 3 Invalid statement Invalid statement Grbl '$' system command was not recognized or supported. Grbl '$' system command was not recognized or supported.
5 4 4 Value < 0` Value < 0 Negative value received for an expected positive value. Negative value received for an expected positive value.
6 5 5 Setting disabled Setting disabled Homing cycle is not enabled via settings. Homing cycle failure. Homing is not enabled via settings.
7 6 6 Value < 3 usec Value < 3 usec Minimum step pulse time must be greater than 3usec. Minimum step pulse time must be greater than 3usec.
8 7 7 EEPROM read fail. Using defaults EEPROM read fail. Using defaults EEPROM read failed. Reset and restored to default values. An EEPROM read failed. Auto-restoring affected EEPROM to default values.
9 8 8 Not idle Not idle Grbl '$' command cannot be used unless Grbl is IDLE. Ensures smooth operation during a job. Grbl '$' command cannot be used unless Grbl is IDLE. Ensures smooth operation during a job.
10 9 9 G-code lock G-code lock G-code locked out during alarm or jog state. G-code commands are locked out during alarm or jog state.
11 10 10 Homing not enabled Homing not enabled Soft limits cannot be enabled without homing also enabled. Soft limits cannot be enabled without homing also enabled.
12 11 11 Line overflow Line overflow Max characters per line exceeded. Line was not processed and executed. Max characters per line exceeded. Received command line was not executed.
13 12 12 Step rate > 30kHz Step rate > 30kHz Grbl '$' setting value exceeds the maximum step rate supported. Grbl '$' setting value cause the step rate to exceed the maximum supported.
14 13 13 Check Door Check Door Safety door detected as opened and door state initiated. Safety door detected as opened and door state initiated.
15 14 14 Line length exceeded Line length exceeded Build info or startup line exceeded EEPROM line length limit. Build info or startup line exceeded EEPROM line length limit. Line not stored.
16 15 15 Travel exceeded Travel exceeded Jog target exceeds machine travel. Command ignored. Jog target exceeds machine travel. Jog command has been ignored.
17 16 16 Invalid jog command Invalid jog command Jog command with no '=' or contains prohibited g-code. Jog command has no '=' or contains prohibited g-code.
18 20 20 Unsupported command Unsupported command Unsupported or invalid g-code command found in block. Unsupported or invalid g-code command found in block.
19 21 21 Modal group violation Modal group violation More than one g-code command from same modal group found in block. More than one g-code command from same modal group found in block.
20 22 22 Undefined feed rate Undefined feed rate Feed rate has not yet been set or is undefined. Feed rate has not yet been set or is undefined.
21 23 23 Invalid gcode ID:23 Invalid gcode ID:23 G-code command in block requires an integer value. G-code command in block requires an integer value.
22 24 24 Invalid gcode ID:24 Invalid gcode ID:24 More than one g-code command that requires axis words found in block. More than one g-code command that requires axis words found in block.
23 25 25 Invalid gcode ID:25 Invalid gcode ID:25 Repeated g-code word found in block. Repeated g-code word found in block.
24 26 26 Invalid gcode ID:26 Invalid gcode ID:26 No axis words found in block for g-code command or mode which requires them. No axis words found in block for g-code command or current modal state which requires them.
25 27 27 Invalid gcode ID:27 Invalid gcode ID:27 Line number value is invalid. Line number value is invalid.
26 28 28 Invalid gcode ID:28 Invalid gcode ID:28 G-code command is missing a required value word. G-code command is missing a required value word.
27 29 29 Invalid gcode ID:29 Invalid gcode ID:29 Work coordinate system commanded not supported. G59.x work coordinate systems are not supported.
28 30 30 Invalid gcode ID:30 Invalid gcode ID:30 G53 only allowed during G0 and G1 motion modes. G53 only allowed with G0 and G1 motion modes.
29 31 31 Invalid gcode ID:31 Invalid gcode ID:31 Axis words found in block while no command uses them. Axis words found in block when no command or current modal state uses them.
30 32 32 Invalid gcode ID:32 Invalid gcode ID:32 G2/3 arcs require at least one in-plane axis word. G2 and G3 arcs require at least one in-plane axis word.
31 33 33 Invalid gcode ID:33 Invalid gcode ID:33 Motion command target is invalid. Motion command target is invalid.
32 34 34 Invalid gcode ID:34 Invalid gcode ID:34 Arc radius value is invalid. Arc radius value is invalid.
33 35 35 Invalid gcode ID:35 Invalid gcode ID:35 G2/3 arcs require at least one in-plane offset word. G2 and G3 arcs require at least one in-plane offset word.
34 36 36 Invalid gcode ID:36 Invalid gcode ID:36 Unused value words found in block. Unused value words found in block.
35 37 37 Invalid gcode ID:37 Invalid gcode ID:37 G43.1 dynamic tool length offset assigned to wrong axis. G43.1 dynamic tool length offset is not assigned to configured tool length axis.

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doc/csv/setting_codes_en_US.csv Normal file
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(KEY: $-Code, Setting, Units, Setting Description)
0,Step pulse time,microseconds,Sets time length per step. Minimum 3usec.
1,Step idle delay,milliseconds,Sets a short hold delay when stopping to let dynamics settle before disabling steppers. Value 255 keeps motors enabled with no delay.
2,Step pulse invert,mask,Inverts the step signal. Set axis bit to invert (00000ZYX).
3,Step direction invert,mask,Inverts the direction signal. Set axis bit to invert (00000ZYX).
4,Invert step enable pin,boolean,Inverts the stepper driver enable pin signal.
5,Invert limit pins,boolean,Inverts the all of the limit input pins.
6,Invert probe pin,boolean,Inverts the probe input pin signal.
10,Status report options,mask,Alters data included in status reports.
11,Junction deviation,millimeters,Sets how fast Grbl travels through consecutive motions. Lower value slows it down.
12,Arc tolerance,millimeters,Sets the G2 and G3 arc tracing accuracy based on radial error. Beware: A very small value may effect performance.
13,Report in inches,boolean,Enables inch units when returning any position and rate value that is not a settings value.
20,Soft limits enable,boolean,Enables soft limits checks within machine travel and sets alarm when exceeded. Requires homing.
21,Hard limits enable,boolean,Enables hard limits. Immediately halts motion and throws an alarm when switch is triggered.
22,Homing cycle enable,boolean,Enables homing cycle. Requires limit switches on all axes.
23,Homing direction invert,mask,Homing searches for a switch in the positive direction. Set axis bit (00000ZYX) to search in negative direction.
24,Homing locate feed rate,mm/min,Feed rate to slowly engage limit switch to determine its location accurately.
25,Homing search seek rate,mm/min,Seek rate to quickly find the limit switch before the slower locating phase.
26,Homing switch debounce delay,milliseconds,Sets a short delay between phases of homing cycle to let a switch debounce.
27,Homing switch pull-off distance,millimeters,Retract distance after triggering switch to disengage it. Homing will fail if switch isn't cleared.
30,Maximum spindle speed,RPM,Maximum spindle speed. Sets PWM to 100% duty cycle.
31,Minimum spindle speed,RPM,Minimum spindle speed. Sets PWM to 0.4% or lowest duty cycle.
32,Laser-mode enable,boolean,Enables laser mode. Consecutive G1/2/3 commands will not halt when spindle speed is changed.
100,X-axis travel resolution,step/mm,X-axis travel resolution in steps per millimeter.
101,Y-axis travel resolution,step/mm,Y-axis travel resolution in steps per millimeter.
102,Z-axis travel resolution,step/mm,Z-axis travel resolution in steps per millimeter.
110,X-axis maximum rate,mm/min,X-axis maximum rate. Used as G0 rapid rate.
111,Y-axis maximum rate,mm/min,Y-axis maximum rate. Used as G0 rapid rate.
112,Z-axis maximum rate,mm/min,Z-axis maximum rate. Used as G0 rapid rate.
120,X-axis acceleration,mm/sec^2,X-axis acceleration. Used for motion planning to not exceed motor torque and lose steps.
121,Y-axis acceleration,mm/sec^2,Y-axis acceleration. Used for motion planning to not exceed motor torque and lose steps.
122,Z-axis acceleration,mm/sec^2,Z-axis acceleration. Used for motion planning to not exceed motor torque and lose steps.
130,X-axis maximum travel,millimeters,Maximum X-axis travel distance from homing switch. Determines valid machine space for soft-limits and homing search distances.
131,Y-axis maximum travel,millimeters,Maximum Y-axis travel distance from homing switch. Determines valid machine space for soft-limits and homing search distances.
132,Z-axis maximum travel,millimeters,Maximum Z-axis travel distance from homing switch. Determines valid machine space for soft-limits and homing search distances.
1 (KEY: $-Code Setting Units Setting Description)
2 0 Step pulse time microseconds Sets time length per step. Minimum 3usec.
3 1 Step idle delay milliseconds Sets a short hold delay when stopping to let dynamics settle before disabling steppers. Value 255 keeps motors enabled with no delay.
4 2 Step pulse invert mask Inverts the step signal. Set axis bit to invert (00000ZYX).
5 3 Step direction invert mask Inverts the direction signal. Set axis bit to invert (00000ZYX).
6 4 Invert step enable pin boolean Inverts the stepper driver enable pin signal.
7 5 Invert limit pins boolean Inverts the all of the limit input pins.
8 6 Invert probe pin boolean Inverts the probe input pin signal.
9 10 Status report options mask Alters data included in status reports.
10 11 Junction deviation millimeters Sets how fast Grbl travels through consecutive motions. Lower value slows it down.
11 12 Arc tolerance millimeters Sets the G2 and G3 arc tracing accuracy based on radial error. Beware: A very small value may effect performance.
12 13 Report in inches boolean Enables inch units when returning any position and rate value that is not a settings value.
13 20 Soft limits enable boolean Enables soft limits checks within machine travel and sets alarm when exceeded. Requires homing.
14 21 Hard limits enable boolean Enables hard limits. Immediately halts motion and throws an alarm when switch is triggered.
15 22 Homing cycle enable boolean Enables homing cycle. Requires limit switches on all axes.
16 23 Homing direction invert mask Homing searches for a switch in the positive direction. Set axis bit (00000ZYX) to search in negative direction.
17 24 Homing locate feed rate mm/min Feed rate to slowly engage limit switch to determine its location accurately.
18 25 Homing search seek rate mm/min Seek rate to quickly find the limit switch before the slower locating phase.
19 26 Homing switch debounce delay milliseconds Sets a short delay between phases of homing cycle to let a switch debounce.
20 27 Homing switch pull-off distance millimeters Retract distance after triggering switch to disengage it. Homing will fail if switch isn't cleared.
21 30 Maximum spindle speed RPM Maximum spindle speed. Sets PWM to 100% duty cycle.
22 31 Minimum spindle speed RPM Minimum spindle speed. Sets PWM to 0.4% or lowest duty cycle.
23 32 Laser-mode enable boolean Enables laser mode. Consecutive G1/2/3 commands will not halt when spindle speed is changed.
24 100 X-axis travel resolution step/mm X-axis travel resolution in steps per millimeter.
25 101 Y-axis travel resolution step/mm Y-axis travel resolution in steps per millimeter.
26 102 Z-axis travel resolution step/mm Z-axis travel resolution in steps per millimeter.
27 110 X-axis maximum rate mm/min X-axis maximum rate. Used as G0 rapid rate.
28 111 Y-axis maximum rate mm/min Y-axis maximum rate. Used as G0 rapid rate.
29 112 Z-axis maximum rate mm/min Z-axis maximum rate. Used as G0 rapid rate.
30 120 X-axis acceleration mm/sec^2 X-axis acceleration. Used for motion planning to not exceed motor torque and lose steps.
31 121 Y-axis acceleration mm/sec^2 Y-axis acceleration. Used for motion planning to not exceed motor torque and lose steps.
32 122 Z-axis acceleration mm/sec^2 Z-axis acceleration. Used for motion planning to not exceed motor torque and lose steps.
33 130 X-axis maximum travel millimeters Maximum X-axis travel distance from homing switch. Determines valid machine space for soft-limits and homing search distances.
34 131 Y-axis maximum travel millimeters Maximum Y-axis travel distance from homing switch. Determines valid machine space for soft-limits and homing search distances.
35 132 Z-axis maximum travel millimeters Maximum Z-axis travel distance from homing switch. Determines valid machine space for soft-limits and homing search distances.

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doc/log/commit_log_v1.1.txt
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----------------
Date: 2016-09-22
Author: Sonny Jeon
Subject: Increment to v1.1a, minor compile bug fix, tweaked communication protocol, more docs.
- Incremented to v1.1a, rather than keep 1.0e. This is because there
are existing v1.0 installations. Don’t want to confuse people further.
- Certain version of the Arduino IDE did not like the `inline` in the
function header. Removed from spindle_control files to fix the problem.
- Tweaked the communication protocol slightly. Added message type
indicators for all `[]`bracketed feedback messages. It’s been
problematic for GUI dev to try to determine the context of a message
and how it should be handled. These indictors should help tremendously
to remove context all together.
- Also altered how `$N` startup lines are presented when executed. They
now start with an open chevron ‘>’ followed by the line and an ‘:ok’ to
indicate it executed. The ‘ok’ is on the same line intentionally so it
doesn’t mess up a streaming protocol counter.
- Managed to save a 100+KB from refactoring parts of report.c. (Thanks
Vasilis!) Freed up room to alter the protocol a little.
- Wrote a markdown document on interface messaging to make it clear how
it’s intended to work. See interface.md in /doc/markdown
- Started to pull in some Wiki pages from the old grbl site and
beginning to update them for v1.1.
- Created new commit log for v1.1.
---------------- ----------------
Date: 2016-09-22 Date: 2016-09-22
Author: Sonny Jeon Author: Sonny Jeon

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doc/markdown/report.md → doc/markdown/change_summary.md
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### _Grbl v1.0 Realtime Status Reports_ (Rev. 3) ### _Grbl v1.1 - Change Summary_
-------- --------
#### Summary of Changes from Grbl v0.9 Reports ### _Specific details are available in the interface.md document._
--------
#### GUI Interface Tweaks from Grbl v0.9
Grbl v1.1's interface protocol has been tweaked in the attempt to make GUI development cleaner, clearer, and hopefully easier. All messages are designed to be deterministic without needing to know the context of the message. Each can be inferred to a much greater degree than before just by the message type, which are all listed below.
- `ok` / `error:x` : Normal send command and execution response acknowledgement. Used for streaming.
- `< >` : Enclosed chevrons contains status report data.
- `Grbl vX.Xx ['$' for help]` : Welcome message indicates initialization.
- `ALARM:x` : Indicates an alarm has been thrown. Grbl is now in an alarm state.
- `$x=val` and `$Nx=line` indicate a settings printout from a `$` and `$N` user query, respectively.
- `[MSG:]` : Indicates a non-queried feedback message.
- `[GC:]` : Indicates a queried `$G` g-code state message.
- `[HLP:]` : Indicates the help message.
- `[G54:]`, `[G55:]`, `[G56:]`, `[G57:]`, `[G58:]`, `[G59:]`, `[G28:]`, `[G30:]`, `[G92:]`, `[TLO:]`, and `[PRB:]` messages indicate the parameter data printout from a `$#` user query.
- `[VER:]` : Indicates build info and string from a `$I` user query.
- `[echo:]` : Indicates an automated line echo from a pre-parsed string prior to g-code parsing. Enabled by config.h option.
- `>G54G20:ok` : The open chevron indicates startup line execution. The `:ok` suffix shows it executed correctly without adding an unmatched `ok` response on a new line.
On a final note, this interface tweak came about out of necessity, as more data is being sent back from Grbl and it is capable of doing many more things. It's not intended to be altered again in the near future, if at all. This is likely the only and last major change to this. If you have any comments or suggestions before Grbl v1.1 goes to master, please do immediately so we can all vet the new alteration before its installed.
----
#### Realtime Status Reports Changes from Grbl v0.9
- Intent of changes is to make parsing cleaner, reduce transmitting overhead without effecting overall Grbl performance, and add more feedback data, which includes three new override values and real-time velocity. - Intent of changes is to make parsing cleaner, reduce transmitting overhead without effecting overall Grbl performance, and add more feedback data, which includes three new override values and real-time velocity.
@ -22,7 +57,7 @@
- Basically, a GUI just needs to retain the last `WCO:` and apply the equation to get the other position vector. - Basically, a GUI just needs to retain the last `WCO:` and apply the equation to get the other position vector.
- `WCO:` messages may only be disabled via a config.h compile-option, if a GUI wants to handle the work position calculations on its own to free up more transmit bandwidth. - `WCO:` messages may only be disabled via a config.h compile-option, if a GUI wants to handle the work position calculations on its own to free up more transmit bandwidth.
- Be aware of the following issue regarding `WPos:`. - Be aware of the following issue regarding `WPos:`.
- In Grbl v0.9 and prior, there is an old outstanding bug where the `WPos:` work position reported may not correlate to what is executing, because `WPos:` is based on the g-code parser state, which can be several motions behind. Grbl v1.0 now forces the planner buffer to empty, sync, and stops motion whenever there is a command that alters the work coordinate offsets `G10,G43.1,G92,G54-59`. This is the simplest way to ensure `WPos:` is always correct. Fortunately, it's exceedingly rare that any of these commands are used need continuous motions through them. - In Grbl v0.9 and prior, there is an old outstanding bug where the `WPos:` work position reported may not correlate to what is executing, because `WPos:` is based on the g-code parser state, which can be several motions behind. Grbl v1.1 now forces the planner buffer to empty, sync, and stops motion whenever there is a command that alters the work coordinate offsets `G10,G43.1,G92,G54-59`. This is the simplest way to ensure `WPos:` is always correct. Fortunately, it's exceedingly rare that any of these commands are used need continuous motions through them.
- A compile-time option is available to disable the planner sync and forced stop, but, if used, it's up to the GUI to handle this position correlation issue. - A compile-time option is available to disable the planner sync and forced stop, but, if used, it's up to the GUI to handle this position correlation issue.
@ -55,6 +90,4 @@
- Grbl is performing a system motion like homing, jogging, or parking. - Grbl is performing a system motion like homing, jogging, or parking.
- Grbl is executing g-code block that does not contain a motion, like `G20G54` or `G4P1` dwell. (NOTE: Looking to fixing this later.) - Grbl is executing g-code block that does not contain a motion, like `G20G54` or `G4P1` dwell. (NOTE: Looking to fixing this later.)
- See the interface markdown document for details on the new status report.
------- -------

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doc/markdown/error_codes.md
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## Meanings of Grbl messages and error/alarm codes
#### _'error:' Codes_
Format - `(v1.0)` `:` `(v0.9)` - `Description`
- `error:1` : `error: Expected command letter` - G-code words consist of a letter and a value. Letter was not found.
- `error:2` : `error: Bad number format` - Numeric value format is not valid or missing an expected value.
- `error:3` : `error: Invalid statement` - Grbl '$' system command was not recognized or supported
- `error:4` : `error: Value < 0` - Negative value received for an expected positive value.
- `error:5` : `error: Setting disabled` - Homing cycle is not enabled via settings.
- `error:6` : `error: Value < 3 usec` - Minimum step pulse time must be greater than 3usec
- `error:7` : `error: EEPROM read fail. Using defaults` - EEPROM read failed. Reset and restored to default values.
- `error:8` : `error: Not idle` - Grbl '$' command cannot be used unless Grbl is IDLE. Ensures smooth operation during a job.
- `error:9` : `error: G-code lock` - G-code locked out during alarm or jog state
- `error:10` : `error: Homing not enabled` - Soft limits cannot be enabled without homing also enabled.
- `error:11` : `error: Line overflow` - Max characters per line exceeded. Line was not processed and executed.
- `error:12` : `error: Step rate > 30kHz`* - Grbl '$' setting value exceeds the maximum step rate supported.
- `error:13` : `error: Check Door` - Safety door detected as opened and door state initiated.
- `error:14` : `error: Line length exceeded` - (Grbl-Mega Only) Build info or startup line exceeded EEPROM line length limit.
- `error:15` : `error: Travel exceeded` - Jog target exceeds machine travel. Command ignored.
- `error:16` : `error: Invalid jog command` - Jog command with no '=' or contains prohibited g-code.
- `error:20` : `error: Unsupported command` - Unsupported or invalid g-code command found in block.
- `error:21` : `error: Modal group violation` - More than one g-code command from same modal group found in block.
- `error:22` : `error: Undefined feed rate` - Feed rate has not yet been set or is undefined.
- `error:23` : `error: Invalid gcode ID:23` - G-code command in block requires an integer value.
- `error:24` : `error: Invalid gcode ID:24` - More than one g-code command that requires axis words found in block.
- `error:25` : `error: Invalid gcode ID:25` - Repeated g-code word found in block.
- `error:26` : `error: Invalid gcode ID:26` - No axis words found in block for g-code command or mode which requires them.
- `error:27` : `error: Invalid gcode ID:27` - Line number value is invalid
- `error:28` : `error: Invalid gcode ID:28` - G-code command is missing a required value word.
- `error:29` : `error: Invalid gcode ID:29` - Work coordinate system commanded not supported.
- `error:30` : `error: Invalid gcode ID:30` - G53 only allowed during G0 and G1 motion modes.
- `error:31` : `error: Invalid gcode ID:31` - Axis words found in block while no command uses them.
- `error:32` : `error: Invalid gcode ID:32` - G2/3 arcs require at least one in-plane axis word.
- `error:33` : `error: Invalid gcode ID:33` - Motion command target is invalid.
- `error:34` : `error: Invalid gcode ID:34` - Arc radius value is invalid.
- `error:35` : `error: Invalid gcode ID:35` - G2/3 arcs require at least one in-plane offset word.
- `error:36` : `error: Invalid gcode ID:36` - Unused value words found in block.
- `error:37` : `error: Invalid gcode ID:37` - G43.1 dynamic tool length offset assigned to wrong axis.
`*` indicates feedback enabled only by compile-time option.
-----
#### 'Alarm:' Codes
Format - `(v1.0)` `:` `(v0.9)` - `Description`
- `ALARM:1` : `ALARM: Hard limit` - Hard limit has been triggered. Machine position is likely lost due to sudden stop. Re-homing is highly recommended.
`
- `ALARM:2` : `ALARM: Soft limit` - G-code motion target exceeds machine travel. Machine position safely retained. Alarm may be unlocked.
- `ALARM:3` : `ALARM: Abort during cycle` - Reset while in motion. Grbl cannot guarantee position. Lost steps are likely. Re-homing is highly recommended.
- `ALARM:4` : `ALARM: Probe fail` - If probe is not in the expected initial state before starting probe cycle, where G38.2 and G38.3 is not triggered and G38.4 and G38.5 is triggered.
- `ALARM:5` : `ALARM: Probe fail` - If the probe fails to contact the workpiece within the programmed travel for G38.2 and G38.4.
- `ALARM:6` : `ALARM: Homing fail` - If the active homing cycle was reset.
- `ALARM:7` : `ALARM: Homing fail` - If the safety door was opened during homing cycle.
- `ALARM:8` : `ALARM: Homing fail` - Pull off travel failed to clear limit switch. Try increasing pull-off setting or check wiring.
- `ALARM:9` : `ALARM: Homing fail` - Failed to find limit switch within travel. Defined as `1.5 * max_travel` on search and `5 * pulloff` on locate phases.
-----
#### Message Descriptions
Format - `Message` - `Description`
- `[MSG:Reset to continue]` - Critical event message. Reset is required before Grbl accepts any other commands. This prevents ongoing command streaming and risking a motion before the alarm is acknowledged. Hard or soft limit errors will trigger this event.
- `[MSG:‘$H’|’$X’ to unlock]`- Alarm message at initialization. All g-code commands and some ‘$’ are blocked until unlocked via homing or $X.
- `[MSG:Caution: Unlocked]` - Alarm unlock $X acknowledgement.
- `[MSG:Enabled]` - Indicates Grbl’s check-mode is enabled.
- `[MSG:Disabled]` - Indicates Grbl’s check-mode is disabled. Grbl is automatically reset afterwards.
- `[MSG:Check Door]` - Safety door detected as open. This message appears either immediately upon a safety door ajar or if the safety is open when Grbl initializes after a power-up/reset.
- `[MSG:Check Limits]` - If Grbl detects a limit switch is triggered after power-up/reset and hard limits are enabled, this will appear as a courtesy message.
- `[MSG:Pgm End]` - M2/30 program end message to denote g-code modes have been restored to defaults according to the M2/30 g-code description.
- `[MSG:Restoring defaults]` - Acknowledgement message when restoring EEPROM defaults via a `$RST=` command.

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# Grbl Interface Basics # Grbl Interface Basics
The interface for Grbl is fairly simple and straightforward. With Grbl v1.0, steps have been taken to try to make it even easier for new users to get started, and for GUI developers to write their own custom interfaces to Grbl. The interface for Grbl is fairly simple and straightforward. With Grbl v1.1, steps have been taken to try to make it even easier for new users to get started, and for GUI developers to write their own custom interfaces to Grbl.
In short, Grbl communicates through the serial interface on the Arduino. You just need to connect your Arduino to your computer with a USB cable. Use any standard serial terminal program to connect to Grbl, such as: the Arduino IDE serial monitor, Coolterm, puTTY, etc. Or use one of the many great Grbl GUIs out there in the Internet wild. In short, Grbl communicates through the serial interface on the Arduino. You just need to connect your Arduino to your computer with a USB cable. Use any standard serial terminal program to connect to Grbl, such as: the Arduino IDE serial monitor, Coolterm, puTTY, etc. Or use one of the many great Grbl GUIs out there in the Internet wild.
@ -26,7 +26,7 @@ Every string Grbl receives is assumed to be a G-code block/line for it to execut
[HLP:$$ $# $G $I $N $x=val $Nx=line $J=line $C $X $H ~ ! ? ctrl-x] [HLP:$$ $# $G $I $N $x=val $Nx=line $J=line $C $X $H ~ ! ? ctrl-x]
``` ```
- _**NOTE:** Grbl v1.0's new override real-time commands are not included in the help message. They use the extended-ASCII character set, which are not easily type-able, and require a GUI that supports them. This is for two reasons: Establish enough characters for all of the overrides with extra for later growth, and prevent accidental keystrokes or characters in a g-code file from enacting an override inadvertently. _ - _**NOTE:** Grbl v1.1's new override real-time commands are not included in the help message. They use the extended-ASCII character set, which are not easily type-able, and require a GUI that supports them. This is for two reasons: Establish enough characters for all of the overrides with extra for later growth, and prevent accidental keystrokes or characters in a g-code file from enacting an override inadvertently. _
* Check out our [Configuring Grbl](https://github.com/grbl/grbl/wiki/Configuring-Grbl-v0.9) wiki page to find out what all of these commands mean and how to use them. * Check out our [Configuring Grbl](https://github.com/grbl/grbl/wiki/Configuring-Grbl-v0.9) wiki page to find out what all of these commands mean and how to use them.
@ -86,7 +86,7 @@ Every G-code block sent to Grbl and Grbl `$` system command that is terminated w
# Grbl Push Messages # Grbl Push Messages
Along with the response message to indicate successfully executing a line command sent to Grbl, Grbl provides additional push messages for important feedback of its current state or if something went horribly wrong. These messages are "pushed" from Grbl and may appear at anytime. They are usually in response to a user query or some system event that Grbl needs to tell you about immediately. These push messages are organized into four general classes: Along with the response message to indicate successfully executing a line command sent to Grbl, Grbl provides additional push messages for important feedback of its current state or if something went horribly wrong. These messages are "pushed" from Grbl and may appear at anytime. They are usually in response to a user query or some system event that Grbl needs to tell you about immediately. These push messages are organized into five general classes:
- **_ALARM messages_** - Means an emergency mode has been enacted and shut down normal use. - **_ALARM messages_** - Means an emergency mode has been enacted and shut down normal use.
@ -94,8 +94,11 @@ Along with the response message to indicate successfully executing a line comman
- **_Feedback messages_** - Contains general feedback and can provide useful data. - **_Feedback messages_** - Contains general feedback and can provide useful data.
- **_Startup line execution_** - Indicates a startup line as executed with the line itself and how it went.
- **_Real-time status reports_** - Contains current run data like state, position, and speed. - **_Real-time status reports_** - Contains current run data like state, position, and speed.
------ ------
#### Alarm Message #### Alarm Message
@ -124,9 +127,9 @@ When a push message starts with a `$`, this indicates Grbl is sending a setting
- `$x=val` will only appear when the user queries to print all of Grbl's settings via the `$$` print settings command. It does so sequentially and completes with an `ok`. - `$x=val` will only appear when the user queries to print all of Grbl's settings via the `$$` print settings command. It does so sequentially and completes with an `ok`.
- In prior versions of Grbl, the `$` settings included a short description of the setting immediately after the value. However, due to flash restrictions, most human-readable strings were removed to free up flash for the new override features in Grbl v1.0. In short, it was these strings or overrides, and overrides won. Keep in mind that once these values are set, they usually don't change, and GUIs will likely provide the assistance of translating these codes for users. - In prior versions of Grbl, the `$` settings included a short description of the setting immediately after the value. However, due to flash restrictions, most human-readable strings were removed to free up flash for the new override features in Grbl v1.1. In short, it was these strings or overrides, and overrides won. Keep in mind that once these values are set, they usually don't change, and GUIs will likely provide the assistance of translating these codes for users.
- _**NOTE for GUI developers:** As with the error and alarm codes, settings codes are available in an easy to parse CSV file in the `/doc/csv` folder. These are continually updated._ - _**NOTE for GUI developers:**_ _As with the error and alarm codes, settings codes are available in an easy to parse CSV file in the `/doc/csv` folder. These are continually updated._
- The `$$` settings print out is shown below and the following describes each setting. - The `$$` settings print out is shown below and the following describes each setting.
@ -222,35 +225,46 @@ ok
Feedback messages provide non-critical information on what Grbl is doing, what it needs, and/or provide some non-real-time data for the user when queried. Not too complicated. Feedback message are always enclosed in `[]` brackets, except for the startup line execution message which begins with an open chevron character `>`. Feedback messages provide non-critical information on what Grbl is doing, what it needs, and/or provide some non-real-time data for the user when queried. Not too complicated. Feedback message are always enclosed in `[]` brackets, except for the startup line execution message which begins with an open chevron character `>`.
- **Non-Queried Feedback Messages:** These feedback messages that may appear at any time and is not part of a query are listed and described below. These always start with a `[MSG:` to denote their type. - **Non-Queried Feedback Messages:** These feedback messages that may appear at any time and is not part of a query are listed and described below. They are usually sent as an additional helpful acknowledgement of some event or command executed. These always start with a `[MSG:` to denote their type.
- `[MSG:Reset to continue]` - Critical event message. Reset is required before Grbl accepts any other commands. This prevents ongoing command streaming and risking a motion before the alarm is acknowledged. Hard or soft limit errors will trigger this event. - `[MSG:Reset to continue]` - Critical event message. Reset is required before Grbl accepts any other commands. This prevents ongoing command streaming and risking a motion before the alarm is acknowledged. Only hard or soft limit errors send this message immediately after the ALARM:x code.
- `[MSG:‘$H’|’$X’ to unlock]`- Alarm message at initialization. All g-code commands and some ‘$’ are blocked until unlocked via homing or $X. - `[MSG:‘$H’|’$X’ to unlock]`- Alarm state is active at initialization. This message serves as a reminder note on how to cancel the alarm state. All g-code commands and some ‘$’ are blocked until the alarm state is cancelled via homing `$H` or unlocking `$X`. Only appears immediately after the `Grbl` welcome message when initialized with an alarm. Startup lines are not executed at initialization if this message is present and the alarm is active.
- `[MSG:Caution: Unlocked]` - Alarm unlock $X acknowledgement. - `[MSG:Caution: Unlocked]` - Appears as an alarm unlock `$X` acknowledgement. An 'ok' still appears immediately after to denote the `$X` was parsed and executed. This message reminds the user that Grbl is operating under an unlock state, where startup lines have still not be executed and should be cautious and mindful of what they do. Grbl may not have retained machine position due to an alarm suddenly halting the machine. A reset or re-homing Grbl is highly recommended as soon as possible, where any startup lines will be properly executed.
- `[MSG:Enabled]` - Indicates Grbl’s check-mode is enabled. - `[MSG:Enabled]` - Appears as a check-mode `$C` enabled acknowledgement. An 'ok' still appears immediately after to denote the `$C` was parsed and executed.
- `[MSG:Disabled]` - Indicates Grbl’s check-mode is disabled. Grbl is automatically reset afterwards. - `[MSG:Disabled]` - Appears as a check-mode `$C` disabled acknowledgement. An 'ok' still appears immediately after to denote the `$C` was parsed and executed. Grbl is automatically reset afterwards to restore all default g-code parser states changed by the check-mode.
- `[MSG:Check Door]` - Safety door detected as open. This message appears either immediately upon a safety door ajar or if the safety is open when Grbl initializes after a power-up/reset. - `[MSG:Check Door]` - This message appears whenever the safety door detected as open. This includes immediately upon a safety door switch detects a pin change or appearing after the welcome message, if the safety door is ajar when Grbl initializes after a power-up/reset.
- `[MSG:Check Limits]` - If Grbl detects a limit switch is triggered after power-up/reset and hard limits are enabled, this will appear as a courtesy message. - If in motion and the safety door switch is triggered, Grbl will immediately send this message, start a feed hold, and place Grbl into a suspend with the DOOR state.
- If not in motion and not at startup, the same process occurs without the feed hold.
- If Grbl is in a DOOR state and already suspended, any detected door switch pin detected will generate this message, including a door close.
- If this message appears at startup, Grbl will suspended into immediately into the DOOR state. The startup lines are executed immediately after the DOOR state is exited by closing the door and sending Grbl a resume command.
- `[MSG:Check Limits]` - If Grbl detects a limit switch as triggered after a power-up/reset and hard limits are enabled, this will appear as a courtesy message immediately after the Grbl welcome message.
- `[MSG:Pgm End]` - M2/30 program end message to denote g-code modes have been restored to defaults according to the M2/30 g-code description. - `[MSG:Pgm End]` - M2/30 program end message to denote g-code modes have been restored to defaults according to the M2/30 g-code description.
- `[MSG:Restoring defaults]` - Acknowledgement message when restoring EEPROM defaults via a `$RST=` command. - `[MSG:Restoring defaults]` - Appears as an acknowledgement message when restoring EEPROM defaults via a `$RST=` command. An 'ok' still appears immediately after to denote the `$RST=` was parsed and executed.
- **Queried Feedback Messages:** - **Queried Feedback Messages:**
- `[GC:]` G-code Parser State Message - `[GC:]` G-code Parser State Message
- Initiated by the user via a `$G` command. Grbl replies as follows, where the `[GC:` denotes the message type and is followed by an `ok` to confirm the `$G` was executed. - Initiated by the user via a `$G` command. Grbl replies as follows, where the `[GC:` denotes the message type and is followed by a separate `ok` to confirm the `$G` was executed.
- `[GC:G0 G54 G17 G21 G90 G94 M0 M5 M9 T0 F0. S0.]` ```
[GC:G0 G54 G17 G21 G90 G94 M0 M5 M9 T0 F0. S0.]
ok
```
- The shown g-code are the current modal states of Grbl's g-code parser. This may not correlate to what is executing since there are usually several motions queued in the planner buffer. - The shown g-code are the current modal states of Grbl's g-code parser. This may not correlate to what is executing since there are usually several motions queued in the planner buffer.
- `[HLP:]` : Indicates the help message queried by a `$` command. - `[HLP:]` : Initiated by the user via a `$` print help command. The help message is shown below with a separate `ok` to confirm the `$` was executed.
```
[HLP:$$ $# $G $I $N $x=val $Nx=line $J=line $C $X $H ~ ! ? ctrl-x]
ok
```
- The `$#` print parameter data query produces a large set of data which shown below and completed by an `ok` response message. - The `$#` print parameter data query produces a large set of data which shown below and completed by an `ok` response message.
- Each line of the printout is starts with the data type, a `:`, and followed by the data values. If there is more than one, the order is XYZ axes, separated by commas. - Each line of the printout is starts with the data type, a `:`, and followed by the data values. If there is more than one, the order is XYZ axes, separated by commas.
@ -272,12 +286,24 @@ Feedback messages provide non-critical information on what Grbl is doing, what i
- The `PRB:` probe parameter message includes an additional `:` and suffix value is a boolean. It denotes whether the last probe cycle was successful or not. - The `PRB:` probe parameter message includes an additional `:` and suffix value is a boolean. It denotes whether the last probe cycle was successful or not.
- `[VER:]` : Indicates build info and string from a `$I` user query. - `[VER:]` : Indicates build info and string from a `$I` user query. The build info message is shown below with a separate `ok` to confirm the `$I` was executed.
```
[VER:v1.1a.20160923:]
ok
```
- A string may appear after the `:` colon. It is a stored EEPROM string a user or OEM can place there for personal use or tracking purposes.
- `[echo:]` : Indicates an automated line echo from a pre-parsed string prior to g-code parsing. Enabled by config.h option. - `[echo:]` : Indicates an automated line echo from a command just prior to being parsed and executed. May be enabled only by a config.h option. Often used for debugging communication issues. A typical line echo message is shown below. A separate `ok` will eventually appear to confirm the line has been parsed and executed, but may not be immediate as with any line command containing motions.
```
[echo:G1X0.540Y10.4F100]
```
- NOTE: The echoed line will have been pre-parsed a bit by Grbl. No spaces or comments will appear and all letters will be capitalized.
- **Startup Line Execution:** ------
- `>G54G20:ok` : The open chevron indicates a startup line has just executed. The startup line `G54G20` immediately follows the `>` character and is followed by an 'ok' response to indicate it executed successfully.
#### Startup Line Execution
- `>G54G20:ok` : The open chevron indicates a startup line has just executed. The startup line `G54G20` immediately follows the `>` character and is followed by an `:ok` response to indicate it executed successfully.
- A startup line will execute upon initialization only if a line is present and if Grbl is not in an alarm state. - A startup line will execute upon initialization only if a line is present and if Grbl is not in an alarm state.
@ -285,7 +311,7 @@ Feedback messages provide non-critical information on what Grbl is doing, what i
- There should always be an appended `:ok` because the startup line is checked for validity before it is stored in EEPROM. In the event that it's not, Grbl will print `>G54G20:error:X`, where `X` is the error code explaining why the startup line failed to execute. - There should always be an appended `:ok` because the startup line is checked for validity before it is stored in EEPROM. In the event that it's not, Grbl will print `>G54G20:error:X`, where `X` is the error code explaining why the startup line failed to execute.
- In the rare chance that there is an EEPROM read error, the startup line execution will print `>:error:7` with no startup line and a error code `7` for a read fail. - In the rare chance that there is an EEPROM read error, the startup line execution will print `>:error:7` with no startup line and a error code `7` for a read fail. Grbl will also automatically wipe and try to restore the problematic EEPROM.
------ ------
@ -515,7 +541,7 @@ Feedback messages provide non-critical information on what Grbl is doing, what i
------- -------
# Message Summary # Message Summary
Grbl v1.0's interface protocol has been tweaked in the attempt to make GUI development cleaner, clearer, and hopefully easier. All messages are designed to be deterministic without needing to know the context of the message. Each can be inferred to a much greater degree than before just by the message type, which are all listed below. Grbl v1.1's interface protocol has been tweaked in the attempt to make GUI development cleaner, clearer, and hopefully easier. All messages are designed to be deterministic without needing to know the context of the message. Each can be inferred to a much greater degree than before just by the message type, which are all listed below.
- `ok` / `error:x` : Normal send command and execution response acknowledgement. Used for streaming. - `ok` / `error:x` : Normal send command and execution response acknowledgement. Used for streaming.
@ -541,4 +567,4 @@ Grbl v1.0's interface protocol has been tweaked in the attempt to make GUI devel
- `>G54G20:ok` : The open chevron indicates startup line execution. The `:ok` suffix shows it executed correctly without adding an unmatched `ok` response on a new line. - `>G54G20:ok` : The open chevron indicates startup line execution. The `:ok` suffix shows it executed correctly without adding an unmatched `ok` response on a new line.
On a final note, this interface tweak came about out of necessity, as more data is being sent back from Grbl and it is capable of doing many more things. It's not intended to be altered again in the near future, if at all. This is likely the only and last major change to this. If you have any comments or suggestions before Grbl v1.0 goes to master, please do immediately so we can all vet the new alteration before its installed. On a final note, this interface tweak came about out of necessity, as more data is being sent back from Grbl and it is capable of doing many more things. It's not intended to be altered again in the near future, if at all. This is likely the only and last major change to this. If you have any comments or suggestions before Grbl v1.1 goes to master, please do immediately so we can all vet the new alteration before its installed.

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@ -1,6 +1,6 @@
## Grbl v1.0 Realtime commands ## Grbl v1.1 Realtime commands
Realtime commands are single control characters that may be sent to Grbl to command and perform an action in real-time, regardless of what Grbl is doing at the time. These commands include a reset, feed hold, resume, status report query, and overrides (in v1.0). Realtime commands are single control characters that may be sent to Grbl to command and perform an action in real-time, regardless of what Grbl is doing at the time. These commands include a reset, feed hold, resume, status report query, and overrides (in v1.1).
A realtime command: A realtime command:
@ -21,7 +21,7 @@ A realtime command:
- Descriptions explain how they work and what to expect. - Descriptions explain how they work and what to expect.
#### ASCII Realtime Command Descriptions #### ASCII Realtime Command Descriptions
The normal ASCII realtime command characters used in Grbl v0.9 have been retained in Grbl v1.0 and are described below for completeness. The normal ASCII realtime command characters used in Grbl v0.9 have been retained in Grbl v1.1 and are described below for completeness.
- `0x18` (ctrl-x) : Soft-Reset - `0x18` (ctrl-x) : Soft-Reset
@ -56,7 +56,7 @@ The normal ASCII realtime command characters used in Grbl v0.9 have been retaine
#### Extended-ASCII Realtime Command Descriptions #### Extended-ASCII Realtime Command Descriptions
Grbl v1.0 installed more than a dozen new realtime commands to control feed, rapid, and spindle overrides. To help prevent users from inadvertently altering overrides with a keystroke and allow for more commands later on, all of the new control characters have been moved to the extended ASCII character set. These are not readily type-able on a keyboard, but, depending on the OS, they may be entered using specific keystroke and code. GUI developers will need to be able to send extended ASCII characters, values `128 (0x80)` to `255 (0xFF)`, to Grbl to take advantage of these new features. Grbl v1.1 installed more than a dozen new realtime commands to control feed, rapid, and spindle overrides. To help prevent users from inadvertently altering overrides with a keystroke and allow for more commands later on, all of the new control characters have been moved to the extended ASCII character set. These are not readily type-able on a keyboard, but, depending on the OS, they may be entered using specific keystroke and code. GUI developers will need to be able to send extended ASCII characters, values `128 (0x80)` to `255 (0xFF)`, to Grbl to take advantage of these new features.
- `0x84` : Safety Door - `0x84` : Safety Door

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@ -41,9 +41,9 @@ volatile uint8_t serial_tx_buffer_tail = 0;
// Returns the number of bytes used in the RX serial buffer. // Returns the number of bytes used in the RX serial buffer.
uint8_t serial_get_rx_buffer_count() uint8_t serial_get_rx_buffer_count()
{ {
uint8_t diff = serial_rx_buffer_head-serial_rx_buffer_tail; uint8_t rtail = serial_rx_buffer_tail; // Copy to limit multiple calls to volatile
if (diff >= 0) { return(diff); } if (serial_rx_buffer_head >= rtail) { return(serial_rx_buffer_head-rtail); }
return (RX_RING_BUFFER + diff); return (RX_BUFFER_SIZE - (rtail-serial_rx_buffer_head));
} }