Added G61 exact path support.
- G61 exact path is the Grbl default path control mode, so it’s now added as a supported g-code.
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Sonny Jeon
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@ -27,8 +27,8 @@ Grbl includes full acceleration management with look ahead. That means the contr
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***
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_**Master Branch:**_
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* [Grbl v0.9i Atmega328p 16mhz 115200baud with generic defaults](http://bit.ly/1EiviDk) _(2015-05-23)_
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* [Grbl v0.9i Atmega328p 16mhz 115200baud with ShapeOko2 defaults](http://bit.ly/1NYIfKl) _(2015-05-23)_
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* [Grbl v0.9i Atmega328p 16mhz 115200baud with generic defaults](http://bit.ly/1EiviDk) _(2015-05-29)_
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* [Grbl v0.9i Atmega328p 16mhz 115200baud with ShapeOko2 defaults](http://bit.ly/1NYIfKl) _(2015-05-29)_
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- **IMPORTANT INFO WHEN UPGRADING TO GRBL v0.9i:**
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- Baudrate is now **115200** (Up from 9600).
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- Homing cycle updated. Located based on switch trigger, rather than release point.
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@ -52,7 +52,7 @@ _**Archives:**_
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- **Z-limit(D12) and spindle enable(D11) pins have switched to support variable spindle!**
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- **Homing cycle updated. Locates based on trigger point, rather than release point.**
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- **System tweaks: $14 cycle auto-start has been removed. No more QUEUE state.**
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- **New G-Codes:** Additional probing cycle commands G38.3, G38.4, G38.5 now supported. G40 cutter radius compensation cancel. G91.1 arc IJK distance mode incremental.
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- **New G-Codes:** Additional probing cycle commands G38.3, G38.4, G38.5 now supported. G40 cutter radius compensation cancel. G91.1 arc IJK distance mode incremental. G61 exact path mode.
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- **CoreXY Support:** Grbl now supports CoreXY kinematics on an introductory-level. Most functions have been verified to work, but there may be bugs here or there. Please report any problems you find!
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- **Safety Door Support:** Safety door switches are now supported. Grbl will force a feed hold, shutdown the spindle and coolant, and wait until the door switch has closed and the user has issued a resume. Upon resuming, the spindle and coolant will re-energize after a configurable delay and continue. Useful for OEMs that require this feature.
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- **Full Limit and Control Pin Configurability:** Limits and control pins operation can now be interpreted by Grbl however you'd like, with the internal pull-up resistors enabled or disabled, or reading a high or low as a trigger. This should cover all wiring and NO or NC switch scenarios.
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@ -91,6 +91,7 @@ List of Supported G-Codes in Grbl v0.9i Master:
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- Tool Length Offset Modes: G43.1, G49
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- Cutter Compensation Modes: G40
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- Coordinate System Modes: G54, G55, G56, G57, G58, G59
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- Control Modes: G61
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- Program Flow: M0, M1, M2, M30*
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- Coolant Control: M7*, M8, M9
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- Spindle Control: M3, M4, M5
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@ -1,3 +1,71 @@
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----------------
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Date: 2015-05-27
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Author: Sonny Jeon
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Subject: Another git case-sensitive folder fix.
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- I’m now officially annoyed.
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----------------
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Date: 2015-05-27
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Author: Sonny Jeon
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Subject: Added X-Carve defaults.
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- Added X-Carve 500mm and 1000mm default files.
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- Tweaked all default files. Removed obsolete AUTO_START and updated
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some JUNCTION_DEVIATION defaults after testing showed these needed to
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be reduced slightly.
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----------------
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Date: 2015-05-27
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Author: Sonny Jeon
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Subject: Merge pull request #710 from buserror/fix-directory-case-sensitivity
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Rename Grbl to grbl
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----------------
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Date: 2015-05-27
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Author: Michel Pollet
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Subject: Rename Grbl to grbl
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Otherwise compilation fails on linux, or other case sensitive systems
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Signed-off-by: Michel Pollet <buserror@gmail.com>
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----------------
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Date: 2015-05-26
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Author: Sonny Jeon
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Subject: Updated README
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----------------
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Date: 2015-05-26
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Author: Sonny Jeon
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Subject: Merge pull request #706 from grbl/edge
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Merge edge branch.
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----------------
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Date: 2015-05-23
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Author: Sonny Jeon
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Subject: CoreXY planner bug fix.
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- CoreXY motions were moving to the negative value of the intended
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target. Now fixed.
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----------------
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Date: 2015-05-23
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Author: Sonny Jeon
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Subject: Moved cpu_map.
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- Moved cpu_map files to a cpu_map directory, like the defaults file
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organization.
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----------------
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Date: 2015-05-23
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Author: Sonny Jeon
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14
grbl/gcode.c
14
grbl/gcode.c
@ -259,6 +259,11 @@ uint8_t gc_execute_line(char *line)
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word_bit = MODAL_GROUP_G12;
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gc_block.modal.coord_select = int_value-54; // Shift to array indexing.
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break;
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case 61:
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word_bit = MODAL_GROUP_G13;
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if (mantissa != 0) { FAIL(STATUS_GCODE_UNSUPPORTED_COMMAND); } // [G61.1 not supported]
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// gc_block.modal.control = CONTROL_MODE_EXACT_PATH; // G61
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break;
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default: FAIL(STATUS_GCODE_UNSUPPORTED_COMMAND); // [Unsupported G command]
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}
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if (mantissa > 0) { FAIL(STATUS_GCODE_COMMAND_VALUE_NOT_INTEGER); } // [Unsupported or invalid Gxx.x command]
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@ -519,8 +524,8 @@ uint8_t gc_execute_line(char *line)
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}
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}
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// [16. Set path control mode ]: NOT SUPPORTED.
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// [17. Set distance mode ]: N/A. G90.1 and G91.1 NOT SUPPORTED.
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// [16. Set path control mode ]: N/A. Only G61. G61.1 and G64 NOT SUPPORTED.
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// [17. Set distance mode ]: N/A. Only G91.1. G90.1 NOT SUPPORTED.
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// [18. Set retract mode ]: NOT SUPPORTED.
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// [19. Remaining non-modal actions ]: Check go to predefined position, set G10, or set axis offsets.
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@ -900,7 +905,8 @@ uint8_t gc_execute_line(char *line)
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memcpy(gc_state.coord_system,coordinate_data,sizeof(coordinate_data));
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}
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// [16. Set path control mode ]: NOT SUPPORTED
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// [16. Set path control mode ]: G61.1/G64 NOT SUPPORTED
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// gc_state.modal.control = gc_block.modal.control; // NOTE: Always default.
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// [17. Set distance mode ]:
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gc_state.modal.distance = gc_block.modal.distance;
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@ -1089,5 +1095,5 @@ uint8_t gc_execute_line(char *line)
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group 8 = {*M7} enable mist coolant (* Compile-option)
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group 9 = {M48, M49} enable/disable feed and speed override switches
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group 10 = {G98, G99} return mode canned cycles
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group 13 = {G61, G61.1, G64} path control mode
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group 13 = {G61.1, G64} path control mode (G61 is supported)
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*/
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25
grbl/gcode.h
25
grbl/gcode.h
@ -39,14 +39,15 @@
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#define MODAL_GROUP_G7 7 // [G40] Cutter radius compensation mode. G41/42 NOT SUPPORTED.
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#define MODAL_GROUP_G8 8 // [G43.1,G49] Tool length offset
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#define MODAL_GROUP_G12 9 // [G54,G55,G56,G57,G58,G59] Coordinate system selection
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#define MODAL_GROUP_G13 10 // [G61] Control mode
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#define MODAL_GROUP_M4 10 // [M0,M1,M2,M30] Stopping
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#define MODAL_GROUP_M7 11 // [M3,M4,M5] Spindle turning
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#define MODAL_GROUP_M8 12 // [M7,M8,M9] Coolant control
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#define MODAL_GROUP_M4 11 // [M0,M1,M2,M30] Stopping
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#define MODAL_GROUP_M7 12 // [M3,M4,M5] Spindle turning
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#define MODAL_GROUP_M8 13 // [M7,M8,M9] Coolant control
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#define OTHER_INPUT_F 12
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#define OTHER_INPUT_S 13
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#define OTHER_INPUT_T 14
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// #define OTHER_INPUT_F 14
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// #define OTHER_INPUT_S 15
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// #define OTHER_INPUT_T 16
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// Define command actions for within execution-type modal groups (motion, stopping, non-modal). Used
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// internally by the parser to know which command to execute.
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@ -102,6 +103,9 @@
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// Modal Group G7: Cutter radius compensation mode
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#define CUTTER_COMP_DISABLE 0 // G40 (Default: Must be zero)
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// Modal Group G13: Control mode
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#define CONTROL_MODE_EXACT_PATH 0 // G61 (Default: Must be zero)
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// Modal Group M7: Spindle control
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#define SPINDLE_DISABLE 0 // M5 (Default: Must be zero)
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#define SPINDLE_ENABLE_CW 1 // M3
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@ -119,6 +123,8 @@
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// Modal Group G12: Active work coordinate system
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// N/A: Stores coordinate system value (54-59) to change to.
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// Define parameter word mapping.
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#define WORD_F 0
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#define WORD_I 1
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#define WORD_J 2
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@ -134,19 +140,18 @@
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#define WORD_Z 12
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// NOTE: When this struct is zeroed, the above defines set the defaults for the system.
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typedef struct {
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uint8_t motion; // {G0,G1,G2,G3,G38.2,G80}
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uint8_t feed_rate; // {G93,G94}
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uint8_t units; // {G20,G21}
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uint8_t distance; // {G90,G91}
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// uint8_t distance_arc; // {G91.1} NOTE: Don't track. Only one supported.
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// uint8_t distance_arc; // {G91.1} NOTE: Don't track. Only default supported.
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uint8_t plane_select; // {G17,G18,G19}
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// uint8_t cutter_comp; // {G40} NOTE: Don't track. Only one supported.
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// uint8_t cutter_comp; // {G40} NOTE: Don't track. Only default supported.
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uint8_t tool_length; // {G43.1,G49}
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uint8_t coord_select; // {G54,G55,G56,G57,G58,G59}
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// uint8_t control; // {G61} NOTE: Don't track. Only default supported.
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uint8_t program_flow; // {M0,M1,M2,M30}
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uint8_t coolant; // {M7,M8,M9}
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uint8_t spindle; // {M3,M4,M5}
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@ -23,7 +23,7 @@
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// Grbl versioning system
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#define GRBL_VERSION "0.9i"
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#define GRBL_VERSION_BUILD "20150523"
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#define GRBL_VERSION_BUILD "20150529"
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// Define standard libraries used by Grbl.
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#include <avr/io.h>
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