Development push. Lots still broken.
- Protected planner concept works! This is a critical precursor to
enabling feedrate overrides in allowing the planner buffer and the
stepper execution operate atomically. This is done through a
intermediary segment buffer.
- Still lots of work to be done, as this was a complete overhaul of the
planner and stepper subsystems. The code can be cleaned up quite a bit,
re-enabling some of the broken features like feed holds, and finishing
up some of the concepts
- Pushed some of the fixes from the master and edge branch to here, as
this will likely replace the edge branch when done.
- Refactored system states to be more clear and concise. Alarm locks
processes when position is unknown to indicate to user something has
gone wrong.
- Changed mc_alarm to mc_reset, which now manages the system reset
function. Centralizes it.
- Renamed '$X' kill homing lock to kill alarm lock.
- Created an alarm error reporting method to clear up what is an alarm:
message vs a status error: message. For GUIs mainly. Alarm codes are
negative. Status codes are positive.
- Serial baud support upto 115200. Previous baudrate calc was unstable
for 57600 and above.
- Alarm state locks out all g-code blocks, including startup scripts,
but allows user to access settings and internal commands. For example,
to disable hard limits, if they are problematic.
- Hard limits do not respond in an alarm state.
- Fixed a problem with the hard limit interrupt during the homing
cycle. The interrupt register is still active during the homing cycle
and still signal the interrupt to trigger when re-enabled. Instead,
just disabled the register.
- Homing rate adjusted. All axes move at homing seek rate, regardless
of how many axes move at the same time. This is unlike how the stepper
module does it as a point to point rate.
- New config.h settings to disable the homing rate adjustment and the
force homing upon powerup.
- Reduced the number of startup lines back down to 2 from 3. This
discourages users from placing motion block in there, which can be very
dangerous.
- Startup blocks now run only after an alarm-free reset or after a
homing cycle. Does not run when $X kill is called. For satefy reasons
(All v0.8 features installed. Still likely buggy, but now thourough
testing will need to start to squash them all. As soon as we're done,
this will be pushed to master and v0.9 development will be started.
Please report ANY issues to us so we can get this rolled out ASAP.)
- User startup script! A user can now save one (up to 5 as compile-time
option) block of g-code in EEPROM memory. This will be run everytime
Grbl resets. Mainly to be used as a way to set your preferences, like
G21, G54, etc.
- New dry run and check g-code switches. Dry run moves ALL motions at
rapids rate ignoring spindle, coolant, and dwell commands. For rapid
physical proofing of your code. The check g-code switch ignores all
motion and provides the user a way to check if there are any errors in
their program that Grbl may not like.
- Program restart! (sort of). Program restart is typically an advanced
feature that allows users to restart a program mid-stream. The check
g-code switch can perform this feature by enabling the switch at the
start of the program, and disabling it at the desired point with some
minimal changes.
- New system state variable. This state variable tracks all of the
different state processes that Grbl performs, i.e. cycle start, feed
hold, homing, etc. This is mainly for making managing of these task
easier and more clear.
- Position lost state variable. Only when homing is enabled, Grbl will
refuse to move until homing is completed and position is known. This is
mainly for safety. Otherwise, it will let users fend for themselves.
- Moved the default settings defines into config.h. The plan is to
eventually create a set of config.h's for particular as-built machines
to help users from doing it themselves.
- Moved around misc defines into .h files. And lots of other little
things.
(NOTE: This push is likely buggy so proceed with caution. Just
uploading to let people know where we're going.)
- New report.c module. Moved all feedback functions into this module to
centralize these processes. Includes realtime status reports, status
messages, feedback messages.
- Official support 6 work coordinate systems (G54-G59), which are
persistently held in EEPROM memory.
- New g-code support: G28.1, G30.1 stores current machine position as a
home position into EEPROM. G10 L20 Px stores current machine position
into work coordinates without needing to explicitly send XYZ words.
- Homing performed with '$H' command. G28/G30 no longer start the
homing cycle. This is how it's supposed to be.
- New settings: Stepper enable invert and n_arc correction installed.
- Updated and changed up some limits and homing functionality. Pull-off
travel will now move after the homing cycle regardless of hard limits
enabled. Fixed direction of pull-off travel (went wrong way).
- Started on designing an internal Grbl command protocol based on the
'$' settings letter. Commands with non numeric characters after '$'
will perform switch commands, homing cycle, jogging, printing
paramters, etc. Much more to do here.
- Updated README to reflect all of the new features.
- Installed a new 'alarm' method to centralize motion kills across
alarm or reset events. Right now, this is controlled by system abort
and hard limits. But, in the future, a g-code parser error may call
this too as a safety feature.
- Re(re)organized status messages to just print all errors, regardless
from where it was called. This centralizes them into one place.
- Misc messages method installed for any user feedback that is not a
confirmation or error. Mainly so that there is a place to perform
warnings and such.
- New stuff installed and still made the flash size smaller by saving
flash space from clearing out repeated '\r\n' pgmstrings.
- Fixed a bug where hard limits message would print everytime a system
abort was sent.
- Reorganized all of the status message feedback from both the g-code
parser and settings modules to be centralized into two message modules:
status feedback from executing a line and warnings for misc feedback.
- Pulled out the printPgmString() messages in settings.c and placed it
into the new module. (settings_dump() not moved).
- Some other minor edits. Renaming defines, comment updates, etc.
- Fixed a bug that would not disable the steppers if a user issues a
system abort during a homing cycle.
- Updated the hard limit interrupt to be more correct and to issue a
shutdown for the right situations when the switch has been triggered.
- Added a status message to indicate to the user what happened and what
to do upon a hard limit trigger.
- Thank you statement added for Alden Hart of Synthetos.
- Hard limits option added, which also works with homing by pulling off
the switches to help prevent unintended triggering. Hard limits use a
interrupt to sense a falling edge pin change and immediately go into
alarm mode, which stops everything and forces the user to issue a reset
(Ctrl-x) or reboot.
- Auto cycle start now a configuration option.
- Alarm mode: A new method to kill all Grbl processes in the event of
something catastrophic or potentially catastropic. Just works with hard
limits for now, but will be expanded to include g-code errors (most
likely) and other events.
- Updated status reports to be configurable in inches or mm mode. Much
more to do here, but this is the first step.
- New settings: auto cycle start, hard limit enable, homing direction
mask (which works the same as the stepper mask), homing pulloff
distance (or distance traveled from homed machine zero to prevent
accidental limit trip).
- Minor memory liberation and calculation speed ups.
- Added acceleration to the homing routine.
- Homing now accounts for different step rates when moving multiple
axes without exceeding acceleration limits.
- Homing now updates all internal positioning variables to machine zero
after completion.
- "Poor-man's" debounce delay added.
- Updated the delay_us() function to perform faster and more accurate
microsecond delays. Previously, the single increments would add
noticeable time drift for larger delays.
- Fix a bug in the stepper.c prescalar calculations that was changed in
the last commit.
- Other minor fixes.
- Updated makefile to be more universally compatible by not requiring
grep or ruby.
- Edited XON/XOFF flow control usage, noting that FTDI-based Arduinos
are known to work, but not Atmega8U2-based Arduino. Still officially
not supported, but added for advanced users.
- Minor edits.
- A latency issue related to USB-to-serial converters on the Arduino
does not allow for XON/XOFF flow control to work correctly on standard
terminal programs. It seems that only specialized UI's or avoiding the
USB port all together solves this problem. However, XON/XOFF flow
control is added for advanced users only as a compile-time option. This
feature is officially *NOT* supported by grbl, but let us know of any
successes with it!
- Program stop support (M0,M1*,M2,M30*). *Optional stop to be done.
*Pallet shuttle not supported.
- Work position is set equal to machine position upon reset, as
according to NIST RS274-NGC guidelines. G92 is disabled.
- Renamed mc_set_current_position() to mc_set_coordinate_offset().
- Fixed bug in plan_synchronize(). Would exit right before last step is
finished and caused issues with program stops. Now fixed.
- Spindle now stops upon a run-time abort command.
- Updated readme and misc upkeeping.
- Grbl now tracks both home and work (G92) coordinate systems and does
live updates when G92 is called.
- Rudimentary home and work position status reporting. Works but still
under major construction.
- Updated the main streaming script. Has a disabled periodic timer for
querying status reports, disabled only because the Python timer doesn't
consistently restart after the script exits. Add here only for user
testing.
- Fixed a bug to prevent an endless serial_write loop during status
reports.
- Refactored the planner variables to make it more clear what they are
and make it easier for clear them.
- Added machine position reporting to status queries. This will be
further developed with part positioning/offsets and maintaining
location upon reset.
- System variables refactored into a global struct for better
readability.
- Removed old obsolete Ruby streaming scripts. These were no longer
compatible. Updated Python streaming scripts.
- Fixed printFloat() and other printing functions.
- Decreased planner buffer back to 18 blocks and increased TX serial
buffer to 64 bytes. Need the memory space for future developments.
- Begun adding run-time modes to grbl, where block delete toggle, mm/in
reporting modes, jog modes, etc can be set during runtime. Will be
fleshed out and placed into EEPROM when everything is added.
- ALPHA status. - Multitasking ability with run-time command executions
for real-time control and feedback. - Decelerating feed hold and resume
during operation. - System abort/reset, which immediately kills all
movement and re-initializes grbl. - Re-structured grbl to easily allow
for new features: Status reporting, jogging, backlash compensation. (To
be completed in the following releases.) - Resized TX/RX serial buffers
(32/128 bytes) - Increased planner buffer size to 20 blocks. - Updated
documentation.
- Serial functions contained quite a few modulo operations that would
be executed with high frequency when streaming. AVR processors are very
slow when operating these. In one test on the Arduino forums, it showed
about a 15x slow down compared to a simple if-then statement. -
Clarified some variable names and types and comments.
