- Planner bug when moving along a diagonal back and forth on the same
path. Rare for the fact that most CAM programs don’t program this type
of motion, neither does jogging. Fixed in this update.
- Added grbl_sim defaults for testing purposes.
- All pins, which include limits, control command, and probe pins, can
now all be configured to trigger as active-low or active-high and
whether the pin has its internal pull-up resistor enabled. This should
allow for just about all types of NO and NC switch configurations.
- The probe pin invert setting hasn’t been added to the Grbl settings,
like the others, and will have to wait until v1.0. But for now, it’s
available as a compile-time option in config.h.
- Fixed a variable spindle bug.
- Rudimentary CoreXY kinematics support. Didn’t test, but homing and
feed holds should work. See config.h. Please report successes and
issues as we find bugs.
- G40 (disable cutter comp) is now “supported”. Meaning that Grbl will
no longer issue an error when typically sent in g-code program header.
- Refactored coolant and spindle state setting into separate functions
for future features.
- Configuration option for fixing homing behavior when there are two
limit switches on the same axis sharing an input pin.
- Created a new “grbl.h” that will eventually be used as the main
include file for Grbl. Also will help simply uploading through the
Arduino IDE
- Separated out the alarms execution flags from the realtime (used be
called runtime) execution flag variable. Now reports exactly what
caused the alarm. Expandable for new alarms later on.
- Refactored the homing cycle to support CoreXY.
- Applied @EliteEng updates to Mega2560 support. Some pins were
reconfigured.
- Created a central step to position and vice versa function. Needed
for non-traditional cartesian machines. Should make it easier later.
- Removed the new CPU map for the Uno. No longer going to used. There
will be only one configuration to keep things uniform.
- Updated ShapeOko2 defaults based on machine testing of the basic
model provided by Inventables. (or close to it.) Should be pretty
conservative but much faster than before. For example, X and Y axes are
set at (10x) faster at 5000mm/min. It can run much faster than this,
but this seems like a safe speed for everyone.
- Updated README for master release.
- Added some new settings methods for clearing the EEPROM when changing
versions. Needs some more work, but it should ok for master release.
Should work on it more for the next version.
- When updating from v0.8, the settings will wipe the startup lines and
build info locations so that it won’t use whatever is already there in
the EEPROM. Parameters (coord offsets) are retained. They should be ok
during an upgrade.
- A G28/30 bug would cause it to move to machine coordinate [0,0,0] if
no axis words were sent. It was a typo in the new g-code parser. Fixed
and slightly re-written to be more consistent with the program flow.
- Updated the ShapeOko2 defaults based on testing on the real machine.
A little conservative, but it might change again after some more
testing.
- Now blocks ‘$$’ command during a motion, because the printout takes
too long and can starve the segment buffer.
- A very very low feed rate command like `G1 X100 F0.01` would cause
some floating-point round-off error and freeze Grbl into an infinite
loop. To fix it, introduced a MINIMUM_FEED_RATE parameter in config.h
to ensure motions always complete.
- MINIMUM_FEED_RATE is set at 1.0 mm/min by default. It’s recommended
that no rates are below this value, but 0.1mm/min may be ok in some
situations.
- Probing cycle would drop into a QUEUED state, if multiple G38.2 are
sent. It would not honor the auto cycle start flags. To fix, the auto
cycle start state is saved at the beginning of the probing cycle and
restored at the end, since the feed hold it uses to stop a triggered
probe will disable the auto start flag. For now it’s a patch, rather
than a permanent fix.
- protocol_buffer_synchronize() also has a failure case. Auto cycle
start does not get executed when the system is waiting in here, so if
it’s in a QUEUED state already, it won’t resume. Patched here, but not
fully resolved.
- Fixed a problem with the “view build info” command. The EEPROM write
would do weird things and corrupt the EEPROM. Not sure exactly what
caused it, but it’s likely a compiler problem with an improperly
defined EEPROM address. It didn’t have enough room to store a full
string. To fix, the build info EEPROM range was increased and the max
number of STARTUP_BLOCKS was reduced to 2 from 3.
- Lastly, when a $I view build info is used for the first time, it
would normally show an EEPROM read error, since it wasn’t cleared or
wasn’t therein the first place. It will now not show that error. A
patch rather than a permanent fix again.
- Bug fix for step and direction invert masks not immediately being in
effect. Now regenerates the masks when a user changes this setting.
- Bug fix for probing cycle. G-code standard mandates that there is an
error if the probe is already triggered when the cycle is commanded.
However, Grbl may have motions to pull off a previous probing cycle in
queue and can falsely lead to errors. To fix this, the triggered check
is performed within the probing cycle itself, right after the planner
buffer is synced. If there is an error, it will now alarm out as a
probe fail.
This is likely the last major change to the v0.9 code base before push
to master. Only two minor things remain on the agenda (CoreXY support,
force clear EEPROM, and an extremely low federate bug).
- NEW! Grbl is now compile-able and may be flashed directly through the
Arduino IDE. Only minor changes were required for this compatibility.
See the Wiki to learn how to do it.
- New status reporting mask to turn on and off what Grbl sends back.
This includes machine coordinates, work coordinates, serial RX buffer
usage, and planner buffer usage. Expandable to more information on user
request, but that’s it for now.
- Settings have been completely renumbered to allow for future new
settings to be installed without having to constantly reshuffle and
renumber all of the settings every time.
- All settings masks have been standardized to mean bit 0 = X, bit 1 =
Y, and bit 2 = Z, to reduce confusion on how they work. The invert
masks used by the internal Grbl system were updated to accommodate this
change as well.
- New invert probe pin setting, which does what it sounds like.
- Fixed a probing cycle bug, where it would freeze intermittently, and
removed some redundant code.
- Homing may now be set to the origin wherever the limit switches are.
Traditionally machine coordinates should always be in negative space,
but when limit switches on are on the opposite side, the machine
coordinate would be set to -max_travel for the axis. Now you can always
make it [0,0,0] via a compile-time option in config.h. (Soft limits
routine was updated to account for this as well.)
- Probe coordinate message immediately after a probing cycle may now
be turned off via a compile-time option in config.h. By default the
probing location is always reported.
- Reduced the N_ARC_CORRECTION default value to reflect the changes in
how circles are generated by an arc tolerance, rather than a fixed arc
segment setting.
- Increased the incoming line buffer limit from 70 to 80 characters.
Had some extra memory space to invest into this.
- Fixed a bug where tool number T was not being tracked and reported
correctly.
- Added a print free memory function for debugging purposes. Not used
otherwise.
- Realtime rate report should now work during feed holds, but it hasn’t
been tested yet.
- Updated the streaming scripts with MIT-license and added the simple
streaming to the main stream.py script to allow for settings to be sent.
- Some minor code refactoring to improve flash efficiency. Reduced the
flash by several hundred KB, which was re-invested in some of these new
features.
- Incremented from v0.9e to v0.9f due to the new g-codes, velocity
reporting option, decimal printing refactoring, grbl-sim updates, and
G0/G1 bug fix.
- Settings version was also incremented since settings.decimal_places
is now gone.
- Added a new optional compile-time feature for ‘realtime’ (within
50ms) feed rate reporting. When querying for a status report, a new
data value will state the current operating rate. It’s only beta at the
moment and has some kinks to work out.
- Updated the code for printing floating point values to N decimal
places. Generalized the main floating point print code to accept a new
decimal places value and created a set of handler functions to print
certain floating point value types used in Grbl, like position, rates,
coordinate offsets, etc. All of these have different decimal
requirements and change when printed in mm or inches mode.
- Number of decimal places for the different value types can be
re-defined in config.h, but there shouldn’t be a need for this, as
these are physically limited.
- Removed the decimal places settings, as this was now obsoleted by the
new decimal places code.
- The new decimal places code also saves almost 300kB in flash space,
as it’s more efficient.
- Updated offset-mode arc error-checking to EMC2’s version: The old
NIST definition required the radii to the current location and target
location to differ no more than 0.002mm. This proved to be problematic
and probably why LinuxCNC(EMC2) updated it to be 0.005mm AND 0.1%
radius OR 0.5mm.
- Completely overhauled the g-code parser. It’s now 100%* compliant. (*
may have some bugs). Being compliant, here are some of the major
differences.
- SMALLER and JUST AS FAST! A number of optimizations were found that
sped things up and allowed for the more thorough error-checking to be
installed without a speed hit. Trimmed a lot of ‘fat’ in the parser and
still was able to make it significantly smaller than it was.
- No default feed rate setting! Removed completely! This doesn’t exist
in the g-code standard. So, it now errors out whenever it’s undefined
for motions that require it (G1/2/3/38.2).
- Any g-code parser error expunges the ENTIRE block. This means all
information is lost and not passed on to the running state. Before some
of the states would remain, which could have led to some problems.
- If the g-code block passes all of the error-checks, the g-code state
is updated and all motions are executed according to the order of
execution.
- Changes in spindle speed, when already running, will update the
output pin accordingly. This fixes a bug, where it wouldn’t update the
speed.
- Update g-code parser error reporting. Errors now return detailed
information of what exact went wrong. The most common errors return a
short text description. For less common errors, the parser reports
‘Invalid gcode ID:20’, where 20 is a error ID. A list of error code IDs
and their descriptions will be documented for user reference elsewhere
to save flash space.
- Other notable changes:
- Added a print integer routine for uint8 variables. This saved
significant flash space by switching from a heavier universal print
integer routine.
- Saved some flash space with our own short hypotenuse calculation
- Some arc computation flash and memory optimizations.
- G38.2 straight probe now supported. Rough draft. May be tweaked more
as testing ramps up.
- G38.2 requires at least one axis word. Multiple axis words work too.
When commanded, the probe cycle will move at the last ‘F’ feed rate
specified in a straight line.
- During a probe cycle: If the probe pin goes low (normal high), Grbl
will record that immediate position and engage a feed hold. Meaning
that the CNC machine will move a little past the probe switch point, so
keep federates low to stop sooner. Once stopped, Grbl will issue a move
to go back to the recorded probe trigger point.
- During a probe cycle: If the probe switch does not engage by the time
the machine has traveled to its target coordinates, Grbl will issue an
ALARM and the user will be forced to reset Grbl. (Currently G38.3 probe
without error isn’t supported, but would be easy to implement later.)
- After a successful probe, Grbl will send a feedback message
containing the recorded probe coordinates in the machine coordinate
system. This is as the g-code standard on probe parameters specifies.
- The recorded probe parameters are retained in Grbl memory and can be
viewed with the ‘$#’ print parameters command. Upon a power-cycle, not
a soft-reset, Grbl will re-zero these values.
- Moved ‘$#’ command to require IDLE or ALARM mode, because it accesses
EEPROM to fetch the coordinate system offsets.
- Updated the Grbl version to v0.9d.
- The probe cycle is subject to change upon testing or user-feedback.
WARNING: Bugs may still exist. This branch is a work in progress and
will be pushed to the edge branch when at beta stability. Use at your
own risk.
- Homing freezing issue fixed. Had to do with the cycle stop flag being
set incorrectly after the homing cycles and before the pull-off
maneuver. Now resets the stepper motors before this can happen.
- Fixed an issue with a rare feed hold failure. Had to do with feed
hold ending exactly at the end of a block. The runtime protocol now
sets the QUEUED and IDLE states appropriately when this occurs. Still
need to clean this code up however, as it’s patched rather than written
well.
- Updated version build via $I command.
- Forgot to comment on a new feature for the last commit. Since steps
are integers and millimeters traveled are floats, the old step segment
generator ignored the step fraction differences in generating the
segment velocities. Didn’t see like it would be much of a big deal, but
there were instances that this would be a problem, especially for very
slow feed rates. The stepper algorithm now micro-adjusts the segment
velocities based on the step fractions not executed from the previous
segment. This ensures that Grbl generates the velocity profiles EXACTLY
and noticeably improves overall acceleration performance.
- Added a new source and header file called system. These files contain
the system commands and variables, as well as all of the system headers
and standard libraries Grbl uses. Centralizing some of the code.
- Re-organized the include headers throughout the source code.
- ENABLE_M7 define was missing from config.h. Now there.
- SPINDLE_MAX_RPM and SPINDLE_MIN_RPM now defined in config.h. No
uncommenting to prevent user issues. Minimum spindle RPM now provides
the lower, near 0V, scale adjustment, i.e. some spindles can go really
slow so why use up our 256 voltage bins for them?
- Remove some persistent variables from coolant and spindle control.
They were redundant.
- Removed a VARIABLE_SPINDLE define in cpu_map.h that shouldn’t have
been there.
- Changed the DEFAULT_ARC_TOLERANCE to 0.002mm to improve arc tracing.
Before we had issues with performance, no longer.
- Fixed a bug with the hard limits and the software debounce feature
enabled. The invert limit pin setting wasn’t honored.
- Fixed a bug with the homing direction mask. Now is like it used to
be. At least for now.
- Re-organized main.c to serve as only as the reset/initialization
routine. Makes things a little bit clearer in terms of execution
procedures.
- Re-organized protocol.c as the overall master control unit for
execution procedures. Not quite there yet, but starting to make a
little more sense in how things are run.
- Removed updating of old settings records. So many new settings have
been added that it’s not worth adding the code to migrate old user
settings.
- Tweaked spindle_control.c a bit and made it more clear and consistent
with other parts of Grbl.
- Tweaked the stepper disable bit code in stepper.c. Requires less
flash memory.
- New build info feature. Hidden command ‘$I’ will print the build info
for your Grbl firmware. Users may also write an identifying message
within it via ‘$I=‘ with up to 32 characters. (no more, or else it will
break).
- Adjusted the max number of startup lines to 3. Majority of people
will only need one.
- Fixed a compile error with spindle_control.c. A rogue #endif was
causing problems.
- Updated Grbl version to 0.9c and build number.
- G-code parser was missing modal group violation checks for M7/8/9
commands. Added them.
- Updated the Adaptive Multi-Axis Step Smoothing (AMASS) cutoff
frequencies so that the trade between the 16-bit Timer1 accuracy and
the level step smoothing are somewhat better balanced. (Smoothing isn’t
free, but a higher accuracy timer would provide high cutoff
frequencies.)
- Homing travel calculations fixed. It was computing the min travel
rather than max.
- Auto-start disable and pausing after spindle or dwell commands.
Related to plan_synchronize() function call. Now fixed, but still need
to work on the system state.
- Pushed a fix to make this branch more Arduino IDE compatible. Removed
extern call in nuts_bolts.c
- Updated the stepper configuration option of enabling or disabling the
new Adaptive Multi-Axis Step Smoothing Algorithm. Now works either way.
- Updated some copyright info.
- NEW! An active multi-axis step smoothing algorithm that automatically
adjusts dependent on step frequency. This solves the long standing
issue to aliasing when moving with multiple axes. Similar in scheme to
Smoothieware, but more advanced in ensuring a more consistent CPU
overhead throughout all frequencies while maintaining step exactness.
- Switched from Timer2 to Timer0 for the Step Port Reset Interrupt.
Mainly to free up hardware PWM pins.
- Seperated the direction and step pin assignments, so we can now move
them to seperate ports. This means that we can more easily support 4+
axes in the future.
- Added a setting for inverting the limit pins, as so many users have
request. Better late than never.
- Bug fix related to EEPROM calls when in cycle. The EEPROM would kill
the stepper motion. Now protocol mandates that the system be either in
IDLE or ALARM to access or change any settings.
- Bug fix related to resuming the cycle after a spindle or dwell
command if auto start has been disabled. This fix is somewhat temporary
or more of a patch. Doesn’t work with a straight call-response
streaming protocol, but works fine with serial buffer pre-filling
streaming that most clients use.
- Renamed the pin_map.h to cpu_map.h to more accurately describe what
the file is.
- Pushed an auto start bug fix upon re-initialization.
- Much more polishing to do!
- Revamped and improved homing cycle. Now tied directly into the main
planner and stepper code, which enables much faster homing seek rates.
Also dropped the compiled flash size by almost 1KB, meaning 1KB more
for other features.
- Refactored config.h. Removed obsolete defines and configuration
options. Moved lots of “advanced” options into the advanced area of the
file.
- Updated defaults.h with the new homing cycle. Also updated the
Sherline 5400 defaults and added the ShapeOko2 defaults per user
submissions.
- Fixed a bug where the individual axes limits on velocity and
acceleration were not working correctly. Caused by abs() returning a
int, rather than a float. Corrected with fabs(). Duh.
- Added build version/date to the Grbl welcome message to help indicate
which version a user is operating on.
- Max travel settings were not being defaulted into the settings EEPROM
correctly. Fixed.
- To stop a single axis during a multi-axes homing move, the stepper
algorithm now has a simple axis lock mask which inhibits the desired
axes from moving. Meaning, if one of the limit switches engages before
the other, we stop that one axes and keep moving the other.
- Pushed limit switch active high option (i.e. NC switches).
- Updated defaults.h to be in-line with the new settings.
- Refactored feed hold handling and step segment buffer to be more
generalized in effort to make adding feedrate overrides easier in the
future. Also made it a little more clean.
- Fixed G18 plane select issue. Now ZX-plane, rather than XZ-plane, per
right hand rule.
- Cleaned some of the system settings by more accurately renaming some
of the variables and removing old obsolete ones.
- Declared serial.c rx_buffer_tail to be volatile. No effect, since
avr-gcc automatically does this during compilation. Helps with porting
when using other compilers.
- Updated version number to v0.9b.
- Updates to README.md
- Changed up mc_line to accept an array rather than individual x,y,z
coordinates. Makes some of the position data handling more effective,
especially for a 4th-axis later on.
- Changed up some soft limits variable names.
- Arc mm_per_segment parameter was removed and replaced with an
arc_tolerance parameter, which scales all arc segments automatically to
radius, such that the line segment error doesn't exceed the tolerance.
Significantly improves arc performance through larger radius arc,
because the segments are much longer and the planner buffer has more to
work with.
- Moved n_arc correction from the settings to config.h. Mathematically
this doesn't need to be a setting anymore, as the default config value
will work for all known CNC applications. The error does not accumulate
as much anymore, since the small angle approximation used by the arc
generation has been updated to a third-order approximation and how the
line segment length scale with radius and tolerance now. Left in
config.h for extraneous circumstances.
- Corrected the st.ramp_count variable (acceleration tick counter) to a
8-bit vs. 32-bit variable. Should make the stepper algorithm just a
touch faster overall.
- Maximum velocity for each axis is now configurable in settings. All
rapids/seek move at these maximums. All feed rates(including rapids)
may be limited and scaled down so that no axis does not exceed their
limits.
- Moved around auto-cycle start. May change later, but mainly to ensure
the planner buffer is completely full before cycle starting a streaming
program. Otherwise it should auto-start when there is a break in the
serial stream.
- Reverted old block->max_entry_speed_sqr calculations. Feedrate
overrides not close to ready at all.
- Fixed intermittent slow trailing steps for some triangle velocity
profile moves. The acceleration tick counter updating was corrected to
be exact for that particular transition. Should be ok for normal
trapezoidal profiles.
- Fixed the Timer0 disable after a step pulse falling edge. Thanks
@blinkenlight!
NOTE: This push is a work-in-progress and there are known bugs that
need to be fixed, like homing acceleration being incompatible. Released
for testing. Settings will definitely be overwritten, as new settings
were needed.
- Acceleration independence installed in planner. Each axis can now
have different accelerations and Grbl will maximize the accelerations
depending on the direction its moving. Very useful for users like on
the ShapeOko with vastly different Z-axis properties.
- More planner optimizations and re-factoring. Slightly improved some
of the older calculations, but new acceleration calculations offset
these improvements. Overall no change in processing speed.
- Removed planner nominal length checks. It was arguable whether or not
this improved planner efficiency, especially in the worst case scenario
of arcs.
- Updated readme and changed to markdown format.
- Brand-new stepper algorithm. Based on the Pramod Ranade inverse time
algorithm, but modified to ensure step events are exact. Currently
limited to about 15kHz step rates, much more to be done to enable 30kHz
again.
- Removed Timer1. Stepper algorithm now uses Timer0 and Timer2.
- Much improved step generation during accelerations. Smoother. Allows
much higher accelerations (and speeds) than before on the same machine.
- Cleaner algorithm that is more easily portable to other CPU types.
- Streamlined planner calculations. Removed accelerate_until and
final_rate variables from block buffer since the new stepper algorithm
is that much more accurate.
- Improved planner efficiency by about 15-20% during worst case
scenarios (arcs).
- New config.h options to tune new stepper algorithm.
- Removed the dry run switch. It was getting overly complicated for
what it needed to do. In practice, single block mode and feed rate
overrides (coming in next release) does a much better job with dry runs
than 'dry run'.
- Trimmed all of Grbl's messages from help, status, feedback to
settings. Saved 0.6KB+ of flash space that could be used for v0.9
features.
- Removed some settings inits when set. Will depend on user to power
cycle to get some of these to reload.
- Fixed a bug with settings version not re-writing old settings, when
it should. Thanks Alden!
(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: Another incremental update. Likely buggy, still a ways to go
before everything is installed, such as startup blocks.
- Changed the '$' command to print help. '$$' now prints Grbl settings.
The help now instructs the user of runtime commands, switch toggling,
homing, etc. Jogging will be added to these in v0.9.
- Added switches: block delete, opt stop, and single block mode.
- Now can print the g-code parser state and persistent parameters
(coord sys) to view what Grbl has internally.
- Made the gc struct in the g-code parser global to be able to print
the states. Also moved coordinate system tracking from sys to gc struct.
- Changed up the welcome flag and updated version to v0.8c.
- Removed spindle speed from gcode parser. Not used.
(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.
- 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.
- Allowed status_message function to be called by others. This is to
centralize all feedback into protocol.c.
- Fixed a bug where line number words 'N' were causing the parser to
error out.
- Allowed homing routine feed rates to move slower than the
MINIMUM_STEP_RATE parameter in config.h.
- Homing performs idle lock at the end of the routine.
- Stepper idle lock time will now not disable the steppers when the
value is set at 255. This is accomodate users who prefer to keep their
axes enabled at all times.
- Moved some defines around to where they need to be.
- printFloat() function execution doubled in speed. This is a precursor
to status reporting, since GUIs may query real-time position rapidly.
- Decimal places added to settings (for now). This may disappear in
future pushes, but here for testing purposes.
- Homing cycle will now cycle twice (spec more/less in config) to
improve repeatability and accuracy by decreasing overshoot.
- New Grbl settings added: Enable/disable homing cycles, homing seek
and feed rates, switch debounce delay, and stepper idle lock time.
- Please note that these settings may change upon the next push, since
there will be more added soon. Grbl *should* not re-write your old
settings, just re-write the new ones. So, make sure you keep these
written down somewhere in case they get lost from a code bug.
- Refactored settings migration to be a little smaller and managable
going forward.
- Limit pin internal pull-resistors now enabled. Normal high operation.
This will be the standard going forward.
- Updated all of the 'double' variable types to 'float' to reflect what
happens when compiled for the Arduino. Also done for compatibility
reasons to @jgeisler0303 's Grbl simulator code.
- G-code parser will now ignore 'E' exponent values, since they are
reserved g-code characters for some machines. Thanks @csdexter!
- The read_double() function was re-written and optimized for use in
Grbl. The strtod() avr lib was removed.
