- 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.
- Minor bug fix for variable spindle PWM output. Values smaller than
the minimum RPM for the spindle would overflow the PWM value. Thanks
Rob!
- Created an optional minimum spindle PWM low-mark value as a
compile-time option. This is for special circumstances when the PWM has
to be at a certain level to be read by the spindle controller.
- Refactored the new probing commands (G38.3, G38.4, G38.5) code to
work better with the rest of Grbl’s systems.
- Refactored mc_probe() and mc_arc() to accept the mode of the command,
i.e. clockwise vs counter, toward vs away, etc. This is to make these
functions independent of gcode state variables.
- Removed the pull off motion in the probing cycle. This is not an
official operation and was added for user simplicity, but wrongly did
so. So bye bye.
- Created a configure probe invert mask function to handle the
different probe pin setting and probing cycle modes with a single mask.
- Minor bug fix with reporting motion modes via $G. G38.2 wasn’t
showing up. It now does, along with the other new probing commands.
- Refactored some of the new pin configurations for the future of Grbl.
-
- 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.
