- [bug] Fixed a homing fail issue, where the alarm was not being set
right, not cleared correctly. It would report the wrong code and enter
an infinite alarm loop. This was due to how alarm codes were altered a
while back. Now updated and fixed to show the right codes.
- [feature] Re-installed optional software debouncing for hard limit
switches. By request.
- Increment to v1.1e due to new laser features.
- After several discussions with some prominent laser people, a few
tweaks to the new laser mode has been installed.
- LASER: M3 behaves in a constant power mode.
- LASER: M4 behaves in a dynamic power mode, where the laser power is
automatically adjusted based on how fast Grbl is moving relative to the
programmed feed rate. This is the same as the CONSTANT_POWER_PER_RATE
config.h option in the last version. NOTE: When not in motion in M4,
Grbl automatically turns off the laser. Again, it only operates while
moving!
- LASER: Only G1, G2, and G3 motion modes will turn on the laser. So,
this means that G0, G80 motion modes will always keep the laser
disabled. No matter if M3/M4 are active!
- LASER: A spindle stop override is automatically invoked when a laser
is put in a feed hold. This behavior may be disabled by a config.h
option.
- Lots of little tweaks to the g-code parser to help streamline it a
bit. It should no effect how it operates. Generally just added a parser
flag to track and execute certain scenarios a little more clearly.
- Jog motions now allow line numbers to be passed to it and will be
displayed in the status reports.
- Fixed a CoreXY homing bug.
- Fixed an issue when $13 is changed, WCO isn’t sent immediately.
- Altered how spindle PWM is set in the stepper ISR. Updated on a step
segment basis now. May need to change this back if there are any
oddities from doing this.
- Updated some documentation. Clarified why M0 no longer showing up in
$G and why a `1.` floating point values are shown with no decimals,
like so `1`.
- Spindle speed overrides now update immediately if they are changed
while in a HOLD state. Previously, they would update after exiting the
HOLD, which isn’t correct.
- New experimental dynamic laser power mode that adjusts laser power
based on current machine speed. Enabled by uncommenting
LASER_CONSTANT_POWER_PER_RATE in config.h
- It assumes the programmed rate is the intended power/rate for the
motion.
- Feed rate overrides (FRO) do not effect the power/rate. Meaning
that spindle PWM will automatically lower with lower FRO and increase
with higher FRO to keep it the same.
- Spindle speed overrides (SSO) will directly increase and decrease
the power/rate. So 150% SSO will increase the PWM output by 150% for
the same speed.
- The combination of FRO and SSO behaviors should allow for subtle
and highly flexible tuning of how the laser cutter is operating in
real-time and during the job.
- Re-factored planner block rapid rate handling for the dynamic laser
power feature. Should have had no effect on how Grbl operates.
- Increment to v1.1b due to status report tweak.
- Tweaked the buffer state status reports to show bytes and blocks
available, rather than in use. This does not require knowing the buffer
sizes beforehand. It’s implicit.
- Also, since buffer states are not used by most devs (after
inquiries), it is no longer enabled by default and a status mask option
was added for this.
- Fixed some typos and updated for the report tweak in the
documentation.
- Wrote a joystick implementation concept in the jogging markdown
document. Outlines how to get a low-latency feel to a joystick (and
other input devices).
- Removed XON/XOFF support. It’s not used by anyone because of its
inherent problems. Remains in older versions for reference.
- Added a compile option on how to handle the probe position during a
check mode.
- Fixed a jogging bug. If G93 is the modal state before a jogging
motion, the feed rate did not get calculated correctly. Fixed the issue.
- Refactored some code to save another 160+ bytes. Included an improved
float vector comparison macro and reducing a few large and repetitive
function calls.
- Fixed a probing bug (existing in v0.9 too) where the target positions
were not set correct and error handling was improper.
- Feature: Realtime feed, rapid, and spindle speed overrides. These
alter the running machine state within tens of milliseconds!
- Feed override: 100%, +/-10%, +/-1% commands with values 1-200% of
programmed feed
- Rapid override: 100%, 50%, 25% rapid rate commands
- Spindle speed override: 100%, +/-10%, +/-1% commands with values
50-200% of programmed speed
- Override values have configurable limits and increments in
config.h.
- Feature: Realtime toggle overrides for spindle stop, flood coolant,
and optionally mist coolant
- Spindle stop: Enables and disables spindle during a feed hold.
Automatically restores last spindles state.
- Flood and mist coolant: Immediately toggles coolant state until
next toggle or g-code coolant command.
- Feature: Jogging mode! Incremental and absolute modes supported.
- Grbl accepts jogging-specific commands like $J=X100F50. An axis
word and feed rate are required. G20/21 and G90/G91 commands are
accepted.
- Jog motions can be canceled at any time by a feed hold `!`
command. The buffer is automatically flushed. (No resetting required).
- Jog motions do not alter the g-code parser state so GUIs don’t
have to track what they changed and correct it.
- Feature: Laser mode setting. Allows Grbl to execute continuous
motions with spindle speed and state changes.
- Feature: Significantly improved status reports. Overhauled to cram in
more meaningful data and still make it smaller on average.
- All available data is now sent by default, but does not appear if
it doesn’t change or is not active.
- Machine position(MPos) or work position(WPos) is reported but not
both at the same time. Instead, the work coordinate offsets (WCO)are
sent intermittently whenever it changes or refreshes after 10-30 status
reports. Position vectors are easily computed by WPos = MPos - WCO.
- All data has changed in some way. Details of changes are in the
markdown documents and wiki.
- Feature: 16 new realtime commands to control overrides. All in
extended-ASCII character space.
- While they are not easily typeable and requires a GUI, they can’t
be accidentally triggered by some latent character in the g-code
program and have tons of room for expansion.
- Feature: New substates for HOLD and SAFETY DOOR. A `:x` is appended
to the state, where `x` is an integer and indicates a substate.
- For example, each integer of a door state describes in what phase
the machine is in during parking. Substates are detailed in the
documentation.
- Feature: With the alarm codes, homing and probe alarms have been
expanded with more codes to provide more exact feedback on what caused
the alarm.
- Feature: New hard limit check upon power-up or reset. If detected, a
feedback message to check the limit switches sent immediately after the
welcome message.
- May be disabled in config.h.
- OEM feature: Enable/disable `$RST=` individual commands based on
desired behavior in config.h.
- OEM feature: Configurable EEPROM wipe to prevent certain data from
being deleted during firmware upgrade to a new settings version or
`RST=*` command.
- OEM feature: Enable/disable the `$I=` build info write string with
external EEPROM write example sketch.
- This prevents a user from altering the build info string in
EEPROM. This requires the vendor to write the string to EEPROM via
external means. An Arduino example sketch is provided to accomplish
this. This would be useful for contain product data that is
retrievable.
- Tweak: All feedback has been drastically trimmed to free up flash
space for the v1.0 release.
- The `$` help message is just one string, listing available
commands.
- The `$$` settings printout no longer includes descriptions. Only
the setting values. (Sorry it’s this or remove overrides!)
- Grbl `error:` and `ALARM:` responses now only contain codes. No
descriptions. All codes are explained in documentation.
- Grbl’s old feedback style may be restored via a config.h, but
keep in mind that it will likely not fit into the Arduino’s flash space.
- Tweak: Grbl now forces a buffer sync or stop motion whenever a g-code
command needs to update and write a value to EEPROM or changes the work
coordinate offset.
- This addresses two old issues in all prior Grbl versions. First,
an EEPROM write requires interrupts to be disabled, including stepper
and serial comm. Steps can be lost and data can be corrupted. Second,
the work position may not be correlated to the actual machine position,
since machine position is derived from the actual current execution
state, while work position is based on the g-code parser offset state.
They are usually not in sync and the parser state is several motions
behind. This forced sync ensures work and machine positions are always
correct.
- This behavior can be disabled through a config.h option, but it’s
not recommended to do so.
- Tweak: To make status reports standardized, users can no longer
change what is reported via status report mask, except for only
toggling machine or work positions.
- All other data fields are included in the report and can only be
disabled through the config.h file. It’s not recommended to alter this,
because GUIs will be expecting this data to be present and may not be
compatible.
- Tweak: Homing cycle and parking motion no longer report a negative
line number in a status report. These will now not report a line number
at all.
- Tweak: New `[Restoring spindle]` message when restoring from a
spindle stop override. Provides feedback what Grbl is doing while the
spindle is powering up and a 4.0 second delay is enforced.
- Tweak: Override values are reset to 100% upon M2/30. This behavior
can be disabled in config.h
- Tweak: The planner buffer size has been reduced from 18 to 16 to free
up RAM for tracking and controlling overrides.
- Tweak: TX buffer size has been increased from 64 to 90 bytes to
improve status reporting and overall performance.
- Tweak: Removed the MOTION CANCEL state. It was redundant and didn’t
affect Grbl’s overall operation by doing so.
- Tweak: Grbl’s serial buffer increased by +1 internally, such that 128
bytes means 128, not 127 due to the ring buffer implementation. Long
overdue.
- Tweak: Altered sys.alarm variable to be set by alarm codes, rather
than bit flags. Simplified how it worked overall.
- Tweak: Planner buffer and serial RX buffer usage has been combined in
the status reports.
- Tweak: Pin state reporting has been refactored to report only the
pins “triggered” and nothing when not “triggered”.
- Tweak: Current machine rate or speed is now included in every report.
- Tweak: The work coordinate offset (WCO) and override states only need
to be refreshed intermittently or reported when they change. The
refresh rates may be altered for each in the config.h file with
different idle and busy rates to lessen Grbl’s load during a job.
- Tweak: For temporary compatibility to existing GUIs until they are
updated, an option to revert back to the old style status reports is
available in config.h, but not recommended for long term use.
- Tweak: Removed old limit pin state reporting option from config.h in
lieu of new status report that includes them.
- Tweak: Updated the defaults.h file to include laser mode, altered
status report mask, and fix an issue with a missing invert probe pin
default.
- Refactor: Changed how planner line data is generated and passed to
the planner and onto the step generator. By making it a struct
variable, this saved significant flash space.
- Refactor: Major re-factoring of the planner to incorporate override
values and allow for re-calculations fast enough to immediately take
effect during operation. No small feat.
- Refactor: Re-factored the step segment generator for re-computing new
override states.
- Refactor: Re-factored spindle_control.c to accommodate the spindle
speed overrides and laser mode.
- Refactor: Re-factored parts of the codebase for a new jogging mode.
Still under development though and slated to be part of the official
v1.0 release. Hang tight.
- Refactor: Created functions for computing a unit vector and value
limiting based on axis maximums to free up more flash.
- Refactor: The spindle PWM is now set directly inside of the stepper
ISR as it loads new step segments.
- Refactor: Moved machine travel checks out of soft limits function
into its own since jogging uses this too.
- Refactor: Removed coolant_stop() and combined with
coolant_set_state().
- Refactor: The serial RX ISR forks off extended ASCII values to
quickly assess the new override realtime commands.
- Refactor: Altered some names of the step control flags.
- Refactor: Improved efficiency of the serial RX get buffer count
function.
- Refactor: Saved significant flash by removing and combining print
functions. Namely the uint8 base10 and base2 functions.
- Refactor: Moved the probe state check in the main stepper ISR to
improve its efficiency.
- Refactor: Single character printPgmStrings() went converted to direct
serial_write() commands to save significant flash space.
- Documentation: Detailed Markdown documents on error codes, alarm
codes, messages, new real-time commands, new status reports, and how
jogging works. More to come later and will be posted on the Wiki as
well.
- Documentation: CSV files for quick importing of Grbl error and alarm
codes.
- Bug Fix: Applied v0.9 master fixes to CoreXY homing.
- Bug Fix: The print float function would cause Grbl to crash if a
value was 1e6 or greater. Increased the buffer by 3 bytes to help
prevent this in the future.
- Bug Fix: Build info and startup string EEPROM restoring was not
writing the checksum value.
- Bug Fix: Corrected an issue with safety door restoring the proper
spindle and coolant state. It worked before, but breaks with laser mode
that can continually change spindle state per planner block.
- Bug Fix: Move system position and probe position arrays out of the
system_t struct. Ran into some compiling errors that were hard to track
down as to why. Moving them out fixed it.
- Planner was under-estimating maximum speeds through straight
junctions in certain cases. The calculations have been updated to be
more accurate.
- Strange sizeof() bug in the most recent releases. Manifested as an
alarm upon a power up even when homing was disabled. Fixed by declaring
sizeof() with struct types, rather than variable names, even though
they were validated to give the same value.
- Spindle speed zero should disable the spindle. Now fixed.
- New configuration option for inverting certain limit pins. Handy for
mixed NO and NC switch machines. See config.h for details.
- Tons of new stuff in this release, which is fairly stable and well
tested. However, much more is coming soon!
- Real-time parking motion with safety door. When this compile option
is enabled, an opened safety door will cause Grbl to automatically feed
hold, retract, de-energize the spindle/coolant, and parks near Z max.
After the door is closed and resume is commanded, this reverses and the
program continues as if nothing happened. This is also highly
configurable. See config.h for details.
- New spindle max and min rpm ‘$’ settings! This has been requested
often. Grbl will output 5V when commanded to turn on the spindle at its
max rpm, and 0.02V with min rpm. The voltage and the rpm range are
linear to each other. This should help users tweak their settings to
get close to true rpm’s.
- If the new max rpm ‘$’ setting is set = 0 or less than min rpm, the
spindle speed PWM pin will act like a regular on/off spindle enable
pin. On pin D11.
- BEWARE: Your old EEPROM settings will be wiped! The new spindle rpm
settings require a new settings version, so Grbl will automatically
wipe and restore the EEPROM with the new defaults.
- Control pin can now be inverted individually with a
CONTROL_INVERT_MASK in the cpu_map header file. Not typical for users
to need this, but handy to have.
- Fixed bug when Grbl receive too many characters in a line and
overflows. Previously it would respond with an error per overflow
character and another acknowledge upon an EOL character. This broke the
streaming protocol. Now fixed to only respond with an error after an
EOL character.
- Fixed a bug with the safety door during an ALARM mode. You now can’t
home or unlock the axes until the safety door has been closed. This is
for safety reasons (obviously.)
- Tweaked some the Mega2560 cpu_map settings . Increased segment buffer
size and fixed the spindle PWM settings to output at a higher PWM
frequency.
- Generalized the delay function used by G4 delay for use by parking
motion. Allows non-blocking status reports and real-time control during
re-energizing of the spindle and coolant.
- Added spindle rpm max and min defaults to default.h files.
- Added a new print float for rpm values.
- Apparently inverse time motion were not working for quite some time.
Goes to show how many people actually use it. The calculation was bad
and is now fixed in this update. It should now work correctly.
- `;` comment type is now supported. This is standard on LinuxCNC and
common on 3d printers. It was previously not supported due to not
existing in the NIST standard, which is out-dated.
- New compile-option to ECHO the line received. This should help users
experiencing very weird problems and help diagnose if there is
something amiss in the communication to Grbl.
- New compile-option to use the spindle direction pin D13 as a spindle
enable pin with PWM spindle speed on D11. This feature has been
requested often from the laser cutter community. Since spindle
direction isn’t really of much use, it seemed like good good trade.
Note that M4 spindle enable counter-clock-wise support is removed for
obvious reasons, while M3 and M5 still work.
- Homing cycle failure reports alarm feedback when the homing cycle is
exited via a reset, interrupted by a safety door switch, or does not
find the limit switch.
- Homing cycle bug fix when not finding the limit switch. It would just
idle before, but now will exit with an alarm.
- Licensing update. Corrected licensing according to lawyer
recommendations. Removed references to other Grbl versions.
- Re-organized source code files into a ‘grbl’ directory to lessen one
step in compiling Grbl through the Arduino IDE.
- Added an ‘examples’ directory with an upload .INO sketch to further
simplify compiling and uploading Grbl via the Arduino IDE.
- Updated the Makefile with regard to the source code no longer being
in the root directory. All files generated by compiling is placed in a
separate ‘build’ directory to keep things tidy. The makefile should
operate in the same way as it did before.
