---------------- Date: 2016-10-17 Author: Sonny Jeon Subject: v1.1d: Tweaked interface a bit. Added realtime spindle speed and build option data. Minor bug fixes. - Increment to v1.1d due to interface tweaks. - Based on GUI dev feedback, the toggle overrides report was removed and replace with showing “accessory state”. This shows a character if a particular accessory is enabled, like the spindle or flood coolant. These can be directly altered by the toggle overrides, so when they execute, a GUI will be able to observe the state altering as feedback. - Altered the real-time feed rate to show real-time spindle speed as well. It was an over-sight on my part. It’s needed because it’s hard to know what the current spindle speed is when overrides are altering it. Especially during something like a laser cutting job when its important to know how spindle speed overrides are effecting things. - Real-time spindle speed is not shown if VARIABLE_SPINDLE is disabled. The old real-time feed rate data field will show instead. - Compile-time option data is now included in another message immediately following the build info version string, starting with `[OPT:`. A character code follows the data type name with each indicating a particular option enabled or disabled. This will help immensely with debugging Grbl as well as help GUIs know exactly how Grbl was compiled. - These interface changes are detailed in the updated documentation. - Reduced the default planner buffer size from 17 to 16. Needed to free up some memory… - For increasing the serial TX buffer size from 90 to 104 bytes. The addition of real-time spindle speeds and accessory enable data required a bigger buffer. This is to ensure Grbl is performing at optimal levels. - Refactored parts of the spindle and coolant control code to make it more consistent to each other and how it was called. It was a little messy. The changes made it easier to track what each function call was doing based on what was calling it. - Created a couple of new get_state functions for the spindle and coolant. These are called by the accessory state report to look directly at the pin state, rather than track how it was set. This guarantees that the state is reported correctly. - Updated the g-code parser, parking motion, sleep mode, and spindle stop calls to refactored spindle and coolant code. - Added a compile-time option to enable homing individual axes, rather than having only the main homing cycle. The actual use case for this is pretty rare. It’s not recommended you enable this, unless you have a specific application for it. Otherwise, just alter the homing cycle itself. - Refactored the printFloat() function to not show a decimal point if there are no trailing values after it. For example, `1.` now shows `1`. - Fixed an issue regarding spindle speed overrides no being applied to blocks without motions. - Removed the toggle_ovr_mask system variable and replaced with spindle_stop_ovr system variable. Coolant toggles don’t need to be tracked. - Updated README ---------------- Date: 2016-10-17 Author: Will Winder Subject: Modify code CSV format. (#10) - Wrap value in quotes to avoid issue with embedded commas. This occurs in one of the alarm codes. - Change header row format to allow same parsing code as data rows. ---------------- Date: 2016-10-12 Author: chamnit Subject: Merge branch 'dev' into edge ---------------- Date: 2016-10-12 Author: chamnit Subject: Added settings documentation. Very minor bug fix to step direction handling. - Added v1.1 settings documentation to the markdown folder. - Fixed a very minor bug in the step direction handling upon wakeup. The direction mask would temporarily go back to default mask for about a millisecond when moving in the same non-default direction. It did not effect Grbl behavior before, but fixed for consistency. ---------------- Date: 2016-10-12 Author: Sonny Jeon Subject: Spindle speed bug fix. - Spindle speed updating wasn’t working in the g-code parser due to some borked up logic on my part. Fixed it and should be operating as intended for both normal and laser spindle modes. - Elaborated a little more on the new sleep mode in the documentation. ---------------- Date: 2016-10-11 Author: Sonny Jeon Subject: v1.1c: New sleep mode. Laser mode and other bug fixes. - New $SLP sleep mode that will disable spindle, coolant, and stepper enable pins. Allows users to disable their steppers without having to alter their settings. A reset is required to exit and re-initializes in alarm state. - Laser mode wasn’t updating the spindle PWM correctly (effected spindle speed overrides) and not checking for modal states either. Fixed both issues. - While in laser mode, parking motions are ignored, since the power off delay with the retract motion would burn the material. It will just turn off and not move. A restore immediately powers up and resumes. No delays. - Changing rpm max and min settings did not update the spindle PWM calculations. Now fixed. - Increased default planner buffer from 16 to 17 block. It seems to be stable, but need to monitor this carefully. - Removed software debounce routine for limit pins. Obsolete. - Fixed a couple parking motion bugs. One related to restoring incorrectly and the other the parking rate wasn’t compatible with the planner structs. - Fixed a bug caused by refactoring the critical alarms in a recent push. Soft limits weren’t invoking a critical alarm. - Updated the documentation with the new sleep feature and added some more details to the change summary. ---------------- Date: 2016-09-28 Author: Sonny Jeon Subject: New jog cancel real-time command. Parser typo fix from last push. - Added a new jog cancel real-time command. Rather than depending on a feed hold to cancel a jogging motion, this realtime command can be used instead. The main advantage is if a feed hold is used, you can accidentally hold the machine right when Grbl returns to IDLE after completing a jog. And the GUI doesn’t have to worry about tracking this either. - Fixed a typo in the g-code parser edits from the last push. Was causing the G10 set coordinate system command to not work correctly. - Updated the documentation with the jog cancel command. ---------------- Date: 2016-09-27 Author: Sonny Jeon Subject: Refactored g-code parser. Saved 60bytes flash and some ram. Edited Readme. - Freed up another 60 bytes of flash and 12-24 bytes of stack RAM by using the pre-allocated IJK arc offset vector that is guaranteed to be not in use. Only G10 and G28/30 require fetching from EEPROM and retaining extra data. Both commands use axis words, which rules out G2/3 arcs using IJK offsets existing in same block. Not ideal, but every byte helps. - Edited README. ---------------- Date: 2016-09-27 Author: Sonny Jeon Subject: Update README and clarifications in jogging document. ---------------- Date: 2016-09-26 Author: Sonny Jeon Subject: v1.1b: Tweaked Bf reports, jogging doc, saved another 160 bytes, minor bug fixes - 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. ---------------- Date: 2016-09-25 Author: Sonny Jeon Subject: Addressed much larger flash size with avr-gcc v4.9.2. Refactored reports to save 160KB. - The newest Arduino IDE 1.6.12 has recently updated to avr-gcc v4.9.2. Unfortunately, it produces a compiled size almost 0.7KB to 1KB larger than prior versions! This can easily cause the base build to exceed the Arduino Duemilanove/Nano flash limit of 30.5KB. The Arduino Uno seems to be ok still with its 31.5KB flash limit. - Makefile `-flto` compile flag added to cut down on the horrible flash size when using the new avr-gcc. (Edit Makefile and remove comment on COMPILE definition). This brings it in-line with what the IDE produces. - Functionalized repetitive tasks in report.c to try to reduce overall flash size. Successfully cut down about 160bytes. - Removed printFloat_SettingValue() and printFloat_RPMValue() functions. These aren’t required and can be replaced with a direct call to printFloat() because they don’t require a unit conversion check. ---------------- Date: 2016-09-24 Author: Sonny Jeon Subject: Serial RX count bug fix. Settings codes CSV. More documentation. - Reverted back the serial RX count function to how it was. The variable type was unsigned and cause an integer underflow whenever the calculation produced a negative number. The old way was the correct way. - Lots of minor edits to the code CSVs and markdown documents. - Expanded on explaining feedback messages and startup line execution feedback. - Created a new settings codes CSV to help GUIs import the values and meanings. ---------------- Date: 2016-09-22 Author: Sonny Jeon Subject: Increment to v1.1a, minor compile bug fix, tweaked communication protocol, more docs. - Incremented to v1.1a, rather than keep 1.0e. This is because there are existing v1.0 installations. Don’t want to confuse people further. - Certain version of the Arduino IDE did not like the `inline` in the function header. Removed from spindle_control files to fix the problem. - Tweaked the communication protocol slightly. Added message type indicators for all `[]`bracketed feedback messages. It’s been problematic for GUI dev to try to determine the context of a message and how it should be handled. These indictors should help tremendously to remove context all together. - Also altered how `$N` startup lines are presented when executed. They now start with an open chevron ‘>’ followed by the line and an ‘:ok’ to indicate it executed. The ‘ok’ is on the same line intentionally so it doesn’t mess up a streaming protocol counter. - Managed to save a 100+KB from refactoring parts of report.c. (Thanks Vasilis!) Freed up room to alter the protocol a little. - Wrote a markdown document on interface messaging to make it clear how it’s intended to work. See interface.md in /doc/markdown - Started to pull in some Wiki pages from the old grbl site and beginning to update them for v1.1. - Created new commit log for v1.1. ---------------- Date: 2016-09-22 Author: Sonny Jeon Subject: Merge pull request #1 from winder/dev Add locale to code CSVs. ---------------- Date: 2016-09-22 Author: winder Subject: Add locale to code CSVs. ---------------- Date: 2016-09-21 Author: chamnit Subject: Grbl v1.0e huge beta release. Overrides and new reporting. - 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.