### _Grbl v1.0 Realtime Status Reports_ (Rev. 3)

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#### Summary of Changes from Grbl v0.9 Reports

- Intent of changes is to make parsing cleaner, reduce transmitting overhead without effecting overall Grbl performance, and add more feedback data, which includes three new override values and real-time velocity.

- Data fields are separated by `|` pipe delimiters, rather than `,` commas that were used to separate data values. This should help with parsing.

- The ability to mask and add/remove data fields from status reports via the `$10` status report mask setting has been disabled. Only selecting `MPos:` or `WPos:` coordinates is allowed.
  - All available data is always sent to standardize the reports across all GUIs.
  - For unique situations, data fields can be removed by config.h macros, but it is highly recommended to not alter these.


- `MPos:` OR `WPos:` are always included in a report, but not BOTH at the same time.

  - This reduces transmit overhead tremendously by removing upwards to 40 characters.
  - `WCO:0.000,10.000,2.500` A current work coordinate offset is now sent to easily convert between position vectors, where `WPos = MPos - WCO` for each axis.
    - `WCO:` is included immediately whenever a `WCO:` value changes or intermittently after every **X** status reports as a refresh. Refresh rates can dynamically vary from 10 to 30 (configurable) reports depending on what Grbl is doing.
    - `WCO:` is simply the sum of the work coordinate system, G92, and G43.1 tool length offsets.
    - Basically, a GUI just needs to retain the last `WCO:` and apply the equation to get the other position vector.
    - `WCO:` messages may only be disabled via a config.h compile-option, if a GUI wants to handle the work position calculations on its own to free up more transmit bandwidth.
  - Be aware of the following issue regarding `WPos:`.
    - In Grbl v0.9 and prior, there is an old outstanding bug where the `WPos:` work position reported may not correlate to what is executing, because `WPos:` is based on the g-code parser state, which can be several motions behind. Grbl v1.0 now forces the planner buffer to empty, sync, and stops motion whenever there is a command that alters the work coordinate offsets `G10,G43.1,G92,G54-59`. This is the simplest way to ensure `WPos:` is always correct. Fortunately, it's exceedingly rare that any of these commands are used need continuous motions through them.
    - A compile-time option is available to disable the planner sync and forced stop, but, if used, it's up to the GUI to handle this position correlation issue.


- The `Hold` and `Door` states includes useful sub-state info via a `:` colon delimiter and an integer value. See descriptions for details.

- Limit and other input pin reports have significantly changed to reduce transmit overhead.
  - The data type description is now just `Pn:`, rather than `Lim:000` or `Pin:000|0|0000`
  - It does not appear if no inputs are detected as triggered.
  - If an input is triggered, ```Pn:``` will be followed by a letter or set of letters of every triggered input pin. `XYZPDHRS` for the XYZ-axes limits, Probe, Door, Hold, soft-Reset, cycle Start pins, respectively.
  - For example, a triggered Z-limit and probe pin would report `Pn:ZP`.


- Buffer data (planner and serial RX) reports have been tweaked and combined.

  - `Bf:0,0`. The first value is planner blocks in use and the second is RX bytes in use.


- Override reports are intermittent since they don't change often once set.

  - Overrides are included in every 10 or 20 status reports (configurable) depending on what Grbl is doing or, if an override value or toggle state changes, automatically in the next report.
  - There are two override fields:
    - `Ov:100,100,100` Organized as feed, rapid, and spindle speed overrides in percent.
    - `T:SFM` with each letter `S`, `F`, and `M` are defined as spindle stop active, flood coolant toggled, and mist coolant toggled, respectively.



- Line numbers, when enabled in config.h, are omitted when:

  - No line number is passed to Grbl in a block.
  - Grbl is performing a system motion like homing, jogging, or parking.
  - Grbl is executing g-code block that does not contain a motion, like `G20G54` or `G4P1` dwell. (NOTE: Looking to fixing this later.)

- See the interface markdown document for details on the new status report.

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