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grbl/grbl/report.c

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New report module. 6 persistent work coordinates. New G-codes and settings. README and minor bug updates (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 '$' will perform switch commands, homing cycle, jogging, printing paramters, etc. Much more to do here. - Updated README to reflect all of the new features.
2012-11-01 15:37:27 +00:00
/*
report.c - reporting and messaging methods
Homing alarm upon no switch. Licensing update. - Homing cycle failure reports alarm feedback when the homing cycle is exited via a reset, interrupted by a safety door switch, or does not find the limit switch. - Homing cycle bug fix when not finding the limit switch. It would just idle before, but now will exit with an alarm. - Licensing update. Corrected licensing according to lawyer recommendations. Removed references to other Grbl versions.
2015-02-16 00:36:08 +00:00
Part of Grbl
New report module. 6 persistent work coordinates. New G-codes and settings. README and minor bug updates (NOTE: This push is likely buggy so proceed with caution. Just uploading to let people know where we're going.) - New report.c module. Moved all feedback functions into this module to centralize these processes. Includes realtime status reports, status messages, feedback messages. - Official support 6 work coordinate systems (G54-G59), which are persistently held in EEPROM memory. - New g-code support: G28.1, G30.1 stores current machine position as a home position into EEPROM. G10 L20 Px stores current machine position into work coordinates without needing to explicitly send XYZ words. - Homing performed with '$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.
2012-11-01 15:37:27 +00:00
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.
2016-09-22 01:08:24 +00:00
Copyright (c) 2012-2016 Sungeun K. Jeon for Gnea Research LLC
New report module. 6 persistent work coordinates. New G-codes and settings. README and minor bug updates (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.
2012-11-01 15:37:27 +00:00
Grbl is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
Grbl is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with Grbl. If not, see <http://www.gnu.org/licenses/>.
*/
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.
2016-09-22 01:08:24 +00:00
/*
This file functions as the primary feedback interface for Grbl. Any outgoing data, such
New report module. 6 persistent work coordinates. New G-codes and settings. README and minor bug updates (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.
2012-11-01 15:37:27 +00:00
as the protocol status messages, feedback messages, and status reports, are stored here.
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.
2016-09-22 01:08:24 +00:00
For the most part, these functions primarily are called from protocol.c methods. If a
different style feedback is desired (i.e. JSON), then a user can change these following
New report module. 6 persistent work coordinates. New G-codes and settings. README and minor bug updates (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.
2012-11-01 15:37:27 +00:00
methods to accomodate their needs.
*/
Bug fix for certain motions. Re-org of includes. - Critical bug fix for diagonal motions that continue on the same direction or return in the exact opposite direction. This issue could cause Grbl to crash intermittently due to a numerical round-off error. Grbl versions prior to v0.9g shouldn’t have this issue. - Reorganized all of the includes used by Grbl. Centralized it into a single “grbl.h” include. This will help simplify the compiling and uploading process through the Arduino IDE. - Added an example .INO file for users to simply open and run when compiling and uploading through the IDE. More to come later.
2015-02-10 15:25:09 +00:00
#include "grbl.h"
New report module. 6 persistent work coordinates. New G-codes and settings. README and minor bug updates (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.
2012-11-01 15:37:27 +00:00
// Handles the primary confirmation protocol response for streaming interfaces and human-feedback.
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.
2016-09-22 01:08:24 +00:00
// For every incoming line, this method responds with an 'ok' for a successful command or an
// 'error:' to indicate some error event with the line or some critical system error during
New report module. 6 persistent work coordinates. New G-codes and settings. README and minor bug updates (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.
2012-11-01 15:37:27 +00:00
// operation. Errors events can originate from the g-code parser, settings module, or asynchronously
// from a critical error, such as a triggered hard limit. Interface should always monitor for these
// responses.
// NOTE: In silent mode, all error codes are greater than zero.
// TODO: Install silent mode to return only numeric values, primarily for GUIs.
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.
2016-09-22 01:08:24 +00:00
void report_status_message(uint8_t status_code)
New report module. 6 persistent work coordinates. New G-codes and settings. README and minor bug updates (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.
2012-11-01 15:37:27 +00:00
{
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.
2016-09-22 01:08:24 +00:00
switch(status_code) {
case STATUS_OK: // STATUS_OK
printPgmString(PSTR("ok\r\n")); break;
default:
#ifdef REPORT_GUI_MODE
printPgmString(PSTR("error:"));
print_uint8_base10(status_code);
#else
printPgmString(PSTR("error: "));
switch(status_code) {
case STATUS_EXPECTED_COMMAND_LETTER:
printPgmString(PSTR("Expected command letter")); break;
case STATUS_BAD_NUMBER_FORMAT:
printPgmString(PSTR("Bad number format")); break;
case STATUS_INVALID_STATEMENT:
printPgmString(PSTR("Invalid statement")); break;
case STATUS_NEGATIVE_VALUE:
printPgmString(PSTR("Value < 0")); break;
case STATUS_SETTING_DISABLED:
printPgmString(PSTR("Setting disabled")); break;
case STATUS_SETTING_STEP_PULSE_MIN:
printPgmString(PSTR("Value < 3 usec")); break;
case STATUS_SETTING_READ_FAIL:
printPgmString(PSTR("EEPROM read fail. Using defaults")); break;
case STATUS_IDLE_ERROR:
printPgmString(PSTR("Not idle")); break;
case STATUS_SYSTEM_GC_LOCK:
printPgmString(PSTR("G-code lock")); break;
case STATUS_SOFT_LIMIT_ERROR:
printPgmString(PSTR("Homing not enabled")); break;
case STATUS_OVERFLOW:
printPgmString(PSTR("Line overflow")); break;
#ifdef MAX_STEP_RATE_HZ
case STATUS_MAX_STEP_RATE_EXCEEDED:
printPgmString(PSTR("Step rate > 30kHz")); break;
#endif
case STATUS_CHECK_DOOR:
printPgmString(PSTR("Check Door")); break;
// case STATUS_LINE_LENGTH_EXCEEDED: // Supported on Grbl-Mega only.
// printPgmString(PSTR("Line length exceeded")); break;
case STATUS_TRAVEL_EXCEEDED:
printPgmString(PSTR("Travel exceeded")); break;
case STATUS_INVALID_JOG_COMMAND:
printPgmString(PSTR("Invalid jog command")); break;
// Common g-code parser errors.
case STATUS_GCODE_UNSUPPORTED_COMMAND:
printPgmString(PSTR("Unsupported command")); break;
case STATUS_GCODE_MODAL_GROUP_VIOLATION:
printPgmString(PSTR("Modal group violation")); break;
case STATUS_GCODE_UNDEFINED_FEED_RATE:
printPgmString(PSTR("Undefined feed rate")); break;
default:
// Remaining g-code parser errors with error codes
printPgmString(PSTR("Invalid gcode ID:"));
print_uint8_base10(status_code); // Print error code for user reference
}
#endif
printPgmString(PSTR("\r\n"));
New report module. 6 persistent work coordinates. New G-codes and settings. README and minor bug updates (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 '$' will perform switch commands, homing cycle, jogging, printing paramters, etc. Much more to do here. - Updated README to reflect all of the new features.
2012-11-01 15:37:27 +00:00
}
}
Re-factored system states and alarm management. Serial baud support greater than 57600. - Refactored system states to be more clear and concise. Alarm locks processes when position is unknown to indicate to user something has gone wrong. - Changed mc_alarm to mc_reset, which now manages the system reset function. Centralizes it. - Renamed '$X' kill homing lock to kill alarm lock. - Created an alarm error reporting method to clear up what is an alarm: message vs a status error: message. For GUIs mainly. Alarm codes are negative. Status codes are positive. - Serial baud support upto 115200. Previous baudrate calc was unstable for 57600 and above. - Alarm state locks out all g-code blocks, including startup scripts, but allows user to access settings and internal commands. For example, to disable hard limits, if they are problematic. - Hard limits do not respond in an alarm state. - Fixed a problem with the hard limit interrupt during the homing cycle. The interrupt register is still active during the homing cycle and still signal the interrupt to trigger when re-enabled. Instead, just disabled the register. - Homing rate adjusted. All axes move at homing seek rate, regardless of how many axes move at the same time. This is unlike how the stepper module does it as a point to point rate. - New config.h settings to disable the homing rate adjustment and the force homing upon powerup. - Reduced the number of startup lines back down to 2 from 3. This discourages users from placing motion block in there, which can be very dangerous. - Startup blocks now run only after an alarm-free reset or after a homing cycle. Does not run when $X kill is called. For satefy reasons
2012-11-15 00:36:29 +00:00
// Prints alarm messages.
void report_alarm_message(int8_t alarm_code)
{
New configuration options. - New configuration option at compile-time: - Force alarm upon power-up or hard reset. When homing is enabled, this is already the default behavior. This simply forces this all of the time. - GUI reporting mode. Removes most human-readable strings that GUIs don’t need. This saves nearly 2KB in flash space that can be used for other features. - Hard limit force state check: In the hard limit pin change ISR, Grbl by default sets the hard limit alarm upon any pin change to guarantee the alarm is set. If this option is set, it’ll check the state within the ISR, but can’t guarantee the pin will be read correctly if the switch is bouncing. This option makes hard limit behavior a little less annoying if you have a good buffered switch circuit that removes bouncing and electronic noise. - Software debounce bug fix. It was reading the pin incorrectly for the setting. - Re-factored some of the ‘$’ settings code.
2015-02-24 01:45:26 +00:00
#ifdef REPORT_GUI_MODE
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.
2016-09-22 01:08:24 +00:00
printPgmString(PSTR("ALARM:"));
New configuration options. - New configuration option at compile-time: - Force alarm upon power-up or hard reset. When homing is enabled, this is already the default behavior. This simply forces this all of the time. - GUI reporting mode. Removes most human-readable strings that GUIs don’t need. This saves nearly 2KB in flash space that can be used for other features. - Hard limit force state check: In the hard limit pin change ISR, Grbl by default sets the hard limit alarm upon any pin change to guarantee the alarm is set. If this option is set, it’ll check the state within the ISR, but can’t guarantee the pin will be read correctly if the switch is bouncing. This option makes hard limit behavior a little less annoying if you have a good buffered switch circuit that removes bouncing and electronic noise. - Software debounce bug fix. It was reading the pin incorrectly for the setting. - Re-factored some of the ‘$’ settings code.
2015-02-24 01:45:26 +00:00
print_uint8_base10(alarm_code);
#else
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.
2016-09-22 01:08:24 +00:00
printPgmString(PSTR("ALARM: "));
New configuration options. - New configuration option at compile-time: - Force alarm upon power-up or hard reset. When homing is enabled, this is already the default behavior. This simply forces this all of the time. - GUI reporting mode. Removes most human-readable strings that GUIs don’t need. This saves nearly 2KB in flash space that can be used for other features. - Hard limit force state check: In the hard limit pin change ISR, Grbl by default sets the hard limit alarm upon any pin change to guarantee the alarm is set. If this option is set, it’ll check the state within the ISR, but can’t guarantee the pin will be read correctly if the switch is bouncing. This option makes hard limit behavior a little less annoying if you have a good buffered switch circuit that removes bouncing and electronic noise. - Software debounce bug fix. It was reading the pin incorrectly for the setting. - Re-factored some of the ‘$’ settings code.
2015-02-24 01:45:26 +00:00
switch (alarm_code) {
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.
2016-09-22 01:08:24 +00:00
case ALARM_HARD_LIMIT_ERROR:
printPgmString(PSTR("Hard limit")); break;
New configuration options. - New configuration option at compile-time: - Force alarm upon power-up or hard reset. When homing is enabled, this is already the default behavior. This simply forces this all of the time. - GUI reporting mode. Removes most human-readable strings that GUIs don’t need. This saves nearly 2KB in flash space that can be used for other features. - Hard limit force state check: In the hard limit pin change ISR, Grbl by default sets the hard limit alarm upon any pin change to guarantee the alarm is set. If this option is set, it’ll check the state within the ISR, but can’t guarantee the pin will be read correctly if the switch is bouncing. This option makes hard limit behavior a little less annoying if you have a good buffered switch circuit that removes bouncing and electronic noise. - Software debounce bug fix. It was reading the pin incorrectly for the setting. - Re-factored some of the ‘$’ settings code.
2015-02-24 01:45:26 +00:00
case ALARM_SOFT_LIMIT_ERROR:
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.
2016-09-22 01:08:24 +00:00
printPgmString(PSTR("Soft limit")); break;
case ALARM_ABORT_CYCLE:
printPgmString(PSTR("Abort during cycle")); break;
case ALARM_PROBE_FAIL_INITIAL:
case ALARM_PROBE_FAIL_CONTACT:
printPgmString(PSTR("Probe fail")); break;
case ALARM_HOMING_FAIL_RESET:
case ALARM_HOMING_FAIL_DOOR:
case ALARM_HOMING_FAIL_PULLOFF:
case ALARM_HOMING_FAIL_APPROACH:
printPgmString(PSTR("Homing fail")); break;
New configuration options. - New configuration option at compile-time: - Force alarm upon power-up or hard reset. When homing is enabled, this is already the default behavior. This simply forces this all of the time. - GUI reporting mode. Removes most human-readable strings that GUIs don’t need. This saves nearly 2KB in flash space that can be used for other features. - Hard limit force state check: In the hard limit pin change ISR, Grbl by default sets the hard limit alarm upon any pin change to guarantee the alarm is set. If this option is set, it’ll check the state within the ISR, but can’t guarantee the pin will be read correctly if the switch is bouncing. This option makes hard limit behavior a little less annoying if you have a good buffered switch circuit that removes bouncing and electronic noise. - Software debounce bug fix. It was reading the pin incorrectly for the setting. - Re-factored some of the ‘$’ settings code.
2015-02-24 01:45:26 +00:00
}
#endif
G38.2 probe feature rough draft installed. Working but needs testing. - G38.2 straight probe now supported. Rough draft. May be tweaked more as testing ramps up. - G38.2 requires at least one axis word. Multiple axis words work too. When commanded, the probe cycle will move at the last ‘F’ feed rate specified in a straight line. - During a probe cycle: If the probe pin goes low (normal high), Grbl will record that immediate position and engage a feed hold. Meaning that the CNC machine will move a little past the probe switch point, so keep federates low to stop sooner. Once stopped, Grbl will issue a move to go back to the recorded probe trigger point. - During a probe cycle: If the probe switch does not engage by the time the machine has traveled to its target coordinates, Grbl will issue an ALARM and the user will be forced to reset Grbl. (Currently G38.3 probe without error isn’t supported, but would be easy to implement later.) - After a successful probe, Grbl will send a feedback message containing the recorded probe coordinates in the machine coordinate system. This is as the g-code standard on probe parameters specifies. - The recorded probe parameters are retained in Grbl memory and can be viewed with the ‘$#’ print parameters command. Upon a power-cycle, not a soft-reset, Grbl will re-zero these values. - Moved ‘$#’ command to require IDLE or ALARM mode, because it accesses EEPROM to fetch the coordinate system offsets. - Updated the Grbl version to v0.9d. - The probe cycle is subject to change upon testing or user-feedback.
2014-03-01 05:03:26 +00:00
printPgmString(PSTR("\r\n"));
Merge bug fixes from recent v0.8c push. Added readme for Grbl Sim.
2013-01-19 00:02:44 +00:00
delay_ms(500); // Force delay to ensure message clears serial write buffer.
Re-factored system states and alarm management. Serial baud support greater than 57600. - Refactored system states to be more clear and concise. Alarm locks processes when position is unknown to indicate to user something has gone wrong. - Changed mc_alarm to mc_reset, which now manages the system reset function. Centralizes it. - Renamed '$X' kill homing lock to kill alarm lock. - Created an alarm error reporting method to clear up what is an alarm: message vs a status error: message. For GUIs mainly. Alarm codes are negative. Status codes are positive. - Serial baud support upto 115200. Previous baudrate calc was unstable for 57600 and above. - Alarm state locks out all g-code blocks, including startup scripts, but allows user to access settings and internal commands. For example, to disable hard limits, if they are problematic. - Hard limits do not respond in an alarm state. - Fixed a problem with the hard limit interrupt during the homing cycle. The interrupt register is still active during the homing cycle and still signal the interrupt to trigger when re-enabled. Instead, just disabled the register. - Homing rate adjusted. All axes move at homing seek rate, regardless of how many axes move at the same time. This is unlike how the stepper module does it as a point to point rate. - New config.h settings to disable the homing rate adjustment and the force homing upon powerup. - Reduced the number of startup lines back down to 2 from 3. This discourages users from placing motion block in there, which can be very dangerous. - Startup blocks now run only after an alarm-free reset or after a homing cycle. Does not run when $X kill is called. For satefy reasons
2012-11-15 00:36:29 +00:00
}
New report module. 6 persistent work coordinates. New G-codes and settings. README and minor bug updates (NOTE: This push is likely buggy so proceed with caution. Just uploading to let people know where we're going.) - New report.c module. Moved all feedback functions into this module to centralize these processes. Includes realtime status reports, status messages, feedback messages. - Official support 6 work coordinate systems (G54-G59), which are persistently held in EEPROM memory. - New g-code support: G28.1, G30.1 stores current machine position as a home position into EEPROM. G10 L20 Px stores current machine position into work coordinates without needing to explicitly send XYZ words. - Homing performed with '$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.
2012-11-01 15:37:27 +00:00
// Prints feedback messages. This serves as a centralized method to provide additional
Re-factored system states and alarm management. Serial baud support greater than 57600. - Refactored system states to be more clear and concise. Alarm locks processes when position is unknown to indicate to user something has gone wrong. - Changed mc_alarm to mc_reset, which now manages the system reset function. Centralizes it. - Renamed '$X' kill homing lock to kill alarm lock. - Created an alarm error reporting method to clear up what is an alarm: message vs a status error: message. For GUIs mainly. Alarm codes are negative. Status codes are positive. - Serial baud support upto 115200. Previous baudrate calc was unstable for 57600 and above. - Alarm state locks out all g-code blocks, including startup scripts, but allows user to access settings and internal commands. For example, to disable hard limits, if they are problematic. - Hard limits do not respond in an alarm state. - Fixed a problem with the hard limit interrupt during the homing cycle. The interrupt register is still active during the homing cycle and still signal the interrupt to trigger when re-enabled. Instead, just disabled the register. - Homing rate adjusted. All axes move at homing seek rate, regardless of how many axes move at the same time. This is unlike how the stepper module does it as a point to point rate. - New config.h settings to disable the homing rate adjustment and the force homing upon powerup. - Reduced the number of startup lines back down to 2 from 3. This discourages users from placing motion block in there, which can be very dangerous. - Startup blocks now run only after an alarm-free reset or after a homing cycle. Does not run when $X kill is called. For satefy reasons
2012-11-15 00:36:29 +00:00
// user feedback for things that are not of the status/alarm message protocol. These are
// messages such as setup warnings, switch toggling, and how to exit alarms.
New startup script setting. New dry run, check gcode switches. New system state variable. Lots of reorganizing. (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.
2012-11-03 17:32:23 +00:00
// NOTE: For interfaces, messages are always placed within brackets. And if silent mode
Added block delete, opt stop, single block mode. New parser state and parameter feedback. Overhauled '$' command. 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.
2012-11-02 01:48:55 +00:00
// is installed, the message number codes are less than zero.
New report module. 6 persistent work coordinates. New G-codes and settings. README and minor bug updates (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.
2012-11-01 15:37:27 +00:00
// TODO: Install silence feedback messages option in settings
Re-factored system states and alarm management. Serial baud support greater than 57600. - Refactored system states to be more clear and concise. Alarm locks processes when position is unknown to indicate to user something has gone wrong. - Changed mc_alarm to mc_reset, which now manages the system reset function. Centralizes it. - Renamed '$X' kill homing lock to kill alarm lock. - Created an alarm error reporting method to clear up what is an alarm: message vs a status error: message. For GUIs mainly. Alarm codes are negative. Status codes are positive. - Serial baud support upto 115200. Previous baudrate calc was unstable for 57600 and above. - Alarm state locks out all g-code blocks, including startup scripts, but allows user to access settings and internal commands. For example, to disable hard limits, if they are problematic. - Hard limits do not respond in an alarm state. - Fixed a problem with the hard limit interrupt during the homing cycle. The interrupt register is still active during the homing cycle and still signal the interrupt to trigger when re-enabled. Instead, just disabled the register. - Homing rate adjusted. All axes move at homing seek rate, regardless of how many axes move at the same time. This is unlike how the stepper module does it as a point to point rate. - New config.h settings to disable the homing rate adjustment and the force homing upon powerup. - Reduced the number of startup lines back down to 2 from 3. This discourages users from placing motion block in there, which can be very dangerous. - Startup blocks now run only after an alarm-free reset or after a homing cycle. Does not run when $X kill is called. For satefy reasons
2012-11-15 00:36:29 +00:00
void report_feedback_message(uint8_t message_code)
New report module. 6 persistent work coordinates. New G-codes and settings. README and minor bug updates (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.
2012-11-01 15:37:27 +00:00
{
switch(message_code) {
Tweaks and bug fixes. Increase to 3 startup blocks. Remove purge/added unlock command - Increased the number of startup blocks to 3 for no good reason other than it doesn't increase the flash size. - Removed the purge buffer command and replaced with an disable homing lock command. - Homing now blocks all g-code commands (not system commands) until the homing cycle has been performed or the disable homing lock is sent. Homing is required upon startup or if Grbl loses it position. This is for safety reasons. - Cleaned up some of the Grbl states and re-organized it to be little more cohesive. - Cleaned up the feedback and status messages to not use so much flash space, as it's a premium now. - Check g-code and dry run switches how are mutually exclusive and can't be enabled when the other is. And automatically resets Grbl when disabled. - Some bug fixes and other minor tweaks.
2012-11-06 04:40:52 +00:00
case MESSAGE_CRITICAL_EVENT:
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.
2016-09-22 01:08:24 +00:00
printPgmString(PSTR("[Reset to continue")); break;
Re-factored system states and alarm management. Serial baud support greater than 57600. - Refactored system states to be more clear and concise. Alarm locks processes when position is unknown to indicate to user something has gone wrong. - Changed mc_alarm to mc_reset, which now manages the system reset function. Centralizes it. - Renamed '$X' kill homing lock to kill alarm lock. - Created an alarm error reporting method to clear up what is an alarm: message vs a status error: message. For GUIs mainly. Alarm codes are negative. Status codes are positive. - Serial baud support upto 115200. Previous baudrate calc was unstable for 57600 and above. - Alarm state locks out all g-code blocks, including startup scripts, but allows user to access settings and internal commands. For example, to disable hard limits, if they are problematic. - Hard limits do not respond in an alarm state. - Fixed a problem with the hard limit interrupt during the homing cycle. The interrupt register is still active during the homing cycle and still signal the interrupt to trigger when re-enabled. Instead, just disabled the register. - Homing rate adjusted. All axes move at homing seek rate, regardless of how many axes move at the same time. This is unlike how the stepper module does it as a point to point rate. - New config.h settings to disable the homing rate adjustment and the force homing upon powerup. - Reduced the number of startup lines back down to 2 from 3. This discourages users from placing motion block in there, which can be very dangerous. - Startup blocks now run only after an alarm-free reset or after a homing cycle. Does not run when $X kill is called. For satefy reasons
2012-11-15 00:36:29 +00:00
case MESSAGE_ALARM_LOCK:
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.
2016-09-22 01:08:24 +00:00
printPgmString(PSTR("['$H'|'$X' to unlock")); break;
Re-factored system states and alarm management. Serial baud support greater than 57600. - Refactored system states to be more clear and concise. Alarm locks processes when position is unknown to indicate to user something has gone wrong. - Changed mc_alarm to mc_reset, which now manages the system reset function. Centralizes it. - Renamed '$X' kill homing lock to kill alarm lock. - Created an alarm error reporting method to clear up what is an alarm: message vs a status error: message. For GUIs mainly. Alarm codes are negative. Status codes are positive. - Serial baud support upto 115200. Previous baudrate calc was unstable for 57600 and above. - Alarm state locks out all g-code blocks, including startup scripts, but allows user to access settings and internal commands. For example, to disable hard limits, if they are problematic. - Hard limits do not respond in an alarm state. - Fixed a problem with the hard limit interrupt during the homing cycle. The interrupt register is still active during the homing cycle and still signal the interrupt to trigger when re-enabled. Instead, just disabled the register. - Homing rate adjusted. All axes move at homing seek rate, regardless of how many axes move at the same time. This is unlike how the stepper module does it as a point to point rate. - New config.h settings to disable the homing rate adjustment and the force homing upon powerup. - Reduced the number of startup lines back down to 2 from 3. This discourages users from placing motion block in there, which can be very dangerous. - Startup blocks now run only after an alarm-free reset or after a homing cycle. Does not run when $X kill is called. For satefy reasons
2012-11-15 00:36:29 +00:00
case MESSAGE_ALARM_UNLOCK:
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.
2016-09-22 01:08:24 +00:00
printPgmString(PSTR("[Caution: Unlocked")); break;
Tweaks and bug fixes. Increase to 3 startup blocks. Remove purge/added unlock command - Increased the number of startup blocks to 3 for no good reason other than it doesn't increase the flash size. - Removed the purge buffer command and replaced with an disable homing lock command. - Homing now blocks all g-code commands (not system commands) until the homing cycle has been performed or the disable homing lock is sent. Homing is required upon startup or if Grbl loses it position. This is for safety reasons. - Cleaned up some of the Grbl states and re-organized it to be little more cohesive. - Cleaned up the feedback and status messages to not use so much flash space, as it's a premium now. - Check g-code and dry run switches how are mutually exclusive and can't be enabled when the other is. And automatically resets Grbl when disabled. - Some bug fixes and other minor tweaks.
2012-11-06 04:40:52 +00:00
case MESSAGE_ENABLED:
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.
2016-09-22 01:08:24 +00:00
printPgmString(PSTR("[Enabled")); break;
Tweaks and bug fixes. Increase to 3 startup blocks. Remove purge/added unlock command - Increased the number of startup blocks to 3 for no good reason other than it doesn't increase the flash size. - Removed the purge buffer command and replaced with an disable homing lock command. - Homing now blocks all g-code commands (not system commands) until the homing cycle has been performed or the disable homing lock is sent. Homing is required upon startup or if Grbl loses it position. This is for safety reasons. - Cleaned up some of the Grbl states and re-organized it to be little more cohesive. - Cleaned up the feedback and status messages to not use so much flash space, as it's a premium now. - Check g-code and dry run switches how are mutually exclusive and can't be enabled when the other is. And automatically resets Grbl when disabled. - Some bug fixes and other minor tweaks.
2012-11-06 04:40:52 +00:00
case MESSAGE_DISABLED:
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.
2016-09-22 01:08:24 +00:00
printPgmString(PSTR("[Disabled")); break;
Overhauled state machine. New safety door feature. - Overhauled the state machine and cleaned up its overall operation. This involved creating a new ‘suspend’ state for what all external commands, except real-time commands, are ignored. All hold type states enter this suspend state. - Removed ‘auto cycle start’ setting from Grbl. This was not used by users in its intended way and is somewhat redundant, as GUI manage the cycle start by streaming. It also muddled up how Grbl should interpret how and when to execute a g-code block. Removing it made everything much much simpler. - Fixed a program pause bug when used with other buffer_sync commands. - New safety door feature for OEMs. Immediately forces a feed hold and then de-energizes the machine. Resuming is blocked until the door is closed. When it is, it re-energizes the system and then resumes on the normal toolpath. - Safety door input pin is optional and uses the feed hold pin on A1. Enabled by config.h define. - Spindle and coolant re-energizing upon a safety door resume has a programmable delay time to allow for complete spin up to rpm and turning on the coolant before resuming motion. - Safety door-style feed holds can be used instead of regular feed hold (doesn’t de-energize the machine) with a ‘@‘ character. If the safety door input pin is not enabled, the system can be resumed at any time.
2015-02-12 04:19:00 +00:00
case MESSAGE_SAFETY_DOOR_AJAR:
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.
2016-09-22 01:08:24 +00:00
printPgmString(PSTR("[Check Door")); break;
case MESSAGE_CHECK_LIMITS:
printPgmString(PSTR("[Check Limits")); break;
Critical M0/2/30 fix. Homing updates. - Critical fix for M0 program pause. Due to its recent change, it would cause Grbl to suspend but wouldn’t notify the user of why Grbl was not doing anything. The state would show IDLE and a cycle start would resume it. Grbl now enters a HOLD state to better indicate the state change. - Critical fix for M2 and M30 program end. As with M0, the state previously would show IDLE while suspended. Grbl now does not suspend upon program end and leaves job control to the GUI. Grbl simply reports a `[Pgm End]` as a feedback message and resets certain g-code modes. - M2/30 g-code reseting fix. Previously Grbl would soft-reset after an M2/30, but this was not complaint to the (linuxcnc) g-code standard. It simply resets [G1,G17,G90,G94,G40,G54,M5,M9,M48] and keeps all other modes the same. - M0/M2/M30 check-mode fix. It now does not suspend the machine during check-mode. - Minor bug fix related to commands similar to G90.1, but not G90.1, not reporting an unsupported command. - Homing cycle refactoring. To help reduce the chance of users misunderstanding their limit switch wiring, Grbl only moves a short distance for the locate cycles only. In addition, the homing cycle pulls-off the limit switch by the pull-off distance to re-engage and locate home. This should improve its accuracy. - HOMING_FORCE_ORIGIN now sets the origin to the pull-off location, rather than where the limit switch was triggered. - Updated default junction deviation to 0.01mm. Recent tests showed that this improves Grbl’s cornering behavior a bit. - Added the ShapeOko3 defaults. - Added new feedback message `[Pgm End]` for M2/30 notification. - Limit pin reporting is now a $10 status report option. Requested by OEMs to help simplify support troubleshooting.
2015-05-17 19:25:36 +00:00
case MESSAGE_PROGRAM_END:
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.
2016-09-22 01:08:24 +00:00
printPgmString(PSTR("[Pgm End")); break;
Added restore settings defaults command. - New restore setting defaults command. Only wipes ‘$$’ setting in EEPROM and reloads them based on the defaults used when Grbl was compiled. Used with a `$RST` command NOTE: `$RST` is intentionally not listed in the Grbl ‘$’ help message.
2015-06-18 15:23:17 +00:00
case MESSAGE_RESTORE_DEFAULTS:
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.
2016-09-22 01:08:24 +00:00
printPgmString(PSTR("[Restoring defaults")); break;
case MESSAGE_SPINDLE_RESTORE:
printPgmString(PSTR("[Restoring spindle")); break;
New report module. 6 persistent work coordinates. New G-codes and settings. README and minor bug updates (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.
2012-11-01 15:37:27 +00:00
}
New startup script setting. New dry run, check gcode switches. New system state variable. Lots of reorganizing. (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.
2012-11-03 17:32:23 +00:00
printPgmString(PSTR("]\r\n"));
New report module. 6 persistent work coordinates. New G-codes and settings. README and minor bug updates (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.
2012-11-01 15:37:27 +00:00
}
New startup script setting. New dry run, check gcode switches. New system state variable. Lots of reorganizing. (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.
2012-11-03 17:32:23 +00:00
New report module. 6 persistent work coordinates. New G-codes and settings. README and minor bug updates (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 '$' will perform switch commands, homing cycle, jogging, printing paramters, etc. Much more to do here. - Updated README to reflect all of the new features.
2012-11-01 15:37:27 +00:00
// Welcome message
void report_init_message()
{
New build info feature. (per @Analogreality request) - New build info feature. Hidden command ‘$I’ will print the build info for your Grbl firmware. Users may also write an identifying message within it via ‘$I=‘ with up to 32 characters. (no more, or else it will break). - Adjusted the max number of startup lines to 3. Majority of people will only need one. - Fixed a compile error with spindle_control.c. A rogue #endif was causing problems.
2014-01-05 17:27:34 +00:00
printPgmString(PSTR("\r\nGrbl " GRBL_VERSION " ['$' for help]\r\n"));
New report module. 6 persistent work coordinates. New G-codes and settings. README and minor bug updates (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.
2012-11-01 15:37:27 +00:00
}
New startup script setting. New dry run, check gcode switches. New system state variable. Lots of reorganizing. (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.
2012-11-03 17:32:23 +00:00
// Grbl help message
New report module. 6 persistent work coordinates. New G-codes and settings. README and minor bug updates (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.
2012-11-01 15:37:27 +00:00
void report_grbl_help() {
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.
2016-09-22 01:08:24 +00:00
#ifdef REPORT_GUI_MODE
printPgmString(PSTR("[$$ $# $G $I $N $x=val $Nx=line $J=line $C $X $H ~ ! ? ctrl-x]\r\n"));
#else
New configuration options. - New configuration option at compile-time: - Force alarm upon power-up or hard reset. When homing is enabled, this is already the default behavior. This simply forces this all of the time. - GUI reporting mode. Removes most human-readable strings that GUIs don’t need. This saves nearly 2KB in flash space that can be used for other features. - Hard limit force state check: In the hard limit pin change ISR, Grbl by default sets the hard limit alarm upon any pin change to guarantee the alarm is set. If this option is set, it’ll check the state within the ISR, but can’t guarantee the pin will be read correctly if the switch is bouncing. This option makes hard limit behavior a little less annoying if you have a good buffered switch circuit that removes bouncing and electronic noise. - Software debounce bug fix. It was reading the pin incorrectly for the setting. - Re-factored some of the ‘$’ settings code.
2015-02-24 01:45:26 +00:00
printPgmString(PSTR("$$ (view Grbl settings)\r\n"
"$# (view # parameters)\r\n"
"$G (view parser state)\r\n"
"$I (view build info)\r\n"
"$N (view startup blocks)\r\n"
"$x=value (save Grbl setting)\r\n"
"$Nx=line (save startup block)\r\n"
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.
2016-09-22 01:08:24 +00:00
"$J=line (jog)\r\n"
New configuration options. - New configuration option at compile-time: - Force alarm upon power-up or hard reset. When homing is enabled, this is already the default behavior. This simply forces this all of the time. - GUI reporting mode. Removes most human-readable strings that GUIs don’t need. This saves nearly 2KB in flash space that can be used for other features. - Hard limit force state check: In the hard limit pin change ISR, Grbl by default sets the hard limit alarm upon any pin change to guarantee the alarm is set. If this option is set, it’ll check the state within the ISR, but can’t guarantee the pin will be read correctly if the switch is bouncing. This option makes hard limit behavior a little less annoying if you have a good buffered switch circuit that removes bouncing and electronic noise. - Software debounce bug fix. It was reading the pin incorrectly for the setting. - Re-factored some of the ‘$’ settings code.
2015-02-24 01:45:26 +00:00
"$C (check gcode mode)\r\n"
"$X (kill alarm lock)\r\n"
"$H (run homing cycle)\r\n"
"~ (cycle start)\r\n"
"! (feed hold)\r\n"
"? (current status)\r\n"
"ctrl-x (reset Grbl)\r\n"));
#endif
Added block delete, opt stop, single block mode. New parser state and parameter feedback. Overhauled '$' command. 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.
2012-11-02 01:48:55 +00:00
}
Settings refactoring. Bug fixes. Misc new features. 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.
2014-07-26 21:01:34 +00:00
New startup script setting. New dry run, check gcode switches. New system state variable. Lots of reorganizing. (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.
2012-11-03 17:32:23 +00:00
// Grbl global settings print out.
// NOTE: The numbering scheme here must correlate to storing in settings.c
Added block delete, opt stop, single block mode. New parser state and parameter feedback. Overhauled '$' command. 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.
2012-11-02 01:48:55 +00:00
void report_grbl_settings() {
Settings refactoring. Bug fixes. Misc new features. 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.
2014-07-26 21:01:34 +00:00
// Print Grbl settings.
New configuration options. - New configuration option at compile-time: - Force alarm upon power-up or hard reset. When homing is enabled, this is already the default behavior. This simply forces this all of the time. - GUI reporting mode. Removes most human-readable strings that GUIs don’t need. This saves nearly 2KB in flash space that can be used for other features. - Hard limit force state check: In the hard limit pin change ISR, Grbl by default sets the hard limit alarm upon any pin change to guarantee the alarm is set. If this option is set, it’ll check the state within the ISR, but can’t guarantee the pin will be read correctly if the switch is bouncing. This option makes hard limit behavior a little less annoying if you have a good buffered switch circuit that removes bouncing and electronic noise. - Software debounce bug fix. It was reading the pin incorrectly for the setting. - Re-factored some of the ‘$’ settings code.
2015-02-24 01:45:26 +00:00
#ifdef REPORT_GUI_MODE
printPgmString(PSTR("$0=")); print_uint8_base10(settings.pulse_microseconds);
printPgmString(PSTR("\r\n$1=")); print_uint8_base10(settings.stepper_idle_lock_time);
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.
2016-09-22 01:08:24 +00:00
printPgmString(PSTR("\r\n$2=")); print_uint8_base10(settings.step_invert_mask);
printPgmString(PSTR("\r\n$3=")); print_uint8_base10(settings.dir_invert_mask);
New configuration options. - New configuration option at compile-time: - Force alarm upon power-up or hard reset. When homing is enabled, this is already the default behavior. This simply forces this all of the time. - GUI reporting mode. Removes most human-readable strings that GUIs don’t need. This saves nearly 2KB in flash space that can be used for other features. - Hard limit force state check: In the hard limit pin change ISR, Grbl by default sets the hard limit alarm upon any pin change to guarantee the alarm is set. If this option is set, it’ll check the state within the ISR, but can’t guarantee the pin will be read correctly if the switch is bouncing. This option makes hard limit behavior a little less annoying if you have a good buffered switch circuit that removes bouncing and electronic noise. - Software debounce bug fix. It was reading the pin incorrectly for the setting. - Re-factored some of the ‘$’ settings code.
2015-02-24 01:45:26 +00:00
printPgmString(PSTR("\r\n$4=")); print_uint8_base10(bit_istrue(settings.flags,BITFLAG_INVERT_ST_ENABLE));
printPgmString(PSTR("\r\n$5=")); print_uint8_base10(bit_istrue(settings.flags,BITFLAG_INVERT_LIMIT_PINS));
printPgmString(PSTR("\r\n$6=")); print_uint8_base10(bit_istrue(settings.flags,BITFLAG_INVERT_PROBE_PIN));
printPgmString(PSTR("\r\n$10=")); print_uint8_base10(settings.status_report_mask);
printPgmString(PSTR("\r\n$11=")); printFloat_SettingValue(settings.junction_deviation);
printPgmString(PSTR("\r\n$12=")); printFloat_SettingValue(settings.arc_tolerance);
printPgmString(PSTR("\r\n$13=")); print_uint8_base10(bit_istrue(settings.flags,BITFLAG_REPORT_INCHES));
printPgmString(PSTR("\r\n$20=")); print_uint8_base10(bit_istrue(settings.flags,BITFLAG_SOFT_LIMIT_ENABLE));
printPgmString(PSTR("\r\n$21=")); print_uint8_base10(bit_istrue(settings.flags,BITFLAG_HARD_LIMIT_ENABLE));
printPgmString(PSTR("\r\n$22=")); print_uint8_base10(bit_istrue(settings.flags,BITFLAG_HOMING_ENABLE));
printPgmString(PSTR("\r\n$23=")); print_uint8_base10(settings.homing_dir_mask);
printPgmString(PSTR("\r\n$24=")); printFloat_SettingValue(settings.homing_feed_rate);
printPgmString(PSTR("\r\n$25=")); printFloat_SettingValue(settings.homing_seek_rate);
printPgmString(PSTR("\r\n$26=")); print_uint8_base10(settings.homing_debounce_delay);
printPgmString(PSTR("\r\n$27=")); printFloat_SettingValue(settings.homing_pulloff);
v1.0 Beta Release. - 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.
2015-08-28 03:37:19 +00:00
printPgmString(PSTR("\r\n$30=")); printFloat_RPMValue(settings.rpm_max);
printPgmString(PSTR("\r\n$31=")); printFloat_RPMValue(settings.rpm_min);
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.
2016-09-22 01:08:24 +00:00
#ifdef VARIABLE_SPINDLE
printPgmString(PSTR("\r\n$32=")); print_uint8_base10(bit_istrue(settings.flags,BITFLAG_LASER_MODE));
#else
printPgmString(PSTR("\r\n$32=0\r\n"));
#endif
#else
New configuration options. - New configuration option at compile-time: - Force alarm upon power-up or hard reset. When homing is enabled, this is already the default behavior. This simply forces this all of the time. - GUI reporting mode. Removes most human-readable strings that GUIs don’t need. This saves nearly 2KB in flash space that can be used for other features. - Hard limit force state check: In the hard limit pin change ISR, Grbl by default sets the hard limit alarm upon any pin change to guarantee the alarm is set. If this option is set, it’ll check the state within the ISR, but can’t guarantee the pin will be read correctly if the switch is bouncing. This option makes hard limit behavior a little less annoying if you have a good buffered switch circuit that removes bouncing and electronic noise. - Software debounce bug fix. It was reading the pin incorrectly for the setting. - Re-factored some of the ‘$’ settings code.
2015-02-24 01:45:26 +00:00
printPgmString(PSTR("$0=")); print_uint8_base10(settings.pulse_microseconds);
printPgmString(PSTR(" (step pulse, usec)\r\n$1=")); print_uint8_base10(settings.stepper_idle_lock_time);
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.
2016-09-22 01:08:24 +00:00
printPgmString(PSTR(" (step idle delay, msec)\r\n$2=")); print_uint8_base10(settings.step_invert_mask);
printPgmString(PSTR(" (step port invert mask)\r\n$3=")); print_uint8_base10(settings.dir_invert_mask);
printPgmString(PSTR(" (dir port invert mask)\r\n$4=")); print_uint8_base10(bit_istrue(settings.flags,BITFLAG_INVERT_ST_ENABLE));
New configuration options. - New configuration option at compile-time: - Force alarm upon power-up or hard reset. When homing is enabled, this is already the default behavior. This simply forces this all of the time. - GUI reporting mode. Removes most human-readable strings that GUIs don’t need. This saves nearly 2KB in flash space that can be used for other features. - Hard limit force state check: In the hard limit pin change ISR, Grbl by default sets the hard limit alarm upon any pin change to guarantee the alarm is set. If this option is set, it’ll check the state within the ISR, but can’t guarantee the pin will be read correctly if the switch is bouncing. This option makes hard limit behavior a little less annoying if you have a good buffered switch circuit that removes bouncing and electronic noise. - Software debounce bug fix. It was reading the pin incorrectly for the setting. - Re-factored some of the ‘$’ settings code.
2015-02-24 01:45:26 +00:00
printPgmString(PSTR(" (step enable invert, bool)\r\n$5=")); print_uint8_base10(bit_istrue(settings.flags,BITFLAG_INVERT_LIMIT_PINS));
printPgmString(PSTR(" (limit pins invert, bool)\r\n$6=")); print_uint8_base10(bit_istrue(settings.flags,BITFLAG_INVERT_PROBE_PIN));
printPgmString(PSTR(" (probe pin invert, bool)\r\n$10=")); print_uint8_base10(settings.status_report_mask);
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.
2016-09-22 01:08:24 +00:00
printPgmString(PSTR(" (status report mask)\r\n$11=")); printFloat_SettingValue(settings.junction_deviation);
New configuration options. - New configuration option at compile-time: - Force alarm upon power-up or hard reset. When homing is enabled, this is already the default behavior. This simply forces this all of the time. - GUI reporting mode. Removes most human-readable strings that GUIs don’t need. This saves nearly 2KB in flash space that can be used for other features. - Hard limit force state check: In the hard limit pin change ISR, Grbl by default sets the hard limit alarm upon any pin change to guarantee the alarm is set. If this option is set, it’ll check the state within the ISR, but can’t guarantee the pin will be read correctly if the switch is bouncing. This option makes hard limit behavior a little less annoying if you have a good buffered switch circuit that removes bouncing and electronic noise. - Software debounce bug fix. It was reading the pin incorrectly for the setting. - Re-factored some of the ‘$’ settings code.
2015-02-24 01:45:26 +00:00
printPgmString(PSTR(" (junction deviation, mm)\r\n$12=")); printFloat_SettingValue(settings.arc_tolerance);
printPgmString(PSTR(" (arc tolerance, mm)\r\n$13=")); print_uint8_base10(bit_istrue(settings.flags,BITFLAG_REPORT_INCHES));
printPgmString(PSTR(" (report inches, bool)\r\n$20=")); print_uint8_base10(bit_istrue(settings.flags,BITFLAG_SOFT_LIMIT_ENABLE));
printPgmString(PSTR(" (soft limits, bool)\r\n$21=")); print_uint8_base10(bit_istrue(settings.flags,BITFLAG_HARD_LIMIT_ENABLE));
printPgmString(PSTR(" (hard limits, bool)\r\n$22=")); print_uint8_base10(bit_istrue(settings.flags,BITFLAG_HOMING_ENABLE));
printPgmString(PSTR(" (homing cycle, bool)\r\n$23=")); print_uint8_base10(settings.homing_dir_mask);
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.
2016-09-22 01:08:24 +00:00
printPgmString(PSTR(" (homing dir invert mask\r\n$24=")); printFloat_SettingValue(settings.homing_feed_rate);
New configuration options. - New configuration option at compile-time: - Force alarm upon power-up or hard reset. When homing is enabled, this is already the default behavior. This simply forces this all of the time. - GUI reporting mode. Removes most human-readable strings that GUIs don’t need. This saves nearly 2KB in flash space that can be used for other features. - Hard limit force state check: In the hard limit pin change ISR, Grbl by default sets the hard limit alarm upon any pin change to guarantee the alarm is set. If this option is set, it’ll check the state within the ISR, but can’t guarantee the pin will be read correctly if the switch is bouncing. This option makes hard limit behavior a little less annoying if you have a good buffered switch circuit that removes bouncing and electronic noise. - Software debounce bug fix. It was reading the pin incorrectly for the setting. - Re-factored some of the ‘$’ settings code.
2015-02-24 01:45:26 +00:00
printPgmString(PSTR(" (homing feed, mm/min)\r\n$25=")); printFloat_SettingValue(settings.homing_seek_rate);
printPgmString(PSTR(" (homing seek, mm/min)\r\n$26=")); print_uint8_base10(settings.homing_debounce_delay);
printPgmString(PSTR(" (homing debounce, msec)\r\n$27=")); printFloat_SettingValue(settings.homing_pulloff);
v1.0 Beta Release. - 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.
2015-08-28 03:37:19 +00:00
printPgmString(PSTR(" (homing pull-off, mm)\r\n$30=")); printFloat_RPMValue(settings.rpm_max);
printPgmString(PSTR(" (rpm max)\r\n$31=")); printFloat_RPMValue(settings.rpm_min);
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.
2016-09-22 01:08:24 +00:00
#ifdef VARIABLE_SPINDLE
printPgmString(PSTR(" (rpm min)\r\n$32=")); print_uint8_base10(bit_istrue(settings.flags,BITFLAG_LASER_MODE));
printPgmString(PSTR(" (laser mode, bool)\r\n"));
#else
printPgmString(PSTR(" (rpm min)\r\n$32=0 (laser mode, bool)\r\n"));
#endif
New configuration options. - New configuration option at compile-time: - Force alarm upon power-up or hard reset. When homing is enabled, this is already the default behavior. This simply forces this all of the time. - GUI reporting mode. Removes most human-readable strings that GUIs don’t need. This saves nearly 2KB in flash space that can be used for other features. - Hard limit force state check: In the hard limit pin change ISR, Grbl by default sets the hard limit alarm upon any pin change to guarantee the alarm is set. If this option is set, it’ll check the state within the ISR, but can’t guarantee the pin will be read correctly if the switch is bouncing. This option makes hard limit behavior a little less annoying if you have a good buffered switch circuit that removes bouncing and electronic noise. - Software debounce bug fix. It was reading the pin incorrectly for the setting. - Re-factored some of the ‘$’ settings code.
2015-02-24 01:45:26 +00:00
#endif
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.
2016-09-22 01:08:24 +00:00
Settings refactoring. Bug fixes. Misc new features. 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.
2014-07-26 21:01:34 +00:00
// Print axis settings
uint8_t idx, set_idx;
uint8_t val = AXIS_SETTINGS_START_VAL;
for (set_idx=0; set_idx<AXIS_N_SETTINGS; set_idx++) {
for (idx=0; idx<N_AXIS; idx++) {
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.
2016-09-22 01:08:24 +00:00
serial_write('$');
Settings refactoring. Bug fixes. Misc new features. 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.
2014-07-26 21:01:34 +00:00
print_uint8_base10(val+idx);
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.
2016-09-22 01:08:24 +00:00
serial_write('=');
Settings refactoring. Bug fixes. Misc new features. 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.
2014-07-26 21:01:34 +00:00
switch (set_idx) {
case 0: printFloat_SettingValue(settings.steps_per_mm[idx]); break;
case 1: printFloat_SettingValue(settings.max_rate[idx]); break;
case 2: printFloat_SettingValue(settings.acceleration[idx]/(60*60)); break;
case 3: printFloat_SettingValue(-settings.max_travel[idx]); break;
}
New configuration options. - New configuration option at compile-time: - Force alarm upon power-up or hard reset. When homing is enabled, this is already the default behavior. This simply forces this all of the time. - GUI reporting mode. Removes most human-readable strings that GUIs don’t need. This saves nearly 2KB in flash space that can be used for other features. - Hard limit force state check: In the hard limit pin change ISR, Grbl by default sets the hard limit alarm upon any pin change to guarantee the alarm is set. If this option is set, it’ll check the state within the ISR, but can’t guarantee the pin will be read correctly if the switch is bouncing. This option makes hard limit behavior a little less annoying if you have a good buffered switch circuit that removes bouncing and electronic noise. - Software debounce bug fix. It was reading the pin incorrectly for the setting. - Re-factored some of the ‘$’ settings code.
2015-02-24 01:45:26 +00:00
#ifdef REPORT_GUI_MODE
printPgmString(PSTR("\r\n"));
#else
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.
2016-09-22 01:08:24 +00:00
serial_write(' ');
serial_write('(');
New configuration options. - New configuration option at compile-time: - Force alarm upon power-up or hard reset. When homing is enabled, this is already the default behavior. This simply forces this all of the time. - GUI reporting mode. Removes most human-readable strings that GUIs don’t need. This saves nearly 2KB in flash space that can be used for other features. - Hard limit force state check: In the hard limit pin change ISR, Grbl by default sets the hard limit alarm upon any pin change to guarantee the alarm is set. If this option is set, it’ll check the state within the ISR, but can’t guarantee the pin will be read correctly if the switch is bouncing. This option makes hard limit behavior a little less annoying if you have a good buffered switch circuit that removes bouncing and electronic noise. - Software debounce bug fix. It was reading the pin incorrectly for the setting. - Re-factored some of the ‘$’ settings code.
2015-02-24 01:45:26 +00:00
switch (idx) {
case X_AXIS: printPgmString(PSTR("x")); break;
case Y_AXIS: printPgmString(PSTR("y")); break;
case Z_AXIS: printPgmString(PSTR("z")); break;
}
switch (set_idx) {
case 0: printPgmString(PSTR(", step/mm")); break;
case 1: printPgmString(PSTR(" max rate, mm/min")); break;
case 2: printPgmString(PSTR(" accel, mm/sec^2")); break;
case 3: printPgmString(PSTR(" max travel, mm")); break;
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.
2016-09-22 01:08:24 +00:00
}
New configuration options. - New configuration option at compile-time: - Force alarm upon power-up or hard reset. When homing is enabled, this is already the default behavior. This simply forces this all of the time. - GUI reporting mode. Removes most human-readable strings that GUIs don’t need. This saves nearly 2KB in flash space that can be used for other features. - Hard limit force state check: In the hard limit pin change ISR, Grbl by default sets the hard limit alarm upon any pin change to guarantee the alarm is set. If this option is set, it’ll check the state within the ISR, but can’t guarantee the pin will be read correctly if the switch is bouncing. This option makes hard limit behavior a little less annoying if you have a good buffered switch circuit that removes bouncing and electronic noise. - Software debounce bug fix. It was reading the pin incorrectly for the setting. - Re-factored some of the ‘$’ settings code.
2015-02-24 01:45:26 +00:00
printPgmString(PSTR(")\r\n"));
#endif
Settings refactoring. Bug fixes. Misc new features. 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.
2014-07-26 21:01:34 +00:00
}
val += AXIS_SETTINGS_INCREMENT;
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.
2016-09-22 01:08:24 +00:00
}
New report module. 6 persistent work coordinates. New G-codes and settings. README and minor bug updates (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.
2012-11-01 15:37:27 +00:00
}
New startup script setting. New dry run, check gcode switches. New system state variable. Lots of reorganizing. (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.
2012-11-03 17:32:23 +00:00
G38.2 probe feature rough draft installed. Working but needs testing. - 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.
2014-03-01 05:03:26 +00:00
// Prints current probe parameters. Upon a probe command, these parameters are updated upon a
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.
2016-09-22 01:08:24 +00:00
// successful probe or upon a failed probe with the G38.3 without errors command (if supported).
G38.2 probe feature rough draft installed. Working but needs testing. - 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.
2014-03-01 05:03:26 +00:00
// These values are retained until Grbl is power-cycled, whereby they will be re-zeroed.
void report_probe_parameters()
{
uint8_t i;
float print_position[N_AXIS];
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.
2016-09-22 01:08:24 +00:00
G38.2 probe feature rough draft installed. Working but needs testing. - 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.
2014-03-01 05:03:26 +00:00
// Report in terms of machine position.
Lot of refactoring for the future. CoreXY support. - 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.
2015-01-15 05:14:52 +00:00
printPgmString(PSTR("[PRB:"));
G38.2 probe feature rough draft installed. Working but needs testing. - 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.
2014-03-01 05:03:26 +00:00
for (i=0; i< N_AXIS; i++) {
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.
2016-09-22 01:08:24 +00:00
print_position[i] = system_convert_axis_steps_to_mpos(sys_probe_position,i);
Realtime rate reporting. Updated decimal places. - 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.
2014-07-04 22:08:15 +00:00
printFloat_CoordValue(print_position[i]);
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.
2016-09-22 01:08:24 +00:00
if (i < (N_AXIS-1)) { serial_write(','); }
report probe_succeeded with probe status
2014-09-23 03:32:47 +00:00
}
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.
2016-09-22 01:08:24 +00:00
serial_write(':');
report probe_succeeded with probe status
2014-09-23 03:32:47 +00:00
print_uint8_base10(sys.probe_succeeded);
G38.2 probe feature rough draft installed. Working but needs testing. - 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.
2014-03-01 05:03:26 +00:00
printPgmString(PSTR("]\r\n"));
}
// Prints Grbl NGC parameters (coordinate offsets, probing)
void report_ngc_parameters()
Added block delete, opt stop, single block mode. New parser state and parameter feedback. Overhauled '$' command. 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.
2012-11-02 01:48:55 +00:00
{
float coord_data[N_AXIS];
uint8_t coord_select, i;
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.
2016-09-22 01:08:24 +00:00
for (coord_select = 0; coord_select <= SETTING_INDEX_NCOORD; coord_select++) {
if (!(settings_read_coord_data(coord_select,coord_data))) {
report_status_message(STATUS_SETTING_READ_FAIL);
Added block delete, opt stop, single block mode. New parser state and parameter feedback. Overhauled '$' command. 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.
2012-11-02 01:48:55 +00:00
return;
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.
2016-09-22 01:08:24 +00:00
}
Updated interface protocol. Fixed M2 bug. - Updated interface protocol to play nicer with interface programs. All Grbl responses beginning with '$' signifies a setting. Bracketed '[]' responses are feedback messages containing either state, parameter, or general messages. Chevron '<>' response are from the real-time status messages, i.e. position. - M2 Program end command was causing a system alarm. Fixed. Thanks @blinkenlight !
2012-11-20 00:39:40 +00:00
printPgmString(PSTR("[G"));
Added block delete, opt stop, single block mode. New parser state and parameter feedback. Overhauled '$' command. 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.
2012-11-02 01:48:55 +00:00
switch (coord_select) {
Major g-code parser overhaul. 100%* compliant. Other related updates. - 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.
2014-05-25 22:05:28 +00:00
case 6: printPgmString(PSTR("28")); break;
case 7: printPgmString(PSTR("30")); break;
default: print_uint8_base10(coord_select+54); break; // G54-G59
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.
2016-09-22 01:08:24 +00:00
}
serial_write(':');
Added block delete, opt stop, single block mode. New parser state and parameter feedback. Overhauled '$' command. 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.
2012-11-02 01:48:55 +00:00
for (i=0; i<N_AXIS; i++) {
Realtime rate reporting. Updated decimal places. - 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.
2014-07-04 22:08:15 +00:00
printFloat_CoordValue(coord_data[i]);
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.
2016-09-22 01:08:24 +00:00
if (i < (N_AXIS-1)) { serial_write(','); }
Added block delete, opt stop, single block mode. New parser state and parameter feedback. Overhauled '$' command. 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.
2012-11-02 01:48:55 +00:00
else { printPgmString(PSTR("]\r\n")); }
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.
2016-09-22 01:08:24 +00:00
}
Added block delete, opt stop, single block mode. New parser state and parameter feedback. Overhauled '$' command. 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.
2012-11-02 01:48:55 +00:00
}
Updated interface protocol. Fixed M2 bug. - Updated interface protocol to play nicer with interface programs. All Grbl responses beginning with '$' signifies a setting. Bracketed '[]' responses are feedback messages containing either state, parameter, or general messages. Chevron '<>' response are from the real-time status messages, i.e. position. - M2 Program end command was causing a system alarm. Fixed. Thanks @blinkenlight !
2012-11-20 00:39:40 +00:00
printPgmString(PSTR("[G92:")); // Print G92,G92.1 which are not persistent in memory
Added block delete, opt stop, single block mode. New parser state and parameter feedback. Overhauled '$' command. 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.
2012-11-02 01:48:55 +00:00
for (i=0; i<N_AXIS; i++) {
Realtime rate reporting. Updated decimal places. - 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.
2014-07-04 22:08:15 +00:00
printFloat_CoordValue(gc_state.coord_offset[i]);
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.
2016-09-22 01:08:24 +00:00
if (i < (N_AXIS-1)) { serial_write(','); }
Added block delete, opt stop, single block mode. New parser state and parameter feedback. Overhauled '$' command. NOTE: Another incremental update. Likely buggy, still a ways to go before everything is installed, such as startup blocks. - Changed the '$' 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.
2012-11-02 01:48:55 +00:00
else { printPgmString(PSTR("]\r\n")); }
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.
2016-09-22 01:08:24 +00:00
}
G43.1/G49 tool length offset installed. Minor bug fix. - Minor bug fix that caused G92.1 not to work. The mantissa of G92.1 was not computed correctly due to floating point round-off errors and the use of trunc(). Fixed it by changing the computation with round(). - Installed tool length offsets with G43.1 and G49! True tool length offsets via G43 are not supported, because these require us to store tool data that we don’t have space for. But we’ve come up with a good solution for users that need this. Instead we are strictly using the dynamic version G43.1 via linuxcnc.org. Visit their website for more details on the command. - G43.1 operates by requiring an axis word and value to offset the configured tool length axis, which can be configured for any axis (default Z-axis) in config.h. For example, ```G43.1 Z0.5``` will offset the work coordinates from Z0.0 to Z-0.5. - G49 will cancel the last tool length offset value and reset it to zero. - Tweaked the ‘$#’ parameters report. `Probe` is now `PRB` and a new value `TLO` states the tool length offset value.
2014-07-06 21:20:20 +00:00
printPgmString(PSTR("[TLO:")); // Print tool length offset value
printFloat_CoordValue(gc_state.tool_length_offset);
printPgmString(PSTR("]\r\n"));
G38.2 probe feature rough draft installed. Working but needs testing. - G38.2 straight probe now supported. Rough draft. May be tweaked more as testing ramps up. - G38.2 requires at least one axis word. Multiple axis words work too. When commanded, the probe cycle will move at the last ‘F’ feed rate specified in a straight line. - During a probe cycle: If the probe pin goes low (normal high), Grbl will record that immediate position and engage a feed hold. Meaning that the CNC machine will move a little past the probe switch point, so keep federates low to stop sooner. Once stopped, Grbl will issue a move to go back to the recorded probe trigger point. - During a probe cycle: If the probe switch does not engage by the time the machine has traveled to its target coordinates, Grbl will issue an ALARM and the user will be forced to reset Grbl. (Currently G38.3 probe without error isn’t supported, but would be easy to implement later.) - After a successful probe, Grbl will send a feedback message containing the recorded probe coordinates in the machine coordinate system. This is as the g-code standard on probe parameters specifies. - The recorded probe parameters are retained in Grbl memory and can be viewed with the ‘$#’ print parameters command. Upon a power-cycle, not a soft-reset, Grbl will re-zero these values. - Moved ‘$#’ command to require IDLE or ALARM mode, because it accesses EEPROM to fetch the coordinate system offsets. - Updated the Grbl version to v0.9d. - The probe cycle is subject to change upon testing or user-feedback.
2014-03-01 05:03:26 +00:00
report_probe_parameters(); // Print probe parameters. Not persistent in memory.
Added block delete, opt stop, single block mode. New parser state and parameter feedback. Overhauled '$' command. 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.
2012-11-02 01:48:55 +00:00
}
New report module. 6 persistent work coordinates. New G-codes and settings. README and minor bug updates (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.
2012-11-01 15:37:27 +00:00
New startup script setting. New dry run, check gcode switches. New system state variable. Lots of reorganizing. (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.
2012-11-03 17:32:23 +00:00
Added Grbl state in status report. Removed switch support. - Added Grbl state (Idle, Running, Queued, Hold, etc) to the real-time status reporting feature as feedback to the user of what Grbl is doing. Updated the help message to reflect this change. - Removed switches (dry run, block delete, single block mode). To keep Grbl simple and not muddled up from things that can easily be taken care of by an external interface, these were removed. - Check g-code mode was retained, but the command was moved to '$C' from '$S0'.
2012-11-16 04:53:11 +00:00
// Print current gcode parser mode state
Added block delete, opt stop, single block mode. New parser state and parameter feedback. Overhauled '$' command. 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.
2012-11-02 01:48:55 +00:00
void report_gcode_modes()
{
Major g-code parser overhaul. 100%* compliant. Other related updates. - 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.
2014-05-25 22:05:28 +00:00
switch (gc_state.modal.motion) {
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.
2016-09-22 01:08:24 +00:00
case MOTION_MODE_SEEK : printPgmString(PSTR("[G0")); break;
case MOTION_MODE_LINEAR : printPgmString(PSTR("[G1")); break;
case MOTION_MODE_CW_ARC : printPgmString(PSTR("[G2")); break;
case MOTION_MODE_CCW_ARC : printPgmString(PSTR("[G3")); break;
case MOTION_MODE_NONE : printPgmString(PSTR("[G80")); break;
default:
printPgmString(PSTR("[G38."));
Minor bug fixes. - G38.x was not printing correctly in the $G g-code state reports. Now fixed. - Potential bug regarding volatile variables inside a struct. It has never been a problem in v0.9, but ran into this during v1.0 development. Just to be safe, the fixes are applied here. - Updated pre-built firmwares with these two bug fixes.
2015-10-01 02:53:35 +00:00
print_uint8_base10(gc_state.modal.motion - (MOTION_MODE_PROBE_TOWARD-2));
Added block delete, opt stop, single block mode. New parser state and parameter feedback. Overhauled '$' command. 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.
2012-11-02 01:48:55 +00:00
}
New report module. 6 persistent work coordinates. New G-codes and settings. README and minor bug updates (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 '$' will perform switch commands, homing cycle, jogging, printing paramters, etc. Much more to do here. - Updated README to reflect all of the new features.
2012-11-01 15:37:27 +00:00
Added block delete, opt stop, single block mode. New parser state and parameter feedback. Overhauled '$' command. 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.
2012-11-02 01:48:55 +00:00
printPgmString(PSTR(" G"));
Major g-code parser overhaul. 100%* compliant. Other related updates. - 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.
2014-05-25 22:05:28 +00:00
print_uint8_base10(gc_state.modal.coord_select+54);
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.
2016-09-22 01:08:24 +00:00
Major g-code parser overhaul. 100%* compliant. Other related updates. - 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.
2014-05-25 22:05:28 +00:00
switch (gc_state.modal.plane_select) {
case PLANE_SELECT_XY : printPgmString(PSTR(" G17")); break;
case PLANE_SELECT_ZX : printPgmString(PSTR(" G18")); break;
case PLANE_SELECT_YZ : printPgmString(PSTR(" G19")); break;
}
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.
2016-09-22 01:08:24 +00:00
Major g-code parser overhaul. 100%* compliant. Other related updates. - 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.
2014-05-25 22:05:28 +00:00
if (gc_state.modal.units == UNITS_MODE_MM) { printPgmString(PSTR(" G21")); }
else { printPgmString(PSTR(" G20")); }
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.
2016-09-22 01:08:24 +00:00
Major g-code parser overhaul. 100%* compliant. Other related updates. - 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.
2014-05-25 22:05:28 +00:00
if (gc_state.modal.distance == DISTANCE_MODE_ABSOLUTE) { printPgmString(PSTR(" G90")); }
Added block delete, opt stop, single block mode. New parser state and parameter feedback. Overhauled '$' command. NOTE: Another incremental update. Likely buggy, still a ways to go before everything is installed, such as startup blocks. - Changed the '$' 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.
2012-11-02 01:48:55 +00:00
else { printPgmString(PSTR(" G91")); }
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.
2016-09-22 01:08:24 +00:00
Major g-code parser overhaul. 100%* compliant. Other related updates. - 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.
2014-05-25 22:05:28 +00:00
if (gc_state.modal.feed_rate == FEED_RATE_MODE_INVERSE_TIME) { printPgmString(PSTR(" G93")); }
Added block delete, opt stop, single block mode. New parser state and parameter feedback. Overhauled '$' command. NOTE: Another incremental update. Likely buggy, still a ways to go before everything is installed, such as startup blocks. - Changed the '$' 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.
2012-11-02 01:48:55 +00:00
else { printPgmString(PSTR(" G94")); }
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.
2016-09-22 01:08:24 +00:00
Major g-code parser overhaul. 100%* compliant. Other related updates. - 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.
2014-05-25 22:05:28 +00:00
switch (gc_state.modal.program_flow) {
Added block delete, opt stop, single block mode. New parser state and parameter feedback. Overhauled '$' command. NOTE: Another incremental update. Likely buggy, still a ways to go before everything is installed, such as startup blocks. - Changed the '$' 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.
2012-11-02 01:48:55 +00:00
case PROGRAM_FLOW_RUNNING : printPgmString(PSTR(" M0")); break;
case PROGRAM_FLOW_PAUSED : printPgmString(PSTR(" M1")); break;
case PROGRAM_FLOW_COMPLETED : printPgmString(PSTR(" M2")); break;
}
Major g-code parser overhaul. 100%* compliant. Other related updates. - 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.
2014-05-25 22:05:28 +00:00
switch (gc_state.modal.spindle) {
Minor updates to line number feature. - Changed line number integer types from unsigned to signed int32. G-code mandates values cannot exceed 99999. Negative values can be used to indicate certain modes. - Homing cycle line number changed to -1, as an indicator. - Fixed a reporting define for the spindle states that was broken by the last merge.
2014-02-19 14:48:09 +00:00
case SPINDLE_ENABLE_CW : printPgmString(PSTR(" M3")); break;
case SPINDLE_ENABLE_CCW : printPgmString(PSTR(" M4")); break;
case SPINDLE_DISABLE : printPgmString(PSTR(" M5")); break;
Added block delete, opt stop, single block mode. New parser state and parameter feedback. Overhauled '$' command. 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.
2012-11-02 01:48:55 +00:00
}
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.
2016-09-22 01:08:24 +00:00
#ifdef ENABLE_M7
if (gc_state.modal.coolant) { // Note: Multiple coolant states may be active at the same time.
if (gc_state.modal.coolant & PL_COND_FLAG_COOLANT_MIST) { printPgmString(PSTR(" M7")); }
if (gc_state.modal.coolant & PL_COND_FLAG_COOLANT_FLOOD) { printPgmString(PSTR(" M8")); }
} else { printPgmString(PSTR(" M9")); }
#else
if (gc_state.modal.coolant) { printPgmString(PSTR(" M8")); }
else { printPgmString(PSTR(" M9")); }
#endif
Added block delete, opt stop, single block mode. New parser state and parameter feedback. Overhauled '$' command. 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.
2012-11-02 01:48:55 +00:00
printPgmString(PSTR(" T"));
Major g-code parser overhaul. 100%* compliant. Other related updates. - 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.
2014-05-25 22:05:28 +00:00
print_uint8_base10(gc_state.tool);
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.
2016-09-22 01:08:24 +00:00
Added block delete, opt stop, single block mode. New parser state and parameter feedback. Overhauled '$' command. 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.
2012-11-02 01:48:55 +00:00
printPgmString(PSTR(" F"));
Realtime rate reporting. Updated decimal places. - 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.
2014-07-04 22:08:15 +00:00
printFloat_RateValue(gc_state.feed_rate);
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.
2016-09-22 01:08:24 +00:00
If variable spindle is defined print S value via $G command.
2014-09-17 22:56:25 +00:00
#ifdef VARIABLE_SPINDLE
printPgmString(PSTR(" S"));
v1.0 Beta Release. - 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.
2015-08-28 03:37:19 +00:00
printFloat_RPMValue(gc_state.spindle_speed);
If variable spindle is defined print S value via $G command.
2014-09-17 22:56:25 +00:00
#endif
Added Grbl state in status report. Removed switch support. - Added Grbl state (Idle, Running, Queued, Hold, etc) to the real-time status reporting feature as feedback to the user of what Grbl is doing. Updated the help message to reflect this change. - Removed switches (dry run, block delete, single block mode). To keep Grbl simple and not muddled up from things that can easily be taken care of by an external interface, these were removed. - Check g-code mode was retained, but the command was moved to '$C' from '$S0'.
2012-11-16 04:53:11 +00:00
Updated interface protocol. Fixed M2 bug. - Updated interface protocol to play nicer with interface programs. All Grbl responses beginning with '$' signifies a setting. Bracketed '[]' responses are feedback messages containing either state, parameter, or general messages. Chevron '<>' response are from the real-time status messages, i.e. position. - M2 Program end command was causing a system alarm. Fixed. Thanks @blinkenlight !
2012-11-20 00:39:40 +00:00
printPgmString(PSTR("]\r\n"));
Added block delete, opt stop, single block mode. New parser state and parameter feedback. Overhauled '$' command. 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.
2012-11-02 01:48:55 +00:00
}
New report module. 6 persistent work coordinates. New G-codes and settings. README and minor bug updates (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.
2012-11-01 15:37:27 +00:00
New startup script setting. New dry run, check gcode switches. New system state variable. Lots of reorganizing. (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.
2012-11-03 17:32:23 +00:00
// Prints specified startup line
void report_startup_line(uint8_t n, char *line)
{
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.
2016-09-22 01:08:24 +00:00
printPgmString(PSTR("$N"));
print_uint8_base10(n);
serial_write('=');
printString(line);
New startup script setting. New dry run, check gcode switches. New system state variable. Lots of reorganizing. (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.
2012-11-03 17:32:23 +00:00
printPgmString(PSTR("\r\n"));
}
New report module. 6 persistent work coordinates. New G-codes and settings. README and minor bug updates (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.
2012-11-01 15:37:27 +00:00
New build info feature. (per @Analogreality request) - 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.
2014-01-05 17:27:34 +00:00
// Prints build info line
void report_build_info(char *line)
{
printPgmString(PSTR("[" GRBL_VERSION "." GRBL_VERSION_BUILD ":"));
printString(line);
printPgmString(PSTR("]\r\n"));
New compile options and inverse time bug fix. - 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.
2015-03-28 00:13:18 +00:00
}
// Prints the character string line Grbl has received from the user, which has been pre-parsed,
// and has been sent into protocol_execute_line() routine to be executed by Grbl.
void report_echo_line_received(char *line)
{
printPgmString(PSTR("[echo: ")); printString(line);
printPgmString(PSTR("]\r\n"));
New build info feature. (per @Analogreality request) - 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.
2014-01-05 17:27:34 +00:00
}
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.
2016-09-22 01:08:24 +00:00
// Prints real-time data. This function grabs a real-time snapshot of the stepper subprogram
New startup script setting. New dry run, check gcode switches. New system state variable. Lots of reorganizing. (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.
2012-11-03 17:32:23 +00:00
// and the actual location of the CNC machine. Users may change the following function to their
// specific needs, but the desired real-time data report must be as short as possible. This is
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.
2016-09-22 01:08:24 +00:00
// requires as it minimizes the computational overhead and allows grbl to keep running smoothly,
New startup script setting. New dry run, check gcode switches. New system state variable. Lots of reorganizing. (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.
2012-11-03 17:32:23 +00:00
// especially during g-code programs with fast, short line segments and high frequency reports (5-20Hz).
New report module. 6 persistent work coordinates. New G-codes and settings. README and minor bug updates (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.
2012-11-01 15:37:27 +00:00
void report_realtime_status()
{
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.
2016-09-22 01:08:24 +00:00
#ifdef USE_CLASSIC_REALTIME_REPORT
uint8_t idx;
int32_t current_position[N_AXIS]; // Copy current state of the system position variable
memcpy(current_position,sys_position,sizeof(sys_position));
float print_position[N_AXIS];
// Report current machine state
switch (sys.state) {
case STATE_IDLE: printPgmString(PSTR("<Idle")); break;
case STATE_CYCLE: printPgmString(PSTR("<Run")); break;
case STATE_HOLD:
if (!(sys.suspend & SUSPEND_JOG_CANCEL)) {
printPgmString(PSTR("<Hold"));
break;
} // Continues to print jog state during jog cancel.
case STATE_JOG: printPgmString(PSTR("<Jog")); break;
case STATE_HOMING: printPgmString(PSTR("<Home")); break;
case STATE_ALARM: printPgmString(PSTR("<Alarm")); break;
case STATE_CHECK_MODE: printPgmString(PSTR("<Check")); break;
case STATE_SAFETY_DOOR:
if (!(sys.suspend & SUSPEND_RETRACT_COMPLETE)) {
printPgmString(PSTR("<Door"));
} else {
if (sys.suspend & SUSPEND_SAFETY_DOOR_AJAR) { printPgmString(PSTR("<Door")); }
else { printPgmString(PSTR("<Hold")); }
}
break;
Settings refactoring. Bug fixes. Misc new features. 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.
2014-07-26 21:01:34 +00:00
}
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.
2016-09-22 01:08:24 +00:00
// If reporting a position, convert the current step count (current_position) to millimeters.
if (bit_istrue(settings.status_report_mask,(BITFLAG_RT_STATUS_MACHINE_POSITION | BITFLAG_RT_STATUS_WORK_POSITION))) {
system_convert_array_steps_to_mpos(print_position,current_position);
Settings refactoring. Bug fixes. Misc new features. 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.
2014-07-26 21:01:34 +00:00
}
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.
2016-09-22 01:08:24 +00:00
// Report machine position
if (bit_istrue(settings.status_report_mask,BITFLAG_RT_STATUS_MACHINE_POSITION)) {
printPgmString(PSTR(",MPos:"));
for (idx=0; idx< N_AXIS; idx++) {
printFloat_CoordValue(print_position[idx]);
if (idx < (N_AXIS-1)) { serial_write(','); }
}
}
// Report work position
if (bit_istrue(settings.status_report_mask,BITFLAG_RT_STATUS_WORK_POSITION)) {
printPgmString(PSTR(",WPos:"));
for (idx=0; idx< N_AXIS; idx++) {
// Apply work coordinate offsets and tool length offset to current position.
print_position[idx] -= gc_state.coord_system[idx]+gc_state.coord_offset[idx];
if (idx == TOOL_LENGTH_OFFSET_AXIS) { print_position[idx] -= gc_state.tool_length_offset; }
printFloat_CoordValue(print_position[idx]);
if (idx < (N_AXIS-1)) { serial_write(','); }
}
}
// Returns the number of active blocks are in the planner buffer.
if (bit_istrue(settings.status_report_mask,BITFLAG_RT_STATUS_PLANNER_BUFFER)) {
printPgmString(PSTR(",Buf:"));
print_uint8_base10(plan_get_block_buffer_count());
}
// Report serial read buffer status
if (bit_istrue(settings.status_report_mask,BITFLAG_RT_STATUS_SERIAL_RX)) {
printPgmString(PSTR(",RX:"));
print_uint8_base10(serial_get_rx_buffer_count());
}
#ifdef USE_LINE_NUMBERS
// Report current line number
printPgmString(PSTR(",Ln:"));
int32_t ln=0;
plan_block_t * pb = plan_get_current_block();
if(pb != NULL) {
ln = pb->line_number;
Pin state reporting of all pins. Flash optimization. - New pin state realtime reporting feature. Instead of `Lim:000` for limit state reports, the new feature shows `Pin:000|0|0000`, or something similar. The `|` delimited fields indicate xyz limits, probe, and control pin states, where 0 is always not triggered, and 1 is triggered. Invert masks ARE accounted for. Each field may be enabled or disabled via the `$10` status report setting. The probe and control pin flags are bits 5 and 6, respectively. - Remove the now deprecated `REPORT_CONTROL_PIN_STATE` option in config.h - The old limit pin reports `Lim:000` may be re-enabled by commenting out `REPORT_ALL_PIN_STATES` in config.h. - Incremented the version letter (v1.0c) to indicate the change in reporting style. - Replaced all bit_true_atomic and bit_false_atomic macros with function calls. This saved a couple hundred bytes of flash.
2015-11-10 04:54:26 +00:00
}
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.
2016-09-22 01:08:24 +00:00
printInteger(ln);
#endif
#ifdef REPORT_REALTIME_RATE
// Report realtime rate
printPgmString(PSTR(",F:"));
printFloat_RateValue(st_get_realtime_rate());
#endif
#ifdef REPORT_ALL_PIN_STATES
if (bit_istrue(settings.status_report_mask,
( BITFLAG_RT_STATUS_LIMIT_PINS| BITFLAG_RT_STATUS_PROBE_PIN | BITFLAG_RT_STATUS_CONTROL_PINS ))) {
printPgmString(PSTR(",Pin:"));
if (bit_istrue(settings.status_report_mask,BITFLAG_RT_STATUS_LIMIT_PINS)) {
print_uint8_base2_ndigit(limits_get_state(),N_AXIS);
}
printPgmString(PSTR("|"));
if (bit_istrue(settings.status_report_mask,BITFLAG_RT_STATUS_PROBE_PIN)) {
if (probe_get_state()) { printPgmString(PSTR("1")); }
else { printPgmString(PSTR("0")); }
}
printPgmString(PSTR("|"));
if (bit_istrue(settings.status_report_mask,BITFLAG_RT_STATUS_CONTROL_PINS)) {
print_uint8_base2_ndigit(system_control_get_state(),N_CONTROL_PIN);
}
Pin state reporting of all pins. Flash optimization. - New pin state realtime reporting feature. Instead of `Lim:000` for limit state reports, the new feature shows `Pin:000|0|0000`, or something similar. The `|` delimited fields indicate xyz limits, probe, and control pin states, where 0 is always not triggered, and 1 is triggered. Invert masks ARE accounted for. Each field may be enabled or disabled via the `$10` status report setting. The probe and control pin flags are bits 5 and 6, respectively. - Remove the now deprecated `REPORT_CONTROL_PIN_STATE` option in config.h - The old limit pin reports `Lim:000` may be re-enabled by commenting out `REPORT_ALL_PIN_STATES` in config.h. - Incremented the version letter (v1.0c) to indicate the change in reporting style. - Replaced all bit_true_atomic and bit_false_atomic macros with function calls. This saved a couple hundred bytes of flash.
2015-11-10 04:54:26 +00:00
}
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.
2016-09-22 01:08:24 +00:00
#else
if (bit_istrue(settings.status_report_mask,BITFLAG_RT_STATUS_LIMIT_PINS)) {
printPgmString(PSTR(",Lim:"));
print_uint8_base2_ndigit(limits_get_state(),N_AXIS);
}
#endif
if (bit_istrue(settings.status_report_mask,BITFLAG_RT_STATUS_OVERRIDES)) {
printPgmString(PSTR(",Ov:"));
print_uint8_base10(sys.f_override);
serial_write(',');
print_uint8_base10(sys.r_override);
serial_write(',');
print_uint8_base10(sys.spindle_speed_ovr);
if (sys.toggle_ovr_mask) {
printPgmString(PSTR("|T:"));
if (sys.toggle_ovr_mask & TOGGLE_OVR_STOP_ACTIVE_MASK) { serial_write('S'); }
if (sys.toggle_ovr_mask & TOGGLE_OVR_FLOOD_COOLANT) { serial_write('F'); }
#ifdef ENABLE_M7
if (sys.toggle_ovr_mask & TOGGLE_OVR_MIST_COOLANT) { serial_write('M'); }
#endif
bit_false(sys.toggle_ovr_mask, (TOGGLE_OVR_FLOOD_COOLANT|TOGGLE_OVR_FLOOD_COOLANT));
Pin state reporting of all pins. Flash optimization. - New pin state realtime reporting feature. Instead of `Lim:000` for limit state reports, the new feature shows `Pin:000|0|0000`, or something similar. The `|` delimited fields indicate xyz limits, probe, and control pin states, where 0 is always not triggered, and 1 is triggered. Invert masks ARE accounted for. Each field may be enabled or disabled via the `$10` status report setting. The probe and control pin flags are bits 5 and 6, respectively. - Remove the now deprecated `REPORT_CONTROL_PIN_STATE` option in config.h - The old limit pin reports `Lim:000` may be re-enabled by commenting out `REPORT_ALL_PIN_STATES` in config.h. - Incremented the version letter (v1.0c) to indicate the change in reporting style. - Replaced all bit_true_atomic and bit_false_atomic macros with function calls. This saved a couple hundred bytes of flash.
2015-11-10 04:54:26 +00:00
}
}
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.
2016-09-22 01:08:24 +00:00
printPgmString(PSTR(">\r\n"));
Pin state reporting of all pins. Flash optimization. - New pin state realtime reporting feature. Instead of `Lim:000` for limit state reports, the new feature shows `Pin:000|0|0000`, or something similar. The `|` delimited fields indicate xyz limits, probe, and control pin states, where 0 is always not triggered, and 1 is triggered. Invert masks ARE accounted for. Each field may be enabled or disabled via the `$10` status report setting. The probe and control pin flags are bits 5 and 6, respectively. - Remove the now deprecated `REPORT_CONTROL_PIN_STATE` option in config.h - The old limit pin reports `Lim:000` may be re-enabled by commenting out `REPORT_ALL_PIN_STATES` in config.h. - Incremented the version letter (v1.0c) to indicate the change in reporting style. - Replaced all bit_true_atomic and bit_false_atomic macros with function calls. This saved a couple hundred bytes of flash.
2015-11-10 04:54:26 +00:00
#else
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.
2016-09-22 01:08:24 +00:00
uint8_t idx;
int32_t current_position[N_AXIS]; // Copy current state of the system position variable
memcpy(current_position,sys_position,sizeof(sys_position));
float print_position[N_AXIS];
system_convert_array_steps_to_mpos(print_position,current_position);
// Report current machine state and sub-states
switch (sys.state) {
case STATE_IDLE: printPgmString(PSTR("<Idle")); break;
case STATE_CYCLE: printPgmString(PSTR("<Run")); break;
case STATE_HOLD:
if (!(sys.suspend & SUSPEND_JOG_CANCEL)) {
printPgmString(PSTR("<Hold:"));
if (sys.suspend & SUSPEND_HOLD_COMPLETE) { serial_write('0'); } // Ready to resume
else { serial_write('1'); } // Actively holding
break;
} // Continues to print jog state during jog cancel.
case STATE_JOG: printPgmString(PSTR("<Jog")); break;
case STATE_HOMING: printPgmString(PSTR("<Home")); break;
case STATE_ALARM: printPgmString(PSTR("<Alarm")); break;
case STATE_CHECK_MODE: printPgmString(PSTR("<Check")); break;
case STATE_SAFETY_DOOR:
printPgmString(PSTR("<Door:"));
if (sys.suspend & SUSPEND_INITIATE_RESTORE) {
serial_write('3'); // Restoring
} else {
if (sys.suspend & SUSPEND_RETRACT_COMPLETE) {
if (sys.suspend & SUSPEND_SAFETY_DOOR_AJAR) {
serial_write('1'); // Door ajar
} else {
serial_write('0');
} // Door closed and ready to resume
} else {
serial_write('2'); // Retracting
}
}
break;
// case STATE_SLEEP: printPgmString(PSTR("<Sleep:")); // [Grbl-Mega Only]
// if (sys.suspend & SUSPEND_RETRACT_COMPLETE) { printPgmString(PSTR("0")); } // Parked
// else { printPgmString(PSTR("1")); } // Actively holding and retracting
// break;
}
// Report machine position
if (bit_istrue(settings.status_report_mask,BITFLAG_RT_STATUS_POSITION_TYPE)) {
printPgmString(PSTR("|MPos:"));
} else {
// Report work position
printPgmString(PSTR("|WPos:"));
for (idx=0; idx< N_AXIS; idx++) {
// Apply work coordinate offsets and tool length offset to current position.
print_position[idx] -= gc_state.coord_system[idx]+gc_state.coord_offset[idx];
if (idx == TOOL_LENGTH_OFFSET_AXIS) { print_position[idx] -= gc_state.tool_length_offset; }
}
}
for (idx=0; idx< N_AXIS; idx++) {
printFloat_CoordValue(print_position[idx]);
if (idx < (N_AXIS-1)) { serial_write(','); }
Pin state reporting of all pins. Flash optimization. - New pin state realtime reporting feature. Instead of `Lim:000` for limit state reports, the new feature shows `Pin:000|0|0000`, or something similar. The `|` delimited fields indicate xyz limits, probe, and control pin states, where 0 is always not triggered, and 1 is triggered. Invert masks ARE accounted for. Each field may be enabled or disabled via the `$10` status report setting. The probe and control pin flags are bits 5 and 6, respectively. - Remove the now deprecated `REPORT_CONTROL_PIN_STATE` option in config.h - The old limit pin reports `Lim:000` may be re-enabled by commenting out `REPORT_ALL_PIN_STATES` in config.h. - Incremented the version letter (v1.0c) to indicate the change in reporting style. - Replaced all bit_true_atomic and bit_false_atomic macros with function calls. This saved a couple hundred bytes of flash.
2015-11-10 04:54:26 +00:00
}
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.
2016-09-22 01:08:24 +00:00
// Returns planner and serial read buffer states.
#ifdef REPORT_FIELD_BUFFER_STATE
printPgmString(PSTR("|Bf:"));
print_uint8_base10(plan_get_block_buffer_count());
serial_write(',');
print_uint8_base10(serial_get_rx_buffer_count());
#endif
#ifdef USE_LINE_NUMBERS
#ifdef REPORT_FIELD_LINE_NUMBERS
// Report current line number
plan_block_t * cur_block = plan_get_current_block();
if (cur_block != NULL) {
uint32_t ln = cur_block->line_number;
if (ln > 0) {
printPgmString(PSTR("|Ln:"));
printInteger(ln);
}
}
#endif
#endif
// Report realtime rate
#ifdef REPORT_FIELD_CURRENT_RATE
printPgmString(PSTR("|F:"));
printFloat_RateValue(st_get_realtime_rate());
#endif
#ifdef REPORT_FIELD_PIN_STATE
uint8_t lim_pin_state = limits_get_state();
uint8_t ctrl_pin_state = system_control_get_state();
uint8_t prb_pin_state = probe_get_state();
if (lim_pin_state | ctrl_pin_state | prb_pin_state) {
printPgmString(PSTR("|Pn:"));
if (prb_pin_state) { serial_write('P'); }
if (lim_pin_state) {
if (bit_istrue(lim_pin_state,bit(X_AXIS))) { serial_write('X'); }
if (bit_istrue(lim_pin_state,bit(Y_AXIS))) { serial_write('Y'); }
if (bit_istrue(lim_pin_state,bit(Z_AXIS))) { serial_write('Z'); }
}
if (ctrl_pin_state) {
#ifdef ENABLE_SAFETY_DOOR_INPUT_PIN
if (bit_istrue(ctrl_pin_state,CONTROL_PIN_INDEX_SAFETY_DOOR)) { serial_write('D'); }
#endif
if (bit_istrue(ctrl_pin_state,CONTROL_PIN_INDEX_RESET)) { serial_write('R'); }
if (bit_istrue(ctrl_pin_state,CONTROL_PIN_INDEX_FEED_HOLD)) { serial_write('H'); }
if (bit_istrue(ctrl_pin_state,CONTROL_PIN_INDEX_CYCLE_START)) { serial_write('S'); }
}
}
#endif
#ifdef REPORT_FIELD_WORK_COORD_OFFSET
if (sys.report_wco_counter++ >= REPORT_WCO_REFRESH_BUSY_COUNT) {
if (sys.state & (STATE_HOMING | STATE_CYCLE | STATE_HOLD | STATE_JOG | STATE_SAFETY_DOOR)) {
sys.report_wco_counter = 1; // Reset counter for slow refresh
} else { sys.report_wco_counter = (REPORT_WCO_REFRESH_BUSY_COUNT-REPORT_WCO_REFRESH_IDLE_COUNT+1); }
if (sys.report_ovr_counter >= REPORT_OVR_REFRESH_BUSY_COUNT) {
sys.report_ovr_counter = (REPORT_OVR_REFRESH_BUSY_COUNT-1); // Set override on next report.
}
printPgmString(PSTR("|WCO:"));
float axis_offset;
uint8_t idx;
for (idx=0; idx<N_AXIS; idx++) {
axis_offset = gc_state.coord_system[idx]+gc_state.coord_offset[idx];
if (idx == TOOL_LENGTH_OFFSET_AXIS) { axis_offset += gc_state.tool_length_offset; }
printFloat_CoordValue(axis_offset);
if (idx < (N_AXIS-1)) { serial_write(','); }
}
}
#endif
#ifdef REPORT_FIELD_OVERRIDES
if (sys.report_ovr_counter++ >= REPORT_OVR_REFRESH_BUSY_COUNT) {
if (sys.state & (STATE_HOMING | STATE_CYCLE | STATE_HOLD | STATE_JOG | STATE_SAFETY_DOOR)) {
sys.report_ovr_counter = 1; // Reset counter for slow refresh
} else { sys.report_ovr_counter = (REPORT_OVR_REFRESH_BUSY_COUNT-REPORT_OVR_REFRESH_IDLE_COUNT+1); }
printPgmString(PSTR("|Ov:"));
print_uint8_base10(sys.f_override);
serial_write(',');
print_uint8_base10(sys.r_override);
serial_write(',');
print_uint8_base10(sys.spindle_speed_ovr);
if (sys.toggle_ovr_mask) {
printPgmString(PSTR("|T:"));
if (sys.toggle_ovr_mask & TOGGLE_OVR_STOP_ACTIVE_MASK) { serial_write('S'); }
if (sys.toggle_ovr_mask & TOGGLE_OVR_FLOOD_COOLANT) { serial_write('F'); }
#ifdef ENABLE_M7
if (sys.toggle_ovr_mask & TOGGLE_OVR_MIST_COOLANT) { serial_write('M'); }
#endif
bit_false(sys.toggle_ovr_mask, (TOGGLE_OVR_FLOOD_COOLANT|TOGGLE_OVR_FLOOD_COOLANT));
}
}
#endif
printPgmString(PSTR(">\r\n"));
Limit/control pin state reporting option - As a setup feature, users can compile-in input pin status reporting. Doesn’t do anything special, just prints the binary for the port. 0’s and 1’s indicate low and high signals on the pins. It’s a bit cryptic right now, but it’s just a start. - Added a max step rate check when writing step/mm and max rate settings. Should help avoid people misdiagnosing problems associated with going over the 30kHz step rate limit. Right now not enabled. Takes up over 100k of flash. Need that room for other things right now.
2015-02-07 03:02:34 +00:00
#endif
Minimal probing cycle working. Supports both G38.2 for error and G38.3 when no errors are desired.
2014-02-25 20:19:52 +00:00
}
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.
2016-09-22 01:08:24 +00:00
#ifdef DEBUG
void report_realtime_debug()
{
}
#endif