G28/30 bug fix. Block '$$' during cycle. SO2 defaults.

- A G28/30 bug would cause it to move to machine coordinate [0,0,0] if
no axis words were sent. It was a typo in the new g-code parser. Fixed
and slightly re-written to be more consistent with the program flow.

- Updated the ShapeOko2 defaults based on testing on the real machine.
A little conservative, but it might change again after some more
testing.

- Now blocks ‘$$’ command during a motion, because the printout takes
too long and can starve the segment buffer.

defaults.h

@@ -48,7 +48,6 @@
   #define DEFAULT_STATUS_REPORT_MASK ((BITFLAG_RT_STATUS_MACHINE_POSITION)|(BITFLAG_RT_STATUS_WORK_POSITION))
   #define DEFAULT_JUNCTION_DEVIATION 0.02 // mm
   #define DEFAULT_ARC_TOLERANCE 0.002 // mm
-  #define DEFAULT_DECIMAL_PLACES 3
   #define DEFAULT_REPORT_INCHES 0 // false
   #define DEFAULT_AUTO_START 1 // true
   #define DEFAULT_INVERT_ST_ENABLE 0 // false
@@ -88,7 +87,6 @@
   #define DEFAULT_STATUS_REPORT_MASK ((BITFLAG_RT_STATUS_MACHINE_POSITION)|(BITFLAG_RT_STATUS_WORK_POSITION))
   #define DEFAULT_JUNCTION_DEVIATION 0.02 // mm
   #define DEFAULT_ARC_TOLERANCE 0.002 // mm
-  #define DEFAULT_DECIMAL_PLACES 3
   #define DEFAULT_REPORT_INCHES 0 // true
   #define DEFAULT_AUTO_START 1 // true
   #define DEFAULT_INVERT_ST_ENABLE 0 // false
@@ -131,7 +129,6 @@
   #define DEFAULT_STATUS_REPORT_MASK ((BITFLAG_RT_STATUS_MACHINE_POSITION)|(BITFLAG_RT_STATUS_WORK_POSITION))
   #define DEFAULT_JUNCTION_DEVIATION 0.05 // mm
   #define DEFAULT_ARC_TOLERANCE 0.002 // mm
-  #define DEFAULT_DECIMAL_PLACES 3
   #define DEFAULT_REPORT_INCHES 0 // false
   #define DEFAULT_AUTO_START 1 // true
   #define DEFAULT_INVERT_ST_ENABLE 0 // false
@@ -148,7 +145,7 @@
 
 #ifdef DEFAULTS_SHAPEOKO_2
   // Description: Shapeoko CNC mill with three NEMA 17 stepper motors, driven by Synthetos
-  // grblShield with a 24V, 4.2A power supply.
+  // grblShield at 28V.
   #define MICROSTEPS_XY 8
   #define STEP_REVS_XY 200
   #define MM_PER_REV_XY (2.0*20) // 2mm belt pitch, 20 pulley teeth
@@ -158,12 +155,12 @@
   #define DEFAULT_X_STEPS_PER_MM (MICROSTEPS_XY*STEP_REVS_XY/MM_PER_REV_XY)
   #define DEFAULT_Y_STEPS_PER_MM (MICROSTEPS_XY*STEP_REVS_XY/MM_PER_REV_XY)
   #define DEFAULT_Z_STEPS_PER_MM (MICROSTEPS_Z*STEP_REVS_Z/MM_PER_REV_Z)
-  #define DEFAULT_X_MAX_RATE 500.0 // mm/min
-  #define DEFAULT_Y_MAX_RATE 500.0 // mm/min
-  #define DEFAULT_Z_MAX_RATE 500.0 // mm/min
-  #define DEFAULT_X_ACCELERATION (25.0*60*60) // 25*60*60 mm/min^2 = 25 mm/sec^2
-  #define DEFAULT_Y_ACCELERATION (25.0*60*60) // 25*60*60 mm/min^2 = 25 mm/sec^2
-  #define DEFAULT_Z_ACCELERATION (25.0*60*60) // 25*60*60 mm/min^2 = 25 mm/sec^2
+  #define DEFAULT_X_MAX_RATE 5000.0 // mm/min
+  #define DEFAULT_Y_MAX_RATE 5000.0 // mm/min
+  #define DEFAULT_Z_MAX_RATE 750.0 // mm/min
+  #define DEFAULT_X_ACCELERATION (250.0*60*60) // 25*60*60 mm/min^2 = 25 mm/sec^2
+  #define DEFAULT_Y_ACCELERATION (250.0*60*60) // 25*60*60 mm/min^2 = 25 mm/sec^2
+  #define DEFAULT_Z_ACCELERATION (50.0*60*60) // 25*60*60 mm/min^2 = 25 mm/sec^2
   #define DEFAULT_X_MAX_TRAVEL 200.0 // mm
   #define DEFAULT_Y_MAX_TRAVEL 200.0 // mm
   #define DEFAULT_Z_MAX_TRAVEL 200.0 // mm
@@ -174,7 +171,6 @@
   #define DEFAULT_STATUS_REPORT_MASK ((BITFLAG_RT_STATUS_MACHINE_POSITION)|(BITFLAG_RT_STATUS_WORK_POSITION))
   #define DEFAULT_JUNCTION_DEVIATION 0.05 // mm
   #define DEFAULT_ARC_TOLERANCE 0.002 // mm
-  #define DEFAULT_DECIMAL_PLACES 3
   #define DEFAULT_REPORT_INCHES 0 // false
   #define DEFAULT_AUTO_START 1 // true
   #define DEFAULT_INVERT_ST_ENABLE 0 // false
@@ -215,7 +211,6 @@
   #define DEFAULT_STATUS_REPORT_MASK ((BITFLAG_RT_STATUS_MACHINE_POSITION)|(BITFLAG_RT_STATUS_WORK_POSITION))
   #define DEFAULT_JUNCTION_DEVIATION 0.02 // mm
   #define DEFAULT_ARC_TOLERANCE 0.002 // mm
-  #define DEFAULT_DECIMAL_PLACES 3
   #define DEFAULT_REPORT_INCHES 0 // false
   #define DEFAULT_AUTO_START 1 // true
   #define DEFAULT_INVERT_ST_ENABLE 0 // false

gcode.c

@@ -610,11 +610,13 @@ uint8_t gc_execute_line(char *line)
         case NON_MODAL_GO_HOME_0: 
           // [G28 Errors]: Cutter compensation is enabled. 
           // Retreive G28 go-home position data (in machine coordinates) from EEPROM
+          if (!axis_words) { axis_command = AXIS_COMMAND_NONE; } // Set to none if no intermediate motion.
           if (!settings_read_coord_data(SETTING_INDEX_G28,parameter_data)) { FAIL(STATUS_SETTING_READ_FAIL); }
           break;
         case NON_MODAL_GO_HOME_1:
           // [G30 Errors]: Cutter compensation is enabled. 
           // Retreive G30 go-home position data (in machine coordinates) from EEPROM
+          if (!axis_words) { axis_command = AXIS_COMMAND_NONE; } // Set to none if no intermediate motion.
           if (!settings_read_coord_data(SETTING_INDEX_G30,parameter_data)) { FAIL(STATUS_SETTING_READ_FAIL); }
           break;
         case NON_MODAL_SET_HOME_0: case NON_MODAL_SET_HOME_1:

serial.c

@@ -97,6 +97,7 @@ void serial_write(uint8_t data) {
 
   // Wait until there is space in the buffer
   while (next_head == serial_tx_buffer_tail) { 
+    // TODO: Restructure st_prep_buffer() calls to be executed here during a long print.    
     if (sys.execute & EXEC_RESET) { return; } // Only check for abort to avoid an endless loop.
   }
 

settings.h

@@ -29,7 +29,7 @@
 
 
 #define GRBL_VERSION "0.9g"
-#define GRBL_VERSION_BUILD "20140805"
+#define GRBL_VERSION_BUILD "20140813"
 
 // Version of the EEPROM data. Will be used to migrate existing data from older versions of Grbl
 // when firmware is upgraded. Always stored in byte 0 of eeprom

system.c

@@ -88,6 +88,7 @@ uint8_t system_execute_line(char *line)
     case 0 : report_grbl_help(); break;
     case '$' : // Prints Grbl settings
       if ( line[++char_counter] != 0 ) { return(STATUS_INVALID_STATEMENT); }
+      if ( sys.state & (STATE_CYCLE | STATE_HOLD) ) { return(STATUS_IDLE_ERROR); } // Block during cycle. Takes too long to print.
       else { report_grbl_settings(); }
       break;
     case 'G' : // Prints gcode parser state