Added experimental support for G66 (modal macro call) and G67 (end modal macro call).
Made axis letter to axis/motor assignment for axes ABCUVW freely changeable at compile time.
Fix for some G65 arguments being incorrectly validated for normal use (sign, range).
Added repeat support to G65 macro call via the optional L parameter word.
Changed default setting for ABC-axes to rotary.
Changed defaults for jerk settings to 10x acceleration settings.
Disabled jerk for jog, probe and spindle synchronized motion.
Added _active_probe system parameter, returns -1 if no probe inputs available.
Minor bug fix, G5.1 and G33.1 motion commands were not coverted to the correct string equivalent in $G output.
Parking mode improvements.
Removed requirement for external encoder for spindle sync if stepper spindle is enabled.
Improved handling of $680 stepper enable delay.
Added tool name, pocket number and some lathe specific data fields to the $# tool output when available from the tool table.
If name is available it will be output as a push message on M6 if there is no message in the same block.
Added support for directory up, .., to VFS.
Added new option to $650 - File systems options to enable hierarchical listing of files and directories via $F and $F+ commands.
Added ADC/DAC resolution to $pinstate command, changed reported values to integer for ADC/DAC devices and float formatted for PWM devices.
Numeric settings can now be set via G65P1Q<n>S<value>, <n> is the setting number, <value> is the new value.
Changed alarm code for Modbus exceptions (communication errors) from 14 to 19.
Refactored MPG stream code to allow plugins to hook into MPG streams (via event handler).
Added _free memory system parameter, returns value in KBytes or -1 if not available from driver.
Changed basic stream data type from char to uint8_t, added HAL function and core API for releasing/closing UART streams.
Moved probe signal handling from drivers to the core, improved handling of probe disconnected signal.
NOTE: The changes above are quite large, please verify probe operation after installation.
Some minor bug fixes such as incorrect error code returned for unknown $-commands and temporary incorrect position reporting on in-flight G92 offset changes.
Added $PORTS command for listing serial ports, later I will update all drivers to provide the optional information.
Potential fix for polar kinematics not handling axes > 3 correctly, needs testing. Ref. issue #820.
Added lightweight JSON serializer outputting directly to file.
Fix for event handler sometimes called too early. Ref. issue #818.
For developers: added optional device filing system that can redirect file read/write to serial streams.
Changed $I NEWOPT "ATC" element to ATC=1 when ATC is online and ATC=0 when offline.
For macro based ATC code this is set to ATC=0 if tc.macro is not found and the new $675 flag is set.
Named system parameters _current_pocket and _selected_pocket updated to return the correct values.
Moved handling of keeping last tool number over reboot from template plugin to the core.
Added named system parameters _homed_state and _homed_axes.
Fix for failure to claim auxiliary ports in some configurations.
Moved inbuilt G65 macros to the core and added macro G65P5Q<n> for selecting probe.
Added probe id to real time report: |P:<n> will be reported on probe select when more than one probe is available.
Fix for WCO and Ov real time status report elements not beeing reported as they should in some circumstances.
Added HAL parameter for minimum step pulse length set by driver, used for validation of $0 setting.
Changed HAL API signature for outputting step pulses, optimized to allow drivers to only change direction outputs when there is an actual direction change.
Improved handling of overrides at end of program when all motion is buffered. Possible fix for issue #714.
Some optimizations to allow higher step rates.
Improved default serial port mapping when both MPG mode and keypad plugin are enabled to ensure the port is shared.
Delayed status report output on MPG mode change a few milliseconds to avoid awakening the ESP32 guru that sometimes reboots the controller.
Some low-level ioport improvements, added definition for virtual pins/ports.
Deprecated direct access to number of the different ioport ports in hal.port struct, use ioports_unclaimed() instead.
Removed IDLE state requirement for executing G65 macros, an error will no longer be returned and the macro will be run.
Added event handler for outputting welcome message on "native" USB connect for drivers that provides the linestate changed event.
Added option to homing enable setting ($22) for per axis homing feedrates.
!! Backup and restore settings over an update is recommended since all settings will be reset to default. Any odometer data will also be lost.
(probe input pullup disable) settings from boolean to bitfield when driver support is available.
Added a few default values for settings in config.h, overridable from the compiler command line.
Added core support for per axis pulloff distance, needs plugin for configuring them.
Added HAL flags for disabling settings for MCU input pins pullup disable, may be set by
drivers/boards that has buffered (optocoupled) inputs that is not possible to change.
Added support for LinuxCNC style (ABORT,<msg>) comment, requires expressions enabled. Terminates gcode program, outputs message and returns error 253.
Added PRM[<setting>] and PRM[<setting>,<bit>] functions to expressions, returns $-setting value or value of bit in integer type setting.
"hardened" flow control code, fixed bug in repeat...continue handling.
Changed signature of grbl.on_gcode_comment event, now returns status code.
Added clear of return value on CALL statement and added optional return value expression support to ENDSUB.
Improved handling of multiple simultaneous spindles. Still work in progress.
For developers: moved user M-code entry point hooks from the HAL structure to the core handlers and changed signature of the check() function to better support valueless words (letters) when parameter support is enabled. Removed deprecated parameter from the validate() call signature.
Fixed incorrect handling of G65 call parameters, axis words had offsets added. Ref. issue #594.
Refactored handling of multiple spindles. There are still some limitations but should work better now. Disabled override delays for now, needs investigation. Ref. issue #598.
NOTE: Please report any erratic behaviour after installing this version since it is a rather major change.
Added named parameters for getting absolute (G53) position: _abs_x, abs_y, ...
Available when expression support is enabled.
Changed stepper enable HAL signature to allow current reduction when idle.
Added reference id to spindle registration in order to allow configuring default spindle, and possibly additional spindles, at compile time.
Fixes issues for programs containing extended M-codes using single meaning words (which they as a rule should not do).
Added core support for spindle encoder binding to spindles.
Added sorting of spindle report: enabled spindles are sorted first in order of spindle number, disabled by type then spindle id.
Changed realtime report to report spindle number instead of spindle id on changes in the |S: element.
Added setting $358 to enable experimental functionality for fast rotary 'rewind' to stored G28 position.
Return move should complete in half a rotation or less.
For developers: added option to redirect debug via driver provided function when DEBUGOUT is set to -1 in config.h. Ref. issue #545.
Added experimental support of LinuxCNC style subroutines.
Available for gcode run from local filesystem such as on a SD card or in littlefs.
Improved handling of G92 when G92 offset is changed while motion is ongoing. Ref. issue #241.
Fix for issue #521, crash when running G65 macro on ESP32.
"Hardened" stream switching code, likely fix for discussion #456.
Hide related settings when no spindle and/or coolant outputs are available. From PR #479.
Fixed typo related to Modbus direction signal. Ref. issue #478.
Fixed typo in handling of aux output port settings. Ref issue #476.
Added definitions for up to four additional digital aux I/O ports.
Added real time report of selected spindle in multi spindle configurations. Reported on changes only.
Removed limits override input invert config, for safety reasons it is always active low.
Added HAL entry points for second RGB channel, renamed first from hal.rgb to hal.rgb0.
Added option to setting $22 to force use of limit switches for homing when homing inputs are available in the driver/board combo.
Improved handling of aux I/O pins when claimed for core functions.
Added flag to $9 for disabling laser mode capability for primary PWM spindle. Allows leaving laser mode enabled when a secondary PWM spindle is available and this is used to control a laser.
Added some generic setting definitions for stepper drivers, currently used by the motors plugin.
Fixed incorrect reporting of feed rate modes in $G response.
Added some ioPorts call wrappers, full support for reconfiguring output auxillary pins for PWM output.
The change is major and potentially dangerous, it may damage your probe, so please verify correct operation after installing.
Fix for STM32F4xx issue 161, Ethernet connection unresponsive if USB port not powered.
Enhanced ioPorts interface: New debounce option for input pins that are interrupt capable, currently only possible to enable via plugin code - later to be made available via a $-setting.
Added some wrapper functions for simpler plugin code++
Added simple task scheduler to the core, allows interrupt routines to dispatch jobs to the foreground process, delayed tasks and repeating tasks attached to the 1 ms system timer.
Some drivers and plugins now uses the scheduler for input pin debouncing, regular polling etc. The core uses it for stepper disabling and sleep monitoring.
Moved RGB API definitions to separate file and added some utilities for drivers and plugins. Fixed minor bug.
stream_open_instance(), signature change - added optional description string.
Allowed use of unused (by the core) axis words (ABCUVW) in M-code commands implemented by plugin code.
Added $PINSTATE command, for outputting auxillary pin states, modes and capabilities. Machine readable formatting.
