reverting imperial to metric conversion for angular moves.
Ref. PR#979 and discussion #241.
Added hooks for future G33.1 rigid tapping cycle implementation.
Added lathe tool parameters front angle, back angle and orientation
to tool data when lathe UVW option is enabled. Currently unused.
Improved handling of some VFS file system actions (unlink, mkdirv and rmdir), added support for truncate.
Changed some kinematics API function signatures for readability/debugability.
The ioports implementation has been changed to allow for consecutive pin numbers for external (expander based) I/O. See changelog for details.
Ref. PR#986 which is a partial fix.
Updated named O calls to allow name lengths only limited by available heap.
Ref. PR#989 which likely would return an error on overly long names and would potentially execute incorrect code if not.
Fix for parking motion using `$32` laser mode setting when it should use the current spindle mode.
For developers: changed signature of `hal.stream.on_linestate_changed()` to include stream properties.
Added P-word option to G38.x probe commands, use to temporarily switch the probe input when multiple probes are available.
Fixed PWM spindle ramping, did not hit the target RPM.
Changes to allow stepper spindle to use per degree settings, ref. issue 926.
Changes for improved line number reporting for subroutines and branching gcode.
Slow locate phase can now be skipped by setting $24 to 0, this can be useful for Trinamic sensorless homing.
Fix for pendant not working if default stream is native USB and no client is connected. Ref. issue #927.
Added support for G66.1 macro call.
Changed behaviour of G50 and G51 (and the G48 and G49 shortcuts) controlling feed rate and spindle RPM overrides.
Added support for G10L0, reload file based tool table.
Fixed buggy handling of G43 - apply tool offset from tool table.
Refactored the encoder HAL/API to make it more flexible and as a first step to support rigid tapping.
See the changelog for further details.
Improved alarm handling, if a critical alarm is active when a non-critical alarm is raised the non-critical alarm will be delayed until after reset for the critical alarm.
Improved Modbus exception handling and added high level API call for creating and sending Modbus messages.
Added G65P7 inbuilt macro for interacting with Modbus devices from gcode. See the Wiki for details.
$700 controls whether they are scanned for internally in the main program (1) or always located externally (0).
If scanned for internally the program is run twice, initially in check mode to locate the subroutines before it is rewound and run in normal mode.
If stored externally the file P<macro number>.macro is run, <macro number> is the M98 P value.
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.
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.
Fixed handling of NVS buffer allocation, size was not increased as expected when physical NVS is capable of holding more than 2 Kbytes.
This could lead to POS failure or plugins not initializing when a large tool table is configured.
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.
Terje Io
