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 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.
For programmers: added grbl.on_control_signals_changed event, fired on some signals: optional stop, single step, block delete and cycle start.
Fix for incorrect handling of arcs when negative scaling is enabled with G51.
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.
Added '$709' setting for second PWM spindle when available - PWM options.
Added properties to PWM spindles to allow "overdriving" PWM output when _RPM controls spindle enable signal is enabled with '$9' or '$709'.
Optimized Modbus CRC calculation, may fix issue with a compiler generating different code compared to most others. Ref. issue #723.
Improved handling of stop realtime command (0x19) for faster motion halt without losing position.
Optimized RAM usage. Fixed regression related to losing current coordinate system and tool offset over a stop.
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.
Added code guards in order to free some memory for STM32F103 variants with 128K flash.
Changed Stop (0x19) real-time command behaviour, active tool offset and coordinate system will now be kept. Ref. issue #610.
(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 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.
Fix for unable to set $484 to 0, issue #466.
Added setting $673 for setting coolant on delay after feedhold. Available when safety door handling is not enabled.
Fixed obscure bug carried over from legacy Grbl related to this. Issue #467.
Enabled setting $394 for spindle on delay after feedhold. Available when safety door handling is not enabled.
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.
NOTE: this is a relatively large change and may have introduced bugs and/or unintended side-effects. Please report any issues!
Added setting $519 for binding spindle encoder to given spindle in multi spindle configurations.
Added machine readable spindle enumeration report, $SPINDLESH.
Increased default value for setting $398 (number of planner blocs) from 35 to 100 for faster laser engraving.
NOTE: the $398 setting value will not change on an upgrade!
NOTE: STM32F103 builds for the 128K flash variants does not have enough free RAM and will keep 35 as the default value.
Increased allowed number of decimal places from 3 to 5 for $10x stepper step/mm settings. Ref. ioSender issue 346.
Added setting $650 for filing system options. Ref. issue 397.
Currently the following bits are available (depending on the configuration):
0 - Auto mount SD card on startup (1).
1 - Do not add littlefs files when listing the root directory (2).
Added build option for lathe UVW mode.
When enabled UVW words can be used to command relative moves for XYZ without switching to relative mode with G91.
NOTE: This permanently sets lathe mode and disables the $32 mode setting.
There are signature changes to some spindle, ioports enumeration and VFS filing system mount functions.
Added events to allow plugin code to handle tool table data, possibly stored on a SD card.
New/modified core entry points for soft limit checking.
More delta robot tuning, added setting warning in $DELTA output if some settings are inconsistent such as steps/rad, acceleration etc.
Fix for issue #361, HOME status is not reported or reported late when auto reporting is enabled with setting $481.
Added 5s timeout/abort handling when waiting for index pulses prior to startiong spindle synchronized motion.
Added definitions for M401 (deploy probe) and M402 (stow probe) for plugin use.
Added support for probe protected message and alarm. Requires driver support for interrupt handled probe input.
