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.
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.
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.
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 G30 as optional position for tool change.
Moved new tool change mode from PR#673 to $346 - Tool change options.
Moved Modbus RTU code from spindle plugin to the core.
Fixed bug in delayed task handler, might occasionally hang the controller.
Changed signature of vfs.on_mount() event.
Added grbl.on_cycle_start() event, fired on cycle start signal asserted or on cycle start real time command received.
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.
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 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.
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.
Implemented handling of single block, block delete and optional stop disable control signal events.
Added help for $S (single block), $B (block delete) and $O (optional stop disable) commands.
Added optional HAL entry point for outputting WRGB values to lights such as neopixels.
Improved $-commands registration to make it easier to add help text.
Now returns no data for alarm and error enums when firmware is compiled for 128K versions of the STM32F1xx MCU.
This frees up some flash space for plugins etc.
Terje Io
terjeio