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.
Parking mode improvements.
Removed requirement for external encoder for spindle sync if stepper spindle is enabled.
Improved handling of $680 stepper enable delay.
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.
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.
Added core on_spindle_at_speed event. This must be verified with actual VFD spindles, I only have a simulator available.
Improved handling of "iterated" settings, can now be fully implemented by plugins.
Added HAL support for setting serial stream format.
Added setting $681 for configuring Modbus RTU stream parity, available when the underlying driver supports format setting.
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.
Added $MODBUSSTATS and $MODBUSSTATS=R commands, outputs communication statistics such as number of sent commands, retries etc.
$MODBUSSTATS=R clears the statistics after outputting it.
Ref. issue #753.
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 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.
these instead of calling via hal.port functions or accessing hal.port properties.
Improved the ioports API, updated core code to make use of it.
Flagged some calls and (part of) some stuctures as deprecated.
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.
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.
