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 system parameter _tool_table_size, 0 if a tool table is not enabled.
Removed dependency on safety door input for parking settings: $41, $42, $56-$59, $392 and $393.
Removed strict dependency on spindle encoder input for spindle synced motion,
allows the use of the stepper spindle which has an implicit encoder.
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.
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 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.
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.
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.
Added setting $676 with flags to control soft reset actions. See the changelog for details.
Workaround for Microsoft C adding a non-standard reserved keyword...
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.
No longer copies spindle on delay from door setting ($392) to the new general setting ($340) on update from pre 20250103 builds.
Fixed missed code change when general spindle on delay was implemented causing the delay to be inserted on a simple RPM change with the S word.
new HAL entry point for querying/resetting driver status.
Added driver capability flags and settings, $742 - $745, for enabling and inverting motor warning and fault input signals (per axis).
Improved jerk acceleration. Ref. PR #660.
Added named parameters _probe_state and _toolsetter_state. Both return -1 if state is not available.
These may return incorrect values initially so use with care.
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.
Terje Io
Mitchell Grams
andrew_marles
Dietz0randGitHub