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.
Parking mode improvements.
Removed requirement for external encoder for spindle sync if stepper spindle is enabled.
Improved handling of $680 stepper enable delay.
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 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.
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.
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.
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.
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.
Added $384 setting for controlling G92 offset persistence.
Improved $help command output and handling.
Moved the optional tool table in non-volatile storage.
Added gcode parameter support and optional expression support.
