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.
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.
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.
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.
Changed signature of limit check functions, grbl.travel_limits() et. al.
to include a pointer to the work envelope to use.
Updated spindle off handling to check for "at speed" on deceleration when spindle is "at speed" capable.
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.
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 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 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.
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.
Sub name matches filename with extension .macro.
Added core event for handling special gcode comments used by expressions and flow control: DEBUG, PRINT and ABORT.
Added overrideable default $-setting values for second PWM spindle to grbl/config.c.
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.
Fixed incorrect comment string passed to passed to grbl.on_gcode_comment event.
Added generic redirector for temporarily changing input stream to read from a file. Supports nesting.
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.
Added definitions for up to four additional digital aux I/O ports.
Added real time report of selected spindle in multi spindle configurations. Reported on changes only.
Removed limits override input invert config, for safety reasons it is always active low.
Added HAL entry points for second RGB channel, renamed first from hal.rgb to hal.rgb0.
Added option to setting $22 to force use of limit switches for homing when homing inputs are available in the driver/board combo.
Improved handling of aux I/O pins when claimed for core functions.
Added flag to $9 for disabling laser mode capability for primary PWM spindle. Allows leaving laser mode enabled when a secondary PWM spindle is available and this is used to control a laser.
Added some generic setting definitions for stepper drivers, currently used by the motors plugin.
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.
Some drivers will now only disable hard limits (if enabled) for axes that are homing, this includes max/min limit switches.
HAL entry points and core handlers/events has been added and some have changed signatures in order to better support kinematics implementations.
More work on delta kinematics: new and changed settings, some improved functionality. Still in progress.
Added spindle type property to HAL, "hardened" code.
Added new setting $346 for action to take after tool change: either return controlled point (tool tip) back to the same position as before the M6 command (default) or move spindle to Z home.
