Sergey Pastor / grbl

doc/markdown/change_summary.md@0:f1834a63f7c1, 2017-09-04 (annotated)

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Sergunb
Date:
Mon Sep 04 12:03:42 2017 +0000
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0:f1834a63f7c1
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Sergunb 0:f1834a63f7c1 1 ### _Grbl v1.1 - Change Summary_
Sergunb 0:f1834a63f7c1 2
Sergunb 0:f1834a63f7c1 3 --------
Sergunb 0:f1834a63f7c1 4
Sergunb 0:f1834a63f7c1 5 ### _Specific details are available in the other markdown documents._
Sergunb 0:f1834a63f7c1 6 --------
Sergunb 0:f1834a63f7c1 7
Sergunb 0:f1834a63f7c1 8 #### GUI Interface Tweaks from Grbl v0.9
Sergunb 0:f1834a63f7c1 9
Sergunb 0:f1834a63f7c1 10 Grbl v1.1's interface protocol has been tweaked in the attempt to make GUI development cleaner, clearer, and hopefully easier. All messages are designed to be deterministic without needing to know the context of the message. Each can be inferred to a much greater degree than before just by the message type, which are all listed below.
Sergunb 0:f1834a63f7c1 11
Sergunb 0:f1834a63f7c1 12 - `ok` / `error:x` : Normal send command and execution response acknowledgement. Used for streaming.
Sergunb 0:f1834a63f7c1 13
Sergunb 0:f1834a63f7c1 14 - `< >` : Enclosed chevrons contains status report data.
Sergunb 0:f1834a63f7c1 15
Sergunb 0:f1834a63f7c1 16 - `Grbl X.Xx ['$' for help]` : Welcome message indicates initialization.
Sergunb 0:f1834a63f7c1 17
Sergunb 0:f1834a63f7c1 18 - `ALARM:x` : Indicates an alarm has been thrown. Grbl is now in an alarm state.
Sergunb 0:f1834a63f7c1 19
Sergunb 0:f1834a63f7c1 20 - `$x=val` and `$Nx=line` indicate a settings printout from a `$` and `$N` user query, respectively.
Sergunb 0:f1834a63f7c1 21
Sergunb 0:f1834a63f7c1 22 - `[MSG:]` : Indicates a non-queried feedback message.
Sergunb 0:f1834a63f7c1 23
Sergunb 0:f1834a63f7c1 24 - `[GC:]` : Indicates a queried `$G` g-code state message.
Sergunb 0:f1834a63f7c1 25
Sergunb 0:f1834a63f7c1 26 - `[HLP:]` : Indicates the help message.
Sergunb 0:f1834a63f7c1 27
Sergunb 0:f1834a63f7c1 28 - `[G54:]`, `[G55:]`, `[G56:]`, `[G57:]`, `[G58:]`, `[G59:]`, `[G28:]`, `[G30:]`, `[G92:]`, `[TLO:]`, and `[PRB:]` messages indicate the parameter data printout from a `$#` user query.
Sergunb 0:f1834a63f7c1 29
Sergunb 0:f1834a63f7c1 30 - `[VER:]` : Indicates build info and string from a `$I` user query.
Sergunb 0:f1834a63f7c1 31
Sergunb 0:f1834a63f7c1 32 - `[OPT:]` : Indicates compile-time option info from a `$I` user query.
Sergunb 0:f1834a63f7c1 33
Sergunb 0:f1834a63f7c1 34 - `[echo:]` : Indicates an automated line echo from a pre-parsed string prior to g-code parsing. Enabled by config.h option.
Sergunb 0:f1834a63f7c1 35
Sergunb 0:f1834a63f7c1 36 - `>G54G20:ok` : The open chevron indicates startup line execution. The `:ok` suffix shows it executed correctly without adding an unmatched `ok` response on a new line.
Sergunb 0:f1834a63f7c1 37
Sergunb 0:f1834a63f7c1 38 In addition, all `$x=val` settings, `error:`, and `ALARM:` messages no longer contain human-readable strings, but rather codes that are defined in other documents. The `$` help message is also reduced to just showing the available commands. Doing this saves incredible amounts of flash space. Otherwise, the new overrides features would not have fit.
Sergunb 0:f1834a63f7c1 39
Sergunb 0:f1834a63f7c1 40 Other minor changes and bug fixes that may effect GUI parsing include:
Sergunb 0:f1834a63f7c1 41
Sergunb 0:f1834a63f7c1 42 - Floating point values printed with zero precision do not show a decimal, or look like an integer. This includes spindle speed RPM and feed rate in mm mode.
Sergunb 0:f1834a63f7c1 43 - `$G` reports fixed a long time bug with program modal state. It always showed `M0` program pause when running. Now during a normal program run, no program modal state is given until an `M0`, `M2`, or `M30` is active and then the appropriate state will be shown.
Sergunb 0:f1834a63f7c1 44
Sergunb 0:f1834a63f7c1 45 On a final note, these interface tweaks came about out of necessity, because more data is being sent back from Grbl, it is capable of doing many more things, and flash space is at a premium. It's not intended to be altered again in the near future, if at all. This is likely the only and last major change to this. If you have any comments or suggestions before Grbl v1.1 goes to master, please do immediately so we can all vet the new alteration before its installed.
Sergunb 0:f1834a63f7c1 46
Sergunb 0:f1834a63f7c1 47 ----
Sergunb 0:f1834a63f7c1 48
Sergunb 0:f1834a63f7c1 49 #### Realtime Status Reports Changes from Grbl v0.9
Sergunb 0:f1834a63f7c1 50
Sergunb 0:f1834a63f7c1 51 - Intent of changes is to make parsing cleaner, reduce transmitting overhead without effecting overall Grbl performance, and add more feedback data, which includes three new override values and real-time velocity.
Sergunb 0:f1834a63f7c1 52
Sergunb 0:f1834a63f7c1 53 - Data fields are separated by `|` pipe delimiters, rather than `,` commas that were used to separate data values. This should help with parsing.
Sergunb 0:f1834a63f7c1 54
Sergunb 0:f1834a63f7c1 55 - The ability to mask and add/remove data fields from status reports via the `$10` status report mask setting has been disabled. Only selecting `MPos:` or `WPos:` coordinates is allowed.
Sergunb 0:f1834a63f7c1 56 - All available data is always sent to standardize the reports across all GUIs.
Sergunb 0:f1834a63f7c1 57 - For unique situations, data fields can be removed by config.h macros, but it is highly recommended to not alter these.
Sergunb 0:f1834a63f7c1 58
Sergunb 0:f1834a63f7c1 59
Sergunb 0:f1834a63f7c1 60 - `MPos:` OR `WPos:` are always included in a report, but not BOTH at the same time.
Sergunb 0:f1834a63f7c1 61
Sergunb 0:f1834a63f7c1 62 - This reduces transmit overhead tremendously by removing upwards to 40 characters.
Sergunb 0:f1834a63f7c1 63 - `WCO:0.000,10.000,2.500` A current work coordinate offset is now sent to easily convert between position vectors, where `WPos = MPos - WCO` for each axis.
Sergunb 0:f1834a63f7c1 64 - `WCO:` is included immediately whenever a `WCO:` value changes or intermittently after every **X** status reports as a refresh. Refresh rates can dynamically vary from 10 to 30 (configurable) reports depending on what Grbl is doing.
Sergunb 0:f1834a63f7c1 65 - `WCO:` is simply the sum of the work coordinate system, G92, and G43.1 tool length offsets.
Sergunb 0:f1834a63f7c1 66 - Basically, a GUI just needs to retain the last `WCO:` and apply the equation to get the other position vector.
Sergunb 0:f1834a63f7c1 67 - `WCO:` messages may only be disabled via a config.h compile-option, if a GUI wants to handle the work position calculations on its own to free up more transmit bandwidth.
Sergunb 0:f1834a63f7c1 68 - Be aware of the following issue regarding `WPos:`.
Sergunb 0:f1834a63f7c1 69 - In Grbl v0.9 and prior, there is an old outstanding bug where the `WPos:` work position reported may not correlate to what is executing, because `WPos:` is based on the g-code parser state, which can be several motions behind. Grbl v1.1 now forces the planner buffer to empty, sync, and stops motion whenever there is a command that alters the work coordinate offsets `G10,G43.1,G92,G54-59`. This is the simplest way to ensure `WPos:` is always correct. Fortunately, it's exceedingly rare that any of these commands are used need continuous motions through them.
Sergunb 0:f1834a63f7c1 70 - A compile-time option is available to disable the planner sync and forced stop, but, if used, it's up to the GUI to handle this position correlation issue.
Sergunb 0:f1834a63f7c1 71
Sergunb 0:f1834a63f7c1 72
Sergunb 0:f1834a63f7c1 73 - The `Hold` and `Door` states includes useful sub-state info via a `:` colon delimiter and an integer value. See descriptions for details.
Sergunb 0:f1834a63f7c1 74
Sergunb 0:f1834a63f7c1 75 - Limit and other input pin reports have significantly changed to reduce transmit overhead.
Sergunb 0:f1834a63f7c1 76 - The data type description is now just `Pn:`, rather than `Lim:000` or `Pin:000|0|0000`
Sergunb 0:f1834a63f7c1 77 - It does not appear if no inputs are detected as triggered.
Sergunb 0:f1834a63f7c1 78 - If an input is triggered, ```Pn:``` will be followed by a letter or set of letters of every triggered input pin. `XYZPDHRS` for the XYZ-axes limits, Probe, Door, Hold, soft-Reset, cycle Start pins, respectively.
Sergunb 0:f1834a63f7c1 79 - For example, a triggered Z-limit and probe pin would report `Pn:ZP`.
Sergunb 0:f1834a63f7c1 80
Sergunb 0:f1834a63f7c1 81
Sergunb 0:f1834a63f7c1 82 - Buffer data (planner and serial RX) reports have been tweaked and combined.
Sergunb 0:f1834a63f7c1 83
Sergunb 0:f1834a63f7c1 84 - `Bf:15,128`. The first value is the available blocks in the planner buffer and the second is available bytes in the serial RX buffer.
Sergunb 0:f1834a63f7c1 85 - Note that this is different than before, where it reported blocks/bytes "in-use", rather than "available". This change does not require a GUI to know how many blocks/bytes Grbl has been compiled with, which can be substantially different on a Grbl-Mega build.
Sergunb 0:f1834a63f7c1 86
Sergunb 0:f1834a63f7c1 87
Sergunb 0:f1834a63f7c1 88 - Override reports are intermittent since they don't change often once set.
Sergunb 0:f1834a63f7c1 89
Sergunb 0:f1834a63f7c1 90 - Overrides are included in every 10 or 20 status reports (configurable) depending on what Grbl is doing or, if an override value or toggle state changes, automatically in the next report.
Sergunb 0:f1834a63f7c1 91 - There are two override fields:
Sergunb 0:f1834a63f7c1 92 - `Ov:100,100,100` Organized as feed, rapid, and spindle speed overrides in percent.
Sergunb 0:f1834a63f7c1 93
Sergunb 0:f1834a63f7c1 94 - Accessory states are shown alongside override reports when they are active. Like pin states, an accessory state report `A:SFM` contains a letter indicating an active accessory. Letters `S`, `C`, `F`, and `M` are defined as spindle CW, spindle CCW, flood coolant, and mist coolant, respectively. The pins are directly polled and shown here.
Sergunb 0:f1834a63f7c1 95
Sergunb 0:f1834a63f7c1 96 - Line numbers, when enabled in config.h, are omitted when:
Sergunb 0:f1834a63f7c1 97
Sergunb 0:f1834a63f7c1 98 - No line number is passed to Grbl in a block.
Sergunb 0:f1834a63f7c1 99 - Grbl is performing a system motion like homing, jogging, or parking.
Sergunb 0:f1834a63f7c1 100 - Grbl is executing g-code block that does not contain a motion, like `G20G54` or `G4P1` dwell. (NOTE: Looking to fixing this later.)
Sergunb 0:f1834a63f7c1 101
Sergunb 0:f1834a63f7c1 102 -------
Sergunb 0:f1834a63f7c1 103
Sergunb 0:f1834a63f7c1 104 #### New Commands
Sergunb 0:f1834a63f7c1 105
Sergunb 0:f1834a63f7c1 106 - `$SLP` - Grbl v1.1 now has a sleep mode that can be invoked by this command. It requires Grbl to be in either an IDLE or ALARM state. Once invoked, Grbl will de-energize all connected systems, including the spindle, coolant, and stepper drivers. It'll enter a suspend state that can only be exited by a reset. When reset, Grbl will re-initiatize in an ALARM state because the steppers were disabled and position can not be guaranteed.
Sergunb 0:f1834a63f7c1 107 - NOTE: Grbl-Mega can invoke the sleep mode at any time, when the sleep timeout feature is enabled in config.h. It does so when Grbl has not received any external input after a timeout period.
Sergunb 0:f1834a63f7c1 108
Sergunb 0:f1834a63f7c1 109 - `$J=line` New jogging commands. This command behaves much like a normal G1 command, but there are some key differences. Jog commands don't alter the g-code parser state, meaning a GUI doesn't have to manage it anymore. Jog commands may be queued and cancelled at any time, where they are automatically flushed from the planner buffer without requiring a reset. See the jogging documentation on how they work and how they may be used to implement a low-latency joystick or rotary dial.
Sergunb 0:f1834a63f7c1 110
Sergunb 0:f1834a63f7c1 111 - Laser mode `$` setting - When enabled, laser mode will move through consecutive G1, G2, and G3 motion commands that have different spindle speed values without stopping. A spindle speed of zero will disable the laser without stopping as well. However, when spindle states change, like M3 or M5, stops are still enforced.
Sergunb 0:f1834a63f7c1 112 - NOTE: Parking motions are automatically disabled when laser mode is enabled to prevent burning.
Sergunb 0:f1834a63f7c1 113
Sergunb 0:f1834a63f7c1 114 - `G56 P1` and `G56 P0` - When enabled in config.h with Grbl's parking motion, these commands enable and disable, respectively, the parking motion. Like all override control commands, these commands are modal and are part of the g-code stream.