Merge branch 'dev' into edge

COPYING

@@ -4,7 +4,7 @@ COPYRIGHT NOTICE FOR GRBL:
 
 Grbl - Embedded CNC g-code interpreter and motion-controller
 
-Copyright (c) 2011-2015 Sungeun K. Jeon
+Copyright (c) 2011-2016 Sungeun K. Jeon for Gnea Research LLC
 Copyright (c) 2009-2011 Simen Svale Skogsrud
 Copyright (c) 2011 Jens Geisler
 
@@ -28,27 +28,27 @@ COPYRIGHT NOTICE(S) FOR WORK CONTAINED IN THIS SOFTWARE:
 
 Copyright (c) 2008, Atmel Corporation All rights reserved.
 
-Redistribution and use in source and binary forms, with or without 
+Redistribution and use in source and binary forms, with or without
 modification, are permitted provided that the following conditions are met:
 
-1. Redistributions of source code must retain the above copyright notice, 
+1. Redistributions of source code must retain the above copyright notice,
  this list of conditions and the following disclaimer.
 
-2. Redistributions in binary form must reproduce the above copyright notice, 
- this list of conditions and the following disclaimer in the documentation 
+2. Redistributions in binary form must reproduce the above copyright notice,
+ this list of conditions and the following disclaimer in the documentation
  and/or other materials provided with the distribution.
 
-3. The name of ATMEL may not be used to endorse or promote products derived 
+3. The name of ATMEL may not be used to endorse or promote products derived
  from this software without specific prior written permission.
 
-THIS SOFTWARE IS PROVIDED BY ATMEL "AS IS" AND ANY EXPRESS OR IMPLIED 
+THIS SOFTWARE IS PROVIDED BY ATMEL "AS IS" AND ANY EXPRESS OR IMPLIED
 WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
-MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE EXPRESSLY AND 
-SPECIFICALLY DISCLAIMED. IN NO EVENT SHALL ATMEL BE LIABLE FOR ANY DIRECT, 
+MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE EXPRESSLY AND
+SPECIFICALLY DISCLAIMED. IN NO EVENT SHALL ATMEL BE LIABLE FOR ANY DIRECT,
 INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
 DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
-OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING 
+OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
 NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
 EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 

Makefile

@@ -1,7 +1,7 @@
 # Part of Grbl
 #
 # Copyright (c) 2009-2011 Simen Svale Skogsrud
-# Copyright (c) 2012-2015 Sungeun K. Jeon
+# Copyright (c) 2012-2016 Sungeun K. Jeon for Gnea Research LLC
 #
 # Grbl is free software: you can redistribute it and/or modify
 # it under the terms of the GNU General Public License as published by
@@ -32,7 +32,7 @@ DEVICE ?= atmega328p
 CLOCK = 16000000
 PROGRAMMER ?= -c avrisp2 -P usb
 SOURCE = main.c motion_control.c gcode.c spindle_control.c coolant_control.c serial.c \
- protocol.c stepper.c eeprom.c settings.c planner.c nuts_bolts.c limits.c \
+ protocol.c stepper.c eeprom.c settings.c planner.c nuts_bolts.c limits.c jog.c\
  print.c probe.c report.c system.c
 BUILDDIR = build
 SOURCEDIR = grbl
@@ -42,7 +42,13 @@ FUSES = -U hfuse:w:0xd2:m -U lfuse:w:0xff:m
 # Tune the lines below only if you know what you are doing:
 
 AVRDUDE = avrdude $(PROGRAMMER) -p $(DEVICE) -B 10 -F
-COMPILE = avr-gcc -Wall -Os -DF_CPU=$(CLOCK) -mmcu=$(DEVICE) -I. -ffunction-sections -fdata-sections
+
+# Compile flags for avr-gcc v4.8.1. Does not produce -flto warnings.
+COMPILE = avr-gcc -Wall -Os -DF_CPU=$(CLOCK) -mmcu=$(DEVICE) -I. -ffunction-sections
+
+# Compile flags for avr-gcc v4.9.2 compatible with the IDE. Or if you don't care about the warnings. 
+# COMPILE = avr-gcc -Wall -Os -DF_CPU=$(CLOCK) -mmcu=$(DEVICE) -I. -ffunction-sections -flto
+
 
 OBJECTS = $(addprefix $(BUILDDIR)/,$(notdir $(SOURCE:.c=.o)))
 

README.md

@@ -3,25 +3,25 @@
 
 ***
 
-_**This is the development branch for Grbl v1.0's upcoming release. In general, the new features here are beta, so use with caution. If you'd like to help, please report any bugs or oddities that you find! Thanks!**_
+_**This is the development branch for Grbl v1.1's upcoming release. Please keep in mind, the new features here are beta, so use with caution. If you'd like to help, please report any bugs or oddities that you find! Thanks!**_
 
 ***
 
-Grbl is a no-compromise, high performance, low cost alternative to parallel-port-based motion control for CNC milling. It will run on a vanilla Arduino (Duemillanove/Uno) as long as it sports an Atmega 328. 
+Grbl is a no-compromise, high performance, low cost alternative to parallel-port-based motion control for CNC milling. This version of Grbl runs on an Arduino Uno.
 
 The controller is written in highly optimized C utilizing every clever feature of the AVR-chips to achieve precise timing and asynchronous operation. It is able to maintain up to 30kHz of stable, jitter free control pulses.
 
 It accepts standards-compliant g-code and has been tested with the output of several CAM tools with no problems. Arcs, circles and helical motion are fully supported, as well as, all other primary g-code commands. Macro functions, variables, and most canned cycles are not supported, but we think GUIs can do a much better job at translating them into straight g-code anyhow.
 
-Grbl includes full acceleration management with look ahead. That means the controller will look up to 18 motions into the future and plan its velocities ahead to deliver smooth acceleration and jerk-free cornering.
+Grbl includes full acceleration management with look ahead. That means the controller will look up to 16 motions into the future and plan its velocities ahead to deliver smooth acceleration and jerk-free cornering.
 
-* [Licensing](https://github.com/grbl/grbl/wiki/Licensing): Grbl is free software, released under the GPLv3 license.
+* [Licensing](https://github.com/gnea/grbl/wiki/Licensing): Grbl is free software, released under the GPLv3 license.
 
-* For more information and help, check out our **[Wiki pages!](https://github.com/grbl/grbl/wiki)** If you find that the information is out-dated, please to help us keep it updated by editing it or notifying our community! Thanks!
+* For more information and help, check out our **[Wiki pages!](https://github.com/gnea/grbl/wiki)** If you find that the information is out-dated, please to help us keep it updated by editing it or notifying our community! Thanks!
 
-* Lead Developer [_2011 - Current_]: Sungeun(Sonny) K. Jeon, Ph.D. (USA) aka @chamnit
+* Lead Developer: Sungeun "Sonny" Jeon, Ph.D. (USA) aka @chamnit
 
-* Lead Developer [_2009 - 2011_]: Simen Svale Skogsrud (Norway). aka The Originator/Creator/Pioneer/Father of Grbl.
+* Built on the wonderful Grbl v0.6 (2011) firmware written by Simen Svale Skogsrud (Norway).
 
 ***
 
@@ -31,26 +31,41 @@ Grbl includes full acceleration management with look ahead. That means the contr
 
 ***
 
-##Update Summary for v1.0c
+##Update Summary for v1.1
 - **IMPORTANT:** Your EEPROM will be wiped and restored with new settings. This is due to the addition of two new spindle speed '$' settings.
 
-- Altered limit pin status reports from `Lim:000` to `Pin:000|0|0000`, where the `|` delimiters separate the new probe state and control pin states. Each new field may be disabled by the `$10` Grbl setting. NOTE: Commenting `REPORT_ALL_PIN_STATES` in config.h reverts to old `Lim:` reports, if needed.
+- **Real-time Overrides** : Alters the machine running state immediately with feed, rapid, spindle speed, spindle stop, and coolant toggle controls. This awesome new feature is common only on industrial machines, often used to optimize speeds and feeds while a job is running. Most hobby CNC's try to mimic this behavior, but usually have large amounts of lag. Grbl executes overrides in realtime and within tens of milliseconds.
 
-- New safety door parking motion as a compile-option. Grbl will retract, disable the spindle/coolant, and park near Z max. When resumed, it will perform these task in reverse order and continue the program. Highly configurable. See config.h for details.
+- **Jogging Mode** : The new jogging commands are independent of the g-code parser, so that the parser state doesn't get altered and cause a potential crash if not restored properly. Documentation is included on how this works and how it can be used to control your machine via a joystick or rotary dial with a low-latency, satisfying response.
+
+- **Laser Mode** : The new "laser" mode will cause Grbl to move continuously through consecutive G1, G2, and G3 commands with spindle speed changes. When "laser" mode is disabled, Grbl will instead come to a stop to ensure a spindle comes up to speed properly. Spindle speed overrides also work with laser mode so you can tweak the laser power, if you need to during the job. Switch between "laser" mode and "normal" mode via a `$` setting.
+
+- **Sleep Mode** : Grbl may now be put to "sleep" via a `$SLP` command. This will disable everything, including the stepper drivers. Nice to have when you are leaving your machine unattended and want to power down everything automatically. Only a reset exits the sleep state.
+
+- **Significant Interface Improvements**: Just this one time and done simultaneously with adding override data and controls, Grbl has tweaked the communication interface to make it easier for developers to write and maintain their GUIs. _NOTE: GUIs need to specifically update their code to be compatible with v1.1 and later._
+
+ - **New Status Reports**: To account for the additional override data, status reports have been tweaked to cram more data into it, while still being smaller than before. Documentation is included, outlining how it has been changed. 
+ - **Improved Error/Alarm Feedback** : All Grbl error and alarm messages have been changed to providing a code. Each code is associated with a specific problem, so users will know exactly what is wrong without having to guess. Documentation and an easy to parse CSV is included in the repo.
+ - **Extended-ASCII realtime commands** : All overrides and future real-time commands are defined in the extended-ASCII character space. Unfortunately not easily type-able on a keyboard, but helps prevent accidental commands from a g-code file having these characters and gives lots of space for future expansion.
+ - **Message Prefixes** : Every message type from Grbl has a unique prefix to help GUIs immediately determine what the message is and parse it accordingly without having to know context. The prior interface had several instances of GUIs having to figure out the meaning of a message, which made everything more complicated than it needed to be.
+
+- New OEM specific features, such as safety door parking, single configuration file build option, EEPROM restrictions and restoring controls, and storing product data information.
+
+- New safety door parking motion as a compile-option. Grbl will retract, disable the spindle/coolant, and park near Z max. When resumed, it will perform these task in reverse order and continue the program. Highly configurable, even to add more than one parking motion. See config.h for details.
 
 - New '$' Grbl settings for max and min spindle rpm. Allows for tweaking the PWM output to more closely match true spindle rpm. When max rpm is set to zero or less than min rpm, the PWM pin D11 will act like a simple enable on/off output.
 
 - Updated G28 and G30 behavior from NIST to LinuxCNC g-code description. In short, if a intermediate motion is specified, only the axes specified will move to the stored coordinates, not all axes as before.
 
-- **NOTE:** Arduino Mega2560 support has been moved to an active, official Grbl-Mega [project](http://www.github.com/gnea/grbl-Mega/). All new developments here and there will be synced when it makes sense to.
+- Lots of minor bug fixes and refactoring to make the code more efficient and flexible.
 
-- A few bug fixes and lots of refactoring to make the code more efficient and flexible.
+- **NOTE:** Arduino Mega2560 support has been moved to an active, official Grbl-Mega [project](http://www.github.com/gnea/grbl-Mega/). All new developments here and there will be synced when it makes sense to.
 
 
 -
 
-``` 
-List of Supported G-Codes in Grbl v0.9 Master:
+```
+List of Supported G-Codes in Grbl v1.1:
  - Non-Modal Commands: G4, G10L2, G10L20, G28, G30, G28.1, G30.1, G53, G92, G92.1
  - Motion Modes: G0, G1, G2, G3, G38.2, G38.3, G38.4, G38.5, G80
  - Feed Rate Modes: G93, G94

doc/csv/alarm_codes_en_US.csv

@@ -0,0 +1,10 @@
+(KEY: Alarm Code in v1.1+, Alarm Message in v1.0-, Alarm Description)
+1,Hard limit,Hard limit has been triggered. Machine position is likely lost due to sudden halt. Re-homing is highly recommended.
+2,Soft limit,Soft limit alarm. G-code motion target exceeds machine travel. Machine position retained. Alarm may be safely unlocked.
+3,Abort during cycle,Reset while in motion. Machine position is likely lost due to sudden halt. Re-homing is highly recommended.
+4,Probe fail,Probe fail. Probe is not in the expected initial state before starting probe cycle when G38.2 and G38.3 is not triggered and G38.4 and G38.5 is triggered.
+5,Probe fail,Probe fail. Probe did not contact the workpiece within the programmed travel for G38.2 and G38.4.
+6,Homing fail,Homing fail. The active homing cycle was reset.
+7,Homing fail,Homing fail. Safety door was opened during homing cycle.
+8,Homing fail,Homing fail. Pull off travel failed to clear limit switch. Try increasing pull-off setting or check wiring.
+9,Homing fail,Homing fail. Could not find limit switch within search distances. Try increasing max travel, decreasing pull-off distance, or check wiring.

doc/csv/error_codes_en_US.csv

@@ -0,0 +1,35 @@
+(KEY: Error Code in v1.1+ ,Error Message in v1.0-, Error Description)
+1,Expected command letter,G-code words consist of a letter and a value. Letter was not found.
+2,Bad number format,Missing the expected G-code word value or numeric value format is not valid.
+3,Invalid statement,Grbl '$' system command was not recognized or supported.
+4,Value < 0,Negative value received for an expected positive value.
+5,Setting disabled,Homing cycle failure. Homing is not enabled via settings.
+6,Value < 3 usec,Minimum step pulse time must be greater than 3usec.
+7,EEPROM read fail. Using defaults,An EEPROM read failed. Auto-restoring affected EEPROM to default values.
+8,Not idle,Grbl '$' command cannot be used unless Grbl is IDLE. Ensures smooth operation during a job.
+9,G-code lock,G-code commands are locked out during alarm or jog state.
+10,Homing not enabled,Soft limits cannot be enabled without homing also enabled.
+11,Line overflow,Max characters per line exceeded. Received command line was not executed.
+12,Step rate > 30kHz,Grbl '$' setting value cause the step rate to exceed the maximum supported.
+13,Check Door,Safety door detected as opened and door state initiated.
+14,Line length exceeded,Build info or startup line exceeded EEPROM line length limit. Line not stored.
+15,Travel exceeded,Jog target exceeds machine travel. Jog command has been ignored.
+16,Invalid jog command,Jog command has no '=' or contains prohibited g-code.
+20,Unsupported command,Unsupported or invalid g-code command found in block.
+21,Modal group violation,More than one g-code command from same modal group found in block.
+22,Undefined feed rate,Feed rate has not yet been set or is undefined.
+23,Invalid gcode ID:23,G-code command in block requires an integer value.
+24,Invalid gcode ID:24,More than one g-code command that requires axis words found in block.
+25,Invalid gcode ID:25,Repeated g-code word found in block.
+26,Invalid gcode ID:26,No axis words found in block for g-code command or current modal state which requires them.
+27,Invalid gcode ID:27,Line number value is invalid.
+28,Invalid gcode ID:28,G-code command is missing a required value word.
+29,Invalid gcode ID:29,G59.x work coordinate systems are not supported.
+30,Invalid gcode ID:30,G53 only allowed with G0 and G1 motion modes.
+31,Invalid gcode ID:31,Axis words found in block when no command or current modal state uses them.
+32,Invalid gcode ID:32,G2 and G3 arcs require at least one in-plane axis word.
+33,Invalid gcode ID:33,Motion command target is invalid.
+34,Invalid gcode ID:34,Arc radius value is invalid.
+35,Invalid gcode ID:35,G2 and G3 arcs require at least one in-plane offset word.
+36,Invalid gcode ID:36,Unused value words found in block.
+37,Invalid gcode ID:37,G43.1 dynamic tool length offset is not assigned to configured tool length axis.