grbl · ondabeach · Aug 28, 2015 · Aug 28, 2015 · Aug 29, 2015 · Sep 5, 2015
diff --git a/COPYING b/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
 

diff --git a/Makefile b/Makefile
@@ -28,12 +28,12 @@
 #                is connected.
 # FUSES ........ Parameters for avrdude to flash the fuses appropriately.
 
-DEVICE     ?= atmega328p
-CLOCK      = 16000000
+DEVICE     ?= atmega2560
+CLOCK      = 16000000L
 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 \
-             print.c probe.c report.c system.c
+             print.c probe.c report.c system.c sleep.c jog.c
 BUILDDIR = build
 SOURCEDIR = grbl
 # FUSES      = -U hfuse:w:0xd9:m -U lfuse:w:0x24:m
@@ -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)))
 
@@ -53,7 +59,7 @@ $(BUILDDIR)/%.o: $(SOURCEDIR)/%.c
 	$(COMPILE) -MMD -MP -c $< -o $@
 
 .S.o:
-	$(COMPILE) -x assembler-with-cpp -c $< -o $(BUILDDIR)/$@
+	$(COMPILE) -x assembler-with-cpp -c $< -o $(BUILDDIR)/$@ 
 # "-x assembler-with-cpp" should not be necessary since this is the default
 # file type for the .S (with capital S) extension. However, upper case
 # characters are not always preserved on Windows. To ensure WinAVR

diff --git a/README.md b/README.md
@@ -1,92 +1,67 @@
-![GitHub Logo](/doc/media/Grbl Logo 250px.png)
-
-
+![GitHub Logo](https://github.com/gnea/gnea-Media/blob/master/Grbl%20Logo/Grbl%20Logo%20250px.png?raw=true)
+***
+_Click the `Release` tab to download pre-compiled `.hex` files or just [click here](https://github.com/gnea/grbl-Mega/releases)_
 ***
 
-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 Mega2560 only.
 
 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 24 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).
 
 ***
 
 ### Official Supporters of the Grbl CNC Project
-![Official Supporters](https://dl.dropboxusercontent.com/u/2221997/Contributors.png)
+![Official Supporters](https://github.com/gnea/gnea-Media/blob/master/Contributors.png?raw=true)
+
 
 ***
 
-_**Master Branch:**_
-* [Grbl v0.9j Atmega328p 16mhz 115200baud with generic defaults](http://bit.ly/1I8Ey4S) _(2015-09-30)_
-* [Grbl v0.9j Atmega328p 16mhz 115200baud with ShapeOko2 defaults](http://bit.ly/1OjUSia) _(2015-09-30)_
-  - **IMPORTANT INFO WHEN UPGRADING TO GRBL v0.9 :** 
-  - Baudrate is now **115200** (Up from 9600). 
-  - Homing cycle updated. Located based on switch trigger, rather than release point.
-  - Variable spindle is now enabled by default. Z-limit(D12) and spindle enable(D11) have switched to access the hardware PWM on D11. Homing will not work if you do not re-wire your Z-limit switch to D12.
-
-_**Archives:**_
-* [Grbl v0.9i Atmega328p 16mhz 115200baud with generic defaults](http://bit.ly/1EiviDk) 
-* [Grbl v0.9i Atmega328p 16mhz 115200baud with ShapeOko2 defaults](http://bit.ly/1NYIfKl) 
-* [Grbl v0.9g Atmega328p 16mhz 115200baud with generic defaults](http://bit.ly/1m8E1Qa) 
-* [Grbl v0.9g Atmega328p 16mhz 115200baud with ShapeOko2 defaults](http://bit.ly/1kOAzig) 
-* [Grbl v0.8c Atmega328p 16mhz 9600baud](http://bit.ly/SSdCJE)
-* [Grbl v0.7d Atmega328p 16mhz 9600baud](http://bit.ly/ZhL15G)
-* [Grbl v0.6b Atmega328p 16mhz 9600baud](http://bit.ly/VD04A5)
-* [Grbl v0.51 Atmega328p 16mhz 9600baud](http://bit.ly/W75BS1)
-* [Grbl v0.6b Atmega168 16mhz 9600baud](http://bit.ly/SScWnE)
-* [Grbl v0.51 Atmega168 16mhz 9600baud](http://bit.ly/VXyrYu)
+##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.
 
+- **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.
 
-***
+- **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 `$` setting.
+
+	- **Dynamic Laser Power Scaling with Speed** : If your machine has low accelerations, Grbl will automagically scale the laser power based on how fast Grbl is traveling, so you won't have burnt corners when your CNC has to make a turn! Enabled by the `M4` spindle CCW command when laser mode is enabled!
+
+- **Sleep Mode** : Grbl may now be put to "sleep" via a `$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**: Tweaked to increase overall performance, include lots more real-time data, and to simplify maintaining and writing GUIs. Based on direct feedback from multiple GUI developers and bench performance testing. _NOTE: GUIs need to specifically update their code to be compatible with v1.1 and later._
 
-##Update Summary for v0.9j
-  - **Restore EEPROM feature:** A new set of restore EEPROM features to help OEMs and users reset their Grbl installation to the build defaults. See Configuring Grbl Wiki for details.
-
-##Update Summary for v0.9i
-  - **IMPORTANT:**
-    - **Homing cycle updated. Locates based on trigger point, rather than release point.**
-    - **System tweaks: $14 cycle auto-start has been removed. No more QUEUE state.**
-  - **New G-Codes** 
-  - **CoreXY Support**
-  - **Safety Door Support**
-  - **Full Limit and Control Pin Configurability**
-  - **Additional Compile-Time Feature Options**
-
-##Update Summary for v0.9h from v0.8
-  - **IMPORTANT:**
-    - **Default serial baudrate is now 115200! (Up from 9600)**
-    - **Z-limit(D12) and spindle enable(D11) pins have switched to support variable spindle!**
-  - **Super Smooth Stepper Algorithm**
-  - **Stability and Robustness Updates**
-  - **(x4)+ Faster Planner**
-  - **Compile-able via Arduino IDE!**
-  - **G-Code Parser Overhaul**
-  - **Independent Acceleration and Velocity Settings**
-  - **Soft Limits**
-  - **Probing**
-  - **Dynamic Tool Length Offsets**
-  - **Improved Arc Performance**
-  - **CPU Pin Mapping**
-  - **New Grbl SIMULATOR! (by @jgeisler and @ashelly)**
-  - **Configurable Real-time Status Reporting**
-  - **Updated Homing Routine**
-  - **Optional Limit Pin Sharing**
-  - **Optional Variable Spindle Speed Output**
-  - **Additional Compile-Time Feature Options**
-
--
-``` 
-List of Supported G-Codes in Grbl v0.9 Master:
+	- **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.
+
+- Lots of minor bug fixes and refactoring to make the code more efficient and flexible.
+
+
+
+
+```
+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

diff --git a/doc/csv/alarm_codes_en_US.csv b/doc/csv/alarm_codes_en_US.csv
@@ -0,0 +1,10 @@
+"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."
diff --git a/doc/csv/build_option_codes_en_US.csv b/doc/csv/build_option_codes_en_US.csv
@@ -0,0 +1,22 @@
+"OPT: Code"," Build-Option Description","State"
+"V","Variable spindle","Enabled"
+"N","Line numbers","Enabled"
+"M","Mist coolant M7","Enabled"
+"C","CoreXY","Enabled"
+"P","Parking motion","Enabled"
+"Z","Homing force origin","Enabled"
+"H","Homing single axis commands","Enabled"
+"T","Two limit switches on axis","Enabled"
+"A","Allow feed rate overrides in probe cycles","Enabled"
+"D","Use spindle direction as enable pin","Enabled"
+"0","Spindle enable off when speed is zero","Enabled"
+"S","Software limit pin debouncing","Enabled"
+"R","Parking override control","Enabled"
+"+","Safety door input pin","Enabled"
+"*","Restore all EEPROM command","Disabled"
+"$","Restore EEPROM `$` settings command","Disabled"
+"#","Restore EEPROM parameter data command","Disabled"
+"I","Build info write user string command","Disabled"
+"E","Force sync upon EEPROM write","Disabled"
+"W","Force sync upon work coordinate offset change","Disabled"
+"L","Homing initialization auto-lock","Disabled"
diff --git a/doc/csv/error_codes_en_US.csv b/doc/csv/error_codes_en_US.csv
@@ -0,0 +1,37 @@
+"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."
+"17","Setting disabled","Laser mode requires PWM output."
+"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."
+"38","Invalid gcode ID:38","Tool number greater than max supported value."