Merge upstream

.gitignore

@@ -3,3 +3,5 @@
 *.elf
 *.DS_Store
 *.d
+
+README.md

COPYING

@@ -1,56 +1,31 @@
 ------------------------------------------------------------------------------
-COPYRIGHT NOTICE FOR GRBL v0.9:
+COPYRIGHT NOTICE FOR GRBL:
 ------------------------------------------------------------------------------
 
-GRBL v0.9 - Embedded CNC g-code interpreter and motion-controller
-Copyright (c) 2012-2014 Sungeun K. Jeon
+Grbl - Embedded CNC g-code interpreter and motion-controller
 
-This program is free software: you can redistribute it and/or modify
+Copyright (c) 2011-2015 Sungeun K. Jeon
+Copyright (c) 2009-2011 Simen Svale Skogsrud
+Copyright (c) 2011 Jens Geisler
+
+Grbl is free software: you can redistribute it and/or modify
 it under the terms of the GNU General Public License as published by
 the Free Software Foundation, either version 3 of the License, or
 (at your option) any later version.
 
-This program is distributed in the hope that it will be useful,
+Grbl is distributed in the hope that it will be useful,
 but WITHOUT ANY WARRANTY; without even the implied warranty of
 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 GNU General Public License for more details.
 
 You should have received a copy of the GNU General Public License
-along with this program.  If not, see <http://www.gnu.org/licenses/>.
-
+along with Grbl.  If not, see <http://www.gnu.org/licenses/>.
 
 
 ------------------------------------------------------------------------------
 COPYRIGHT NOTICE(S) FOR WORK CONTAINED IN THIS SOFTWARE:
 ------------------------------------------------------------------------------
 
-The MIT License (MIT)
-
-GRBL(tm) v0.8 - Embedded CNC g-code interpreter and motion-controller
-Copyright (c) 2009-2011 Simen Svale Skogsrud
-Copyright (c) 2011-2013 Sungeun K. Jeon
-Copyright (c) 2011 Jens Geisler
-
-Permission is hereby granted, free of charge, to any person obtaining a copy
-of this software and associated documentation files (the "Software"), to deal
-in the Software without restriction, including without limitation the rights
-to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-copies of the Software, and to permit persons to whom the Software is
-furnished to do so, subject to the following conditions:
-
-The above copyright notice and this permission notice shall be included in
-all copies or substantial portions of the Software.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
-THE SOFTWARE.
-
--------------
-
 Copyright (c) 2008, Atmel Corporation All rights reserved.
 
 Redistribution and use in source and binary forms, with or without 
@@ -704,5 +679,3 @@ Program, unless a warranty or assumption of liability accompanies a
 copy of the Program in return for a fee.
 
                      END OF TERMS AND CONDITIONS
-
-------------------------------------------------------------------------------

Makefile

@@ -1,7 +1,7 @@
 #  Part of Grbl
 #
 #  Copyright (c) 2009-2011 Simen Svale Skogsrud
-#  Copyright (c) 2012 Sungeun K. Jeon
+#  Copyright (c) 2012-2015 Sungeun K. Jeon
 #
 #  Grbl is free software: you can redistribute it and/or modify
 #  it under the terms of the GNU General Public License as published by
@@ -31,33 +31,36 @@
 DEVICE     ?= atmega2560
 CLOCK      = 16000000
 PROGRAMMER ?= -c avrisp2 -P usb
-OBJECTS    = main.o motion_control.o gcode.o spindle_control.o coolant_control.o serial.o \
-             protocol.o stepper.o eeprom.o settings.o planner.o nuts_bolts.o limits.o \
-             print.o probe.o report.o system.o
+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
+BUILDDIR = build
+SOURCEDIR = grbl
 # FUSES      = -U hfuse:w:0xd9:m -U lfuse:w:0x24:m
 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=$(DEVICE) -I. -ffunction-sections
+COMPILE = avr-gcc -Wall -Os -DF_CPU=$(CLOCK) -mmcu=$(DEVICE) -I. -ffunction-sections -fdata-sections
+
+OBJECTS = $(addprefix $(BUILDDIR)/,$(notdir $(SOURCE:.c=.o)))
 
 # symbolic targets:
 all:	grbl.hex
 
-.c.o:
-	$(COMPILE) -c $< -o $@
-	@$(COMPILE) -MM  $< > $*.d
+$(BUILDDIR)/%.o: $(SOURCEDIR)/%.c
+	$(COMPILE) -MMD -MP -c $< -o $@
 
 .S.o:
-	$(COMPILE) -x assembler-with-cpp -c $< -o $@
+	$(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
 # compatibility define the file type manually.
 
-.c.s:
-	$(COMPILE) -S $< -o $@
+#.c.s:
+	$(COMPILE) -S $< -o $(BUILDDIR)/$@
 
 flash:	all
 	$(AVRDUDE) -U flash:w:grbl.hex:i
@@ -73,25 +76,25 @@ load: all
 	bootloadHID grbl.hex
 
 clean:
-	rm -f grbl.hex main.elf $(OBJECTS) $(OBJECTS:.o=.d)
+	rm -f grbl.hex $(BUILDDIR)/*.o $(BUILDDIR)/*.d $(BUILDDIR)/*.elf
 
 # file targets:
-main.elf: $(OBJECTS)
-	$(COMPILE) -o main.elf $(OBJECTS) -lm -Wl,--gc-sections
+$(BUILDDIR)/main.elf: $(OBJECTS)
+	$(COMPILE) -o $(BUILDDIR)/main.elf $(OBJECTS) -lm -Wl,--gc-sections
 
-grbl.hex: main.elf
+grbl.hex: $(BUILDDIR)/main.elf
 	rm -f grbl.hex
-	avr-objcopy -j .text -j .data -O ihex main.elf grbl.hex
-	avr-size --format=berkeley main.elf
+	avr-objcopy -j .text -j .data -O ihex $(BUILDDIR)/main.elf grbl.hex
+	avr-size --format=berkeley $(BUILDDIR)/main.elf
 # If you have an EEPROM section, you must also create a hex file for the
 # EEPROM and add it to the "flash" target.
 
 # Targets for code debugging and analysis:
 disasm:	main.elf
-	avr-objdump -d main.elf
+	avr-objdump -d $(BUILDDIR)/main.elf
 
 cpp:
-	$(COMPILE) -E main.c
+	$(COMPILE) -E $(SOURCEDIR)/main.c
 
 # include generated header dependencies
--include $(OBJECTS:.o=.d)
+-include $(BUILDDIR)/$(OBJECTS:.o=.d)

README.md

@@ -1,4 +1,5 @@
-#Grbl - An embedded g-code interpreter and motion-controller for the Arduino/AVR328 microcontroller
+![GitHub Logo](/doc/media/Grbl Logo 250px.png)
+
 
 ***
 
@@ -10,74 +11,100 @@ It accepts standards-compliant g-code and has been tested with the output of sev
 
 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.
 
-* [Licensing](https://github.com/grbl/grbl/wiki/Licensing): Grbl v0.9 is free software, released under the GPLv3 license. Obsolete versions of Grbl, v0.8 and prior, are released under the permissive MIT-license. This will ensure Grbl will always be an open-source project while making the code permissive for others.
+* [Licensing](https://github.com/grbl/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!
 
-* Lead Developer [_2011 - Current_]: Sonny Jeon, Ph.D. (USA)
+* Lead Developer [_2011 - Current_]: Sungeun(Sonny) K. Jeon, Ph.D. (USA) aka @chamnit
 
 * Lead Developer [_2009 - 2011_]: Simen Svale Skogsrud (Norway). aka The Originator/Creator/Pioneer/Father of Grbl.
 
 ***
 
+### Official Supporters of the Grbl CNC Project
+![Official Supporters](https://dl.dropboxusercontent.com/u/2221997/Contributors.png)
+
+***
+
 _**Master Branch:**_
-* [Grbl v0.9g Atmega328p 16mhz 115200baud with generic defaults](http://bit.ly/1m8E1Qa) _(2014-09-05)_
-* [Grbl v0.9g Atmega328p 16mhz 115200baud with ShapeOko2 defaults](http://bit.ly/1kOAzig) _(2014-09-05)_
-  - **IMPORTANT INFO WHEN UPGRADING TO GRBL v0.9g:** 
+* [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). 
-  - Settings WILL be overwritten. Please make sure you have a backup. Also, settings have been renumbered and some have changed how they work. See our [Configuring v0.9 Wiki page](https://github.com/grbl/grbl/wiki/Configuring-Grbl-v0.9) for details.
+  - 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)
 
--------------
-
-_Grbl is an open-source project and fueled by the free-time of our intrepid administrators and altruistic users. If you'd like to donate, all proceeds will be used to help keep this project sustainable and to fund supporting equipment. Thank you!_
-
-| [![Donate](https://www.paypalobjects.com/en_US/i/btn/btn_donate_LG.gif)](https://www.paypal.com/cgi-bin/webscr?cmd=_s-xclick&hosted_button_id=EBQWAWQAAT878) | [![Flattr Grbl](http://api.flattr.com/button/flattr-badge-large.png)](https://flattr.com/submit/auto?user_id=chamnit&url=github.com/grbl/grbl&title=Grbl&language=&tags=github&category=software) | [![Support via Gratipay](https://cdn.rawgit.com/gratipay/gratipay-badge/2.1.3/dist/gratipay.png)](https://gratipay.com/chamnit/) |
-|:--:|:--:|:--:|
-
 
 ***
 
-##Update Summary for v0.9 from v0.8
-  - **IMPORTANT: Default serial baudrate is now 115200! (Up from 9600). And your settings will be over-written! Make sure to have a backup.**
-  - **_NEW_ Super Smooth Stepper Algorithm:**  Complete overhaul of the handling of the stepper driver to simplify and reduce task time per ISR tick. Much smoother operation with the new Adaptive Multi-Axis Step Smoothing (AMASS) algorithm which does what its name implies (see stepper.c source for details). Users should immediately see significant improvements in how their machines move and overall performance!
-  - **Stability and Robustness Updates:** Grbl's overall stability has been focused on for this version. The planner and step-execution interface has been completely re-written for robustness and incorruptibility by the introduction of an intermediate step segment buffer that "checks-out" steps from the planner buffer in real-time. This means we can now fearlessly drive Grbl to it's highest limits. Combined with the new stepper algorithm and planner optimizations, this translated to **5x to 10x** overall performance increases in our testing! Also, stability and robustness tests have been reported to easily take 1.4 million (yes, **million**) line g-code programs like a champ!
-  - **(x4)+ Faster Planner:** Planning computations improved four-fold or more by optimizing end-to-end operations, which included streamlining the computations and introducing a planner pointer to locate un-improvable portions of the buffer and not waste cycles recomputing them.
-  - **Compile-able via Arduino IDE!:** Grbl's source code may be now download and altered, and then be compiled and flashed directly through the Arduino IDE, which should work on all platforms. See the Wiki for details on how to do it.
-  - **G-Code Parser Overhaul:** Completely re-written from the ground-up for 100%-compliance* to the g-code standard. (* Parts of the NIST standard are a bit out-dated and arbitrary, so we altered some minor things to make more sense. Differences are outlined in the source code.) We also took steps to allow us to break up the g-code parser into distinct separate tasks, which is key for some future development ideas and improvements.
-  - **Independent Acceleration and Velocity Settings:** Each axes may be defined with unique acceleration and velocity parameters and Grbl will automagically calculate the maximum acceleration and velocity through a path depending on the direction traveled. This is very useful for machines that have very different axes properties, like the ShapeOko's z-axis.
-  - **Soft Limits:** Checks if any motion command exceeds workspace limits before executing it, and alarms out, if detected. Another safety feature, but, unlike hard limits, position does not get lost, as it forces a feed hold before erroring out. NOTE: This still requires limit switches for homing so Grbl knows where the machine origin is, and the new max axis travel settings configured correctly for the machine.
-  - **Probing:** The G38.2 straight probe and G43.1/49 tool offset g-code commands are now supported. A simple probe switch must be connected to the Uno analog pin 5 (normally-open to ground). Grbl will report the probe position back to the user when the probing cycle detects a pin state change.
-  - **Tool Length Offsets:** Probing doesn't make sense without tool length offsets(TLO), so we added it! The G43.1 dynamic TLO (described by linuxcnc.org) and G49 TLO cancel commands are now supported. G43.1 dynamic TLO works like the normal G43 TLO(NOT SUPPORTED) but requires an additional axis word with the offset value attached. We did this so Grbl does not have to track and maintain a tool offset database in its memory. Perhaps in the future, we will support a tool database, but not for this version.
-  - **Improved Arc Performance:** The larger the arc radius, the faster Grbl will trace it! We are now defining arcs in terms of arc chordal tolerance, rather than a fixed segment length. This automatically scales the arc segment length such that maximum radial error of the segment from the true arc is never more than the chordal tolerance value of a super-accurate default of 0.002 mm. 
-  - **CPU Pin Mapping:** In an effort for Grbl to be compatible with other AVR architectures, such as the 1280 or 2560, a new cpu_map.h pin configuration file has been created to allow Grbl to be compiled for them. This is currently user supported, so your mileage may vary. If you run across a bug, please let us know or better send us a fix! Thanks in advance!
-  - **New Grbl SIMULATOR! (by @jgeisler and @ashelly):** A completely independent wrapper of the Grbl main source code that may be compiled as an executable on a computer. No Arduino required. Simply simulates the responses of Grbl as if it was on an Arduino. May be used for many things: checking out how Grbl works, pre-process moves for GUI graphics, debugging of new features, etc. Much left to do, but potentially very powerful, as the dummy AVR variables can be written to output anything you need. 
-  - **Configurable Real-time Status Reporting:** Users can now customize the type of real-time data Grbl reports back when they issue a '?' status report. This includes data such as: machine position, work position, planner buffer usage, serial RX buffer usage.
-  - **Updated Homing Routine:** Sets workspace volume in all negative space regardless of limit switch position. Common on pro CNCs. But, the behavior may be changed by a compile-time option though. Now tied directly into the main planner and stepper modules to reduce flash space and allow maximum speeds during seeking.
-  - **Optional Limit Pin Sharing:** Limit switches can be combined to share the same pins to free up precious I/O pins for other purposes. When combined, users must adjust the homing cycle mask in config.h to not home the axes on a shared pin at the same time. Don't worry; hard limits and the homing cycle still work just like they did before.
-  - **Optional Variable Spindle Speed Output:** Available only as a compile-time option through the config.h file. Enables PWM output for 'S' g-code commands. Enabling this feature will swap the Z-limit D11 pin and spindle enable D12 pin to access the hardware PWM on pin D11. The Z-limit pin, now on D12, should work just as it did before.
-  - **Additional Compile-Time Feature Options:** Line number tracking, real-time feed rate reporting.
-  - **SLATED FOR v1.0 DEVELOPMENT** Jogging controls and feedrate/spindle/coolant overrides. (In v0.9, the framework for feedrate overrides are in-place, only the minor details to complete it have yet to be installed.)
+##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
-  - Non-Modal Commands: G4, G10 L2, G10 L20, G28, G30, G28.1, G30.1, G53, G92, G92.1
-  - Motion Modes: G0, G1, G2, G3, G38.1, G80
+List of Supported G-Codes in Grbl v0.9 Master:
+  - 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
   - Unit Modes: G20, G21
   - Distance Modes: G90, G91
+  - Arc IJK Distance Modes: G91.1
   - Plane Select Modes: G17, G18, G19
   - Tool Length Offset Modes: G43.1, G49
+  - Cutter Compensation Modes: G40
   - Coordinate System Modes: G54, G55, G56, G57, G58, G59
+  - Control Modes: G61
   - Program Flow: M0, M1, M2, M30*
   - Coolant Control: M7*, M8, M9
   - Spindle Control: M3, M4, M5
+  - Valid Non-Command Words: F, I, J, K, L, N, P, R, S, T, X, Y, Z
 ```
+
+-------------
+Grbl is an open-source project and fueled by the free-time of our intrepid administrators and altruistic users. If you'd like to donate, all proceeds will be used to help fund supporting hardware and testing equipment. Thank you!
+
+[![Donate](https://www.paypalobjects.com/en_US/i/btn/btn_donate_LG.gif)](https://www.paypal.com/cgi-bin/webscr?cmd=_s-xclick&hosted_button_id=CUGXJHXA36BYW)

build/.gitignore

@@ -0,0 +1,4 @@
+# Ignore everything in this directory
+*
+# Except this file
+!.gitignore