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grbl-imbus/doc/markdown/report.md
Sonny Jeon e51e691eeb Increment to v1.1a, minor compile bug fix, tweaked communication protocol, more docs. 
- Incremented to v1.1a, rather than keep 1.0e. This is because there
are existing v1.0 installations. Don’t want to confuse people further.

- Certain version of the Arduino IDE did not like the `inline` in the
function header. Removed from spindle_control files to fix the problem.

- Tweaked the communication protocol slightly. Added message type
indicators for all `[]`bracketed feedback messages. It’s been
problematic for GUI dev to try to determine the context of a message
and how it should be handled. These indictors should help tremendously
to remove context all together.

- Also altered how `$N` startup lines are presented when executed. They
now start with an open chevron ‘>’ followed by the line and an ‘:ok’ to
indicate it executed. The ‘ok’ is on the same line intentionally so it
doesn’t mess up a streaming protocol counter.

- Managed to save a 100+KB from refactoring parts of report.c. (Thanks
Vasilis!) Freed up room to alter the protocol a little.

- Wrote a markdown document on interface messaging to make it clear how
it’s intended to work. See interface.md in /doc/markdown

- Started to pull in some Wiki pages from the old grbl site and
beginning to update them for v1.1.

- Created new commit log for v1.1.
2016-09-22 23:15:55 -06:00

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Grbl v1.0 Realtime Status Reports (Rev. 3)

Summary of Changes from Grbl v0.9 Reports

  • 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.

  • Data fields are separated by | pipe delimiters, rather than , commas that were used to separate data values. This should help with parsing.

  • 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.

    • All available data is always sent to standardize the reports across all GUIs.
    • For unique situations, data fields can be removed by config.h macros, but it is highly recommended to not alter these.

  • MPos: OR WPos: are always included in a report, but not BOTH at the same time.

    • This reduces transmit overhead tremendously by removing upwards to 40 characters.
    • 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.
      • 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.
      • WCO: is simply the sum of the work coordinate system, G92, and G43.1 tool length offsets.
      • Basically, a GUI just needs to retain the last WCO: and apply the equation to get the other position vector.
      • 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.
    • Be aware of the following issue regarding WPos:.
      • 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 v1.0 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.
      • 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.

  • The Hold and Door states includes useful sub-state info via a : colon delimiter and an integer value. See descriptions for details.

  • Limit and other input pin reports have significantly changed to reduce transmit overhead.

    • The data type description is now just Pn:, rather than Lim:000 or Pin:000|0|0000
    • It does not appear if no inputs are detected as triggered.
    • 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.
    • For example, a triggered Z-limit and probe pin would report Pn:ZP.

  • Buffer data (planner and serial RX) reports have been tweaked and combined.

    • Bf:0,0. The first value is planner blocks in use and the second is RX bytes in use.

  • Override reports are intermittent since they don't change often once set.

    • 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.
    • There are two override fields:
      • Ov:100,100,100 Organized as feed, rapid, and spindle speed overrides in percent.
      • T:SFM with each letter S, F, and M are defined as spindle stop active, flood coolant toggled, and mist coolant toggled, respectively.

  • Line numbers, when enabled in config.h, are omitted when:

    • No line number is passed to Grbl in a block.
    • Grbl is performing a system motion like homing, jogging, or parking.
    • Grbl is executing g-code block that does not contain a motion, like G20G54 or G4P1 dwell. (NOTE: Looking to fixing this later.)

  • See the interface markdown document for details on the new status report.