Merge pull request #305 from synthetos/dev-304-uvw-9axis

issue #304 uvw 9axis and expanded feedhold controls

The addition of UVW adds three more linear axes, allowing up to 6 linear axes in a configuration. This simplifies using an axis as an extruder filament feed motor or similar function. (Recommend using W, as it's a secondary Z).

This release treats the secondary axes as independent axes; there is no linkage between corresponding axes - i.e. movement in U does not affect position of X, nor Z affect W.

Please treat this release as experimental and report issues or feature enhancements.

.gitignore

@@ -1,57 +1,58 @@
-# From https://github.com/github/gitignore/blob/master/Objective-C.gitignore
-DerivedData
-
-## Various settings
-*.pbxuser
-!default.pbxuser
-*.mode1v3
-!default.mode1v3
-*.mode2v3
-!default.mode2v3
-*.perspectivev3
-!default.perspectivev3
-xcuserdata
-
-## Other
-*.xccheckout
-*.moved-aside
-*.xcuserstate
-*.xcscmblueprint
-
-*.o
-*.d
-*.bin
-*.elf
-*.hex
-*.eep
-*.lss
-*.map
-*.srec
-*.aws
-*.atsuo
-*.cproj
-*.log
-.project
-.cproject
-*.launch
-.settings
-\bin
-\build
-build/
-bin/
-.DS_Store
-TcfTransactionLog.csv
-*.xcbkptlist
-*.xccheckout
-.gdb_history
-JLink.log
-Tools/gcc-arm-none-eabi*
-openocd.cfg
-openocd.log
-*/mb.txt
-Tools/gcc-arm-none-eabi-*.tar.bz2
-*/TinyG2.componentinfo.xml
-g2core/g2core.componentinfo.xml
-.tags
-
-g2core/compile_commands.json
+# From https://github.com/github/gitignore/blob/master/Objective-C.gitignore
+DerivedData
+
+## Various settings
+*.pbxuser
+!default.pbxuser
+*.mode1v3
+!default.mode1v3
+*.mode2v3
+!default.mode2v3
+*.perspectivev3
+!default.perspectivev3
+xcuserdata
+
+## Other
+*.xccheckout
+*.moved-aside
+*.xcuserstate
+*.xcscmblueprint
+
+*.o
+*.d
+*.bin
+*.elf
+*.hex
+*.eep
+*.log
+*.lss
+*.map
+*.srec
+*.aws
+*.atsuo
+*.cproj
+*.log
+.project
+.cproject
+*.launch
+.settings
+\bin
+\build
+build/
+bin/
+.DS_Store
+TcfTransactionLog.csv
+*.xcbkptlist
+*.xccheckout
+.gdb_history
+JLink.log
+Tools/gcc-arm-none-eabi*
+openocd.cfg
+openocd.log
+*/mb.txt
+Tools/gcc-arm-none-eabi-*.tar.bz2
+*/TinyG2.componentinfo.xml
+g2core/g2core.componentinfo.xml
+.tags
+
+g2core/compile_commands.json

README.md

@@ -8,6 +8,22 @@ G2 [Edge](https://github.com/synthetos/g2/tree/edge) is the branch for beta test
 
 That said, Edge is for the adventurous. It is not guaranteed to be stable, but we do our best to achieve this. For production uses we recommend using the [Master branch](https://github.com/synthetos/g2/tree/master).
 
+## Firmware Build 101 `{fb:101.xx}`
+### Feature Enhancements
+New features added. See linked issues and pull requests for details
+- Added [UVW axes](https://github.com/synthetos/g2/wiki/9-Axis-UVW-Operation) for 9 axis control. [See also: Issue 304](https://github.com/synthetos/g2/issues/304)
+- Added [Enhanced Feedhold Functions](https://github.com/synthetos/g2/wiki/Feedhold,-Resume,-and-Other-Simple-Commands)
+- Added explicit [Job Kill  ^d](https://github.com/synthetos/g2/wiki/Feedhold,-Resume,-and-Other-Simple-Commands#job-kill) - has the effect of an M30 (program end)
+- Documented [Communications Startup Tests](https://github.com/synthetos/g2/wiki/g2core-Communications#enqack---checking-for-clean-startup)
+
+### Internal Changes and Bug Fixes
+Many things have changed in the internals for this very large pull request. The following list highlights some of these changes but is not meant to be comprehensive.
+- Added explicit typing and type testing to JSON variables.
+- As part of the above, 32bit integers are not float casts, and therefore retain full accuracy. Line numbers may now reliably go to 2,000,000,000
+- Movement towards getters and setters as initial stage of refactoring the Big Table :)
+- Bugfix: Fixed root finding problem in feedhold exit velocity calculation
+- Bugfix: fixed bug in B and C axis assignment in coordinate rotation code
+
 
 ## Firmware Build 100 `{fb:100.xx}`
 ### Feature Enhancements
@@ -16,7 +32,7 @@ The fb:100 release is a major change from the fb:089 and earlier branches. It re
 - 3d printing support, including [Marlin Compatibility](https://github.com/synthetos/g2/wiki/Marlin-Compatibility)
 - GPIO system enhancements
 - Planner enhancements and other operating improvements for high-speed operation
-- Intital support for new processors, including the ARM M7
+- Initial support for new processors, including the ARM M7
 
 ### Project Changes
 The project is now called g2core (even if the repo remains g2). As of this release the g2core code base is split from the TinyG code base. TinyG will continue to be supported for the Xmega 8-bit platform, and new features will be added, specifically as related to continued support for CNC milling applications. The g2core project will focus on various ARM platforms, as it currently does, and add functions that are not possible in the 8-bit platform.

g2core.atsln

@@ -18,6 +18,7 @@ Global
 		sbv300|ARM = sbv300|ARM
 		Shapeoko2|ARM = Shapeoko2|ARM
 		shopbotShield|ARM = shopbotShield|ARM
+		ShopbotTestV9|ARM = ShopbotTestV9|ARM
 		Stub|ARM = Stub|ARM
 		TestQuadratic|ARM = TestQuadratic|ARM
 		TestQuintic|ARM = TestQuintic|ARM
@@ -46,6 +47,8 @@ Global
 		{44EA8FEC-55D7-4149-8A78-A574FC26BF51}.Shapeoko2|ARM.Build.0 = Shapeoko2|ARM
 		{44EA8FEC-55D7-4149-8A78-A574FC26BF51}.shopbotShield|ARM.ActiveCfg = shopbotShield|ARM
 		{44EA8FEC-55D7-4149-8A78-A574FC26BF51}.shopbotShield|ARM.Build.0 = shopbotShield|ARM
+		{44EA8FEC-55D7-4149-8A78-A574FC26BF51}.ShopbotTestV9|ARM.ActiveCfg = G2v9k|ARM
+		{44EA8FEC-55D7-4149-8A78-A574FC26BF51}.ShopbotTestV9|ARM.Build.0 = G2v9k|ARM
 		{44EA8FEC-55D7-4149-8A78-A574FC26BF51}.Stub|ARM.ActiveCfg = Shapeoko2|ARM
 		{44EA8FEC-55D7-4149-8A78-A574FC26BF51}.TestQuadratic|ARM.ActiveCfg = TestQuadratic|ARM
 		{44EA8FEC-55D7-4149-8A78-A574FC26BF51}.TestQuadratic|ARM.Build.0 = TestQuadratic|ARM
@@ -67,6 +70,7 @@ Global
 		{D7779B24-5CD6-4A1B-893C-2CAE8CF7A3A0}.sbv300|ARM.ActiveCfg = Stub|ARM
 		{D7779B24-5CD6-4A1B-893C-2CAE8CF7A3A0}.Shapeoko2|ARM.ActiveCfg = Stub|ARM
 		{D7779B24-5CD6-4A1B-893C-2CAE8CF7A3A0}.shopbotShield|ARM.ActiveCfg = Stub|ARM
+		{D7779B24-5CD6-4A1B-893C-2CAE8CF7A3A0}.ShopbotTestV9|ARM.ActiveCfg = Stub|ARM
 		{D7779B24-5CD6-4A1B-893C-2CAE8CF7A3A0}.Stub|ARM.ActiveCfg = Stub|ARM
 		{D7779B24-5CD6-4A1B-893C-2CAE8CF7A3A0}.TestQuadratic|ARM.ActiveCfg = Stub|ARM
 		{D7779B24-5CD6-4A1B-893C-2CAE8CF7A3A0}.TestQuintic|ARM.ActiveCfg = Stub|ARM

g2core/Makefile

@@ -1,8 +1,8 @@
 #
 # Makefile
 #
-# Copyright (c) 2012 - 2016 Robert Giseburt
-# Copyright (c) 2013 - 2016 Alden S. Hart Jr.
+# Copyright (c) 2012 - 2018 Robert Giseburt
+# Copyright (c) 2013 - 2018 Alden S. Hart Jr.
 #
 # This file is part of the g2core project.
 #
@@ -64,5 +64,8 @@ endif
 ifeq ($(DEBUG),3)
 	DEVICE_DEFINES += DEBUG=1 IN_DEBUGGER=1 DEBUG_SEMIHOSTING=1
 endif
+#ifeq ($(DEBUG),3)
+#    DEVICE_DEFINES += DEBUG=1 IN_DEBUGGER=1 DEBUG_SEMIHOSTING=1
+#endif
 
 # *** EOF ***