[Paciente8159/uCNC PR#57] µCNC v1.2.0

Version 1.2.0 is a major revision from the previous version that packs lots of new features and bug fixes.
Some of the major new features of this version are:
– the new HAL configuration file that introduces a more flexible way to modify the HAL and give customization power of LinuxCNC.
– the addition off new PID and encoder modules to be used by the new HAL config, powered by an internal RTC clock.
– integration tinyUSB, a complete USB stack frame that simplifies the creation of HAL code for new MCU.
– the addition of an option for a 16-bit version of the bresenham line algorithm that can improve step rate for weak 8-bit processors or for specific applications like laser engraving.
– several revisions, improvements and important bug fixes in the core of µCNC to generate reliable stepping code.

Added

– added basic settings for Grbl if startup emulation enabled (this includes $1-it’s not used and always returns 0 and $11-that sets the G64-cosine factor. This value should be between -1 and 1. If 0 it acts as G61-exact path mode and -1 acts as G61.1 exact stop mode) (#55)
– $0-max step rate is now used to top limit stepping frequency (#55)
– implemented stm32f1 EEPROM emulation in flash (with limitations) (#54)
– added new option for the 16-bit bresenham (instead of the 32-bit) version of the stepping generator algorithm (#49)
– added new PID and encoder modules. PID parameters can be stored via commands $2×0 – Kp, $2×1 – Ki and $2×2 – Kd (#42)
– integrated tinyUSB and adapted the core to use it (optional) (#41)
– new HAL configuration file
– added internal RTC (#38)

Changed

– cleaned code, redundant function call, unnecessary volatile attributes from variables and unused variable in the motion control, planner and interpolator stages of the core code (#52)
– modified planner paths of motion and motionless actions (#51)
– added main stepping and idle information to speed up general stepping calculations in the stepping ISR (#51)
– optimization for synchronous serial TX with direct serial output without buffer (#50)
– modified ring buffer in TX to consume chars without waiting for a CR or LF (#49)
– modified motion control to reduce number of planner blocks for motions of length 0 (#49)
– improved real time status report (?) (no longer needing and empty buffer to send report-more responsive) (#48)
– response protocol collisions avoidance (#48)
– report will now always report at least 3 axis even if less than 3 are configured (to keep report structure needed by interface softwares) (#48)
– virtual MCU update to reflect current µCNC interface (#47)
– added option to disable controls or limits IO globally (#45)
– completely new file structure

Fixed

– fixed planner speed profile calculations that was missing speed change between blocks and was causing random miss stepping calculations (#52)
– added initial NULL char sending after configuration of UART to force TXE hardware set for STM32 and deleted duplicate SYNC TX config for STM32 (#50)
– fixed inch report mode setting that was hidden (#49)
– fixed error message on disabling soft limits command with homing disabled (#49)
– small step ISR code fixing (#46)
– fixed stepper enable pin set/reset to match most stepper drivers (negative logic) (#42)