Merge branch 'master' into mqtt-publisher-255-chars

docs/src/gcode/overview.adoc

@@ -175,16 +175,13 @@ digit is a single character between 0 and 9.
 ** an optional plus or minus sign, followed by
 ** zero to many digits, followed, possibly, by
 ** one decimal point, followed by
-** zero to many digits - provided that there is at least
-   one digit somewhere in the number.
+** zero to many digits - provided that there is at least one digit somewhere in the number.
 * There are two kinds of numbers:
 ** Integers, that does not have a decimal point,
 ** Decimals, that do have a decimal point.
-* Numbers may have any number of digits, subject to the limitation on
-  line length. Only about seventeen significant figures will be retained,
-  however (enough for all known applications).
-* A non-zero number with no sign but the first character is assumed to be
-  positive.
+* Numbers may have any number of digits, subject to the limitation on line length.
+  Only about seventeen significant figures will be retained, however (enough for all known applications).
+* A non-zero number with no sign but the first character is assumed to be positive.
 
 Notice that initial (before the decimal point and the first non-zero
 digit) and trailing (after the decimal point and the last non-zero
@@ -222,9 +219,9 @@ Syntax:: There are three kinds of syntactic appearance:
 * 'named local' - #<localvalue>
 * 'named global' - #<_globalvalue>
 
-Scope:: The scope of a parameter is either global, or local within a
-subroutine. Subroutine parameters and local named variables have local
-scope. Global named parameters and numbered parameters starting from
+Scope:: The scope of a parameter is either global, or local within a subroutine.
+Subroutine parameters and local named variables have local scope.
+Global named parameters and numbered parameters starting from
 number 31 are global in scope. RS274/NGC uses 'lexical scoping' -
 in a subroutine only the local variables defined therein, and any
 global variables are visible. The local variables of a
@@ -257,12 +254,9 @@ Intended Use::
   available for general-purpose storage of floating-point values, like
   intermediate results, flags etc, throughout program execution. They
   are read/write (can be assigned a value).
-* <<sub:subroutine-parameters,subroutine parameters>> - these are used to
-  hold the actual parameters passed to a subroutine.
-* <<sub:numbered-parameters,numbered parameters>> - most of these are used
-  to access offsets of coordinate systems.
-* <<sub:system-parameters,system parameters>> - used to determine the current
-  running version. They are read-only.
+* <<sub:subroutine-parameters,subroutine parameters>> - these are used to hold the actual parameters passed to a subroutine.
+* <<sub:numbered-parameters,numbered parameters>> - most of these are used to access offsets of coordinate systems.
+* <<sub:system-parameters,system parameters>> - used to determine the current running version. They are read-only.
 
 [[sub:numbered-parameters]]
 === Numbered Parameters(((Numbered Parameters)))
@@ -287,8 +281,7 @@ A parameter setting does not take
 effect until after all parameter values on the same line have been
 found. For example, if parameter 3 has been previously set to 15 and
 the line '#3=6 G1 X#3' is interpreted, a straight move to a point
-where X equals 15 will
-occur and the value of parameter 3 will be 6.
+where X equals 15 will occur and the value of parameter 3 will be 6.
 
 The '\#'  character takes precedence over other operations, so that, for
 example, '\#1+2' means the number found by adding 2 to the value of

docs/src/getting-started/getting-linuxcnc.adoc

@@ -331,7 +331,7 @@ uname -v
   document.
 
 . Add the LinuxCNC Archive Signing Key to your apt keyring by downloading
-  [the LinuxCNC installer script](https://www.linuxcnc.org/linuxcnc-install.sh)
+  [the LinuxCNC installer script](https://www.linuxcnc.org/linuxcnc-install.sh).
   You will need to make the script executable to run it:
 +
 ----
@@ -351,8 +351,8 @@ sudo ./linuxcnc-install.sh
   install, or alternatively on a fresh Install of Debian Bookworm 64-bit
   as described above.
 . You can add the LinuxCNC archive signing key and repository information
-  by downloading and running the installer script as described above. If
-  an RTAI kernel is detected it will stop before installing any packages.
+  by downloading and running the installer script as described above.
+  If an RTAI kernel is detected it will stop before installing any packages.
 . Update the package list from linuxcnc.org
 +
 ----
@@ -363,8 +363,7 @@ sudo apt-get update
 ----
 sudo apt-get install linuxcnc
 ----
-Reboot the machine, ensuring that the system boots from the new 5.4.258-rtai
-kernel.
+Reboot the machine, ensuring that the system boots from the new 5.4.258-rtai kernel.
 
 === Installing on Raspbian 12
 

docs/src/gui/qtvcp-widgets.adoc

@@ -181,7 +181,7 @@ It is based on PyQt's `QGridLayout`.
 image::images/qthalbar.png["QtVCP HalBar: Panel demonstrating the HAL Bar Level Indicator ",scale="25%"]
 
 This widget is used to indicate level or value, usually of a HAL s32/float pin. +
-you can also disable the HAL pin and use Qt signals or python commands to change the level. +
+You can also disable the HAL pin and use Qt signals or Python commands to change the level. +
 
 ==== Bar Properties:
 HalBar is a subclass of the Bar widget, so it inherits these properties  + 
@@ -1693,7 +1693,7 @@ It is based on PyQt's _QLabel_.
 //TODO StatusLabel widget capture/example
 
 This will display a label based on selectable status of the machine controller. +
-You can change how the status will be displayed by substituting python formatting code in the text template. You can also use rich text for different fonts/colors etc.
+You can change how the status will be displayed by substituting Python formatting code in the text template. You can also use rich text for different fonts/colors etc.
 
 .Selectable States
 These states are selectable:

docs/src/install/latency-test.adoc

@@ -32,8 +32,6 @@ However, software step pulses also have some disadvantages:
 - loads the CPU
 
 
-
-
 [[sec:latency-tests]]
 == Latency Tests(((Latency Tests)))
 
@@ -55,16 +53,16 @@ and run the following command:
 latency-test
 ----
 
-This will start the latency test with a base-thread period of 25uS and a
-servo-thread period of 1mS. The period times may be specified on the command
+This will start the latency test with a base-thread period of 25 µs and a
+servo-thread period of 1 ms. The period times may be specified on the command
 line:
 
 ----
 latency-test 50000 1000000
 ----
 
 This will start the latency test with a base-thread period of 50uS and a
-servo-thread period of 1mS.
+servo-thread period of 1 ms.
 
 For available options, on the command line enter:
 
@@ -93,18 +91,18 @@ You should run the test for at least several minutes; sometimes
 the worst case latency doesn't happen very often, or only happens
 when you do some particular action. For instance, one Intel
 motherboard worked pretty well most of the time, but every 64
-seconds it had a very bad 300 us latency. Fortunately that was
-fixable, see https://wiki.linuxcnc.org/cgi-bin/wiki.pl?FixingSMIIssues
+seconds it had a very bad 300 µs latency. Fortunately that was
+fixable, see https://wiki.linuxcnc.org/cgi-bin/wiki.pl?FixingSMIIssues .
 
 So, what do the results mean? If your Max Jitter number is less
 than about 15-20 microseconds (15000-20000 nanoseconds), the
-computer should give very nice results with software stepping. If
-the max latency is more like 30-50 microseconds, you can still
+computer should give very nice results with software stepping.
+If the max latency is more like 30-50 microseconds, you can still
 get good results, but your maximum step rate might be a little
 disappointing, especially if you use microstepping or have very
-fine pitch leadscrews. If the numbers are 100 us or more (100,000
-nanoseconds), then the PC is not a good candidate for software
-stepping. Numbers over 1 millisecond (1,000,000 nanoseconds) mean
+fine pitch leadscrews. If the numbers are 100 µs or more,
+i.e. >= 100,000 nanoseconds (ns), then the PC is not a good candidate for software
+stepping. Numbers over 1 millisecond (1,000,000 ns) mean
 the PC is not a good candidate for LinuxCNC, regardless of whether you
 use software stepping or not.
 
@@ -117,8 +115,9 @@ LinuxCNC does not require bleeding edge hardware.
 For more information on stepper tuning see the
 <<cha:stepper-tuning,Stepper Tuning>> Chapter.
 
-*Additional command line tools are available for examining latency
-when LinuxCNC is not running.*
+[TIP]
+Additional command line tools are available for examining latency
+when LinuxCNC is not running.
 
 === Latency Plot
 
@@ -134,9 +133,9 @@ Usage:
       latency-plot --hal [Options]
 
 Options:
-      --base nS  (base  thread interval, default:   25000)
-      --servo nS (servo thread interval, default: 1000000)
-      --time mS  (report interval, default: 1000)
+      --base ns  (base  thread interval in nanoseconds, default:   25000)
+      --servo ns (servo thread interval in nanoseconds, default: 1000000)
+      --time ms  (report interval in milliseconds, default: 1000)
       --relative (relative clock time (default))
       --actual   (actual clock time)
 ----
@@ -147,7 +146,7 @@ image::../config/images/latency-plot.png["latency-plot Window"]
 
 === Latency Histogram
 
-latency-histogram displays a histogram of latency (jitter) for
+The application latency-histogram displays a histogram of latency (jitter) for
 a base and servo thread.
 
 ----
@@ -156,10 +155,10 @@ Usage:
    latency-histogram [Options]
 
 Options:
-  --base      nS   (base  thread interval, default:   25000, min:  5000)
-  --servo     nS   (servo thread interval, default: 1000000, min: 25000)
-  --bbinsize  nS   (base  bin size,  default: 100
-  --sbinsize  nS   (servo bin size, default: 100
+  --base      ns   (base  thread interval in nanoseconds, default:   25000, min:  5000)
+  --servo     ns   (servo thread interval in nanoseconds, default: 1000000, min: 25000)
+  --bbinsize  ns   (base  bin size in nanoseconds, default: 100
+  --sbinsize  ns   (servo bin size in nanoseconds, default: 100
   --bbins     n    (base  bins, default: 200
   --sbins     n    (servo bins, default: 200
   --logscale  0|1  (y axis log scale, default: 1)
@@ -170,12 +169,12 @@ Options:
   --nox            (no gui, display elapsed,min,max,sdev for each thread)
 
 Notes:
-  Linuxcnc and Hal should not be running, stop with halrun -U.
-  Large number of bins and/or small binsizes will slow updates.
-  For single thread, specify --nobase (and options for servo thread).
-  Measured latencies outside of the +/- bin range are reported
-  with special end bars.  Use --show to show count for
-  the off-chart [pos|neg] bin
+LinuxCNC and HAL should not be running, stop with halrun -U.
+Large number of bins and/or small binsizes will slow updates.
+For single thread, specify --nobase (and options for servo thread).
+Measured latencies outside of the +/- bin range are reported
+with special end bars.  Use --show to show count for
+the off-chart [pos|neg] bin
 ----
 
 .`latency-histogram` Window

docs/src/man/man1/iov2.1.adoc

@@ -95,7 +95,7 @@ Report bugs at https://github.com/LinuxCNC/linuxcnc/issues.
 
 == AUTHOR
 
-Derived from a work by Fred Proctor & Will Shackleford. 
+Derived from a work by Fred Proctor & Will Shackleford.
 Rework & adding v2 protocol support by Michael Haberler.
 
 == COPYRIGHT

docs/src/man/man1/linuxcncrsh.1.adoc

@@ -355,7 +355,7 @@ _jog joint_number_ | _axis_letter_ _<speed>_::
   With set, runs the opened program. If no StartLine is specified, runs
   from the beginning. If a StartLine is specified, start line, runs from
   that line. A start line of -1 runs in verify mode.
-  
+
 *pause*::
   With set, pause program execution.
 

docs/src/man/man1/mb2hal.1.adoc

@@ -6,75 +6,80 @@ mb2hal - HAL non-realtime component for Modbus
 
 == SYNOPSIS
 
-Default component name:::
+Default component name::
   loadusr -W mb2hal config=config_file.ini
-Custom component name: ::
+Custom component name::
   loadusr -Wn mymodule mb2hal config=config_file.ini
 
 == DESCRIPTION
 
-MB2HAL is a generic non-realtime HAL component to communicate with one
-or more Modbus devices. It supports Modbus RTU and Modbus TCP.
+MB2HAL is a generic non-realtime HAL component to communicate with one or more Modbus devices.
+It supports Modbus RTU and Modbus TCP.
 
-See http://linuxcnc.org/docs/html/drivers/mb2hal.html[] for more
-information.
+See http://linuxcnc.org/docs/html/drivers/mb2hal.html[] for more information.
 
 == PINS
 
 === fnct_01_read_coils:
 
-*mb2hal.m.n.bit bit out* +
-*mb2hal.m.n.bit-inv bit out*::
+*mb2hal.m.n.bit* bit out +
+*mb2hal.m.n.bit-inv* bit out
 
 === fnct_02_read_discrete_inputs:
 
-*mb2hal.m.n.bit bit out* +
-*mb2hal.m.n.bit-inv bit out*::
+*mb2hal.m.n.bit* bit out +
+*mb2hal.m.n.bit-inv* bit out
 
 === fnct_03_read_holding_registers:
 
-*mb2hal.m.n.float float out* +
-*mb2hal.m.n.int s32 out*::
+*mb2hal.m.n.float* float out +
+*mb2hal.m.n.int* s32 out
 
 === fnct_04_read_input_registers:
 
-*mb2hal.m.n.float float out* +
-*mb2hal.m.n.int s32 out*::
+*mb2hal.m.n.float* float out +
+*mb2hal.m.n.int* s32 out
 
 === fnct_05_write_single_coil:
 
-*mb2hal.m.n.bit bit in*::
+*mb2hal.m.n.bit* bit in::
   NELEMENTS needs to be 1 or PIN_NAMES must contain just one name.
 
 === fnct_06_write_single_register:
 
-*mb2hal.m.n.float float in* +
-*mb2hal.m.n.int s32 in*::
-  NELEMENTS needs to be 1 or PIN_NAMES must contain just one name. Both
-  pin values are added and limited to 65535 (UINT16_MAX). Use one and
-  let the other open (read as 0).
+*mb2hal.m.n.float* float in
+
+*mb2hal.m.n.int* s32 in::
+  NELEMENTS needs to be 1 or PIN_NAMES must contain just one name. +
+  Both pin values are added and limited to 65535 (UINT16_MAX).
+  Use one and let the other open (read as 0).
 
 === fnct_15_write_multiple_coils:
 
-*mb2hal.m.n.bit bit in*::
+*mb2hal.m.n.bit* bit in
 
 === fnct_16_write_multiple_registers:
 
-*mb2hal.m.n.float float in* +
-*mb2hal.m.n.int s32 in*::
-  Both pin values are added and limited to 65535 (UINT16_MAX). Use one
-  and let the other open (read as 0).
+*mb2hal.m.n.float* float in
+
+*mb2hal.m.n.int* s32 in::
+  Both pin values are added and limited to 65535 (UINT16_MAX).
+  Use one and let the other open (read as 0).
 
 === Each transaction
 
-*mb2hal.m.num_errors u32 in* Error counter
+*mb2hal.m.num_errors* u32 in::
+  Error counter
 
-m = HAL_TX_NAME or transaction number if not set, n = element number
-(NELEMENTS) +
-Example: +
-mb2hal.00.01.int (TRANSACTION_00, second register) +
-mb2hal.readStatus.01.bit (HAL_TX_NAME=readStatus, first bit)
 
+m = HAL_TX_NAME or transaction number if not set +
+n = element number (NELEMENTS)
+
+Example:
+....
+mb2hal.00.01.int (TRANSACTION_00, second register)
+mb2hal.readStatus.01.bit (HAL_TX_NAME=readStatus, first bit)
+....
 == AUTHOR
 
 Victor Rocco

docs/src/man/man1/mdi.1.adoc

@@ -11,19 +11,28 @@ instance
 
 == DESCRIPTION
 
-*mdi* sends G-code commands to LinuxCNC. The command starts an
-envirmonemt in which G-code commands are sent to the interpreter and
-machine feedback is displayed.
+*mdi* sends G-code commands to LinuxCNC.
+The command starts an envirmonemt in which G-code commands are sent to the interpreter and machine feedback is displayed.
 
 == USAGE
 
-send a single command and exit mdi m2 s1400
+send a single command and exit:
+....
+mdi m2 s1400
+....
 
-interactive session $mdi MDI> m3 s1000 MDI> G0 X100 MDI> ^Z $stopped
+interactive session
+....
+$mdi
+MDI> m3 s1000
+MDI> G0 X100
+MDI>` ^Z
+$stopped
+....
 
 == SEE ALSO
 
-linuxcnc(1)*
+*linuxcnc(1)*
 
 Much more information about LinuxCNC and HAL is available in the
 LinuxCNC and HAL User Manuals, found at /usr/share/doc/LinuxCNC/.