Make EEPROM reproducible in GCode
With these changes the output of `M503 S0` is all you need to restore the EEPROM. Building on this it is straightforward to save and restore the EEPROM state using the SD card or external GCode file. - Added `M145` to set “heatup states” for the LCD menu - Added `M420` to toggle Mesh Bed Leveling - Added `M421` to set a single Mesh coordinate - Extended `Config_PrintSettings` with added M codes - Cleaned up some comments here and there
This commit is contained in:
Scott Lahteine
@ -1,54 +1,51 @@
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/*
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planner.c - buffers movement commands and manages the acceleration profile plan
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Part of Grbl
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Copyright (c) 2009-2011 Simen Svale Skogsrud
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Grbl is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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Grbl is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with Grbl. If not, see <http://www.gnu.org/licenses/>.
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*/
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/* The ring buffer implementation gleaned from the wiring_serial library by David A. Mellis. */
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/*
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Reasoning behind the mathematics in this module (in the key of 'Mathematica'):
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s == speed, a == acceleration, t == time, d == distance
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Basic definitions:
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Speed[s_, a_, t_] := s + (a*t)
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Travel[s_, a_, t_] := Integrate[Speed[s, a, t], t]
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Distance to reach a specific speed with a constant acceleration:
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Solve[{Speed[s, a, t] == m, Travel[s, a, t] == d}, d, t]
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d -> (m^2 - s^2)/(2 a) --> estimate_acceleration_distance()
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Speed after a given distance of travel with constant acceleration:
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Solve[{Speed[s, a, t] == m, Travel[s, a, t] == d}, m, t]
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m -> Sqrt[2 a d + s^2]
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DestinationSpeed[s_, a_, d_] := Sqrt[2 a d + s^2]
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When to start braking (di) to reach a specified destionation speed (s2) after accelerating
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from initial speed s1 without ever stopping at a plateau:
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Solve[{DestinationSpeed[s1, a, di] == DestinationSpeed[s2, a, d - di]}, di]
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di -> (2 a d - s1^2 + s2^2)/(4 a) --> intersection_distance()
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IntersectionDistance[s1_, s2_, a_, d_] := (2 a d - s1^2 + s2^2)/(4 a)
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/**
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* planner.cpp - Buffer movement commands and manage the acceleration profile plan
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* Part of Grbl
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*
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* Copyright (c) 2009-2011 Simen Svale Skogsrud
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*
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* Grbl is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* Grbl is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with Grbl. If not, see <http://www.gnu.org/licenses/>.
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*
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*
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* The ring buffer implementation gleaned from the wiring_serial library by David A. Mellis.
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*
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*
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* Reasoning behind the mathematics in this module (in the key of 'Mathematica'):
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*
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* s == speed, a == acceleration, t == time, d == distance
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*
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* Basic definitions:
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* Speed[s_, a_, t_] := s + (a*t)
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* Travel[s_, a_, t_] := Integrate[Speed[s, a, t], t]
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*
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* Distance to reach a specific speed with a constant acceleration:
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* Solve[{Speed[s, a, t] == m, Travel[s, a, t] == d}, d, t]
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* d -> (m^2 - s^2)/(2 a) --> estimate_acceleration_distance()
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*
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* Speed after a given distance of travel with constant acceleration:
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* Solve[{Speed[s, a, t] == m, Travel[s, a, t] == d}, m, t]
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* m -> Sqrt[2 a d + s^2]
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*
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* DestinationSpeed[s_, a_, d_] := Sqrt[2 a d + s^2]
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*
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* When to start braking (di) to reach a specified destination speed (s2) after accelerating
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* from initial speed s1 without ever stopping at a plateau:
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* Solve[{DestinationSpeed[s1, a, di] == DestinationSpeed[s2, a, d - di]}, di]
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* di -> (2 a d - s1^2 + s2^2)/(4 a) --> intersection_distance()
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*
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* IntersectionDistance[s1_, s2_, a_, d_] := (2 a d - s1^2 + s2^2)/(4 a)
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*
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*/
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#include "Marlin.h"
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@ -71,17 +68,17 @@ float max_feedrate[NUM_AXIS]; // Max speeds in mm per minute
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float axis_steps_per_unit[NUM_AXIS];
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unsigned long max_acceleration_units_per_sq_second[NUM_AXIS]; // Use M201 to override by software
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float minimumfeedrate;
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float acceleration; // Normal acceleration mm/s^2 THIS IS THE DEFAULT ACCELERATION for all printing moves. M204 SXXXX
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float retract_acceleration; // mm/s^2 filament pull-pack and push-forward while standing still in the other axis M204 TXXXX
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float travel_acceleration; // Travel acceleration mm/s^2 THIS IS THE DEFAULT ACCELERATION for all NON printing moves. M204 MXXXX
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float max_xy_jerk; //speed than can be stopped at once, if i understand correctly.
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float acceleration; // Normal acceleration mm/s^2 DEFAULT ACCELERATION for all printing moves. M204 SXXXX
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float retract_acceleration; // Retract acceleration mm/s^2 filament pull-back and push-forward while standing still in the other axes M204 TXXXX
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float travel_acceleration; // Travel acceleration mm/s^2 DEFAULT ACCELERATION for all NON printing moves. M204 MXXXX
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float max_xy_jerk; // The largest speed change requiring no acceleration
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float max_z_jerk;
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float max_e_jerk;
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float mintravelfeedrate;
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unsigned long axis_steps_per_sqr_second[NUM_AXIS];
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#ifdef ENABLE_AUTO_BED_LEVELING
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// this holds the required transform to compensate for bed level
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// Transform required to compensate for bed level
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matrix_3x3 plan_bed_level_matrix = {
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1.0, 0.0, 0.0,
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0.0, 1.0, 0.0,
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@ -89,11 +86,6 @@ unsigned long axis_steps_per_sqr_second[NUM_AXIS];
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};
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#endif // ENABLE_AUTO_BED_LEVELING
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// The current position of the tool in absolute steps
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long position[NUM_AXIS]; //rescaled from extern when axis_steps_per_unit are changed by gcode
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static float previous_speed[NUM_AXIS]; // Speed of previous path line segment
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static float previous_nominal_speed; // Nominal speed of previous path line segment
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#ifdef AUTOTEMP
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float autotemp_max = 250;
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float autotemp_min = 210;
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@ -101,18 +93,25 @@ static float previous_nominal_speed; // Nominal speed of previous path line segm
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bool autotemp_enabled = false;
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#endif
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unsigned char g_uc_extruder_last_move[4] = {0,0,0,0};
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//===========================================================================
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//============ semi-private variables, used in inline functions =============
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//===========================================================================
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//===========================================================================
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//=================semi-private variables, used in inline functions =====
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//===========================================================================
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block_t block_buffer[BLOCK_BUFFER_SIZE]; // A ring buffer for motion instfructions
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volatile unsigned char block_buffer_head; // Index of the next block to be pushed
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volatile unsigned char block_buffer_tail; // Index of the block to process now
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//===========================================================================
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//=============================private variables ============================
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//============================ private variables ============================
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//===========================================================================
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// The current position of the tool in absolute steps
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long position[NUM_AXIS]; // Rescaled from extern when axis_steps_per_unit are changed by gcode
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static float previous_speed[NUM_AXIS]; // Speed of previous path line segment
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static float previous_nominal_speed; // Nominal speed of previous path line segment
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unsigned char g_uc_extruder_last_move[4] = {0,0,0,0};
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#ifdef XY_FREQUENCY_LIMIT
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// Used for the frequency limit
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#define MAX_FREQ_TIME (1000000.0/XY_FREQUENCY_LIMIT)
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@ -126,15 +125,15 @@ volatile unsigned char block_buffer_tail; // Index of the block to pro
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static char meas_sample; //temporary variable to hold filament measurement sample
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#endif
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//===========================================================================
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//================================ functions ================================
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//===========================================================================
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// Get the next / previous index of the next block in the ring buffer
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// NOTE: Using & here (not %) because BLOCK_BUFFER_SIZE is always a power of 2
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FORCE_INLINE int8_t next_block_index(int8_t block_index) { return BLOCK_MOD(block_index + 1); }
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FORCE_INLINE int8_t prev_block_index(int8_t block_index) { return BLOCK_MOD(block_index - 1); }
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//===========================================================================
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//================================ Functions ================================
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//===========================================================================
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// Calculates the distance (not time) it takes to accelerate from initial_rate to target_rate using the
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// given acceleration:
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FORCE_INLINE float estimate_acceleration_distance(float initial_rate, float target_rate, float acceleration) {
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