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Make EEPROM reproducible in GCode

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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 2015-04-26 18:44:01 -07:00
parent 01bedd17c9
commit 0fca084ea6
20 changed files with 454 additions and 235 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

2
Marlin/Configuration_adv.h
View file

@ -355,7 +355,7 @@ const unsigned int dropsegments=5; //everything with less than this number of st
//#define HEATERS_PARALLEL //#define HEATERS_PARALLEL
//=========================================================================== //===========================================================================
//=============================Buffers ============================ //================================= Buffers =================================
//=========================================================================== //===========================================================================
// @section hidden // @section hidden

153
Marlin/Marlin_main.cpp
View file

@ -151,6 +151,7 @@
* M128 - EtoP Open (BariCUDA EtoP = electricity to air pressure transducer by jmil) * M128 - EtoP Open (BariCUDA EtoP = electricity to air pressure transducer by jmil)
* M129 - EtoP Closed (BariCUDA EtoP = electricity to air pressure transducer by jmil) * M129 - EtoP Closed (BariCUDA EtoP = electricity to air pressure transducer by jmil)
* M140 - Set bed target temp * M140 - Set bed target temp
* M145 - Set the heatup state H<hotend> B<bed> F<fan speed> for S<material> (0=PLA, 1=ABS)
* M150 - Set BlinkM Color Output R: Red<0-255> U(!): Green<0-255> B: Blue<0-255> over i2c, G for green does not work. * M150 - Set BlinkM Color Output R: Red<0-255> U(!): Green<0-255> B: Blue<0-255> over i2c, G for green does not work.
* M190 - Sxxx Wait for bed current temp to reach target temp. Waits only when heating * M190 - Sxxx Wait for bed current temp to reach target temp. Waits only when heating
* Rxxx Wait for bed current temp to reach target temp. Waits when heating and cooling * Rxxx Wait for bed current temp to reach target temp. Waits when heating and cooling
@ -186,6 +187,8 @@
* M406 - Turn off Filament Sensor extrusion control * M406 - Turn off Filament Sensor extrusion control
* M407 - Display measured filament diameter * M407 - Display measured filament diameter
* M410 - Quickstop. Abort all the planned moves * M410 - Quickstop. Abort all the planned moves
* M420 - Enable/Disable Mesh Leveling (with current values) S1=enable S0=disable
* M421 - Set a single Z coordinate in the Mesh Leveling grid. X<index> Y<index> Z<offset in mm>
* M500 - Store parameters in EEPROM * M500 - Store parameters in EEPROM
* M501 - Read parameters from EEPROM (if you need reset them after you changed them temporarily). * M501 - Read parameters from EEPROM (if you need reset them after you changed them temporarily).
* M502 - Revert to the default "factory settings". You still need to store them in EEPROM afterwards if you want to. * M502 - Revert to the default "factory settings". You still need to store them in EEPROM afterwards if you want to.
@ -3385,6 +3388,62 @@ inline void gcode_M140() {
if (code_seen('S')) setTargetBed(code_value()); if (code_seen('S')) setTargetBed(code_value());
} }
#ifdef ULTIPANEL
/**
* M145: Set the heatup state for a material in the LCD menu
* S<material> (0=PLA, 1=ABS)
* H<hotend temp>
* B<bed temp>
* F<fan speed>
*/
inline void gcode_M145() {
uint8_t material = code_seen('S') ? code_value_short() : 0;
if (material < 0 || material > 1) {
SERIAL_ERROR_START;
SERIAL_ERRORLNPGM(MSG_ERR_MATERIAL_INDEX);
}
else {
int v;
switch (material) {
case 0:
if (code_seen('H')) {
v = code_value_short();
plaPreheatHotendTemp = constrain(v, EXTRUDE_MINTEMP, HEATER_0_MAXTEMP - 15);
}
if (code_seen('F')) {
v = code_value_short();
plaPreheatFanSpeed = constrain(v, 0, 255);
}
#if TEMP_SENSOR_BED != 0
if (code_seen('B')) {
v = code_value_short();
plaPreheatHPBTemp = constrain(v, BED_MINTEMP, BED_MAXTEMP - 15);
}
#endif
break;
case 1:
if (code_seen('H')) {
v = code_value_short();
absPreheatHotendTemp = constrain(v, EXTRUDE_MINTEMP, HEATER_0_MAXTEMP - 15);
}
if (code_seen('F')) {
v = code_value_short();
absPreheatFanSpeed = constrain(v, 0, 255);
}
#if TEMP_SENSOR_BED != 0
if (code_seen('B')) {
v = code_value_short();
absPreheatHPBTemp = constrain(v, BED_MINTEMP, BED_MAXTEMP - 15);
}
#endif
break;
}
}
}
#endif
#if HAS_POWER_SWITCH #if HAS_POWER_SWITCH
/** /**
@ -3492,7 +3551,8 @@ inline void gcode_M85() {
} }
/** /**
* M92: Set inactivity shutdown timer with parameter S<seconds>. To disable set zero (default) * M92: Set axis steps-per-unit for one or more axes, X, Y, Z, and E.
* (Follows the same syntax as G92)
*/ */
inline void gcode_M92() { inline void gcode_M92() {
for(int8_t i=0; i < NUM_AXIS; i++) { for(int8_t i=0; i < NUM_AXIS; i++) {
@ -3814,20 +3874,35 @@ inline void gcode_M206() {
#ifdef FWRETRACT #ifdef FWRETRACT
/** /**
* M207: Set retract length S[positive mm] F[feedrate mm/min] Z[additional zlift/hop] * M207: Set firmware retraction values
*
* S[+mm] retract_length
* W[+mm] retract_length_swap (multi-extruder)
* F[mm/min] retract_feedrate
* Z[mm] retract_zlift
*/ */
inline void gcode_M207() { inline void gcode_M207() {
if (code_seen('S')) retract_length = code_value(); if (code_seen('S')) retract_length = code_value();
if (code_seen('F')) retract_feedrate = code_value() / 60; if (code_seen('F')) retract_feedrate = code_value() / 60;
if (code_seen('Z')) retract_zlift = code_value(); if (code_seen('Z')) retract_zlift = code_value();
#if EXTRUDERS > 1
if (code_seen('W')) retract_length_swap = code_value();
#endif
} }
/** /**
* M208: Set retract recover length S[positive mm surplus to the M207 S*] F[feedrate mm/min] * M208: Set firmware un-retraction values
*
* S[+mm] retract_recover_length (in addition to M207 S*)
* W[+mm] retract_recover_length_swap (multi-extruder)
* F[mm/min] retract_recover_feedrate
*/ */
inline void gcode_M208() { inline void gcode_M208() {
if (code_seen('S')) retract_recover_length = code_value(); if (code_seen('S')) retract_recover_length = code_value();
if (code_seen('F')) retract_recover_feedrate = code_value() / 60; if (code_seen('F')) retract_recover_feedrate = code_value() / 60;
#if EXTRUDERS > 1
if (code_seen('W')) retract_recover_length_swap = code_value();
#endif
} }
/** /**
@ -4380,6 +4455,42 @@ inline void gcode_M400() { st_synchronize(); }
*/ */
inline void gcode_M410() { quickStop(); } inline void gcode_M410() { quickStop(); }
#ifdef MESH_BED_LEVELING
/**
* M420: Enable/Disable Mesh Bed Leveling
*/
inline void gcode_M420() { if (code_seen('S') && code_has_value()) mbl.active = !!code_value_short(); }
/**
* M421: Set a single Mesh Bed Leveling Z coordinate
*/
inline void gcode_M421() {
int x, y;
float z;
bool err = false, hasX, hasY, hasZ;
if ((hasX = code_seen('X'))) x = code_value_short();
if ((hasY = code_seen('Y'))) y = code_value_short();
if ((hasZ = code_seen('Z'))) z = code_value();
if (!hasX || !hasY || !hasZ) {
SERIAL_ERROR_START;
SERIAL_ERRORLNPGM(MSG_ERR_XYZ_REQUIRED_FOR_M421);
err = true;
}
if (x >= MESH_NUM_X_POINTS || y >= MESH_NUM_Y_POINTS) {
SERIAL_ERROR_START;
SERIAL_ERRORLNPGM(MSG_ERR_MESH_INDEX_OOB);
err = true;
}
if (!err) mbl.z_values[y][x] = z;
}
#endif
/** /**
* M500: Store settings in EEPROM * M500: Store settings in EEPROM
*/ */
@ -4934,11 +5045,11 @@ void process_commands() {
gcode_M104(); gcode_M104();
break; break;
case 111: // M111: Set debug level case 111: // M111: Set debug level
gcode_M111(); gcode_M111();
break; break;
case 112: // M112: Emergency Stop case 112: // M112: Emergency Stop
gcode_M112(); gcode_M112();
break; break;
@ -5017,28 +5128,35 @@ void process_commands() {
case 85: // M85 case 85: // M85
gcode_M85(); gcode_M85();
break; break;
case 92: // M92 case 92: // M92: Set the steps-per-unit for one or more axes
gcode_M92(); gcode_M92();
break; break;
case 115: // M115 case 115: // M115: Report capabilities
gcode_M115(); gcode_M115();
break; break;
case 117: // M117 display message case 117: // M117: Set LCD message text
gcode_M117(); gcode_M117();
break; break;
case 114: // M114 case 114: // M114: Report current position
gcode_M114(); gcode_M114();
break; break;
case 120: // M120 case 120: // M120: Enable endstops
gcode_M120(); gcode_M120();
break; break;
case 121: // M121 case 121: // M121: Disable endstops
gcode_M121(); gcode_M121();
break; break;
case 119: // M119 case 119: // M119: Report endstop states
gcode_M119(); gcode_M119();
break; break;
//TODO: update for all axis, use for loop
#ifdef ULTIPANEL
case 145: // M145: Set material heatup parameters
gcode_M145();
break;
#endif
#ifdef BLINKM #ifdef BLINKM
@ -5213,6 +5331,15 @@ void process_commands() {
gcode_M410(); gcode_M410();
break; break;
#ifdef MESH_BED_LEVELING
case 420: // M420 Enable/Disable Mesh Bed Leveling
gcode_M420();
break;
case 421: // M421 Set a Mesh Bed Leveling Z coordinate
gcode_M421();
break;
#endif
case 500: // M500 Store settings in EEPROM case 500: // M500 Store settings in EEPROM
gcode_M500(); gcode_M500();
break; break;

334
Marlin/configuration_store.cpp
View file

@ -20,72 +20,72 @@
* V19 EEPROM Layout: * V19 EEPROM Layout:
* *
* ver * ver
* axis_steps_per_unit (x4) * M92 XYZE axis_steps_per_unit (x4)
* max_feedrate (x4) * M203 XYZE max_feedrate (x4)
* max_acceleration_units_per_sq_second (x4) * M201 XYZE max_acceleration_units_per_sq_second (x4)
* acceleration * M204 P acceleration
* retract_acceleration * M204 R retract_acceleration
* travel_acceleration * M204 T travel_acceleration
* minimumfeedrate * M205 S minimumfeedrate
* mintravelfeedrate * M205 T mintravelfeedrate
* minsegmenttime * M205 B minsegmenttime
* max_xy_jerk * M205 X max_xy_jerk
* max_z_jerk * M205 Z max_z_jerk
* max_e_jerk * M205 E max_e_jerk
* home_offset (x3) * M206 XYZ home_offset (x3)
* *
* Mesh bed leveling: * Mesh bed leveling:
* active * M420 S active
* mesh_num_x * mesh_num_x (set in firmware)
* mesh_num_y * mesh_num_y (set in firmware)
* z_values[][] * M421 XYZ z_values[][]
* zprobe_zoffset * M851 zprobe_zoffset
* *
* DELTA: * DELTA:
* endstop_adj (x3) * M666 XYZ endstop_adj (x3)
* delta_radius * M665 R delta_radius
* delta_diagonal_rod * M665 L delta_diagonal_rod
* delta_segments_per_second * M665 S delta_segments_per_second
* *
* ULTIPANEL: * ULTIPANEL:
* plaPreheatHotendTemp * M145 S0 H plaPreheatHotendTemp
* plaPreheatHPBTemp * M145 S0 B plaPreheatHPBTemp
* plaPreheatFanSpeed * M145 S0 F plaPreheatFanSpeed
* absPreheatHotendTemp * M145 S1 H absPreheatHotendTemp
* absPreheatHPBTemp * M145 S1 B absPreheatHPBTemp
* absPreheatFanSpeed * M145 S1 F absPreheatFanSpeed
* *
* PIDTEMP: * PIDTEMP:
* Kp[0], Ki[0], Kd[0], Kc[0] * M301 E0 PIDC Kp[0], Ki[0], Kd[0], Kc[0]
* Kp[1], Ki[1], Kd[1], Kc[1] * M301 E1 PIDC Kp[1], Ki[1], Kd[1], Kc[1]
* Kp[2], Ki[2], Kd[2], Kc[2] * M301 E2 PIDC Kp[2], Ki[2], Kd[2], Kc[2]
* Kp[3], Ki[3], Kd[3], Kc[3] * M301 E3 PIDC Kp[3], Ki[3], Kd[3], Kc[3]
* *
* PIDTEMPBED: * PIDTEMPBED:
* bedKp, bedKi, bedKd * M304 PID bedKp, bedKi, bedKd
* *
* DOGLCD: * DOGLCD:
* lcd_contrast * M250 C lcd_contrast
* *
* SCARA: * SCARA:
* axis_scaling (x3) * M365 XYZ axis_scaling (x3)
* *
* FWRETRACT: * FWRETRACT:
* autoretract_enabled * M209 S autoretract_enabled
* retract_length * M207 S retract_length
* retract_length_swap * M207 W retract_length_swap
* retract_feedrate * M207 F retract_feedrate
* retract_zlift * M207 Z retract_zlift
* retract_recover_length * M208 S retract_recover_length
* retract_recover_length_swap * M208 W retract_recover_length_swap
* retract_recover_feedrate * M208 F retract_recover_feedrate
* *
* volumetric_enabled * M200 D volumetric_enabled (D>0 makes this enabled)
* *
* filament_size (x4) * M200 T D filament_size (x4) (T0..3)
* *
* Z_DUAL_ENDSTOPS * Z_DUAL_ENDSTOPS:
* z_endstop_adj * M666 Z z_endstop_adj
* *
*/ */
#include "Marlin.h" #include "Marlin.h"
@ -122,7 +122,9 @@ void _EEPROM_readData(int &pos, uint8_t* value, uint8_t size) {
#define EEPROM_WRITE_VAR(pos, value) _EEPROM_writeData(pos, (uint8_t*)&value, sizeof(value)) #define EEPROM_WRITE_VAR(pos, value) _EEPROM_writeData(pos, (uint8_t*)&value, sizeof(value))
#define EEPROM_READ_VAR(pos, value) _EEPROM_readData(pos, (uint8_t*)&value, sizeof(value)) #define EEPROM_READ_VAR(pos, value) _EEPROM_readData(pos, (uint8_t*)&value, sizeof(value))
//====================================================================================== /**
* Store Configuration Settings - M500
*/
#define DUMMY_PID_VALUE 3000.0f #define DUMMY_PID_VALUE 3000.0f
@ -235,7 +237,7 @@ void Config_StoreSettings() {
EEPROM_WRITE_VAR(i, bedKi); EEPROM_WRITE_VAR(i, bedKi);
EEPROM_WRITE_VAR(i, bedKd); EEPROM_WRITE_VAR(i, bedKd);
#ifndef DOGLCD #ifndef HAS_LCD_CONTRAST
int lcd_contrast = 32; int lcd_contrast = 32;
#endif #endif
EEPROM_WRITE_VAR(i, lcd_contrast); EEPROM_WRITE_VAR(i, lcd_contrast);
@ -286,6 +288,10 @@ void Config_StoreSettings() {
SERIAL_ECHOLNPGM(" bytes)"); SERIAL_ECHOLNPGM(" bytes)");
} }
/**
* Retrieve Configuration Settings - M501
*/
void Config_RetrieveSettings() { void Config_RetrieveSettings() {
int i = EEPROM_OFFSET; int i = EEPROM_OFFSET;
@ -412,7 +418,7 @@ void Config_RetrieveSettings() {
for (int q=2; q--;) EEPROM_READ_VAR(i, dummy); // bedKi, bedKd for (int q=2; q--;) EEPROM_READ_VAR(i, dummy); // bedKi, bedKd
} }
#ifndef DOGLCD #ifndef HAS_LCD_CONTRAST
int lcd_contrast; int lcd_contrast;
#endif #endif
EEPROM_READ_VAR(i, lcd_contrast); EEPROM_READ_VAR(i, lcd_contrast);
@ -467,6 +473,10 @@ void Config_RetrieveSettings() {
#endif // EEPROM_SETTINGS #endif // EEPROM_SETTINGS
/**
* Reset Configuration Settings - M502
*/
void Config_ResetDefault() { void Config_ResetDefault() {
float tmp1[] = DEFAULT_AXIS_STEPS_PER_UNIT; float tmp1[] = DEFAULT_AXIS_STEPS_PER_UNIT;
float tmp2[] = DEFAULT_MAX_FEEDRATE; float tmp2[] = DEFAULT_MAX_FEEDRATE;
@ -522,7 +532,7 @@ void Config_ResetDefault() {
absPreheatFanSpeed = ABS_PREHEAT_FAN_SPEED; absPreheatFanSpeed = ABS_PREHEAT_FAN_SPEED;
#endif #endif
#ifdef DOGLCD #ifdef HAS_LCD_CONTRAST
lcd_contrast = DEFAULT_LCD_CONTRAST; lcd_contrast = DEFAULT_LCD_CONTRAST;
#endif #endif
@ -584,14 +594,20 @@ void Config_ResetDefault() {
#ifndef DISABLE_M503 #ifndef DISABLE_M503
/**
* Print Configuration Settings - M503
*/
#define CONFIG_ECHO_START do{ if (!forReplay) SERIAL_ECHO_START; }while(0)
void Config_PrintSettings(bool forReplay) { void Config_PrintSettings(bool forReplay) {
// Always have this function, even with EEPROM_SETTINGS disabled, the current values will be shown // Always have this function, even with EEPROM_SETTINGS disabled, the current values will be shown
SERIAL_ECHO_START; CONFIG_ECHO_START;
if (!forReplay) { if (!forReplay) {
SERIAL_ECHOLNPGM("Steps per unit:"); SERIAL_ECHOLNPGM("Steps per unit:");
SERIAL_ECHO_START; CONFIG_ECHO_START;
} }
SERIAL_ECHOPAIR(" M92 X", axis_steps_per_unit[X_AXIS]); SERIAL_ECHOPAIR(" M92 X", axis_steps_per_unit[X_AXIS]);
SERIAL_ECHOPAIR(" Y", axis_steps_per_unit[Y_AXIS]); SERIAL_ECHOPAIR(" Y", axis_steps_per_unit[Y_AXIS]);
@ -599,23 +615,23 @@ void Config_PrintSettings(bool forReplay) {
SERIAL_ECHOPAIR(" E", axis_steps_per_unit[E_AXIS]); SERIAL_ECHOPAIR(" E", axis_steps_per_unit[E_AXIS]);
SERIAL_EOL; SERIAL_EOL;
SERIAL_ECHO_START; CONFIG_ECHO_START;
#ifdef SCARA #ifdef SCARA
if (!forReplay) { if (!forReplay) {
SERIAL_ECHOLNPGM("Scaling factors:"); SERIAL_ECHOLNPGM("Scaling factors:");
SERIAL_ECHO_START; CONFIG_ECHO_START;
} }
SERIAL_ECHOPAIR(" M365 X", axis_scaling[X_AXIS]); SERIAL_ECHOPAIR(" M365 X", axis_scaling[X_AXIS]);
SERIAL_ECHOPAIR(" Y", axis_scaling[Y_AXIS]); SERIAL_ECHOPAIR(" Y", axis_scaling[Y_AXIS]);
SERIAL_ECHOPAIR(" Z", axis_scaling[Z_AXIS]); SERIAL_ECHOPAIR(" Z", axis_scaling[Z_AXIS]);
SERIAL_EOL; SERIAL_EOL;
SERIAL_ECHO_START; CONFIG_ECHO_START;
#endif // SCARA #endif // SCARA
if (!forReplay) { if (!forReplay) {
SERIAL_ECHOLNPGM("Maximum feedrates (mm/s):"); SERIAL_ECHOLNPGM("Maximum feedrates (mm/s):");
SERIAL_ECHO_START; CONFIG_ECHO_START;
} }
SERIAL_ECHOPAIR(" M203 X", max_feedrate[X_AXIS]); SERIAL_ECHOPAIR(" M203 X", max_feedrate[X_AXIS]);
SERIAL_ECHOPAIR(" Y", max_feedrate[Y_AXIS]); SERIAL_ECHOPAIR(" Y", max_feedrate[Y_AXIS]);
@ -623,160 +639,224 @@ void Config_PrintSettings(bool forReplay) {
SERIAL_ECHOPAIR(" E", max_feedrate[E_AXIS]); SERIAL_ECHOPAIR(" E", max_feedrate[E_AXIS]);
SERIAL_EOL; SERIAL_EOL;
SERIAL_ECHO_START; CONFIG_ECHO_START;
if (!forReplay) { if (!forReplay) {
SERIAL_ECHOLNPGM("Maximum Acceleration (mm/s2):"); SERIAL_ECHOLNPGM("Maximum Acceleration (mm/s2):");
SERIAL_ECHO_START; CONFIG_ECHO_START;
} }
SERIAL_ECHOPAIR(" M201 X", max_acceleration_units_per_sq_second[X_AXIS] ); SERIAL_ECHOPAIR(" M201 X", max_acceleration_units_per_sq_second[X_AXIS]);
SERIAL_ECHOPAIR(" Y", max_acceleration_units_per_sq_second[Y_AXIS] ); SERIAL_ECHOPAIR(" Y", max_acceleration_units_per_sq_second[Y_AXIS]);
SERIAL_ECHOPAIR(" Z", max_acceleration_units_per_sq_second[Z_AXIS] ); SERIAL_ECHOPAIR(" Z", max_acceleration_units_per_sq_second[Z_AXIS]);
SERIAL_ECHOPAIR(" E", max_acceleration_units_per_sq_second[E_AXIS]); SERIAL_ECHOPAIR(" E", max_acceleration_units_per_sq_second[E_AXIS]);
SERIAL_EOL; SERIAL_EOL;
SERIAL_ECHO_START; CONFIG_ECHO_START;
if (!forReplay) { if (!forReplay) {
SERIAL_ECHOLNPGM("Accelerations: P=printing, R=retract and T=travel"); SERIAL_ECHOLNPGM("Accelerations: P=printing, R=retract and T=travel");
SERIAL_ECHO_START; CONFIG_ECHO_START;
} }
SERIAL_ECHOPAIR(" M204 P", acceleration ); SERIAL_ECHOPAIR(" M204 P", acceleration);
SERIAL_ECHOPAIR(" R", retract_acceleration); SERIAL_ECHOPAIR(" R", retract_acceleration);
SERIAL_ECHOPAIR(" T", travel_acceleration); SERIAL_ECHOPAIR(" T", travel_acceleration);
SERIAL_EOL; SERIAL_EOL;
SERIAL_ECHO_START; CONFIG_ECHO_START;
if (!forReplay) { if (!forReplay) {
SERIAL_ECHOLNPGM("Advanced variables: S=Min feedrate (mm/s), T=Min travel feedrate (mm/s), B=minimum segment time (ms), X=maximum XY jerk (mm/s), Z=maximum Z jerk (mm/s), E=maximum E jerk (mm/s)"); SERIAL_ECHOLNPGM("Advanced variables: S=Min feedrate (mm/s), T=Min travel feedrate (mm/s), B=minimum segment time (ms), X=maximum XY jerk (mm/s), Z=maximum Z jerk (mm/s), E=maximum E jerk (mm/s)");
SERIAL_ECHO_START; CONFIG_ECHO_START;
} }
SERIAL_ECHOPAIR(" M205 S", minimumfeedrate ); SERIAL_ECHOPAIR(" M205 S", minimumfeedrate);
SERIAL_ECHOPAIR(" T", mintravelfeedrate ); SERIAL_ECHOPAIR(" T", mintravelfeedrate);
SERIAL_ECHOPAIR(" B", minsegmenttime ); SERIAL_ECHOPAIR(" B", minsegmenttime);
SERIAL_ECHOPAIR(" X", max_xy_jerk ); SERIAL_ECHOPAIR(" X", max_xy_jerk);
SERIAL_ECHOPAIR(" Z", max_z_jerk); SERIAL_ECHOPAIR(" Z", max_z_jerk);
SERIAL_ECHOPAIR(" E", max_e_jerk); SERIAL_ECHOPAIR(" E", max_e_jerk);
SERIAL_EOL; SERIAL_EOL;
SERIAL_ECHO_START; CONFIG_ECHO_START;
if (!forReplay) { if (!forReplay) {
SERIAL_ECHOLNPGM("Home offset (mm):"); SERIAL_ECHOLNPGM("Home offset (mm):");
SERIAL_ECHO_START; CONFIG_ECHO_START;
} }
SERIAL_ECHOPAIR(" M206 X", home_offset[X_AXIS] ); SERIAL_ECHOPAIR(" M206 X", home_offset[X_AXIS]);
SERIAL_ECHOPAIR(" Y", home_offset[Y_AXIS] ); SERIAL_ECHOPAIR(" Y", home_offset[Y_AXIS]);
SERIAL_ECHOPAIR(" Z", home_offset[Z_AXIS] ); SERIAL_ECHOPAIR(" Z", home_offset[Z_AXIS]);
SERIAL_EOL; SERIAL_EOL;
#ifdef MESH_BED_LEVELING
if (!forReplay) {
SERIAL_ECHOLNPGM("Mesh bed leveling:");
CONFIG_ECHO_START;
}
SERIAL_ECHOPAIR(" M420 S", (int32_t)mbl.active);
SERIAL_ECHOPAIR(" X", MESH_NUM_X_POINTS);
SERIAL_ECHOPAIR(" Y", MESH_NUM_Y_POINTS);
SERIAL_EOL;
for (int y=0; y<MESH_NUM_Y_POINTS; y++) {
for (int x=0; x<MESH_NUM_X_POINTS; x++) {
CONFIG_ECHO_START;
SERIAL_ECHOPAIR(" M421 X", x);
SERIAL_ECHOPAIR(" Y", y);
SERIAL_ECHOPAIR(" Z", mbl.z_values[y][x]);
SERIAL_EOL;
}
}
#endif
#ifdef DELTA #ifdef DELTA
SERIAL_ECHO_START; CONFIG_ECHO_START;
if (!forReplay) { if (!forReplay) {
SERIAL_ECHOLNPGM("Endstop adjustment (mm):"); SERIAL_ECHOLNPGM("Endstop adjustment (mm):");
SERIAL_ECHO_START; CONFIG_ECHO_START;
} }
SERIAL_ECHOPAIR(" M666 X", endstop_adj[X_AXIS] ); SERIAL_ECHOPAIR(" M666 X", endstop_adj[X_AXIS]);
SERIAL_ECHOPAIR(" Y", endstop_adj[Y_AXIS] ); SERIAL_ECHOPAIR(" Y", endstop_adj[Y_AXIS]);
SERIAL_ECHOPAIR(" Z", endstop_adj[Z_AXIS] ); SERIAL_ECHOPAIR(" Z", endstop_adj[Z_AXIS]);
SERIAL_EOL; SERIAL_EOL;
SERIAL_ECHO_START; CONFIG_ECHO_START;
SERIAL_ECHOLNPGM("Delta settings: L=delta_diagonal_rod, R=delta_radius, S=delta_segments_per_second"); SERIAL_ECHOLNPGM("Delta settings: L=delta_diagonal_rod, R=delta_radius, S=delta_segments_per_second");
SERIAL_ECHO_START; CONFIG_ECHO_START;
SERIAL_ECHOPAIR(" M665 L", delta_diagonal_rod ); SERIAL_ECHOPAIR(" M665 L", delta_diagonal_rod);
SERIAL_ECHOPAIR(" R", delta_radius ); SERIAL_ECHOPAIR(" R", delta_radius);
SERIAL_ECHOPAIR(" S", delta_segments_per_second ); SERIAL_ECHOPAIR(" S", delta_segments_per_second);
SERIAL_EOL; SERIAL_EOL;
#elif defined(Z_DUAL_ENDSTOPS) #elif defined(Z_DUAL_ENDSTOPS)
SERIAL_ECHO_START; CONFIG_ECHO_START;
if (!forReplay) { if (!forReplay) {
SERIAL_ECHOLNPGM("Z2 Endstop adjustment (mm):"); SERIAL_ECHOLNPGM("Z2 Endstop adjustment (mm):");
SERIAL_ECHO_START; CONFIG_ECHO_START;
} }
SERIAL_ECHOPAIR(" M666 Z", z_endstop_adj ); SERIAL_ECHOPAIR(" M666 Z", z_endstop_adj);
SERIAL_EOL; SERIAL_EOL;
#endif // DELTA #endif // DELTA
#ifdef ULTIPANEL
CONFIG_ECHO_START;
if (!forReplay) {
SERIAL_ECHOLNPGM("Material heatup parameters:");
CONFIG_ECHO_START;
}
SERIAL_ECHOPAIR(" M145 M0 H", (unsigned long)plaPreheatHotendTemp);
SERIAL_ECHOPAIR(" B", (unsigned long)plaPreheatHPBTemp);
SERIAL_ECHOPAIR(" F", (unsigned long)plaPreheatFanSpeed);
SERIAL_EOL;
CONFIG_ECHO_START;
SERIAL_ECHOPAIR(" M145 M1 H", (unsigned long)absPreheatHotendTemp);
SERIAL_ECHOPAIR(" B", (unsigned long)absPreheatHPBTemp);
SERIAL_ECHOPAIR(" F", (unsigned long)absPreheatFanSpeed);
SERIAL_EOL;
#endif // ULTIPANEL
#if defined(PIDTEMP) || defined(PIDTEMPBED) #if defined(PIDTEMP) || defined(PIDTEMPBED)
SERIAL_ECHO_START;
CONFIG_ECHO_START;
if (!forReplay) { if (!forReplay) {
SERIAL_ECHOLNPGM("PID settings:"); SERIAL_ECHOLNPGM("PID settings:");
SERIAL_ECHO_START;
} }
#if defined(PIDTEMP) && defined(PIDTEMPBED)
SERIAL_EOL;
#endif
#ifdef PIDTEMP #ifdef PIDTEMP
SERIAL_ECHOPAIR(" M301 P", PID_PARAM(Kp, 0)); // for compatibility with hosts, only echos values for E0 #if EXTRUDERS > 1
SERIAL_ECHOPAIR(" I", unscalePID_i(PID_PARAM(Ki, 0))); if (forReplay) {
SERIAL_ECHOPAIR(" D", unscalePID_d(PID_PARAM(Kd, 0))); for (uint8_t i = 0; i < EXTRUDERS; i++) {
SERIAL_EOL; CONFIG_ECHO_START;
#endif SERIAL_ECHOPAIR(" M301 E", (unsigned long)i);
SERIAL_ECHOPAIR(" P", PID_PARAM(Kp, i));
SERIAL_ECHOPAIR(" I", unscalePID_i(PID_PARAM(Ki, i)));
SERIAL_ECHOPAIR(" D", unscalePID_d(PID_PARAM(Kd, i)));
#ifdef PID_ADD_EXTRUSION_RATE
SERIAL_ECHOPAIR(" C", PID_PARAM(Kc, i));
#endif
SERIAL_EOL;
}
}
else
#endif // EXTRUDERS > 1
// !forReplay || EXTRUDERS == 1
{
CONFIG_ECHO_START;
SERIAL_ECHOPAIR(" M301 P", PID_PARAM(Kp, 0)); // for compatibility with hosts, only echo values for E0
SERIAL_ECHOPAIR(" I", unscalePID_i(PID_PARAM(Ki, 0)));
SERIAL_ECHOPAIR(" D", unscalePID_d(PID_PARAM(Kd, 0)));
#ifdef PID_ADD_EXTRUSION_RATE
SERIAL_ECHOPAIR(" C", PID_PARAM(Kc, 0));
#endif
SERIAL_EOL;
}
#endif // PIDTEMP
#ifdef PIDTEMPBED #ifdef PIDTEMPBED
SERIAL_ECHOPAIR(" M304 P", bedKp); // for compatibility with hosts, only echos values for E0 CONFIG_ECHO_START;
SERIAL_ECHOPAIR(" M304 P", bedKp);
SERIAL_ECHOPAIR(" I", unscalePID_i(bedKi)); SERIAL_ECHOPAIR(" I", unscalePID_i(bedKi));
SERIAL_ECHOPAIR(" D", unscalePID_d(bedKd)); SERIAL_ECHOPAIR(" D", unscalePID_d(bedKd));
SERIAL_EOL; SERIAL_EOL;
#endif #endif
#endif // PIDTEMP || PIDTEMPBED
#ifdef HAS_LCD_CONTRAST
CONFIG_ECHO_START;
if (!forReplay) {
SERIAL_ECHOLNPGM("LCD Contrast:");
CONFIG_ECHO_START;
}
SERIAL_ECHOPAIR(" M250 C", (unsigned long)lcd_contrast);
SERIAL_EOL;
#endif #endif
#ifdef FWRETRACT #ifdef FWRETRACT
SERIAL_ECHO_START; CONFIG_ECHO_START;
if (!forReplay) { if (!forReplay) {
SERIAL_ECHOLNPGM("Retract: S=Length (mm) F:Speed (mm/m) Z: ZLift (mm)"); SERIAL_ECHOLNPGM("Retract: S=Length (mm) F:Speed (mm/m) Z: ZLift (mm)");
SERIAL_ECHO_START; CONFIG_ECHO_START;
} }
SERIAL_ECHOPAIR(" M207 S", retract_length); SERIAL_ECHOPAIR(" M207 S", retract_length);
#if EXTRUDERS > 1
SERIAL_ECHOPAIR(" W", retract_length_swap);
#endif
SERIAL_ECHOPAIR(" F", retract_feedrate*60); SERIAL_ECHOPAIR(" F", retract_feedrate*60);
SERIAL_ECHOPAIR(" Z", retract_zlift); SERIAL_ECHOPAIR(" Z", retract_zlift);
SERIAL_EOL; SERIAL_EOL;
SERIAL_ECHO_START; CONFIG_ECHO_START;
if (!forReplay) { if (!forReplay) {
SERIAL_ECHOLNPGM("Recover: S=Extra length (mm) F:Speed (mm/m)"); SERIAL_ECHOLNPGM("Recover: S=Extra length (mm) F:Speed (mm/m)");
SERIAL_ECHO_START; CONFIG_ECHO_START;
} }
SERIAL_ECHOPAIR(" M208 S", retract_recover_length); SERIAL_ECHOPAIR(" M208 S", retract_recover_length);
#if EXTRUDERS > 1
SERIAL_ECHOPAIR(" W", retract_recover_length_swap);
#endif
SERIAL_ECHOPAIR(" F", retract_recover_feedrate*60); SERIAL_ECHOPAIR(" F", retract_recover_feedrate*60);
SERIAL_EOL; SERIAL_EOL;
SERIAL_ECHO_START; CONFIG_ECHO_START;
if (!forReplay) { if (!forReplay) {
SERIAL_ECHOLNPGM("Auto-Retract: S=0 to disable, 1 to interpret extrude-only moves as retracts or recoveries"); SERIAL_ECHOLNPGM("Auto-Retract: S=0 to disable, 1 to interpret extrude-only moves as retracts or recoveries");
SERIAL_ECHO_START; CONFIG_ECHO_START;
} }
SERIAL_ECHOPAIR(" M209 S", (unsigned long)(autoretract_enabled ? 1 : 0)); SERIAL_ECHOPAIR(" M209 S", (unsigned long)(autoretract_enabled ? 1 : 0));
SERIAL_EOL; SERIAL_EOL;
#if EXTRUDERS > 1
if (!forReplay) {
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM("Multi-extruder settings:");
SERIAL_ECHO_START;
SERIAL_ECHOPAIR(" Swap retract length (mm): ", retract_length_swap);
SERIAL_EOL;
SERIAL_ECHO_START;
SERIAL_ECHOPAIR(" Swap rec. addl. length (mm): ", retract_recover_length_swap);
SERIAL_EOL;
}
#endif // EXTRUDERS > 1
#endif // FWRETRACT #endif // FWRETRACT
SERIAL_ECHO_START;
if (volumetric_enabled) { if (volumetric_enabled) {
if (!forReplay) { if (!forReplay) {
CONFIG_ECHO_START;
SERIAL_ECHOLNPGM("Filament settings:"); SERIAL_ECHOLNPGM("Filament settings:");
SERIAL_ECHO_START;
} }
CONFIG_ECHO_START;
SERIAL_ECHOPAIR(" M200 D", filament_size[0]); SERIAL_ECHOPAIR(" M200 D", filament_size[0]);
SERIAL_EOL; SERIAL_EOL;
#if EXTRUDERS > 1 #if EXTRUDERS > 1
SERIAL_ECHO_START; CONFIG_ECHO_START;
SERIAL_ECHOPAIR(" M200 T1 D", filament_size[1]); SERIAL_ECHOPAIR(" M200 T1 D", filament_size[1]);
SERIAL_EOL; SERIAL_EOL;
#if EXTRUDERS > 2 #if EXTRUDERS > 2
SERIAL_ECHO_START; CONFIG_ECHO_START;
SERIAL_ECHOPAIR(" M200 T2 D", filament_size[2]); SERIAL_ECHOPAIR(" M200 T2 D", filament_size[2]);
SERIAL_EOL; SERIAL_EOL;
#if EXTRUDERS > 3 #if EXTRUDERS > 3
SERIAL_ECHO_START; CONFIG_ECHO_START;
SERIAL_ECHOPAIR(" M200 T3 D", filament_size[3]); SERIAL_ECHOPAIR(" M200 T3 D", filament_size[3]);
SERIAL_EOL; SERIAL_EOL;
#endif #endif
@ -785,21 +865,23 @@ void Config_PrintSettings(bool forReplay) {
} else { } else {
if (!forReplay) { if (!forReplay) {
CONFIG_ECHO_START;
SERIAL_ECHOLNPGM("Filament settings: Disabled"); SERIAL_ECHOLNPGM("Filament settings: Disabled");
} }
} }
#ifdef ENABLE_AUTO_BED_LEVELING #ifdef ENABLE_AUTO_BED_LEVELING
SERIAL_ECHO_START;
#ifdef CUSTOM_M_CODES #ifdef CUSTOM_M_CODES
if (!forReplay) { if (!forReplay) {
CONFIG_ECHO_START;
SERIAL_ECHOLNPGM("Z-Probe Offset (mm):"); SERIAL_ECHOLNPGM("Z-Probe Offset (mm):");
SERIAL_ECHO_START;
} }
CONFIG_ECHO_START;
SERIAL_ECHOPAIR(" M", (unsigned long)CUSTOM_M_CODE_SET_Z_PROBE_OFFSET); SERIAL_ECHOPAIR(" M", (unsigned long)CUSTOM_M_CODE_SET_Z_PROBE_OFFSET);
SERIAL_ECHOPAIR(" Z", -zprobe_zoffset); SERIAL_ECHOPAIR(" Z", -zprobe_zoffset);
#else #else
if (!forReplay) { if (!forReplay) {
CONFIG_ECHO_START;
SERIAL_ECHOPAIR("Z-Probe Offset (mm):", -zprobe_zoffset); SERIAL_ECHOPAIR("Z-Probe Offset (mm):", -zprobe_zoffset);
} }
#endif #endif

2
Marlin/configurator/config/Configuration_adv.h
View file

@ -355,7 +355,7 @@ const unsigned int dropsegments=5; //everything with less than this number of st
//#define HEATERS_PARALLEL //#define HEATERS_PARALLEL
//=========================================================================== //===========================================================================
//=============================Buffers ============================ //================================= Buffers =================================
//=========================================================================== //===========================================================================
// @section hidden // @section hidden

5
Marlin/configurator/config/language.h
View file

@ -70,7 +70,7 @@
#endif #endif
#else #else
#ifndef MACHINE_NAME #ifndef MACHINE_NAME
#define MACHINE_NAME "Mendel" #define MACHINE_NAME "3D Printer"
#endif #endif
#endif #endif
@ -158,6 +158,9 @@
#define MSG_Z_MAX "z_max: " #define MSG_Z_MAX "z_max: "
#define MSG_Z2_MAX "z2_max: " #define MSG_Z2_MAX "z2_max: "
#define MSG_Z_PROBE "z_probe: " #define MSG_Z_PROBE "z_probe: "
#define MSG_ERR_MATERIAL_INDEX "M145 S<index> out of range (0-1)"
#define MSG_ERR_XYZ_REQUIRED_FOR_M421 "M421 requires XYZ parameters"
#define MSG_ERR_MESH_INDEX_OOB "Mesh XY index is out of bounds"
#define MSG_M119_REPORT "Reporting endstop status" #define MSG_M119_REPORT "Reporting endstop status"
#define MSG_ENDSTOP_HIT "TRIGGERED" #define MSG_ENDSTOP_HIT "TRIGGERED"
#define MSG_ENDSTOP_OPEN "open" #define MSG_ENDSTOP_OPEN "open"

2
Marlin/example_configurations/Felix/Configuration_adv.h
View file

@ -355,7 +355,7 @@ const unsigned int dropsegments=5; //everything with less than this number of st
//#define HEATERS_PARALLEL //#define HEATERS_PARALLEL
//=========================================================================== //===========================================================================
//=============================Buffers ============================ //================================= Buffers =================================
//=========================================================================== //===========================================================================
// @section hidden // @section hidden

2
Marlin/example_configurations/Hephestos/Configuration_adv.h
View file

@ -355,7 +355,7 @@ const unsigned int dropsegments=5; //everything with less than this number of st
//#define HEATERS_PARALLEL //#define HEATERS_PARALLEL
//=========================================================================== //===========================================================================
//=============================Buffers ============================ //================================= Buffers =================================
//=========================================================================== //===========================================================================
// @section hidden // @section hidden

2
Marlin/example_configurations/K8200/Configuration_adv.h
View file

@ -355,7 +355,7 @@ const unsigned int dropsegments=5; //everything with less than this number of st
//#define HEATERS_PARALLEL //#define HEATERS_PARALLEL
//=========================================================================== //===========================================================================
//=============================Buffers ============================ //================================= Buffers =================================
//=========================================================================== //===========================================================================
// @section hidden // @section hidden

2
Marlin/example_configurations/SCARA/Configuration_adv.h
View file

@ -355,7 +355,7 @@ const unsigned int dropsegments=5; //everything with less than this number of st
//#define HEATERS_PARALLEL //#define HEATERS_PARALLEL
//=========================================================================== //===========================================================================
//=============================Buffers ============================ //================================= Buffers =================================
//=========================================================================== //===========================================================================
// @section hidden // @section hidden

2
Marlin/example_configurations/WITBOX/Configuration_adv.h
View file

@ -355,7 +355,7 @@ const unsigned int dropsegments=5; //everything with less than this number of st
//#define HEATERS_PARALLEL //#define HEATERS_PARALLEL
//=========================================================================== //===========================================================================
//=============================Buffers ============================ //================================= Buffers =================================
//=========================================================================== //===========================================================================
// @section hidden // @section hidden

2
Marlin/example_configurations/delta/generic/Configuration_adv.h
View file

@ -356,7 +356,7 @@ const unsigned int dropsegments=5; //everything with less than this number of st
//#define HEATERS_PARALLEL //#define HEATERS_PARALLEL
//=========================================================================== //===========================================================================
//=============================Buffers ============================ //================================= Buffers =================================
//=========================================================================== //===========================================================================
// @section hidden // @section hidden

2
Marlin/example_configurations/delta/kossel_mini/Configuration_adv.h
View file

@ -355,7 +355,7 @@ const unsigned int dropsegments=5; //everything with less than this number of st
//#define HEATERS_PARALLEL //#define HEATERS_PARALLEL
//=========================================================================== //===========================================================================
//=============================Buffers ============================ //================================= Buffers =================================
//=========================================================================== //===========================================================================
// @section hidden // @section hidden

2
Marlin/example_configurations/makibox/Configuration_adv.h
View file

@ -355,7 +355,7 @@ const unsigned int dropsegments=5; //everything with less than this number of st
//#define HEATERS_PARALLEL //#define HEATERS_PARALLEL
//=========================================================================== //===========================================================================
//=============================Buffers ============================ //================================= Buffers =================================
//=========================================================================== //===========================================================================
// @section hidden // @section hidden

2
Marlin/example_configurations/tvrrug/Round2/Configuration_adv.h
View file

@ -355,7 +355,7 @@ const unsigned int dropsegments=5; //everything with less than this number of st
//#define HEATERS_PARALLEL //#define HEATERS_PARALLEL
//=========================================================================== //===========================================================================
//=============================Buffers ============================ //================================= Buffers =================================
//=========================================================================== //===========================================================================
// @section hidden // @section hidden

3
Marlin/language.h
View file

@ -158,6 +158,9 @@
#define MSG_Z_MAX "z_max: " #define MSG_Z_MAX "z_max: "
#define MSG_Z2_MAX "z2_max: " #define MSG_Z2_MAX "z2_max: "
#define MSG_Z_PROBE "z_probe: " #define MSG_Z_PROBE "z_probe: "
#define MSG_ERR_MATERIAL_INDEX "M145 S<index> out of range (0-1)"
#define MSG_ERR_XYZ_REQUIRED_FOR_M421 "M421 requires XYZ parameters"
#define MSG_ERR_MESH_INDEX_OOB "Mesh XY index is out of bounds"
#define MSG_M119_REPORT "Reporting endstop status" #define MSG_M119_REPORT "Reporting endstop status"
#define MSG_ENDSTOP_HIT "TRIGGERED" #define MSG_ENDSTOP_HIT "TRIGGERED"
#define MSG_ENDSTOP_OPEN "open" #define MSG_ENDSTOP_OPEN "open"

139
Marlin/planner.cpp
View file

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

14
Marlin/planner.h
View file

@ -115,15 +115,19 @@ FORCE_INLINE uint8_t movesplanned() { return BLOCK_MOD(block_buffer_head - block
void plan_set_e_position(const float &e); void plan_set_e_position(const float &e);
//===========================================================================
//============================= public variables ============================
//===========================================================================
extern millis_t minsegmenttime; extern millis_t minsegmenttime;
extern float max_feedrate[NUM_AXIS]; // set the max speeds extern float max_feedrate[NUM_AXIS]; // Max speeds in mm per minute
extern float axis_steps_per_unit[NUM_AXIS]; extern float axis_steps_per_unit[NUM_AXIS];
extern unsigned long max_acceleration_units_per_sq_second[NUM_AXIS]; // Use M201 to override by software extern unsigned long max_acceleration_units_per_sq_second[NUM_AXIS]; // Use M201 to override by software
extern float minimumfeedrate; extern float minimumfeedrate;
extern float acceleration; // Normal acceleration mm/s^2 THIS IS THE DEFAULT ACCELERATION for all moves. M204 SXXXX extern float acceleration; // Normal acceleration mm/s^2 DEFAULT ACCELERATION for all printing moves. M204 SXXXX
extern float retract_acceleration; // mm/s^2 filament pull-pack and push-forward while standing still in the other axis M204 TXXXX extern float retract_acceleration; // Retract acceleration mm/s^2 filament pull-back and push-forward while standing still in the other axes M204 TXXXX
extern float travel_acceleration; // Travel acceleration mm/s^2 THIS IS THE DEFAULT ACCELERATION for all NON printing moves. M204 MXXXX extern float travel_acceleration; // Travel acceleration mm/s^2 DEFAULT ACCELERATION for all NON printing moves. M204 MXXXX
extern float max_xy_jerk; //speed than can be stopped at once, if i understand correctly. extern float max_xy_jerk; // The largest speed change requiring no acceleration
extern float max_z_jerk; extern float max_z_jerk;
extern float max_e_jerk; extern float max_e_jerk;
extern float mintravelfeedrate; extern float mintravelfeedrate;

5
Marlin/temperature.cpp
View file

@ -89,8 +89,9 @@ unsigned char soft_pwm_bed;
#endif #endif
//=========================================================================== //===========================================================================
//=============================private variables============================ //============================ private variables ============================
//=========================================================================== //===========================================================================
static volatile bool temp_meas_ready = false; static volatile bool temp_meas_ready = false;
#ifdef PIDTEMP #ifdef PIDTEMP
@ -187,7 +188,7 @@ static void updateTemperaturesFromRawValues();
#endif #endif
//=========================================================================== //===========================================================================
//============================= functions ============================ //================================ functions ================================
//=========================================================================== //===========================================================================
void PID_autotune(float temp, int extruder, int ncycles) void PID_autotune(float temp, int extruder, int ncycles)

8
Marlin/ultralcd.cpp
View file

@ -868,10 +868,10 @@ static void lcd_control_temperature_preheat_pla_settings_menu() {
MENU_ITEM(back, MSG_TEMPERATURE, lcd_control_temperature_menu); MENU_ITEM(back, MSG_TEMPERATURE, lcd_control_temperature_menu);
MENU_ITEM_EDIT(int3, MSG_FAN_SPEED, &plaPreheatFanSpeed, 0, 255); MENU_ITEM_EDIT(int3, MSG_FAN_SPEED, &plaPreheatFanSpeed, 0, 255);
#if TEMP_SENSOR_0 != 0 #if TEMP_SENSOR_0 != 0
MENU_ITEM_EDIT(int3, MSG_NOZZLE, &plaPreheatHotendTemp, 0, HEATER_0_MAXTEMP - 15); MENU_ITEM_EDIT(int3, MSG_NOZZLE, &plaPreheatHotendTemp, HEATER_0_MINTEMP, HEATER_0_MAXTEMP - 15);
#endif #endif
#if TEMP_SENSOR_BED != 0 #if TEMP_SENSOR_BED != 0
MENU_ITEM_EDIT(int3, MSG_BED, &plaPreheatHPBTemp, 0, BED_MAXTEMP - 15); MENU_ITEM_EDIT(int3, MSG_BED, &plaPreheatHPBTemp, BED_MINTEMP, BED_MAXTEMP - 15);
#endif #endif
#ifdef EEPROM_SETTINGS #ifdef EEPROM_SETTINGS
MENU_ITEM(function, MSG_STORE_EPROM, Config_StoreSettings); MENU_ITEM(function, MSG_STORE_EPROM, Config_StoreSettings);
@ -884,10 +884,10 @@ static void lcd_control_temperature_preheat_abs_settings_menu() {
MENU_ITEM(back, MSG_TEMPERATURE, lcd_control_temperature_menu); MENU_ITEM(back, MSG_TEMPERATURE, lcd_control_temperature_menu);
MENU_ITEM_EDIT(int3, MSG_FAN_SPEED, &absPreheatFanSpeed, 0, 255); MENU_ITEM_EDIT(int3, MSG_FAN_SPEED, &absPreheatFanSpeed, 0, 255);
#if TEMP_SENSOR_0 != 0 #if TEMP_SENSOR_0 != 0
MENU_ITEM_EDIT(int3, MSG_NOZZLE, &absPreheatHotendTemp, 0, HEATER_0_MAXTEMP - 15); MENU_ITEM_EDIT(int3, MSG_NOZZLE, &absPreheatHotendTemp, HEATER_0_MINTEMP, HEATER_0_MAXTEMP - 15);
#endif #endif
#if TEMP_SENSOR_BED != 0 #if TEMP_SENSOR_BED != 0
MENU_ITEM_EDIT(int3, MSG_BED, &absPreheatHPBTemp, 0, BED_MAXTEMP - 15); MENU_ITEM_EDIT(int3, MSG_BED, &absPreheatHPBTemp, BED_MINTEMP, BED_MAXTEMP - 15);
#endif #endif
#ifdef EEPROM_SETTINGS #ifdef EEPROM_SETTINGS
MENU_ITEM(function, MSG_STORE_EPROM, Config_StoreSettings); MENU_ITEM(function, MSG_STORE_EPROM, Config_StoreSettings);

6
Marlin/watchdog.cpp
View file

@ -7,11 +7,11 @@
#include "ultralcd.h" #include "ultralcd.h"
//=========================================================================== //===========================================================================
//=============================private variables ============================ //============================ private variables ============================
//=========================================================================== //===========================================================================
//=========================================================================== //===========================================================================
//=============================functinos ============================ //================================ functions ================================
//=========================================================================== //===========================================================================
@ -36,7 +36,7 @@ void watchdog_reset()
} }
//=========================================================================== //===========================================================================
//=============================ISR ============================ //=================================== ISR ===================================
//=========================================================================== //===========================================================================
//Watchdog timer interrupt, called if main program blocks >1sec and manual reset is enabled. //Watchdog timer interrupt, called if main program blocks >1sec and manual reset is enabled.