Added API call for overriding jerk settings, symbol for M201.3 gcode.

changelog.md

@@ -1,5 +1,23 @@
 ## grblHAL changelog
 
+<a name="20250129">Build 20250129
+
+Core:
+
+* Added API call for overriding jerk settings, symbol for `M201.3` gcode.
+
+Drivers:
+
+* ESP32, STM32F4xx and STM32F7xx: added workaround for FatFs corrupting allocated memory after a failed mount attempt.
+
+Plugins:
+
+* SD card: added workaround for FatFs corrupting allocated memory after a failed mount attempt. Ref. RP2040 issue [#112](https://github.com/grblHAL/RP2040/issues/112).
+
+* OpenPNP: added tentative support for setting jerk with `M201.3`. Not tested!
+
+---
+
 <a name="20250128">Build 20250128
 
 Core:

gcode.c

@@ -1279,7 +1279,7 @@ status_code_t gc_execute_block (char *block)
                     continue;
                 }
 
-                if(mantissa > 0)
+                if(int_value <= 99 && mantissa > 0)
                     FAIL(Status_GcodeCommandValueNotInteger); // [No Mxx.x commands]
 
                 user_mcode = UserMCode_Unsupported;
@@ -1398,8 +1398,8 @@ status_code_t gc_execute_block (char *block)
                         break;
 
                     default:
-                        if(grbl.user_mcode.check && (user_mcode = grbl.user_mcode.check((user_mcode_t)int_value))) {
-                            gc_block.user_mcode = (user_mcode_t)int_value;
+                        if(grbl.user_mcode.check && (user_mcode = grbl.user_mcode.check((user_mcode_t)(mantissa ? int_value * 100 + mantissa : int_value)))) {
+                            gc_block.user_mcode = (user_mcode_t)(mantissa ? int_value * 100 + mantissa : int_value);
                             word_bit.modal_group.M10 = On;
                         } else
                             FAIL(Status_GcodeUnsupportedCommand); // [Unsupported M command]

gcode.h

@@ -254,6 +254,7 @@ typedef enum {
     LaserPPI_Rate = 127,                //!< 127 - M127
     LaserPPI_PulseLength = 128,         //!< 128 - M128
     RGB_WriteLEDs = 150,                //!< 150 - M150, Marlin format
+    OpenPNP_SetJerk = 20130,            //!< 20130 - M201.3
     OpenPNP_SetAcceleration = 204,      //!< 204 - M204
     SetFeedOverrides = 220,             //!< 220 - M220, Marlin format
     PWMServo_SetPosition= 280,          //!< 280 - M280, Marlin format

grbl.h

@@ -42,7 +42,7 @@
 #else
 #define GRBL_VERSION "1.1f"
 #endif
-#define GRBL_BUILD 20250128
+#define GRBL_BUILD 20250129
 
 #define GRBL_URL "https://github.com/grblHAL"
 

settings.c

@@ -454,6 +454,9 @@ static char axis_steps[9] = "step/mm";
 static struct {
     bool valid;
     float acceleration[N_AXIS];
+#if ENABLE_JERK_ACCELERATION
+    float jerk[N_AXIS];
+#endif
 } override_backup = { .valid = false };
 
 static void save_override_backup (void)
@@ -463,6 +466,9 @@ static void save_override_backup (void)
     do {
         idx--;
         override_backup.acceleration[idx] = settings.axis[idx].acceleration;
+#if ENABLE_JERK_ACCELERATION
+        override_backup.jerk[idx] = settings.axis[idx].jerk;
+#endif
     } while(idx);
 
     override_backup.valid = true;
@@ -475,6 +481,9 @@ static void restore_override_backup (void)
     if(override_backup.valid) do {
         idx--;
         settings.axis[idx].acceleration = override_backup.acceleration[idx];
+#if ENABLE_JERK_ACCELERATION
+        settings.axis[idx].jerk = override_backup.jerk[idx];
+#endif
     } while(idx);
 }
 
@@ -499,6 +508,31 @@ bool settings_override_acceleration (uint8_t axis, float acceleration)
     return true;
 }
 
+#if ENABLE_JERK_ACCELERATION
+
+// Temporarily override jerk, if 0 restore to setting value.
+// Note: only allowed when current state is idle.
+bool settings_override_jerk (uint8_t axis, float jerk)
+{
+    sys_state_t state = state_get();
+
+    if(!(state == STATE_IDLE || (state & (STATE_HOMING|STATE_ALARM))))
+        return false;
+
+    if(jerk <= 0.0f) {
+        if(override_backup.valid)
+            settings.axis[axis].jerk = override_backup.jerk[axis];
+    } else {
+        if(!override_backup.valid)
+            save_override_backup();
+        settings.axis[axis].jerk = jerk * 60.0f * 60.0f * 60.0f; // Limit max to setting value?
+    }
+
+    return true;
+}
+
+#endif // ENABLE_JERK_ACCELERATION
+
 // ---
 
 static void homing_pulloff_init (float pulloff)
@@ -1205,7 +1239,7 @@ static status_code_t set_axis_setting (setting_id_t setting, float value)
 
 #if ENABLE_JERK_ACCELERATION      
         case Setting_AxisJerk:
-                settings.axis[idx].jerk = value * 60.0f * 60.0f * 60.0f; // Convert to mm/min^3 for internal use.
+            settings.axis[idx].jerk = override_backup.jerk[idx] = value * 60.0f * 60.0f * 60.0f; // Convert to mm/min^3 for internal use.
             break;
 #endif            
 

settings.h

@@ -1104,6 +1104,11 @@ bool settings_read_coord_data(coord_system_id_t id, float (*coord_data)[N_AXIS])
 // Temporarily override acceleration, if 0 restore to configured setting value
 bool settings_override_acceleration (uint8_t axis, float acceleration);
 
+#if ENABLE_JERK_ACCELERATION
+// Temporarily override jerk, if 0 restore to configured setting value.
+bool settings_override_jerk (uint8_t axis, float jerk);
+#endif
+
 void settings_register (setting_details_t *details);
 setting_details_t *settings_get_details (void);
 bool settings_is_group_available (setting_group_t group);