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Add Junction Deviation mm runtime setting (#10990)

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Scott Lahteine 2018-06-10 18:02:54 -05:00 committed by GitHub
parent 590ce1c33e
commit a2f521d34b
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6 changed files with 132 additions and 77 deletions
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11
Marlin/src/gcode/config/M200-M205.cpp
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@ -118,18 +118,22 @@ void GcodeSuite::M204() {
/** /**
* M205: Set Advanced Settings * M205: Set Advanced Settings
* *
* B = Min Segment Time (µs)
* S = Min Feed Rate (units/s) * S = Min Feed Rate (units/s)
* T = Min Travel Feed Rate (units/s) * T = Min Travel Feed Rate (units/s)
* B = Min Segment Time (µs)
* X = Max X Jerk (units/sec^2) * X = Max X Jerk (units/sec^2)
* Y = Max Y Jerk (units/sec^2) * Y = Max Y Jerk (units/sec^2)
* Z = Max Z Jerk (units/sec^2) * Z = Max Z Jerk (units/sec^2)
* E = Max E Jerk (units/sec^2) * E = Max E Jerk (units/sec^2)
* J = Junction Deviation (mm) (Requires JUNCTION_DEVIATION)
*/ */
void GcodeSuite::M205() { void GcodeSuite::M205() {
if (parser.seen('B')) planner.min_segment_time_us = parser.value_ulong();
if (parser.seen('S')) planner.min_feedrate_mm_s = parser.value_linear_units(); if (parser.seen('S')) planner.min_feedrate_mm_s = parser.value_linear_units();
if (parser.seen('T')) planner.min_travel_feedrate_mm_s = parser.value_linear_units(); if (parser.seen('T')) planner.min_travel_feedrate_mm_s = parser.value_linear_units();
if (parser.seen('B')) planner.min_segment_time_us = parser.value_ulong(); #if ENABLED(JUNCTION_DEVIATION)
if (parser.seen('J')) planner.junction_deviation_mm = parser.value_linear_units();
#else
if (parser.seen('X')) planner.max_jerk[X_AXIS] = parser.value_linear_units(); if (parser.seen('X')) planner.max_jerk[X_AXIS] = parser.value_linear_units();
if (parser.seen('Y')) planner.max_jerk[Y_AXIS] = parser.value_linear_units(); if (parser.seen('Y')) planner.max_jerk[Y_AXIS] = parser.value_linear_units();
if (parser.seen('Z')) { if (parser.seen('Z')) {
@ -139,5 +143,8 @@ void GcodeSuite::M205() {
SERIAL_ECHOLNPGM("WARNING! Low Z Jerk may lead to unwanted pauses."); SERIAL_ECHOLNPGM("WARNING! Low Z Jerk may lead to unwanted pauses.");
#endif #endif
} }
#endif
#if DISABLED(JUNCTION_DEVIATION) || ENABLED(LIN_ADVANCE)
if (parser.seen('E')) planner.max_jerk[E_AXIS] = parser.value_linear_units(); if (parser.seen('E')) planner.max_jerk[E_AXIS] = parser.value_linear_units();
#endif
} }

5
Marlin/src/lcd/language/language_en.h
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@ -537,6 +537,9 @@
#ifndef MSG_VE_JERK #ifndef MSG_VE_JERK
#define MSG_VE_JERK _UxGT("Ve-jerk") #define MSG_VE_JERK _UxGT("Ve-jerk")
#endif #endif
#ifndef MSG_JUNCTION_DEVIATION
#define MSG_JUNCTION_DEVIATION _UxGT("Junction Dev")
#endif
#ifndef MSG_VELOCITY #ifndef MSG_VELOCITY
#define MSG_VELOCITY _UxGT("Velocity") #define MSG_VELOCITY _UxGT("Velocity")
#endif #endif
@ -739,7 +742,7 @@
#define MSG_CNG_SDCARD _UxGT("Change SD card") #define MSG_CNG_SDCARD _UxGT("Change SD card")
#endif #endif
#ifndef MSG_ZPROBE_OUT #ifndef MSG_ZPROBE_OUT
#define MSG_ZPROBE_OUT _UxGT("Z probe out. bed") #define MSG_ZPROBE_OUT _UxGT("Z Probe past bed")
#endif #endif
#ifndef MSG_SKEW_FACTOR #ifndef MSG_SKEW_FACTOR
#define MSG_SKEW_FACTOR _UxGT("Skew Factor") #define MSG_SKEW_FACTOR _UxGT("Skew Factor")

4
Marlin/src/lcd/ultralcd.cpp
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@ -3753,6 +3753,9 @@ void lcd_quick_feedback(const bool clear_buttons) {
START_MENU(); START_MENU();
MENU_BACK(MSG_MOTION); MENU_BACK(MSG_MOTION);
#if ENABLED(JUNCTION_DEVIATION)
MENU_ITEM_EDIT(float3, MSG_JUNCTION_DEVIATION, &planner.junction_deviation_mm, 0, 5);
#else
MENU_ITEM_EDIT(float3, MSG_VA_JERK, &planner.max_jerk[A_AXIS], 1, 990); MENU_ITEM_EDIT(float3, MSG_VA_JERK, &planner.max_jerk[A_AXIS], 1, 990);
MENU_ITEM_EDIT(float3, MSG_VB_JERK, &planner.max_jerk[B_AXIS], 1, 990); MENU_ITEM_EDIT(float3, MSG_VB_JERK, &planner.max_jerk[B_AXIS], 1, 990);
#if ENABLED(DELTA) #if ENABLED(DELTA)
@ -3760,6 +3763,7 @@ void lcd_quick_feedback(const bool clear_buttons) {
#else #else
MENU_ITEM_EDIT(float52sign, MSG_VC_JERK, &planner.max_jerk[C_AXIS], 0.1, 990); MENU_ITEM_EDIT(float52sign, MSG_VC_JERK, &planner.max_jerk[C_AXIS], 0.1, 990);
#endif #endif
#endif
MENU_ITEM_EDIT(float3, MSG_VE_JERK, &planner.max_jerk[E_AXIS], 1, 990); MENU_ITEM_EDIT(float3, MSG_VE_JERK, &planner.max_jerk[E_AXIS], 1, 990);
END_MENU(); END_MENU();

89
Marlin/src/module/configuration_store.cpp
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@ -37,7 +37,7 @@
*/ */
// Change EEPROM version if the structure changes // Change EEPROM version if the structure changes
#define EEPROM_VERSION "V54" #define EEPROM_VERSION "V55"
#define EEPROM_OFFSET 100 #define EEPROM_OFFSET 100
// Check the integrity of data offsets. // Check the integrity of data offsets.
@ -112,16 +112,17 @@ typedef struct SettingsDataStruct {
// //
uint8_t esteppers; // XYZE_N - XYZ uint8_t esteppers; // XYZE_N - XYZ
uint32_t planner_max_acceleration_mm_per_s2[XYZE_N], // M201 XYZE planner.max_acceleration_mm_per_s2[XYZE_N]
planner_min_segment_time_us; // M205 B planner.min_segment_time_us
float planner_axis_steps_per_mm[XYZE_N], // M92 XYZE planner.axis_steps_per_mm[XYZE_N] float planner_axis_steps_per_mm[XYZE_N], // M92 XYZE planner.axis_steps_per_mm[XYZE_N]
planner_max_feedrate_mm_s[XYZE_N]; // M203 XYZE planner.max_feedrate_mm_s[XYZE_N] planner_max_feedrate_mm_s[XYZE_N], // M203 XYZE planner.max_feedrate_mm_s[XYZE_N]
uint32_t planner_max_acceleration_mm_per_s2[XYZE_N]; // M201 XYZE planner.max_acceleration_mm_per_s2[XYZE_N] planner_acceleration, // M204 P planner.acceleration
float planner_acceleration, // M204 P planner.acceleration
planner_retract_acceleration, // M204 R planner.retract_acceleration planner_retract_acceleration, // M204 R planner.retract_acceleration
planner_travel_acceleration, // M204 T planner.travel_acceleration planner_travel_acceleration, // M204 T planner.travel_acceleration
planner_min_feedrate_mm_s, // M205 S planner.min_feedrate_mm_s planner_min_feedrate_mm_s, // M205 S planner.min_feedrate_mm_s
planner_min_travel_feedrate_mm_s; // M205 T planner.min_travel_feedrate_mm_s planner_min_travel_feedrate_mm_s, // M205 T planner.min_travel_feedrate_mm_s
uint32_t planner_min_segment_time_us; // M205 B planner.min_segment_time_us planner_max_jerk[XYZE], // M205 XYZE planner.max_jerk[XYZE]
float planner_max_jerk[XYZE]; // M205 XYZE planner.max_jerk[XYZE] planner_junction_deviation_mm; // M205 J planner.junction_deviation_mm
float home_offset[XYZ]; // M206 XYZ float home_offset[XYZ]; // M206 XYZ
@ -401,18 +402,24 @@ void MarlinSettings::postprocess() {
const uint8_t esteppers = COUNT(planner.axis_steps_per_mm) - XYZ; const uint8_t esteppers = COUNT(planner.axis_steps_per_mm) - XYZ;
EEPROM_WRITE(esteppers); EEPROM_WRITE(esteppers);
EEPROM_WRITE(planner.max_acceleration_mm_per_s2);
EEPROM_WRITE(planner.min_segment_time_us);
EEPROM_WRITE(planner.axis_steps_per_mm); EEPROM_WRITE(planner.axis_steps_per_mm);
EEPROM_WRITE(planner.max_feedrate_mm_s); EEPROM_WRITE(planner.max_feedrate_mm_s);
EEPROM_WRITE(planner.max_acceleration_mm_per_s2);
EEPROM_WRITE(planner.acceleration); EEPROM_WRITE(planner.acceleration);
EEPROM_WRITE(planner.retract_acceleration); EEPROM_WRITE(planner.retract_acceleration);
EEPROM_WRITE(planner.travel_acceleration); EEPROM_WRITE(planner.travel_acceleration);
EEPROM_WRITE(planner.min_feedrate_mm_s); EEPROM_WRITE(planner.min_feedrate_mm_s);
EEPROM_WRITE(planner.min_travel_feedrate_mm_s); EEPROM_WRITE(planner.min_travel_feedrate_mm_s);
EEPROM_WRITE(planner.min_segment_time_us);
EEPROM_WRITE(planner.max_jerk); EEPROM_WRITE(planner.max_jerk);
#if ENABLED(JUNCTION_DEVIATION)
EEPROM_WRITE(planner.junction_deviation_mm);
#else
dummy = 0.02;
EEPROM_WRITE(dummy);
#endif
_FIELD_TEST(home_offset); _FIELD_TEST(home_offset);
#if !HAS_HOME_OFFSET #if !HAS_HOME_OFFSET
@ -980,17 +987,20 @@ void MarlinSettings::postprocess() {
// Get only the number of E stepper parameters previously stored // Get only the number of E stepper parameters previously stored
// Any steppers added later are set to their defaults // Any steppers added later are set to their defaults
const float def1[] = DEFAULT_AXIS_STEPS_PER_UNIT, def2[] = DEFAULT_MAX_FEEDRATE; const uint32_t def1[] = DEFAULT_MAX_ACCELERATION;
const uint32_t def3[] = DEFAULT_MAX_ACCELERATION; const float def2[] = DEFAULT_AXIS_STEPS_PER_UNIT, def3[] = DEFAULT_MAX_FEEDRATE;
float tmp1[XYZ + esteppers], tmp2[XYZ + esteppers];
uint32_t tmp3[XYZ + esteppers]; uint32_t tmp1[XYZ + esteppers];
EEPROM_READ(tmp1); EEPROM_READ(tmp1); // max_acceleration_mm_per_s2
EEPROM_READ(tmp2); EEPROM_READ(planner.min_segment_time_us);
EEPROM_READ(tmp3);
float tmp2[XYZ + esteppers], tmp3[XYZ + esteppers];
EEPROM_READ(tmp2); // axis_steps_per_mm
EEPROM_READ(tmp3); // max_feedrate_mm_s
if (!validating) LOOP_XYZE_N(i) { if (!validating) LOOP_XYZE_N(i) {
planner.axis_steps_per_mm[i] = i < XYZ + esteppers ? tmp1[i] : def1[i < COUNT(def1) ? i : COUNT(def1) - 1]; planner.max_acceleration_mm_per_s2[i] = i < XYZ + esteppers ? tmp1[i] : def1[i < COUNT(def1) ? i : COUNT(def1) - 1];
planner.max_feedrate_mm_s[i] = i < XYZ + esteppers ? tmp2[i] : def2[i < COUNT(def2) ? i : COUNT(def2) - 1]; planner.axis_steps_per_mm[i] = i < XYZ + esteppers ? tmp2[i] : def2[i < COUNT(def2) ? i : COUNT(def2) - 1];
planner.max_acceleration_mm_per_s2[i] = i < XYZ + esteppers ? tmp3[i] : def3[i < COUNT(def3) ? i : COUNT(def3) - 1]; planner.max_feedrate_mm_s[i] = i < XYZ + esteppers ? tmp3[i] : def3[i < COUNT(def3) ? i : COUNT(def3) - 1];
} }
EEPROM_READ(planner.acceleration); EEPROM_READ(planner.acceleration);
@ -998,9 +1008,14 @@ void MarlinSettings::postprocess() {
EEPROM_READ(planner.travel_acceleration); EEPROM_READ(planner.travel_acceleration);
EEPROM_READ(planner.min_feedrate_mm_s); EEPROM_READ(planner.min_feedrate_mm_s);
EEPROM_READ(planner.min_travel_feedrate_mm_s); EEPROM_READ(planner.min_travel_feedrate_mm_s);
EEPROM_READ(planner.min_segment_time_us);
EEPROM_READ(planner.max_jerk); EEPROM_READ(planner.max_jerk);
#if ENABLED(JUNCTION_DEVIATION)
EEPROM_READ(planner.junction_deviation_mm);
#else
EEPROM_READ(dummy);
#endif
// //
// Home Offset (M206) // Home Offset (M206)
// //
@ -1703,17 +1718,21 @@ void MarlinSettings::reset(PORTARG_SOLO) {
planner.max_acceleration_mm_per_s2[i] = pgm_read_dword_near(&tmp3[i < COUNT(tmp3) ? i : COUNT(tmp3) - 1]); planner.max_acceleration_mm_per_s2[i] = pgm_read_dword_near(&tmp3[i < COUNT(tmp3) ? i : COUNT(tmp3) - 1]);
} }
planner.min_segment_time_us = DEFAULT_MINSEGMENTTIME;
planner.acceleration = DEFAULT_ACCELERATION; planner.acceleration = DEFAULT_ACCELERATION;
planner.retract_acceleration = DEFAULT_RETRACT_ACCELERATION; planner.retract_acceleration = DEFAULT_RETRACT_ACCELERATION;
planner.travel_acceleration = DEFAULT_TRAVEL_ACCELERATION; planner.travel_acceleration = DEFAULT_TRAVEL_ACCELERATION;
planner.min_feedrate_mm_s = DEFAULT_MINIMUMFEEDRATE; planner.min_feedrate_mm_s = DEFAULT_MINIMUMFEEDRATE;
planner.min_travel_feedrate_mm_s = DEFAULT_MINTRAVELFEEDRATE; planner.min_travel_feedrate_mm_s = DEFAULT_MINTRAVELFEEDRATE;
planner.min_segment_time_us = DEFAULT_MINSEGMENTTIME;
planner.max_jerk[X_AXIS] = DEFAULT_XJERK; planner.max_jerk[X_AXIS] = DEFAULT_XJERK;
planner.max_jerk[Y_AXIS] = DEFAULT_YJERK; planner.max_jerk[Y_AXIS] = DEFAULT_YJERK;
planner.max_jerk[Z_AXIS] = DEFAULT_ZJERK; planner.max_jerk[Z_AXIS] = DEFAULT_ZJERK;
planner.max_jerk[E_AXIS] = DEFAULT_EJERK; planner.max_jerk[E_AXIS] = DEFAULT_EJERK;
#if ENABLED(JUNCTION_DEVIATION)
planner.junction_deviation_mm = JUNCTION_DEVIATION_MM;
#endif
#if HAS_HOME_OFFSET #if HAS_HOME_OFFSET
ZERO(home_offset); ZERO(home_offset);
#endif #endif
@ -2094,16 +2113,34 @@ void MarlinSettings::reset(PORTARG_SOLO) {
if (!forReplay) { if (!forReplay) {
CONFIG_ECHO_START; CONFIG_ECHO_START;
SERIAL_ECHOLNPGM_P(port, "Advanced: S<min_feedrate> T<min_travel_feedrate> B<min_segment_time_us> X<max_xy_jerk> Z<max_z_jerk> E<max_e_jerk>"); SERIAL_ECHOPGM_P(port, "Advanced: B<min_segment_time_us> S<min_feedrate> T<min_travel_feedrate>");
#if ENABLED(JUNCTION_DEVIATION)
SERIAL_ECHOPGM_P(port, " J<junc_dev>");
#else
SERIAL_ECHOPGM_P(port, " X<max_x_jerk> Y<max_y_jerk> Z<max_z_jerk>");
#endif
#if DISABLED(JUNCTION_DEVIATION) || ENABLED(LIN_ADVANCE)
SERIAL_ECHOPGM_P(port, " E<max_e_jerk>");
#endif
SERIAL_EOL_P(port);
} }
CONFIG_ECHO_START; CONFIG_ECHO_START;
SERIAL_ECHOPAIR_P(port, " M205 S", LINEAR_UNIT(planner.min_feedrate_mm_s)); SERIAL_ECHOPAIR_P(port, " M205 B", LINEAR_UNIT(planner.min_segment_time_us));
SERIAL_ECHOPAIR_P(port, " S", LINEAR_UNIT(planner.min_feedrate_mm_s));
SERIAL_ECHOPAIR_P(port, " T", LINEAR_UNIT(planner.min_travel_feedrate_mm_s)); SERIAL_ECHOPAIR_P(port, " T", LINEAR_UNIT(planner.min_travel_feedrate_mm_s));
SERIAL_ECHOPAIR_P(port, " B", planner.min_segment_time_us);
#if ENABLED(JUNCTION_DEVIATION)
SERIAL_ECHOPAIR_P(port, " J", LINEAR_UNIT(planner.junction_deviation_mm));
#else
SERIAL_ECHOPAIR_P(port, " X", LINEAR_UNIT(planner.max_jerk[X_AXIS])); SERIAL_ECHOPAIR_P(port, " X", LINEAR_UNIT(planner.max_jerk[X_AXIS]));
SERIAL_ECHOPAIR_P(port, " Y", LINEAR_UNIT(planner.max_jerk[Y_AXIS])); SERIAL_ECHOPAIR_P(port, " Y", LINEAR_UNIT(planner.max_jerk[Y_AXIS]));
SERIAL_ECHOPAIR_P(port, " Z", LINEAR_UNIT(planner.max_jerk[Z_AXIS])); SERIAL_ECHOPAIR_P(port, " Z", LINEAR_UNIT(planner.max_jerk[Z_AXIS]));
SERIAL_ECHOLNPAIR_P(port, " E", LINEAR_UNIT(planner.max_jerk[E_AXIS])); #endif
#if DISABLED(JUNCTION_DEVIATION) || ENABLED(LIN_ADVANCE)
SERIAL_ECHOPAIR_P(port, " E", LINEAR_UNIT(planner.max_jerk[E_AXIS]));
#endif
SERIAL_EOL_P(port);
#if HAS_M206_COMMAND #if HAS_M206_COMMAND
if (!forReplay) { if (!forReplay) {

35
Marlin/src/module/planner.cpp
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@ -110,9 +110,23 @@ uint16_t Planner::cleaning_buffer_counter; // A counter to disable queuing of
uint8_t Planner::delay_before_delivering, // This counter delays delivery of blocks when queue becomes empty to allow the opportunity of merging blocks uint8_t Planner::delay_before_delivering, // This counter delays delivery of blocks when queue becomes empty to allow the opportunity of merging blocks
Planner::block_buffer_planned; // Index of the optimally planned block Planner::block_buffer_planned; // Index of the optimally planned block
float Planner::max_feedrate_mm_s[XYZE_N], // Max speeds in mm per second uint32_t Planner::max_acceleration_mm_per_s2[XYZE_N], // (mm/s^2) M201 XYZE
Planner::axis_steps_per_mm[XYZE_N], Planner::max_acceleration_steps_per_s2[XYZE_N], // (steps/s^2) Derived from mm_per_s2
Planner::steps_to_mm[XYZE_N]; Planner::min_segment_time_us; // (µs) M205 B
float Planner::max_feedrate_mm_s[XYZE_N], // (mm/s) M203 XYZE - Max speeds
Planner::axis_steps_per_mm[XYZE_N], // (steps) M92 XYZE - Steps per millimeter
Planner::steps_to_mm[XYZE_N], // (mm) Millimeters per step
Planner::min_feedrate_mm_s, // (mm/s) M205 S - Minimum linear feedrate
Planner::acceleration, // (mm/s^2) M204 S - Normal acceleration. DEFAULT ACCELERATION for all printing moves.
Planner::retract_acceleration, // (mm/s^2) M204 R - Retract acceleration. Filament pull-back and push-forward while standing still in the other axes
Planner::travel_acceleration, // (mm/s^2) M204 T - Travel acceleration. DEFAULT ACCELERATION for all NON printing moves.
Planner::max_jerk[XYZE], // (mm/s^2) M205 XYZE - The largest speed change requiring no acceleration.
Planner::min_travel_feedrate_mm_s; // (mm/s) M205 T - Minimum travel feedrate
#if ENABLED(JUNCTION_DEVIATION)
float Planner::junction_deviation_mm; // (mm) M205 J
#endif
#if ENABLED(ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED) #if ENABLED(ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
bool Planner::abort_on_endstop_hit = false; bool Planner::abort_on_endstop_hit = false;
@ -132,19 +146,6 @@ float Planner::e_factor[EXTRUDERS] = ARRAY_BY_EXTRUDERS1(1.0); // The flow perce
Planner::volumetric_multiplier[EXTRUDERS]; // Reciprocal of cross-sectional area of filament (in mm^2). Pre-calculated to reduce computation in the planner Planner::volumetric_multiplier[EXTRUDERS]; // Reciprocal of cross-sectional area of filament (in mm^2). Pre-calculated to reduce computation in the planner
#endif #endif
uint32_t Planner::max_acceleration_steps_per_s2[XYZE_N],
Planner::max_acceleration_mm_per_s2[XYZE_N]; // Use M201 to override by software
uint32_t Planner::min_segment_time_us;
// Initialized by settings.load()
float Planner::min_feedrate_mm_s,
Planner::acceleration, // Normal acceleration mm/s^2 DEFAULT ACCELERATION for all printing moves. M204 SXXXX
Planner::retract_acceleration, // Retract acceleration mm/s^2 filament pull-back and push-forward while standing still in the other axes M204 TXXXX
Planner::travel_acceleration, // Travel acceleration mm/s^2 DEFAULT ACCELERATION for all NON printing moves. M204 MXXXX
Planner::max_jerk[XYZE], // The largest speed change requiring no acceleration
Planner::min_travel_feedrate_mm_s;
#if HAS_LEVELING #if HAS_LEVELING
bool Planner::leveling_active = false; // Flag that auto bed leveling is enabled bool Planner::leveling_active = false; // Flag that auto bed leveling is enabled
#if ABL_PLANAR #if ABL_PLANAR
@ -2187,7 +2188,7 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
const float junction_acceleration = limit_value_by_axis_maximum(block->acceleration, junction_unit_vec), const float junction_acceleration = limit_value_by_axis_maximum(block->acceleration, junction_unit_vec),
sin_theta_d2 = SQRT(0.5 * (1.0 - junction_cos_theta)); // Trig half angle identity. Always positive. sin_theta_d2 = SQRT(0.5 * (1.0 - junction_cos_theta)); // Trig half angle identity. Always positive.
vmax_junction_sqr = (junction_acceleration * JUNCTION_DEVIATION_MM * sin_theta_d2) / (1.0 - sin_theta_d2); vmax_junction_sqr = (junction_acceleration * junction_deviation_mm * sin_theta_d2) / (1.0 - sin_theta_d2);
if (block->millimeters < 1.0) { if (block->millimeters < 1.0) {
// Fast acos approximation, minus the error bar to be safe // Fast acos approximation, minus the error bar to be safe

23
Marlin/src/module/planner.h
View File

@ -116,10 +116,10 @@ typedef struct {
decelerate_after; // The index of the step event on which to start decelerating decelerate_after; // The index of the step event on which to start decelerating
#if ENABLED(S_CURVE_ACCELERATION) #if ENABLED(S_CURVE_ACCELERATION)
uint32_t cruise_rate; // The actual cruise rate to use, between end of the acceleration phase and start of deceleration phase uint32_t cruise_rate, // The actual cruise rate to use, between end of the acceleration phase and start of deceleration phase
uint32_t acceleration_time, // Acceleration time and deceleration time in STEP timer counts acceleration_time, // Acceleration time and deceleration time in STEP timer counts
deceleration_time; deceleration_time,
uint32_t acceleration_time_inverse, // Inverse of acceleration and deceleration periods, expressed as integer. Scale depends on CPU being used acceleration_time_inverse, // Inverse of acceleration and deceleration periods, expressed as integer. Scale depends on CPU being used
deceleration_time_inverse; deceleration_time_inverse;
#else #else
uint32_t acceleration_rate; // The acceleration rate used for acceleration calculation uint32_t acceleration_rate; // The acceleration rate used for acceleration calculation
@ -195,20 +195,23 @@ class Planner {
// May be auto-adjusted by a filament width sensor // May be auto-adjusted by a filament width sensor
#endif #endif
static uint32_t max_acceleration_steps_per_s2[XYZE_N],
max_acceleration_mm_per_s2[XYZE_N], // Use M201 to override
min_segment_time_us; // Use 'M205 B<µs>' to override
static float max_feedrate_mm_s[XYZE_N], // Max speeds in mm per second static float max_feedrate_mm_s[XYZE_N], // Max speeds in mm per second
axis_steps_per_mm[XYZE_N], axis_steps_per_mm[XYZE_N],
steps_to_mm[XYZE_N]; steps_to_mm[XYZE_N],
static uint32_t max_acceleration_steps_per_s2[XYZE_N], min_feedrate_mm_s,
max_acceleration_mm_per_s2[XYZE_N]; // Use M201 to override
static uint32_t min_segment_time_us; // Use 'M205 B<µs>' to override
static float min_feedrate_mm_s,
acceleration, // Normal acceleration mm/s^2 DEFAULT ACCELERATION for all printing moves. M204 SXXXX acceleration, // Normal acceleration mm/s^2 DEFAULT ACCELERATION for all printing moves. M204 SXXXX
retract_acceleration, // Retract acceleration mm/s^2 filament pull-back and push-forward while standing still in the other axes M204 TXXXX retract_acceleration, // Retract acceleration mm/s^2 filament pull-back and push-forward while standing still in the other axes M204 TXXXX
travel_acceleration, // Travel acceleration mm/s^2 DEFAULT ACCELERATION for all NON printing moves. M204 MXXXX travel_acceleration, // Travel acceleration mm/s^2 DEFAULT ACCELERATION for all NON printing moves. M204 MXXXX
max_jerk[XYZE], // The largest speed change requiring no acceleration max_jerk[XYZE], // The largest speed change requiring no acceleration
min_travel_feedrate_mm_s; min_travel_feedrate_mm_s;
#if ENABLED(JUNCTION_DEVIATION)
static float junction_deviation_mm; // Initialized by EEPROM
#endif
#if HAS_LEVELING #if HAS_LEVELING
static bool leveling_active; // Flag that bed leveling is enabled static bool leveling_active; // Flag that bed leveling is enabled
#if ABL_PLANAR #if ABL_PLANAR