diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp index 475dea4aa2..2a2a4ef07d 100644 --- a/Marlin/Marlin_main.cpp +++ b/Marlin/Marlin_main.cpp @@ -5150,7 +5150,7 @@ inline void gcode_M92() { float factor = planner.axis_steps_per_unit[i] / value; // increase e constants if M92 E14 is given for netfab. planner.max_e_jerk *= factor; planner.max_feedrate[i] *= factor; - planner.axis_steps_per_sqr_second[i] *= factor; + planner.max_acceleration_steps_per_s2[i] *= factor; } planner.axis_steps_per_unit[i] = value; } @@ -5337,7 +5337,7 @@ inline void gcode_M200() { inline void gcode_M201() { for (int8_t i = 0; i < NUM_AXIS; i++) { if (code_seen(axis_codes[i])) { - planner.max_acceleration_units_per_sq_second[i] = code_value_axis_units(i); + planner.max_acceleration_mm_per_s2[i] = code_value_axis_units(i); } } // steps per sq second need to be updated to agree with the units per sq second (as they are what is used in the planner) diff --git a/Marlin/configuration_store.cpp b/Marlin/configuration_store.cpp index 977fd317d5..579c9868ec 100644 --- a/Marlin/configuration_store.cpp +++ b/Marlin/configuration_store.cpp @@ -45,7 +45,7 @@ * * 104 M92 XYZE planner.axis_steps_per_unit (float x4) * 120 M203 XYZE planner.max_feedrate (float x4) - * 136 M201 XYZE planner.max_acceleration_units_per_sq_second (uint32_t x4) + * 136 M201 XYZE planner.max_acceleration_mm_per_s2 (uint32_t x4) * 152 M204 P planner.acceleration (float) * 156 M204 R planner.retract_acceleration (float) * 160 M204 T planner.travel_acceleration (float) @@ -175,7 +175,7 @@ void Config_StoreSettings() { EEPROM_WRITE_VAR(i, ver); // invalidate data first EEPROM_WRITE_VAR(i, planner.axis_steps_per_unit); EEPROM_WRITE_VAR(i, planner.max_feedrate); - EEPROM_WRITE_VAR(i, planner.max_acceleration_units_per_sq_second); + EEPROM_WRITE_VAR(i, planner.max_acceleration_mm_per_s2); EEPROM_WRITE_VAR(i, planner.acceleration); EEPROM_WRITE_VAR(i, planner.retract_acceleration); EEPROM_WRITE_VAR(i, planner.travel_acceleration); @@ -355,7 +355,7 @@ void Config_RetrieveSettings() { // version number match EEPROM_READ_VAR(i, planner.axis_steps_per_unit); EEPROM_READ_VAR(i, planner.max_feedrate); - EEPROM_READ_VAR(i, planner.max_acceleration_units_per_sq_second); + EEPROM_READ_VAR(i, planner.max_acceleration_mm_per_s2); // steps per sq second need to be updated to agree with the units per sq second (as they are what is used in the planner) planner.reset_acceleration_rates(); @@ -529,7 +529,7 @@ void Config_ResetDefault() { for (uint8_t i = 0; i < NUM_AXIS; i++) { planner.axis_steps_per_unit[i] = tmp1[i]; planner.max_feedrate[i] = tmp2[i]; - planner.max_acceleration_units_per_sq_second[i] = tmp3[i]; + planner.max_acceleration_mm_per_s2[i] = tmp3[i]; #if ENABLED(SCARA) if (i < COUNT(axis_scaling)) axis_scaling[i] = 1; @@ -687,10 +687,10 @@ void Config_PrintSettings(bool forReplay) { SERIAL_ECHOLNPGM("Maximum Acceleration (mm/s2):"); CONFIG_ECHO_START; } - SERIAL_ECHOPAIR(" M201 X", planner.max_acceleration_units_per_sq_second[X_AXIS]); - SERIAL_ECHOPAIR(" Y", planner.max_acceleration_units_per_sq_second[Y_AXIS]); - SERIAL_ECHOPAIR(" Z", planner.max_acceleration_units_per_sq_second[Z_AXIS]); - SERIAL_ECHOPAIR(" E", planner.max_acceleration_units_per_sq_second[E_AXIS]); + SERIAL_ECHOPAIR(" M201 X", planner.max_acceleration_mm_per_s2[X_AXIS]); + SERIAL_ECHOPAIR(" Y", planner.max_acceleration_mm_per_s2[Y_AXIS]); + SERIAL_ECHOPAIR(" Z", planner.max_acceleration_mm_per_s2[Z_AXIS]); + SERIAL_ECHOPAIR(" E", planner.max_acceleration_mm_per_s2[E_AXIS]); SERIAL_EOL; CONFIG_ECHO_START; if (!forReplay) { diff --git a/Marlin/planner.cpp b/Marlin/planner.cpp index d5e8312eda..186ff90a0e 100644 --- a/Marlin/planner.cpp +++ b/Marlin/planner.cpp @@ -82,8 +82,8 @@ volatile uint8_t Planner::block_buffer_tail = 0; float Planner::max_feedrate[NUM_AXIS]; // Max speeds in mm per minute float Planner::axis_steps_per_unit[NUM_AXIS]; -unsigned long Planner::axis_steps_per_sqr_second[NUM_AXIS]; -unsigned long Planner::max_acceleration_units_per_sq_second[NUM_AXIS]; // Use M201 to override by software +unsigned long Planner::max_acceleration_steps_per_s2[NUM_AXIS]; +unsigned long Planner::max_acceleration_mm_per_s2[NUM_AXIS]; // Use M201 to override by software millis_t Planner::min_segment_time; float Planner::min_feedrate; @@ -946,10 +946,10 @@ void Planner::check_axes_activity() { } // Limit acceleration per axis unsigned long acc_st = block->acceleration_st, - xsteps = axis_steps_per_sqr_second[X_AXIS], - ysteps = axis_steps_per_sqr_second[Y_AXIS], - zsteps = axis_steps_per_sqr_second[Z_AXIS], - esteps = axis_steps_per_sqr_second[E_AXIS], + xsteps = max_acceleration_steps_per_s2[X_AXIS], + ysteps = max_acceleration_steps_per_s2[Y_AXIS], + zsteps = max_acceleration_steps_per_s2[Z_AXIS], + esteps = max_acceleration_steps_per_s2[E_AXIS], allsteps = block->step_event_count; if (xsteps < (acc_st * bsx) / allsteps) acc_st = (xsteps * allsteps) / bsx; if (ysteps < (acc_st * bsy) / allsteps) acc_st = (ysteps * allsteps) / bsy; @@ -1148,7 +1148,7 @@ void Planner::set_e_position_mm(const float& e) { // Recalculate the steps/s^2 acceleration rates, based on the mm/s^2 void Planner::reset_acceleration_rates() { for (int i = 0; i < NUM_AXIS; i++) - axis_steps_per_sqr_second[i] = max_acceleration_units_per_sq_second[i] * axis_steps_per_unit[i]; + max_acceleration_steps_per_s2[i] = max_acceleration_mm_per_s2[i] * axis_steps_per_unit[i]; } #if ENABLED(AUTOTEMP) diff --git a/Marlin/planner.h b/Marlin/planner.h index 48773c5102..9cfb145301 100644 --- a/Marlin/planner.h +++ b/Marlin/planner.h @@ -114,8 +114,8 @@ class Planner { static float max_feedrate[NUM_AXIS]; // Max speeds in mm per minute static float axis_steps_per_unit[NUM_AXIS]; - static unsigned long axis_steps_per_sqr_second[NUM_AXIS]; - static unsigned long max_acceleration_units_per_sq_second[NUM_AXIS]; // Use M201 to override by software + static unsigned long max_acceleration_steps_per_s2[NUM_AXIS]; + static unsigned long max_acceleration_mm_per_s2[NUM_AXIS]; // Use M201 to override by software static millis_t min_segment_time; static float min_feedrate; diff --git a/Marlin/ultralcd.cpp b/Marlin/ultralcd.cpp index c59bffb6b3..804fce37c0 100644 --- a/Marlin/ultralcd.cpp +++ b/Marlin/ultralcd.cpp @@ -1686,10 +1686,10 @@ static void lcd_control_motion_menu() { MENU_ITEM_EDIT(float3, MSG_VMAX MSG_E, &planner.max_feedrate[E_AXIS], 1, 999); MENU_ITEM_EDIT(float3, MSG_VMIN, &planner.min_feedrate, 0, 999); MENU_ITEM_EDIT(float3, MSG_VTRAV_MIN, &planner.min_travel_feedrate, 0, 999); - MENU_ITEM_EDIT_CALLBACK(long5, MSG_AMAX MSG_X, &planner.max_acceleration_units_per_sq_second[X_AXIS], 100, 99000, _reset_acceleration_rates); - MENU_ITEM_EDIT_CALLBACK(long5, MSG_AMAX MSG_Y, &planner.max_acceleration_units_per_sq_second[Y_AXIS], 100, 99000, _reset_acceleration_rates); - MENU_ITEM_EDIT_CALLBACK(long5, MSG_AMAX MSG_Z, &planner.max_acceleration_units_per_sq_second[Z_AXIS], 10, 99000, _reset_acceleration_rates); - MENU_ITEM_EDIT_CALLBACK(long5, MSG_AMAX MSG_E, &planner.max_acceleration_units_per_sq_second[E_AXIS], 100, 99000, _reset_acceleration_rates); + MENU_ITEM_EDIT_CALLBACK(long5, MSG_AMAX MSG_X, &planner.max_acceleration_mm_per_s2[X_AXIS], 100, 99000, _reset_acceleration_rates); + MENU_ITEM_EDIT_CALLBACK(long5, MSG_AMAX MSG_Y, &planner.max_acceleration_mm_per_s2[Y_AXIS], 100, 99000, _reset_acceleration_rates); + MENU_ITEM_EDIT_CALLBACK(long5, MSG_AMAX MSG_Z, &planner.max_acceleration_mm_per_s2[Z_AXIS], 10, 99000, _reset_acceleration_rates); + MENU_ITEM_EDIT_CALLBACK(long5, MSG_AMAX MSG_E, &planner.max_acceleration_mm_per_s2[E_AXIS], 100, 99000, _reset_acceleration_rates); MENU_ITEM_EDIT(float5, MSG_A_RETRACT, &planner.retract_acceleration, 100, 99000); MENU_ITEM_EDIT(float5, MSG_A_TRAVEL, &planner.travel_acceleration, 100, 99000); MENU_ITEM_EDIT(float52, MSG_XSTEPS, &planner.axis_steps_per_unit[X_AXIS], 5, 9999);