Add Junction Deviation mm runtime setting (#10990)
This commit is contained in:
Scott Lahteine
GitHub
parent
590ce1c33e
commit
a2f521d34b
@ -118,26 +118,33 @@ void GcodeSuite::M204() {
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/**
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* M205: Set Advanced Settings
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*
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* B = Min Segment Time (µs)
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* S = Min Feed Rate (units/s)
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* T = Min Travel Feed Rate (units/s)
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* B = Min Segment Time (µs)
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* X = Max X Jerk (units/sec^2)
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* Y = Max Y Jerk (units/sec^2)
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* Z = Max Z Jerk (units/sec^2)
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* E = Max E Jerk (units/sec^2)
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* J = Junction Deviation (mm) (Requires JUNCTION_DEVIATION)
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*/
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void GcodeSuite::M205() {
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if (parser.seen('B')) planner.min_segment_time_us = parser.value_ulong();
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if (parser.seen('S')) planner.min_feedrate_mm_s = parser.value_linear_units();
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if (parser.seen('T')) planner.min_travel_feedrate_mm_s = parser.value_linear_units();
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if (parser.seen('B')) planner.min_segment_time_us = parser.value_ulong();
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if (parser.seen('X')) planner.max_jerk[X_AXIS] = parser.value_linear_units();
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if (parser.seen('Y')) planner.max_jerk[Y_AXIS] = parser.value_linear_units();
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if (parser.seen('Z')) {
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planner.max_jerk[Z_AXIS] = parser.value_linear_units();
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#if HAS_MESH
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if (planner.max_jerk[Z_AXIS] <= 0.1)
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SERIAL_ECHOLNPGM("WARNING! Low Z Jerk may lead to unwanted pauses.");
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#endif
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}
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if (parser.seen('E')) planner.max_jerk[E_AXIS] = parser.value_linear_units();
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#if ENABLED(JUNCTION_DEVIATION)
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if (parser.seen('J')) planner.junction_deviation_mm = parser.value_linear_units();
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#else
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if (parser.seen('X')) planner.max_jerk[X_AXIS] = parser.value_linear_units();
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if (parser.seen('Y')) planner.max_jerk[Y_AXIS] = parser.value_linear_units();
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if (parser.seen('Z')) {
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planner.max_jerk[Z_AXIS] = parser.value_linear_units();
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#if HAS_MESH
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if (planner.max_jerk[Z_AXIS] <= 0.1)
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SERIAL_ECHOLNPGM("WARNING! Low Z Jerk may lead to unwanted pauses.");
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#endif
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}
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#endif
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#if DISABLED(JUNCTION_DEVIATION) || ENABLED(LIN_ADVANCE)
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if (parser.seen('E')) planner.max_jerk[E_AXIS] = parser.value_linear_units();
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#endif
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}
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@ -371,7 +371,7 @@
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#ifndef MSG_LED_CONTROL
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#define MSG_LED_CONTROL _UxGT("LED Control")
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#endif
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#ifndef MSG_LEDS
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#ifndef MSG_LEDS
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#define MSG_LEDS _UxGT("Lights")
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#endif
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#ifndef MSG_LED_PRESETS
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@ -537,6 +537,9 @@
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#ifndef MSG_VE_JERK
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#define MSG_VE_JERK _UxGT("Ve-jerk")
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#endif
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#ifndef MSG_JUNCTION_DEVIATION
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#define MSG_JUNCTION_DEVIATION _UxGT("Junction Dev")
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#endif
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#ifndef MSG_VELOCITY
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#define MSG_VELOCITY _UxGT("Velocity")
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#endif
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@ -739,7 +742,7 @@
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#define MSG_CNG_SDCARD _UxGT("Change SD card")
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#endif
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#ifndef MSG_ZPROBE_OUT
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#define MSG_ZPROBE_OUT _UxGT("Z probe out. bed")
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#define MSG_ZPROBE_OUT _UxGT("Z Probe past bed")
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#endif
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#ifndef MSG_SKEW_FACTOR
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#define MSG_SKEW_FACTOR _UxGT("Skew Factor")
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@ -3753,12 +3753,16 @@ void lcd_quick_feedback(const bool clear_buttons) {
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START_MENU();
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MENU_BACK(MSG_MOTION);
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MENU_ITEM_EDIT(float3, MSG_VA_JERK, &planner.max_jerk[A_AXIS], 1, 990);
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MENU_ITEM_EDIT(float3, MSG_VB_JERK, &planner.max_jerk[B_AXIS], 1, 990);
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#if ENABLED(DELTA)
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MENU_ITEM_EDIT(float3, MSG_VC_JERK, &planner.max_jerk[C_AXIS], 1, 990);
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#if ENABLED(JUNCTION_DEVIATION)
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MENU_ITEM_EDIT(float3, MSG_JUNCTION_DEVIATION, &planner.junction_deviation_mm, 0, 5);
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#else
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MENU_ITEM_EDIT(float52sign, MSG_VC_JERK, &planner.max_jerk[C_AXIS], 0.1, 990);
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MENU_ITEM_EDIT(float3, MSG_VA_JERK, &planner.max_jerk[A_AXIS], 1, 990);
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MENU_ITEM_EDIT(float3, MSG_VB_JERK, &planner.max_jerk[B_AXIS], 1, 990);
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#if ENABLED(DELTA)
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MENU_ITEM_EDIT(float3, MSG_VC_JERK, &planner.max_jerk[C_AXIS], 1, 990);
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#else
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MENU_ITEM_EDIT(float52sign, MSG_VC_JERK, &planner.max_jerk[C_AXIS], 0.1, 990);
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#endif
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#endif
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MENU_ITEM_EDIT(float3, MSG_VE_JERK, &planner.max_jerk[E_AXIS], 1, 990);
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@ -37,7 +37,7 @@
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*/
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// Change EEPROM version if the structure changes
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#define EEPROM_VERSION "V54"
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#define EEPROM_VERSION "V55"
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#define EEPROM_OFFSET 100
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// Check the integrity of data offsets.
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@ -112,16 +112,17 @@ typedef struct SettingsDataStruct {
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//
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uint8_t esteppers; // XYZE_N - XYZ
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uint32_t planner_max_acceleration_mm_per_s2[XYZE_N], // M201 XYZE planner.max_acceleration_mm_per_s2[XYZE_N]
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planner_min_segment_time_us; // M205 B planner.min_segment_time_us
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float planner_axis_steps_per_mm[XYZE_N], // M92 XYZE planner.axis_steps_per_mm[XYZE_N]
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planner_max_feedrate_mm_s[XYZE_N]; // M203 XYZE planner.max_feedrate_mm_s[XYZE_N]
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uint32_t planner_max_acceleration_mm_per_s2[XYZE_N]; // M201 XYZE planner.max_acceleration_mm_per_s2[XYZE_N]
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float planner_acceleration, // M204 P planner.acceleration
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planner_max_feedrate_mm_s[XYZE_N], // M203 XYZE planner.max_feedrate_mm_s[XYZE_N]
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planner_acceleration, // M204 P planner.acceleration
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planner_retract_acceleration, // M204 R planner.retract_acceleration
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planner_travel_acceleration, // M204 T planner.travel_acceleration
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planner_min_feedrate_mm_s, // M205 S planner.min_feedrate_mm_s
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planner_min_travel_feedrate_mm_s; // M205 T planner.min_travel_feedrate_mm_s
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uint32_t planner_min_segment_time_us; // M205 B planner.min_segment_time_us
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float planner_max_jerk[XYZE]; // M205 XYZE planner.max_jerk[XYZE]
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planner_min_travel_feedrate_mm_s, // M205 T planner.min_travel_feedrate_mm_s
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planner_max_jerk[XYZE], // M205 XYZE planner.max_jerk[XYZE]
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planner_junction_deviation_mm; // M205 J planner.junction_deviation_mm
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float home_offset[XYZ]; // M206 XYZ
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@ -401,18 +402,24 @@ void MarlinSettings::postprocess() {
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const uint8_t esteppers = COUNT(planner.axis_steps_per_mm) - XYZ;
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EEPROM_WRITE(esteppers);
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EEPROM_WRITE(planner.max_acceleration_mm_per_s2);
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EEPROM_WRITE(planner.min_segment_time_us);
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EEPROM_WRITE(planner.axis_steps_per_mm);
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EEPROM_WRITE(planner.max_feedrate_mm_s);
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EEPROM_WRITE(planner.max_acceleration_mm_per_s2);
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EEPROM_WRITE(planner.acceleration);
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EEPROM_WRITE(planner.retract_acceleration);
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EEPROM_WRITE(planner.travel_acceleration);
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EEPROM_WRITE(planner.min_feedrate_mm_s);
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EEPROM_WRITE(planner.min_travel_feedrate_mm_s);
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EEPROM_WRITE(planner.min_segment_time_us);
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EEPROM_WRITE(planner.max_jerk);
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#if ENABLED(JUNCTION_DEVIATION)
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EEPROM_WRITE(planner.junction_deviation_mm);
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#else
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dummy = 0.02;
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EEPROM_WRITE(dummy);
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#endif
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_FIELD_TEST(home_offset);
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#if !HAS_HOME_OFFSET
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@ -980,17 +987,20 @@ void MarlinSettings::postprocess() {
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// Get only the number of E stepper parameters previously stored
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// Any steppers added later are set to their defaults
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const float def1[] = DEFAULT_AXIS_STEPS_PER_UNIT, def2[] = DEFAULT_MAX_FEEDRATE;
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const uint32_t def3[] = DEFAULT_MAX_ACCELERATION;
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float tmp1[XYZ + esteppers], tmp2[XYZ + esteppers];
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uint32_t tmp3[XYZ + esteppers];
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EEPROM_READ(tmp1);
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EEPROM_READ(tmp2);
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EEPROM_READ(tmp3);
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const uint32_t def1[] = DEFAULT_MAX_ACCELERATION;
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const float def2[] = DEFAULT_AXIS_STEPS_PER_UNIT, def3[] = DEFAULT_MAX_FEEDRATE;
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uint32_t tmp1[XYZ + esteppers];
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EEPROM_READ(tmp1); // max_acceleration_mm_per_s2
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EEPROM_READ(planner.min_segment_time_us);
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float tmp2[XYZ + esteppers], tmp3[XYZ + esteppers];
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EEPROM_READ(tmp2); // axis_steps_per_mm
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EEPROM_READ(tmp3); // max_feedrate_mm_s
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if (!validating) LOOP_XYZE_N(i) {
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planner.axis_steps_per_mm[i] = i < XYZ + esteppers ? tmp1[i] : def1[i < COUNT(def1) ? i : COUNT(def1) - 1];
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planner.max_feedrate_mm_s[i] = i < XYZ + esteppers ? tmp2[i] : def2[i < COUNT(def2) ? i : COUNT(def2) - 1];
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planner.max_acceleration_mm_per_s2[i] = i < XYZ + esteppers ? tmp3[i] : def3[i < COUNT(def3) ? i : COUNT(def3) - 1];
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planner.max_acceleration_mm_per_s2[i] = i < XYZ + esteppers ? tmp1[i] : def1[i < COUNT(def1) ? i : COUNT(def1) - 1];
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planner.axis_steps_per_mm[i] = i < XYZ + esteppers ? tmp2[i] : def2[i < COUNT(def2) ? i : COUNT(def2) - 1];
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planner.max_feedrate_mm_s[i] = i < XYZ + esteppers ? tmp3[i] : def3[i < COUNT(def3) ? i : COUNT(def3) - 1];
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}
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EEPROM_READ(planner.acceleration);
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@ -998,9 +1008,14 @@ void MarlinSettings::postprocess() {
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EEPROM_READ(planner.travel_acceleration);
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EEPROM_READ(planner.min_feedrate_mm_s);
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EEPROM_READ(planner.min_travel_feedrate_mm_s);
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EEPROM_READ(planner.min_segment_time_us);
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EEPROM_READ(planner.max_jerk);
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#if ENABLED(JUNCTION_DEVIATION)
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EEPROM_READ(planner.junction_deviation_mm);
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#else
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EEPROM_READ(dummy);
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#endif
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//
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// Home Offset (M206)
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//
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@ -1518,9 +1533,9 @@ void MarlinSettings::postprocess() {
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#if ENABLED(AUTO_BED_LEVELING_UBL)
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if (!validating) {
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ubl.report_state();
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ubl.report_state();
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if (!ubl.sanity_check()) {
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if (!ubl.sanity_check()) {
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SERIAL_EOL_P(port);
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#if ENABLED(EEPROM_CHITCHAT)
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ubl.echo_name();
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@ -1703,17 +1718,21 @@ void MarlinSettings::reset(PORTARG_SOLO) {
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planner.max_acceleration_mm_per_s2[i] = pgm_read_dword_near(&tmp3[i < COUNT(tmp3) ? i : COUNT(tmp3) - 1]);
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}
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planner.min_segment_time_us = DEFAULT_MINSEGMENTTIME;
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planner.acceleration = DEFAULT_ACCELERATION;
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planner.retract_acceleration = DEFAULT_RETRACT_ACCELERATION;
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planner.travel_acceleration = DEFAULT_TRAVEL_ACCELERATION;
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planner.min_feedrate_mm_s = DEFAULT_MINIMUMFEEDRATE;
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planner.min_travel_feedrate_mm_s = DEFAULT_MINTRAVELFEEDRATE;
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planner.min_segment_time_us = DEFAULT_MINSEGMENTTIME;
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planner.max_jerk[X_AXIS] = DEFAULT_XJERK;
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planner.max_jerk[Y_AXIS] = DEFAULT_YJERK;
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planner.max_jerk[Z_AXIS] = DEFAULT_ZJERK;
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planner.max_jerk[E_AXIS] = DEFAULT_EJERK;
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#if ENABLED(JUNCTION_DEVIATION)
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planner.junction_deviation_mm = JUNCTION_DEVIATION_MM;
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#endif
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#if HAS_HOME_OFFSET
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ZERO(home_offset);
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#endif
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@ -2094,16 +2113,34 @@ void MarlinSettings::reset(PORTARG_SOLO) {
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if (!forReplay) {
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CONFIG_ECHO_START;
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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>");
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SERIAL_ECHOPGM_P(port, "Advanced: B<min_segment_time_us> S<min_feedrate> T<min_travel_feedrate>");
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#if ENABLED(JUNCTION_DEVIATION)
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SERIAL_ECHOPGM_P(port, " J<junc_dev>");
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#else
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SERIAL_ECHOPGM_P(port, " X<max_x_jerk> Y<max_y_jerk> Z<max_z_jerk>");
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#endif
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#if DISABLED(JUNCTION_DEVIATION) || ENABLED(LIN_ADVANCE)
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SERIAL_ECHOPGM_P(port, " E<max_e_jerk>");
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#endif
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SERIAL_EOL_P(port);
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}
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CONFIG_ECHO_START;
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SERIAL_ECHOPAIR_P(port, " M205 S", LINEAR_UNIT(planner.min_feedrate_mm_s));
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SERIAL_ECHOPAIR_P(port, " M205 B", LINEAR_UNIT(planner.min_segment_time_us));
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SERIAL_ECHOPAIR_P(port, " S", LINEAR_UNIT(planner.min_feedrate_mm_s));
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SERIAL_ECHOPAIR_P(port, " T", LINEAR_UNIT(planner.min_travel_feedrate_mm_s));
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SERIAL_ECHOPAIR_P(port, " B", planner.min_segment_time_us);
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SERIAL_ECHOPAIR_P(port, " X", LINEAR_UNIT(planner.max_jerk[X_AXIS]));
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SERIAL_ECHOPAIR_P(port, " Y", LINEAR_UNIT(planner.max_jerk[Y_AXIS]));
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SERIAL_ECHOPAIR_P(port, " Z", LINEAR_UNIT(planner.max_jerk[Z_AXIS]));
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SERIAL_ECHOLNPAIR_P(port, " E", LINEAR_UNIT(planner.max_jerk[E_AXIS]));
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#if ENABLED(JUNCTION_DEVIATION)
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SERIAL_ECHOPAIR_P(port, " J", LINEAR_UNIT(planner.junction_deviation_mm));
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#else
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SERIAL_ECHOPAIR_P(port, " X", LINEAR_UNIT(planner.max_jerk[X_AXIS]));
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SERIAL_ECHOPAIR_P(port, " Y", LINEAR_UNIT(planner.max_jerk[Y_AXIS]));
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SERIAL_ECHOPAIR_P(port, " Z", LINEAR_UNIT(planner.max_jerk[Z_AXIS]));
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#endif
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#if DISABLED(JUNCTION_DEVIATION) || ENABLED(LIN_ADVANCE)
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SERIAL_ECHOPAIR_P(port, " E", LINEAR_UNIT(planner.max_jerk[E_AXIS]));
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#endif
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SERIAL_EOL_P(port);
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#if HAS_M206_COMMAND
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if (!forReplay) {
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@ -110,9 +110,23 @@ uint16_t Planner::cleaning_buffer_counter; // A counter to disable queuing of
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uint8_t Planner::delay_before_delivering, // This counter delays delivery of blocks when queue becomes empty to allow the opportunity of merging blocks
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Planner::block_buffer_planned; // Index of the optimally planned block
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float Planner::max_feedrate_mm_s[XYZE_N], // Max speeds in mm per second
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Planner::axis_steps_per_mm[XYZE_N],
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Planner::steps_to_mm[XYZE_N];
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uint32_t Planner::max_acceleration_mm_per_s2[XYZE_N], // (mm/s^2) M201 XYZE
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Planner::max_acceleration_steps_per_s2[XYZE_N], // (steps/s^2) Derived from mm_per_s2
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Planner::min_segment_time_us; // (µs) M205 B
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float Planner::max_feedrate_mm_s[XYZE_N], // (mm/s) M203 XYZE - Max speeds
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Planner::axis_steps_per_mm[XYZE_N], // (steps) M92 XYZE - Steps per millimeter
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Planner::steps_to_mm[XYZE_N], // (mm) Millimeters per step
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Planner::min_feedrate_mm_s, // (mm/s) M205 S - Minimum linear feedrate
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Planner::acceleration, // (mm/s^2) M204 S - Normal acceleration. DEFAULT ACCELERATION for all printing moves.
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Planner::retract_acceleration, // (mm/s^2) M204 R - Retract acceleration. Filament pull-back and push-forward while standing still in the other axes
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Planner::travel_acceleration, // (mm/s^2) M204 T - Travel acceleration. DEFAULT ACCELERATION for all NON printing moves.
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Planner::max_jerk[XYZE], // (mm/s^2) M205 XYZE - The largest speed change requiring no acceleration.
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Planner::min_travel_feedrate_mm_s; // (mm/s) M205 T - Minimum travel feedrate
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#if ENABLED(JUNCTION_DEVIATION)
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float Planner::junction_deviation_mm; // (mm) M205 J
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#endif
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#if ENABLED(ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
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bool Planner::abort_on_endstop_hit = false;
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@ -132,19 +146,6 @@ float Planner::e_factor[EXTRUDERS] = ARRAY_BY_EXTRUDERS1(1.0); // The flow perce
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Planner::volumetric_multiplier[EXTRUDERS]; // Reciprocal of cross-sectional area of filament (in mm^2). Pre-calculated to reduce computation in the planner
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#endif
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uint32_t Planner::max_acceleration_steps_per_s2[XYZE_N],
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Planner::max_acceleration_mm_per_s2[XYZE_N]; // Use M201 to override by software
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uint32_t Planner::min_segment_time_us;
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// Initialized by settings.load()
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float Planner::min_feedrate_mm_s,
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Planner::acceleration, // Normal acceleration mm/s^2 DEFAULT ACCELERATION for all printing moves. M204 SXXXX
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Planner::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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Planner::travel_acceleration, // Travel acceleration mm/s^2 DEFAULT ACCELERATION for all NON printing moves. M204 MXXXX
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Planner::max_jerk[XYZE], // The largest speed change requiring no acceleration
|
||||
Planner::min_travel_feedrate_mm_s;
|
||||
|
||||
#if HAS_LEVELING
|
||||
bool Planner::leveling_active = false; // Flag that auto bed leveling is enabled
|
||||
#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),
|
||||
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) {
|
||||
|
||||
// Fast acos approximation, minus the error bar to be safe
|
||||
|
||||
@ -116,10 +116,10 @@ typedef struct {
|
||||
decelerate_after; // The index of the step event on which to start decelerating
|
||||
|
||||
#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 acceleration_time, // Acceleration time and deceleration time in STEP timer counts
|
||||
deceleration_time;
|
||||
uint32_t acceleration_time_inverse, // Inverse of acceleration and deceleration periods, expressed as integer. Scale depends on CPU being used
|
||||
uint32_t cruise_rate, // The actual cruise rate to use, between end of the acceleration phase and start of deceleration phase
|
||||
acceleration_time, // Acceleration time and deceleration time in STEP timer counts
|
||||
deceleration_time,
|
||||
acceleration_time_inverse, // Inverse of acceleration and deceleration periods, expressed as integer. Scale depends on CPU being used
|
||||
deceleration_time_inverse;
|
||||
#else
|
||||
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
|
||||
#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
|
||||
axis_steps_per_mm[XYZE_N],
|
||||
steps_to_mm[XYZE_N];
|
||||
static uint32_t max_acceleration_steps_per_s2[XYZE_N],
|
||||
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,
|
||||
steps_to_mm[XYZE_N],
|
||||
min_feedrate_mm_s,
|
||||
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
|
||||
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
|
||||
min_travel_feedrate_mm_s;
|
||||
|
||||
#if ENABLED(JUNCTION_DEVIATION)
|
||||
static float junction_deviation_mm; // Initialized by EEPROM
|
||||
#endif
|
||||
|
||||
#if HAS_LEVELING
|
||||
static bool leveling_active; // Flag that bed leveling is enabled
|
||||
#if ABL_PLANAR
|
||||
|
||||
Loading…
Reference in New Issue
Block a user