Added E-Jerk

Marlin/Configuration.h

@@ -171,6 +171,7 @@ const bool Z_ENDSTOPS_INVERTING = true; // set to true to invert the logic of th
 // 
 #define DEFAULT_XYJERK                20.0    // (mm/sec)
 #define DEFAULT_ZJERK                 0.4     // (mm/sec)
+#define DEFAULT_EJERK                 5.0    // (mm/sec)
 
 //===========================================================================
 //=============================Additional Features===========================
@@ -191,7 +192,7 @@ const bool Z_ENDSTOPS_INVERTING = true; // set to true to invert the logic of th
 //#define ULTRA_LCD  //general lcd support, also 16x2
 //#define SDSUPPORT // Enable SD Card Support in Hardware Console
 
-//#define ULTIPANEL
+#define ULTIPANEL
 #ifdef ULTIPANEL
   #define NEWPANEL  //enable this if you have a click-encoder panel
   #define SDSUPPORT

Marlin/EEPROMwrite.h

@@ -38,7 +38,7 @@ template <class T> int EEPROM_readAnything(int &ee, T& value)
 // the default values are used whenever there is a change to the data, to prevent
 // wrong data being written to the variables.
 // ALSO:  always make sure the variables in the Store and retrieve sections are in the same order.
-#define EEPROM_VERSION "V04"  
+#define EEPROM_VERSION "V05"  
 
 inline void EEPROM_StoreSettings() 
 {
@@ -56,6 +56,7 @@ inline void EEPROM_StoreSettings()
   EEPROM_writeAnything(i,minsegmenttime);
   EEPROM_writeAnything(i,max_xy_jerk);
   EEPROM_writeAnything(i,max_z_jerk);
+  EEPROM_writeAnything(i,max_e_jerk);
   #ifdef PIDTEMP
     EEPROM_writeAnything(i,Kp);
     EEPROM_writeAnything(i,Ki);
@@ -116,6 +117,7 @@ inline void EEPROM_printSettings()
       SERIAL_ECHOPAIR(" B" ,minsegmenttime ); 
       SERIAL_ECHOPAIR(" X" ,max_xy_jerk ); 
       SERIAL_ECHOPAIR(" Z" ,max_z_jerk);
+      SERIAL_ECHOPAIR(" E" ,max_e_jerk);
       SERIAL_ECHOLN(""); 
     #ifdef PIDTEMP
       SERIAL_ECHO_START;
@@ -150,6 +152,7 @@ inline void EEPROM_RetrieveSettings(bool def=false)
       EEPROM_readAnything(i,minsegmenttime);
       EEPROM_readAnything(i,max_xy_jerk);
       EEPROM_readAnything(i,max_z_jerk);
+      EEPROM_readAnything(i,max_e_jerk);
       #ifndef PIDTEMP
         float Kp,Ki,Kd;
       #endif
@@ -179,6 +182,7 @@ inline void EEPROM_RetrieveSettings(bool def=false)
       mintravelfeedrate=DEFAULT_MINTRAVELFEEDRATE;
       max_xy_jerk=DEFAULT_XYJERK;
       max_z_jerk=DEFAULT_ZJERK;
+      max_e_jerk=DEFAULT_EJERK;
       SERIAL_ECHO_START;
       SERIAL_ECHOLN("Using Default settings:");
     }

Marlin/Marlin.pde

@@ -97,7 +97,7 @@
 // M202 - Set max acceleration in units/s^2 for travel moves (M202 X1000 Y1000) Unused in Marlin!!
 // M203 - Set maximum feedrate that your machine can sustain (M203 X200 Y200 Z300 E10000) in mm/sec
 // M204 - Set default acceleration: S normal moves T filament only moves (M204 S3000 T7000) im mm/sec^2  also sets minimum segment time in ms (B20000) to prevent buffer underruns and M20 minimum feedrate
-// M205 -  advanced settings:  minimum travel speed S=while printing T=travel only,  B=minimum segment time X= maximum xy jerk, Z=maximum Z jerk
+// M205 -  advanced settings:  minimum travel speed S=while printing T=travel only,  B=minimum segment time X= maximum xy jerk, Z=maximum Z jerk, E=maximum E jerk
 // M206 - set additional homeing offset
 // M220 S<factor in percent>- set speed factor override percentage
 // M221 S<factor in percent>- set extrude factor override percentage
@@ -1116,6 +1116,7 @@ void process_commands()
       if(code_seen('B')) minsegmenttime = code_value() ;
       if(code_seen('X')) max_xy_jerk = code_value() ;
       if(code_seen('Z')) max_z_jerk = code_value() ;
+      if(code_seen('E')) max_e_jerk = code_value() ;
     }
     break;
     case 206: // M206 additional homeing offset

Marlin/planner.cpp

@@ -74,6 +74,7 @@ float acceleration;         // Normal acceleration mm/s^2  THIS IS THE DEFAULT A
 float retract_acceleration; //  mm/s^2   filament pull-pack and push-forward  while standing still in the other axis M204 TXXXX
 float max_xy_jerk; //speed than can be stopped at once, if i understand correctly.
 float max_z_jerk;
+float max_e_jerk;
 float mintravelfeedrate;
 unsigned long axis_steps_per_sqr_second[NUM_AXIS];
 
@@ -531,6 +532,13 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
   if(block->steps_e != 0) { enable_e0();enable_e1();enable_e2(); }
 
 
+  if (block->steps_e == 0) {
+        if(feed_rate<mintravelfeedrate) feed_rate=mintravelfeedrate;
+  }
+  else {
+    	if(feed_rate<minimumfeedrate) feed_rate=minimumfeedrate;
+  } 
+  
   // slow down when de buffer starts to empty, rather than wait at the corner for a buffer refill
   int moves_queued=(block_buffer_head-block_buffer_tail + BLOCK_BUFFER_SIZE) & (BLOCK_BUFFER_SIZE - 1);
   #ifdef SLOWDOWN
@@ -555,12 +563,6 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
   block->nominal_speed = block->millimeters * inverse_second; // (mm/sec) Always > 0
   block->nominal_rate = ceil(block->step_event_count * inverse_second); // (step/sec) Always > 0
 
-  if (block->steps_e == 0) {
-        if(feed_rate<mintravelfeedrate) feed_rate=mintravelfeedrate;
-  }
-  else {
-    	if(feed_rate<minimumfeedrate) feed_rate=minimumfeedrate;
-  } 
 
 /*
   //  segment time im micro seconds
@@ -705,7 +707,9 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
   if(abs(current_speed[Z_AXIS]) > max_z_jerk/2) 
     vmax_junction = max_z_jerk/2;
   vmax_junction = min(vmax_junction, block->nominal_speed);
-
+  if(abs(current_speed[E_AXIS]) > max_e_jerk/2) 
+    vmax_junction = min(vmax_junction, max_z_jerk/2);
+    
   if ((moves_queued > 1) && (previous_nominal_speed > 0.0)) {
     float jerk = sqrt(pow((current_speed[X_AXIS]-previous_speed[X_AXIS]), 2)+pow((current_speed[Y_AXIS]-previous_speed[Y_AXIS]), 2));
     if((previous_speed[X_AXIS] != 0.0) || (previous_speed[Y_AXIS] != 0.0)) {
@@ -717,6 +721,9 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
     if(abs(current_speed[Z_AXIS] - previous_speed[Z_AXIS]) > max_z_jerk) {
       vmax_junction *= (max_z_jerk/abs(current_speed[Z_AXIS] - previous_speed[Z_AXIS]));
     } 
+    if(abs(current_speed[E_AXIS] - previous_speed[E_AXIS]) > max_e_jerk) {
+      vmax_junction *= (max_e_jerk/abs(current_speed[E_AXIS] - previous_speed[E_AXIS]));
+    } 
   }
   block->max_entry_speed = vmax_junction;
     

Marlin/planner.h

@@ -88,6 +88,7 @@ extern float acceleration;         // Normal acceleration mm/s^2  THIS IS THE DE
 extern float retract_acceleration; //  mm/s^2   filament pull-pack and push-forward  while standing still in the other axis M204 TXXXX
 extern float max_xy_jerk; //speed than can be stopped at once, if i understand correctly.
 extern float max_z_jerk;
+extern float max_e_jerk;
 extern float mintravelfeedrate;
 extern unsigned long axis_steps_per_sqr_second[NUM_AXIS];