Add Junction Deviation mm runtime setting (#10990)

Marlin/src/gcode/config/M200-M205.cpp

@@ -118,26 +118,33 @@ void GcodeSuite::M204() {
 /**
  * M205: Set Advanced Settings
  *
+ *    B = Min Segment Time (µs)
  *    S = Min Feed Rate (units/s)
  *    T = Min Travel Feed Rate (units/s)
- *    B = Min Segment Time (µs)
  *    X = Max X Jerk (units/sec^2)
  *    Y = Max Y Jerk (units/sec^2)
  *    Z = Max Z Jerk (units/sec^2)
  *    E = Max E Jerk (units/sec^2)
+ *    J = Junction Deviation (mm) (Requires JUNCTION_DEVIATION)
  */
 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('T')) planner.min_travel_feedrate_mm_s = parser.value_linear_units();
-  if (parser.seen('B')) planner.min_segment_time_us = parser.value_ulong();
-  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('Z')) {
-    planner.max_jerk[Z_AXIS] = parser.value_linear_units();
-    #if HAS_MESH
-      if (planner.max_jerk[Z_AXIS] <= 0.1)
-        SERIAL_ECHOLNPGM("WARNING! Low Z Jerk may lead to unwanted pauses.");
-    #endif
-  }
-  if (parser.seen('E')) planner.max_jerk[E_AXIS] = parser.value_linear_units();
+  #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('Y')) planner.max_jerk[Y_AXIS] = parser.value_linear_units();
+    if (parser.seen('Z')) {
+      planner.max_jerk[Z_AXIS] = parser.value_linear_units();
+      #if HAS_MESH
+        if (planner.max_jerk[Z_AXIS] <= 0.1)
+          SERIAL_ECHOLNPGM("WARNING! Low Z Jerk may lead to unwanted pauses.");
+      #endif
+    }
+  #endif
+  #if DISABLED(JUNCTION_DEVIATION) || ENABLED(LIN_ADVANCE)
+    if (parser.seen('E')) planner.max_jerk[E_AXIS] = parser.value_linear_units();
+  #endif
 }

Marlin/src/lcd/language/language_en.h

@@ -371,7 +371,7 @@
 #ifndef MSG_LED_CONTROL
   #define MSG_LED_CONTROL                     _UxGT("LED Control")
 #endif
-#ifndef MSG_LEDS   
+#ifndef MSG_LEDS
   #define MSG_LEDS                            _UxGT("Lights")
 #endif
 #ifndef MSG_LED_PRESETS
@@ -537,6 +537,9 @@
 #ifndef MSG_VE_JERK
   #define MSG_VE_JERK                         _UxGT("Ve-jerk")
 #endif
+#ifndef MSG_JUNCTION_DEVIATION
+  #define MSG_JUNCTION_DEVIATION              _UxGT("Junction Dev")
+#endif
 #ifndef MSG_VELOCITY
   #define MSG_VELOCITY                        _UxGT("Velocity")
 #endif
@@ -739,7 +742,7 @@
   #define MSG_CNG_SDCARD                      _UxGT("Change SD card")
 #endif
 #ifndef MSG_ZPROBE_OUT
-  #define MSG_ZPROBE_OUT                      _UxGT("Z probe out. bed")
+  #define MSG_ZPROBE_OUT                      _UxGT("Z Probe past bed")
 #endif
 #ifndef MSG_SKEW_FACTOR
   #define MSG_SKEW_FACTOR                     _UxGT("Skew Factor")

Marlin/src/lcd/ultralcd.cpp

@@ -3753,12 +3753,16 @@ void lcd_quick_feedback(const bool clear_buttons) {
       START_MENU();
       MENU_BACK(MSG_MOTION);
 
-      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);
-      #if ENABLED(DELTA)
-        MENU_ITEM_EDIT(float3, MSG_VC_JERK, &planner.max_jerk[C_AXIS], 1, 990);
+      #if ENABLED(JUNCTION_DEVIATION)
+        MENU_ITEM_EDIT(float3, MSG_JUNCTION_DEVIATION, &planner.junction_deviation_mm, 0, 5);
       #else
-        MENU_ITEM_EDIT(float52sign, MSG_VC_JERK, &planner.max_jerk[C_AXIS], 0.1, 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);
+        #if ENABLED(DELTA)
+          MENU_ITEM_EDIT(float3, MSG_VC_JERK, &planner.max_jerk[C_AXIS], 1, 990);
+        #else
+          MENU_ITEM_EDIT(float52sign, MSG_VC_JERK, &planner.max_jerk[C_AXIS], 0.1, 990);
+        #endif
       #endif
       MENU_ITEM_EDIT(float3, MSG_VE_JERK, &planner.max_jerk[E_AXIS], 1, 990);
 

Marlin/src/module/configuration_store.cpp

@@ -37,7 +37,7 @@
  */
 
 // Change EEPROM version if the structure changes
-#define EEPROM_VERSION "V54"
+#define EEPROM_VERSION "V55"
 #define EEPROM_OFFSET 100
 
 // Check the integrity of data offsets.
@@ -112,16 +112,17 @@ typedef struct SettingsDataStruct {
   //
   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]
-            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]
-  float     planner_acceleration,                       // M204 P     planner.acceleration
+            planner_max_feedrate_mm_s[XYZE_N],          // M203 XYZE  planner.max_feedrate_mm_s[XYZE_N]
+            planner_acceleration,                       // M204 P     planner.acceleration
             planner_retract_acceleration,               // M204 R     planner.retract_acceleration
             planner_travel_acceleration,                // M204 T     planner.travel_acceleration
             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
-  uint32_t  planner_min_segment_time_us;                // M205 B     planner.min_segment_time_us
-  float     planner_max_jerk[XYZE];                     // M205 XYZE  planner.max_jerk[XYZE]
+            planner_min_travel_feedrate_mm_s,           // M205 T     planner.min_travel_feedrate_mm_s
+            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
 
@@ -401,18 +402,24 @@ void MarlinSettings::postprocess() {
     const uint8_t esteppers = COUNT(planner.axis_steps_per_mm) - XYZ;
     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.max_feedrate_mm_s);
-    EEPROM_WRITE(planner.max_acceleration_mm_per_s2);
-
     EEPROM_WRITE(planner.acceleration);
     EEPROM_WRITE(planner.retract_acceleration);
     EEPROM_WRITE(planner.travel_acceleration);
     EEPROM_WRITE(planner.min_feedrate_mm_s);
     EEPROM_WRITE(planner.min_travel_feedrate_mm_s);
-    EEPROM_WRITE(planner.min_segment_time_us);
     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);
 
     #if !HAS_HOME_OFFSET
@@ -980,17 +987,20 @@ void MarlinSettings::postprocess() {
 
       // Get only the number of E stepper parameters previously stored
       // Any steppers added later are set to their defaults
-      const float def1[] = DEFAULT_AXIS_STEPS_PER_UNIT, def2[] = DEFAULT_MAX_FEEDRATE;
-      const uint32_t def3[] = DEFAULT_MAX_ACCELERATION;
-      float tmp1[XYZ + esteppers], tmp2[XYZ + esteppers];
-      uint32_t tmp3[XYZ + esteppers];
-      EEPROM_READ(tmp1);
-      EEPROM_READ(tmp2);
-      EEPROM_READ(tmp3);
+      const uint32_t def1[] = DEFAULT_MAX_ACCELERATION;
+      const float def2[] = DEFAULT_AXIS_STEPS_PER_UNIT, def3[] = DEFAULT_MAX_FEEDRATE;
+
+      uint32_t tmp1[XYZ + esteppers];
+      EEPROM_READ(tmp1);                         // max_acceleration_mm_per_s2
+      EEPROM_READ(planner.min_segment_time_us);
+
+      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) {
-        planner.axis_steps_per_mm[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.max_acceleration_mm_per_s2[i] = i < XYZ + esteppers ? tmp3[i] : def3[i < COUNT(def3) ? i : COUNT(def3) - 1];
+        planner.max_acceleration_mm_per_s2[i] = i < XYZ + esteppers ? tmp1[i] : def1[i < COUNT(def1) ? i : COUNT(def1) - 1];
+        planner.axis_steps_per_mm[i]          = i < XYZ + esteppers ? tmp2[i] : def2[i < COUNT(def2) ? i : COUNT(def2) - 1];
+        planner.max_feedrate_mm_s[i]          = i < XYZ + esteppers ? tmp3[i] : def3[i < COUNT(def3) ? i : COUNT(def3) - 1];
       }
 
       EEPROM_READ(planner.acceleration);
@@ -998,9 +1008,14 @@ void MarlinSettings::postprocess() {
       EEPROM_READ(planner.travel_acceleration);
       EEPROM_READ(planner.min_feedrate_mm_s);
       EEPROM_READ(planner.min_travel_feedrate_mm_s);
-      EEPROM_READ(planner.min_segment_time_us);
       EEPROM_READ(planner.max_jerk);
 
+      #if ENABLED(JUNCTION_DEVIATION)
+        EEPROM_READ(planner.junction_deviation_mm);
+      #else
+        EEPROM_READ(dummy);
+      #endif
+
       //
       // Home Offset (M206)
       //
@@ -1518,9 +1533,9 @@ void MarlinSettings::postprocess() {
 
       #if ENABLED(AUTO_BED_LEVELING_UBL)
         if (!validating) {
-            ubl.report_state();
+          ubl.report_state();
 
-            if (!ubl.sanity_check()) {
+          if (!ubl.sanity_check()) {
             SERIAL_EOL_P(port);
             #if ENABLED(EEPROM_CHITCHAT)
               ubl.echo_name();
@@ -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.min_segment_time_us = DEFAULT_MINSEGMENTTIME;
   planner.acceleration = DEFAULT_ACCELERATION;
   planner.retract_acceleration = DEFAULT_RETRACT_ACCELERATION;
   planner.travel_acceleration = DEFAULT_TRAVEL_ACCELERATION;
   planner.min_feedrate_mm_s = DEFAULT_MINIMUMFEEDRATE;
   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[Y_AXIS] = DEFAULT_YJERK;
   planner.max_jerk[Z_AXIS] = DEFAULT_ZJERK;
   planner.max_jerk[E_AXIS] = DEFAULT_EJERK;
 
+  #if ENABLED(JUNCTION_DEVIATION)
+    planner.junction_deviation_mm = JUNCTION_DEVIATION_MM;
+  #endif
+
   #if HAS_HOME_OFFSET
     ZERO(home_offset);
   #endif
@@ -2094,16 +2113,34 @@ void MarlinSettings::reset(PORTARG_SOLO) {
 
     if (!forReplay) {
       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;
-    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, " B", planner.min_segment_time_us);
-    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, " Z", LINEAR_UNIT(planner.max_jerk[Z_AXIS]));
-    SERIAL_ECHOLNPAIR_P(port, " E", LINEAR_UNIT(planner.max_jerk[E_AXIS]));
+
+    #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, " Y", LINEAR_UNIT(planner.max_jerk[Y_AXIS]));
+      SERIAL_ECHOPAIR_P(port, " Z", LINEAR_UNIT(planner.max_jerk[Z_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 (!forReplay) {

Marlin/src/module/planner.cpp

@@ -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
         Planner::block_buffer_planned;        // Index of the optimally planned block
 
-float Planner::max_feedrate_mm_s[XYZE_N],   // Max speeds in mm per second
-      Planner::axis_steps_per_mm[XYZE_N],
-      Planner::steps_to_mm[XYZE_N];
+uint32_t Planner::max_acceleration_mm_per_s2[XYZE_N],    // (mm/s^2) M201 XYZE
+         Planner::max_acceleration_steps_per_s2[XYZE_N], // (steps/s^2) Derived from mm_per_s2
+         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)
   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
 #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
   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

Marlin/src/module/planner.h

@@ -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