Add acc retraction for extruder and ejerk for estruder

MarlinKimbra/Configuration_Cartesian.h

@@ -91,8 +91,8 @@
 //it is highly recommended you let this Z_SAFE_HOMING enabled!!!
 //#define Z_SAFE_HOMING
 #ifdef Z_SAFE_HOMING
-  #define Z_SAFE_HOMING_X_POINT (X_MAX_LENGTH/2)    // X point for Z homing when homing all axis (G28) or homing Z
-  #define Z_SAFE_HOMING_Y_POINT (Y_MAX_LENGTH/2)    // Y point for Z homing when homing all axis (G28) or homing Z
+  #define Z_SAFE_HOMING_X_POINT ((X_MIN_POS + X_MAX_POS) / 2)    // X point for Z homing when homing all axis (G28)
+  #define Z_SAFE_HOMING_Y_POINT ((Y_MIN_POS + Y_MAX_POS) / 2)    // Y point for Z homing when homing all axis (G28)
 #endif
 
 //#define ENABLE_AUTO_BED_LEVELING    // Delete the comment to enable (ABL)
@@ -186,23 +186,23 @@
 #define HOMING_FEEDRATE {100*60, 100*60, 2*60, 0}      // set the homing speeds (mm/min)
 
 // default settings
-#define DEFAULT_AXIS_STEPS_PER_UNIT     {80,80,3200,625,625,625,625}       // X, Y, Z, E0, E1, E2, E3 default steps per unit
-#define DEFAULT_MAX_FEEDRATE            {300,300,2,100,100,100,100}        // X, Y, Z, E0, E1, E2, E3 (mm/sec)
-#define DEFAULT_MAX_ACCELERATION        {3000,3000,50,1000,1000,1000,1000} // X, Y, Z, E0, E1, E2, E3 maximum start speed for accelerated moves.
-#define DEFAULT_ACCELERATION          2500      // X, Y, Z and E max acceleration in mm/s^2 for printing moves
-#define DEFAULT_RETRACT_ACCELERATION 10000      // E max acceleration in mm/s^2 for retracts
-#define DEFAULT_TRAVEL_ACCELERATION   3000      // X, Y, Z acceleration in mm/s^2 for travel (non printing) moves
+#define DEFAULT_AXIS_STEPS_PER_UNIT   {80,80,3200,625,625,625,625}          // X, Y, Z, E0...(per extruder). Default steps per unit
+#define DEFAULT_MAX_FEEDRATE          {300,300,2,100,100,100,100}           // X, Y, Z, E0...(per extruder). (mm/sec)
+#define DEFAULT_MAX_ACCELERATION      {3000,3000,50,1000,1000,1000,1000}    // X, Y, Z, E0...(per extruder). Maximum start speed for accelerated moves.
+#define DEFAULT_RETRACT_ACCELERATION  {10000,10000,10000,10000}             // E0... (per extruder) max acceleration in mm/s^2 for retracts
+#define DEFAULT_ACCELERATION            2500                                // X, Y, Z and E* max acceleration in mm/s^2 for printing moves
+#define DEFAULT_TRAVEL_ACCELERATION     3000                                // X, Y, Z acceleration in mm/s^2 for travel (non printing) moves
 
 // Offset of the extruders (uncomment if using more than one and relying on firmware to position when changing).
-// The offset has to be X=0, Y=0 for the extruder 0 hotend (default extruder).
-// For the other hotends it is their distance from the extruder 0 hotend.
-//#define HOTEND_OFFSET_X {0.0, 5.00, 0.0, 0.0} // (in mm) for each extruder, offset of the hotend on the X axis
-//#define HOTEND_OFFSET_Y {0.0, 5.00, 0.0, 0.0} // (in mm) for each extruder, offset of the hotend on the Y axis
+// The offset has to be X=0, Y=0 for the hotend 0 (default hotend).
+// For the other hotends it is their distance from the hotend 0.
+//#define HOTEND_OFFSET_X {0.0, 5.00, 0.0, 0.0} // (in mm) for each hotend, offset of the hotend on the X axis
+//#define HOTEND_OFFSET_Y {0.0, 5.00, 0.0, 0.0} // (in mm) for each hotend, offset of the hotend on the Y axis
 
 // The speed change that does not require acceleration (i.e. the software might assume it can be done instantaneously)
-#define DEFAULT_XYJERK 10.0     // (mm/sec)
-#define DEFAULT_ZJERK   0.4     // (mm/sec)
-#define DEFAULT_EJERK   5.0     // (mm/sec)
+#define DEFAULT_XYJERK 10.0                 // (mm/sec)
+#define DEFAULT_ZJERK   0.4                 // (mm/sec)
+#define DEFAULT_EJERK  {5.0,5.0,5.0,5.0}    // E0... (mm/sec) per extruder, max initial speed for retract moves
 
 //===========================================================================
 //=============================Additional Features===========================

MarlinKimbra/Configuration_Core.h

@@ -90,9 +90,9 @@
 //If you have enabled the Auto Bed Levelling and are using the same Z Probe for Z Homing,
 //it is highly recommended you let this Z_SAFE_HOMING enabled!!!
 //#define Z_SAFE_HOMING
-#ifndef Z_SAFE_HOMING
-  #define Z_SAFE_HOMING_X_POINT (X_MAX_LENGTH/2)    // X point for Z homing when homing all axis (G28) or homing Z
-  #define Z_SAFE_HOMING_Y_POINT (Y_MAX_LENGTH/2)    // Y point for Z homing when homing all axis (G28) or homing Z
+#ifdef Z_SAFE_HOMING
+  #define Z_SAFE_HOMING_X_POINT ((X_MIN_POS + X_MAX_POS) / 2)    // X point for Z homing when homing all axis (G28)
+  #define Z_SAFE_HOMING_Y_POINT ((Y_MIN_POS + Y_MAX_POS) / 2)    // Y point for Z homing when homing all axis (G28)
 #endif
 
 //#define ENABLE_AUTO_BED_LEVELING    // Delete the comment to enable (ABL)
@@ -186,23 +186,23 @@
 #define HOMING_FEEDRATE {100*60, 100*60, 2*60, 0}      // set the homing speeds (mm/min)
 
 // default settings
-#define DEFAULT_AXIS_STEPS_PER_UNIT     {80,80,3200,625,625,625,625}       // X, Y, Z, E0, E1, E2, E3 default steps per unit
-#define DEFAULT_MAX_FEEDRATE            {300,300,2,100,100,100,100}        // X, Y, Z, E0, E1, E2, E3 (mm/sec)
-#define DEFAULT_MAX_ACCELERATION        {3000,3000,50,1000,1000,1000,1000} // X, Y, Z, E0, E1, E2, E3 maximum start speed for accelerated moves.
-#define DEFAULT_ACCELERATION          2500      // X, Y, Z and E max acceleration in mm/s^2 for printing moves
-#define DEFAULT_RETRACT_ACCELERATION 10000      // E max acceleration in mm/s^2 for retracts
-#define DEFAULT_TRAVEL_ACCELERATION   3000      // X, Y, Z acceleration in mm/s^2 for travel (non printing) moves
+#define DEFAULT_AXIS_STEPS_PER_UNIT   {80,80,3200,625,625,625,625}          // X, Y, Z, E0...(per extruder). Default steps per unit
+#define DEFAULT_MAX_FEEDRATE          {300,300,2,100,100,100,100}           // X, Y, Z, E0...(per extruder). (mm/sec)
+#define DEFAULT_MAX_ACCELERATION      {3000,3000,50,1000,1000,1000,1000}    // X, Y, Z, E0...(per extruder). Maximum start speed for accelerated moves.
+#define DEFAULT_RETRACT_ACCELERATION  {10000,10000,10000,10000}             // E0... (per extruder) max acceleration in mm/s^2 for retracts
+#define DEFAULT_ACCELERATION            2500                                // X, Y, Z and E* max acceleration in mm/s^2 for printing moves
+#define DEFAULT_TRAVEL_ACCELERATION     3000                                // X, Y, Z acceleration in mm/s^2 for travel (non printing) moves
 
 // Offset of the extruders (uncomment if using more than one and relying on firmware to position when changing).
-// The offset has to be X=0, Y=0 for the extruder 0 hotend (default extruder).
-// For the other hotends it is their distance from the extruder 0 hotend.
-//#define HOTEND_OFFSET_X {0.0, 5.00, 0.0, 0.0} // (in mm) for each extruder, offset of the hotend on the X axis
-//#define HOTEND_OFFSET_Y {0.0, 5.00, 0.0, 0.0} // (in mm) for each extruder, offset of the hotend on the Y axis
+// The offset has to be X=0, Y=0 for the hotend 0 (default hotend).
+// For the other hotends it is their distance from the hotend 0.
+//#define HOTEND_OFFSET_X {0.0, 5.00, 0.0, 0.0} // (in mm) for each hotend, offset of the hotend on the X axis
+//#define HOTEND_OFFSET_Y {0.0, 5.00, 0.0, 0.0} // (in mm) for each hotend, offset of the hotend on the Y axis
 
 // The speed change that does not require acceleration (i.e. the software might assume it can be done instantaneously)
-#define DEFAULT_XYJERK 10.0     // (mm/sec)
-#define DEFAULT_ZJERK   0.4     // (mm/sec)
-#define DEFAULT_EJERK   5.0     // (mm/sec)
+#define DEFAULT_XYJERK 10.0                 // (mm/sec)
+#define DEFAULT_ZJERK   0.4                 // (mm/sec)
+#define DEFAULT_EJERK  {5.0,5.0,5.0,5.0}    // E0... (mm/sec) per extruder, max initial speed for retract moves
 
 //===========================================================================
 //=============================Additional Features===========================

MarlinKimbra/Configuration_Delta.h

@@ -134,20 +134,20 @@
 
 // default settings
 // delta speeds must be the same on xyz
-#define DEFAULT_AXIS_STEPS_PER_UNIT {80,80,80,451,625,625,625}        // X, Y, Z, E0, E1, E2, E3
-#define DEFAULT_MAX_FEEDRATE {300,300,300,45,100,100,100}             // X, Y, Z, E0, E1, E2, E3 (mm/sec)
-#define DEFAULT_MAX_ACCELERATION {2000,2000,2000,1000,1000,1000,1000} // X, Y, Z, E0, E1, E2, E3 maximum start speed for accelerated moves.
-#define DEFAULT_ACCELERATION          1000      // X, Y, Z and E max acceleration in mm/s^2 for printing moves
-#define DEFAULT_RETRACT_ACCELERATION  2500      // X, Y, Z and E max acceleration in mm/s^2 for retracts
-#define DEFAULT_TRAVEL_ACCELERATION   3000      // X, Y, Z acceleration in mm/s^2 for travel (non printing) moves
+#define DEFAULT_AXIS_STEPS_PER_UNIT   {80,80,80,451,625,625,625}            // X, Y, Z, E0...(per extruder). Default steps per unit
+#define DEFAULT_MAX_FEEDRATE          {500,500,500,45,45,45,45}             // X, Y, Z, E0...(per extruder). (mm/sec)
+#define DEFAULT_MAX_ACCELERATION      {5000,5000,5000,1000,1000,1000,1000}  // X, Y, Z, E0...(per extruder). Maximum start speed for accelerated moves.
+#define DEFAULT_RETRACT_ACCELERATION  {10000,10000,10000,10000}             // E0... (per extruder) max acceleration in mm/s^2 for retracts
+#define DEFAULT_ACCELERATION            3000                                // X, Y, Z and E max acceleration in mm/s^2 for printing moves
+#define DEFAULT_TRAVEL_ACCELERATION     3000                                // X, Y, Z acceleration in mm/s^2 for travel (non printing) moves
 
 // Offset of the extruders (uncomment if using more than one and relying on firmware to position when changing).
-// The offset has to be X=0, Y=0 for the extruder 0 hotend (default extruder).
-// For the other hotends it is their distance from the extruder 0 hotend.
-//#define HOTEND_OFFSET_X {0.0, 5.00, 0.0, 0.0} // (in mm) for each extruder, offset of the hotend on the X axis
-//#define HOTEND_OFFSET_Y {0.0, 5.00, 0.0, 0.0} // (in mm) for each extruder, offset of the hotend on the Y axis
+// The offset has to be X=0, Y=0 for the hotend 0 (default hotend).
+// For the other hotends it is their distance from the hotend 0.
+//#define HOTEND_OFFSET_X {0.0, 5.00, 0.0, 0.0} // (in mm) for each hotend, offset of the hotend on the X axis
+//#define HOTEND_OFFSET_Y {0.0, 5.00, 0.0, 0.0} // (in mm) for each hotend, offset of the hotend on the Y axis
 
 // The speed change that does not require acceleration (i.e. the software might assume it can be done instantaneously)
-#define DEFAULT_XYJERK 20  // (mm/sec)
-#define DEFAULT_ZJERK  20  // (mm/sec)
-#define DEFAULT_EJERK   5  // (mm/sec)
+#define DEFAULT_XYJERK 20                   // (mm/sec)
+#define DEFAULT_ZJERK  20                   // (mm/sec)
+#define DEFAULT_EJERK  {5.0,5.0,5.0,5.0}    // E0... (mm/sec) per extruder, max initial speed for retract moves

MarlinKimbra/Configuration_Scara.h

@@ -97,10 +97,10 @@
 #define E_MIN_POS 0
 
 //=====================================================================================
-//============================= Bed Manual or Auto Leveling ===========================
+//================ Manual Bed Leveling (MBL) or Auto Bed Leveling =====================
 //=====================================================================================
 
-// set the rectangle in which to probe in manual or automatic
+// set the rectangle in which to probe in MBL or ABL
 #define LEFT_PROBE_BED_POSITION 20
 #define RIGHT_PROBE_BED_POSITION 180
 #define FRONT_PROBE_BED_POSITION 20
@@ -112,8 +112,8 @@
 //it is highly recommended you let this Z_SAFE_HOMING enabled!!!
 //#define Z_SAFE_HOMING
 #ifdef Z_SAFE_HOMING
-  #define Z_SAFE_HOMING_X_POINT (X_MAX_LENGTH/2)    // X point for Z homing when homing all axis (G28) or homing Z
-  #define Z_SAFE_HOMING_Y_POINT (Y_MAX_LENGTH/2)    // Y point for Z homing when homing all axis (G28) or homing Z
+  #define Z_SAFE_HOMING_X_POINT ((X_MIN_POS + X_MAX_POS) / 2)    // X point for Z homing when homing all axis (G28)
+  #define Z_SAFE_HOMING_Y_POINT ((Y_MIN_POS + Y_MAX_POS) / 2)    // Y point for Z homing when homing all axis (G28)
 #endif
 
 //#define ENABLE_AUTO_BED_LEVELING    // Delete the comment to enable (ABL)
@@ -208,23 +208,23 @@
 #define HOMING_FEEDRATE {40*60, 40*60, 10*60, 0}  // set the homing speeds (mm/min)
 
 // default settings
-#define DEFAULT_AXIS_STEPS_PER_UNIT     {103.69,103.69,200/1.25,1000,1000,1000,1000}    // X, Y, Z, E0, E1, E2, E3
-#define DEFAULT_MAX_FEEDRATE            {300,300,4,45,45,45,45}                         // X, Y, Z, E0, E1, E2, E3 (mm/sec)
-#define DEFAULT_MAX_ACCELERATION        {5000,5000,50,5000,5000,5000,5000}              // X, Y, Z, E0, E1, E2, E3 maximum start speed for accelerated moves.
-#define DEFAULT_ACCELERATION           400      // X, Y, Z and E max acceleration in mm/s^2 for printing moves
-#define DEFAULT_RETRACT_ACCELERATION  2000      // X, Y, Z and E max acceleration in mm/s^2 for retracts
-#define DEFAULT_TRAVEL_ACCELERATION    400      // X, Y, Z acceleration in mm/s^2 for travel (non printing) moves
+#define DEFAULT_AXIS_STEPS_PER_UNIT   {103.69,103.69,200/1.25,1000,1000,1000,1000}    // X, Y, Z, E0...(per extruder). Default steps per unit
+#define DEFAULT_MAX_FEEDRATE          {300,300,4,45,45,45,45}                         // X, Y, Z, E0...(per extruder). (mm/sec)
+#define DEFAULT_MAX_ACCELERATION      {5000,5000,50,5000,5000,5000,5000}              // X, Y, Z, E0...(per extruder). Maximum start speed for accelerated moves.
+#define DEFAULT_RETRACT_ACCELERATION  {10000,10000,10000,10000}                       // E0... (per extruder) max acceleration in mm/s^2 for retracts
+#define DEFAULT_ACCELERATION             400                                          // X, Y, Z and E max acceleration in mm/s^2 for printing moves
+#define DEFAULT_TRAVEL_ACCELERATION      400                                          // X, Y, Z acceleration in mm/s^2 for travel (non printing) moves
 
 // Offset of the extruders (uncomment if using more than one and relying on firmware to position when changing).
-// The offset has to be X=0, Y=0 for the extruder 0 hotend (default extruder).
-// For the other hotends it is their distance from the extruder 0 hotend.
-//#define HOTEND_OFFSET_X {0.0, 5.00, 0.0, 0.0} // (in mm) for each extruder, offset of the hotend on the X axis
-//#define HOTEND_OFFSET_Y {0.0, 5.00, 0.0, 0.0} // (in mm) for each extruder, offset of the hotend on the Y axis
+// The offset has to be X=0, Y=0 for the hotend 0 (default hotend).
+// For the other hotends it is their distance from the hotend 0.
+//#define HOTEND_OFFSET_X {0.0, 5.00, 0.0, 0.0} // (in mm) for each hotend, offset of the hotend on the X axis
+//#define HOTEND_OFFSET_Y {0.0, 5.00, 0.0, 0.0} // (in mm) for each hotend, offset of the hotend on the Y axis
 
 // The speed change that does not require acceleration (i.e. the software might assume it can be done instantaneously)
-#define DEFAULT_XYJERK 5    // (mm/sec)
-#define DEFAULT_ZJERK  0.4  // (mm/sec)
-#define DEFAULT_EJERK  3    // (mm/sec)
+#define DEFAULT_XYJERK 5                // (mm/sec)
+#define DEFAULT_ZJERK  0.4              // (mm/sec)
+#define DEFAULT_EJERK {3.0,3.0,3.0,3.0} // (mm/sec)
 
 //===========================================================================
 //=============================Additional Features===========================

MarlinKimbra/Marlin_main.cpp

@@ -4316,22 +4316,19 @@ inline void gcode_M85() {
  * M92: Set axis_steps_per_unit
  */
 inline void gcode_M92() {
-  for(int8_t i = 0; i <= Z_AXIS; i++) {
-    if (code_seen(axis_codes[i])) axis_steps_per_unit[i] = code_value();
-  }
+  if (setTargetedHotend(92)) return;
 
-  if (code_seen('E')) {
-    int tmp_extruder = 0;
-    tmp_extruder = code_value();
-    float value = code_seen('S') ? code_value() : axis_steps_per_unit[E_AXIS + tmp_extruder];
-    if (value < 20.0) {
-      float factor = axis_steps_per_unit[E_AXIS + tmp_extruder] / value; // increase e constants if M92 E14 is given for netfab.
-      max_e_jerk *= factor;
-      max_feedrate[E_AXIS + tmp_extruder] *= factor;
-      axis_steps_per_sqr_second[E_AXIS + tmp_extruder] *= factor;
+  for(int8_t i = 0; i <= NUM_AXIS; i++) {
+    if (code_seen(axis_codes[i])) {
+      if (i == E_AXIS)
+        axis_steps_per_unit[i + target_extruder] = code_value();
+      else
+        axis_steps_per_unit[i] = code_value();
     }
-    axis_steps_per_unit[E_AXIS + tmp_extruder] = value;
   }
+  st_synchronize();
+  // This recalculates position in steps in case user has changed steps/unit
+  plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
 }
 
 /**
@@ -4782,31 +4779,37 @@ inline void gcode_M201() {
 
 
 /**
- * M203: Set maximum feedrate that your machine can sustain (M203 X200 Y200 Z300 E10000) in mm/sec
+ * M203: Set maximum feedrate that your machine can sustain in mm/sec
+ *
+ *    X,Y,Z   = AXIS
+ *    T* E    = E_AXIS
+ *
  */
 inline void gcode_M203() {
-  for(int8_t i = 0; i <= Z_AXIS; i++) {
-    if (code_seen(axis_codes[i])) max_feedrate[i] = code_value();
-  }
+  if (setTargetedHotend(203)) return;
 
-  if (code_seen('E')) {
-    int tmp_extruder = 0;
-    tmp_extruder = code_value();
-    float value = code_seen('S') ? code_value() : max_feedrate[E_AXIS + tmp_extruder];
-    max_feedrate[E_AXIS + tmp_extruder] = value;
+  for(int8_t i = 0; i < NUM_AXIS; i++) {
+    if (code_seen(axis_codes[i])) {
+      if (i == E_AXIS)
+        max_feedrate[i + target_extruder] = code_value();
+      else
+        max_feedrate[i] = code_value();
+    }
   }
 }
 
 /**
- * M204: Set Accelerations in mm/sec^2 (M204 P1200 R3000 T3000)
+ * M204: Set Accelerations in mm/sec^2 (M204 P1200 T0 R3000 V3000)
  *
- *    P = Printing moves
- *    R = Retract only (no X, Y, Z) moves
- *    T = Travel (non printing) moves
+ *    P     = Printing moves
+ *    T* R  = Retract only (no X, Y, Z) moves
+ *    V     = Travel (non printing) moves
  *
  *  Also sets minimum segment time in ms (B20000) to prevent buffer under-runs and M20 minimum feedrate
  */
 inline void gcode_M204() {
+  if (setTargetedHotend(204)) return;
+
   if (code_seen('S')) {  // Kept for legacy compatibility. Should NOT BE USED for new developments.
     acceleration = code_value();
     travel_acceleration = acceleration;
@@ -4817,10 +4820,10 @@ inline void gcode_M204() {
     ECHO_LMV(DB, "Setting Print Acceleration: ", acceleration );
   }
   if (code_seen('R')) {
-    retract_acceleration = code_value();
-    ECHO_LMV(DB, "Setting Retract Acceleration: ", retract_acceleration );
+    retract_acceleration[target_extruder] = code_value();
+    ECHO_LMV(DB, "Setting Retract Acceleration: ", retract_acceleration[target_extruder]);
   }
-  if (code_seen('T')) {
+  if (code_seen('V')) {
     travel_acceleration = code_value();
     ECHO_LMV(DB, "Setting Travel Acceleration: ", travel_acceleration );
   }
@@ -4830,19 +4833,21 @@ inline void gcode_M204() {
  * M205: Set Advanced Settings
  *
  *    S = Min Feed Rate (mm/s)
- *    T = Min Travel Feed Rate (mm/s)
+ *    V = Min Travel Feed Rate (mm/s)
  *    B = Min Segment Time (µs)
  *    X = Max XY Jerk (mm/s/s)
  *    Z = Max Z Jerk (mm/s/s)
  *    E = Max E Jerk (mm/s/s)
  */
 inline void gcode_M205() {
+  if (setTargetedHotend(205)) return;
+
   if (code_seen('S')) minimumfeedrate = code_value();
-  if (code_seen('T')) mintravelfeedrate = code_value();
+  if (code_seen('V')) mintravelfeedrate = code_value();
   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();
+  if (code_seen('E')) max_e_jerk[target_extruder] = code_value();
 }
 
 /**
@@ -6220,7 +6225,6 @@ void process_next_command() {
       case 92: // G92
         gcode_G92(); break;
     }
-    code_is_good = false;
     break;
 
     case 'M': switch (codenum) {
@@ -6558,7 +6562,6 @@ void process_next_command() {
           gcode_SET_Z_PROBE_OFFSET(); break;
       #endif // CUSTOM_M_CODE_SET_Z_PROBE_OFFSET
     }
-    code_is_good = false;
     break;
 
     case 'T':

MarlinKimbra/configuration_store.cpp

@@ -14,28 +14,28 @@
  *
  */
 
-#define EEPROM_VERSION "V22"
+#define EEPROM_VERSION "V23"
 
 /**
- * V22 EEPROM Layout:
+ * V23 EEPROM Layout:
  *
  *  ver
- *  M92   XYZ E0 E1 E2 E3 axis_steps_per_unit (x7)
- *  M203  XYZ E0 E1 E2 E3 max_feedrate (x7)
- *  M201  XYZ E0 E1 E2 E3 max_acceleration_units_per_sq_second (x7)
+ *  M92   XYZ E0 ...      axis_steps_per_unit X,Y,Z,E0 ... (per extruder)
+ *  M203  XYZ E0 ...      max_feedrate X,Y,Z,E0 ... (per extruder)
+ *  M201  XYZ E0 ...      max_acceleration_units_per_sq_second X,Y,Z,E0 ... (per extruder)
  *  M204  P               acceleration
- *  M204  R               retract_acceleration
+ *  M204  R   E0 ...      retract_acceleration (per extruder)
  *  M204  T               travel_acceleration
  *  M205  S               minimumfeedrate
  *  M205  T               mintravelfeedrate
  *  M205  B               minsegmenttime
  *  M205  X               max_xy_jerk
  *  M205  Z               max_z_jerk
- *  M205  E               max_e_jerk
+ *  M205  E  E0 ...       max_e_jerk (per extruder)
  *  M206  XYZ             home_offset (x3)
  *  M666  P               zprobe_zoffset
  *
- * HOTEND OFFSET:
+ * HOTENDS OFFSET:
  *  M218 T  XY            hotend_offset (x4) (T0..3)
  *
  * DELTA:
@@ -134,8 +134,6 @@ void _EEPROM_readData(int &pos, uint8_t* value, uint8_t size) {
  * Store Configuration Settings - M500
  */
 
-#define DUMMY_PID_VALUE 3000.0f
-
 #define EEPROM_OFFSET 100
 
 #ifdef EEPROM_SETTINGS
@@ -194,31 +192,19 @@ void Config_StoreSettings() {
   EEPROM_WRITE_VAR(i, gumPreheatHPBTemp);
   EEPROM_WRITE_VAR(i, gumPreheatFanSpeed);
 
-  for (int e = 0; e < 4; e++) {
-    #ifdef PIDTEMP
-      if (e < HOTENDS) {
-        EEPROM_WRITE_VAR(i, PID_PARAM(Kp, e));
-        EEPROM_WRITE_VAR(i, PID_PARAM(Ki, e));
-        EEPROM_WRITE_VAR(i, PID_PARAM(Kd, e));
-      }
-      else
-    #endif // !PIDTEMP
-      {
-        dummy = DUMMY_PID_VALUE; // When read, will not change the existing value
-        EEPROM_WRITE_VAR(i, dummy);
-        dummy = 0.0f;
-        for (int q = 3; q--;) EEPROM_WRITE_VAR(i, dummy);
-      }
-
-  } // Extruders Loop
-
-  #ifndef PIDTEMPBED
-    float bedKp = DUMMY_PID_VALUE, bedKi = DUMMY_PID_VALUE, bedKd = DUMMY_PID_VALUE;
+  #ifdef PIDTEMP
+    for (int e = 0; e < HOTENDS; e++) {
+      EEPROM_WRITE_VAR(i, PID_PARAM(Kp, e));
+      EEPROM_WRITE_VAR(i, PID_PARAM(Ki, e));
+      EEPROM_WRITE_VAR(i, PID_PARAM(Kd, e));
+    }
   #endif
 
-  EEPROM_WRITE_VAR(i, bedKp);
-  EEPROM_WRITE_VAR(i, bedKi);
-  EEPROM_WRITE_VAR(i, bedKd);
+  #ifdef PIDTEMPBED
+    EEPROM_WRITE_VAR(i, bedKp);
+    EEPROM_WRITE_VAR(i, bedKi);
+    EEPROM_WRITE_VAR(i, bedKd);
+  #endif
 
   #if defined(DOGLCD) || LCD_CONTRAST < 0
     const int lcd_contrast = 32;
@@ -227,9 +213,6 @@ void Config_StoreSettings() {
 
   #ifdef SCARA
     EEPROM_WRITE_VAR(i, axis_scaling); // 3 floats
-  #else
-    dummy = 1.0f;
-    EEPROM_WRITE_VAR(i, dummy);
   #endif
 
   #ifdef FWRETRACT
@@ -346,36 +329,18 @@ void Config_RetrieveSettings() {
     EEPROM_READ_VAR(i, gumPreheatFanSpeed);
 
     #ifdef PIDTEMP
-      for (int e = 0; e < 4; e++) { // 4 = max hotend currently supported
-        EEPROM_READ_VAR(i, dummy); // Kp
-        if (e < EXTRUDERS && dummy != DUMMY_PID_VALUE) {
-          // do not need to scale PID values as the values in EEPROM are already scaled
-          PID_PARAM(Kp, e) = dummy;
-          EEPROM_READ_VAR(i, PID_PARAM(Ki, e));
-          EEPROM_READ_VAR(i, PID_PARAM(Kd, e));
-        }
-        else {
-          for (int q=3; q--;) EEPROM_READ_VAR(i, dummy); // Ki, Kd, Kc
-        }
+      for (int8_t e = 0; e < HOTENDS; e++) {
+        EEPROM_READ_VAR(i, PID_PARAM(Kp, e));
+        EEPROM_READ_VAR(i, PID_PARAM(Ki, e));
+        EEPROM_READ_VAR(i, PID_PARAM(Kd, e));
       }
-    #else // !PIDTEMP
-      // 4 x 3 = 12 slots for PID parameters
-      for (int q = 12; q--;) EEPROM_READ_VAR(i, dummy);  // 4x Kp, Ki, Kd
-    #endif // !PIDTEMP
+    #endif // PIDTEMP
 
-    #ifndef PIDTEMPBED
-      float bedKp, bedKi, bedKd;
-    #endif
-
-    EEPROM_READ_VAR(i, dummy); // bedKp
-    if (dummy != DUMMY_PID_VALUE) {
-      bedKp = dummy;
+    #ifdef PIDTEMPBED
+      EEPROM_READ_VAR(i, bedKp);
       EEPROM_READ_VAR(i, bedKi);
       EEPROM_READ_VAR(i, bedKd);
-    }
-    else {
-      for (int q = 2; q--;) EEPROM_READ_VAR(i, dummy); // bedKi, bedKd
-    }
+    #endif
 
     #if defined(DOGLCD) || LCD_CONTRAST < 0
       int lcd_contrast;
@@ -385,8 +350,6 @@ void Config_RetrieveSettings() {
 
     #ifdef SCARA
       EEPROM_READ_VAR(i, axis_scaling);  // 3 floats
-    #else
-      EEPROM_READ_VAR(i, dummy);
     #endif
 
     #ifdef FWRETRACT
@@ -410,7 +373,7 @@ void Config_RetrieveSettings() {
 
     EEPROM_READ_VAR(i, volumetric_enabled);
 
-    for (int q = 0; q < 4; q++) {
+    for (int8_t q = 0; q < 4; q++) {
       EEPROM_READ_VAR(i, dummy);
       if (q < EXTRUDERS) filament_size[q] = dummy;
     }
@@ -444,49 +407,82 @@ void Config_ResetDefault() {
   float tmp1[] = DEFAULT_AXIS_STEPS_PER_UNIT;
   float tmp2[] = DEFAULT_MAX_FEEDRATE;
   long  tmp3[] = DEFAULT_MAX_ACCELERATION;
+  long  tmp4[] = DEFAULT_RETRACT_ACCELERATION;
+  long  tmp5[] = DEFAULT_EJERK;
   #ifdef PIDTEMP
-    float tmp4[] = DEFAULT_Kp;
-    float tmp5[] = DEFAULT_Ki;
-    float tmp6[] = DEFAULT_Kd;
+    float tmp6[] = DEFAULT_Kp;
+    float tmp7[] = DEFAULT_Ki;
+    float tmp8[] = DEFAULT_Kd;
   #endif // PIDTEMP
 
   #if defined(HOTEND_OFFSET_X) && defined(HOTEND_OFFSET_Y)
-    float tmp7[] = HOTEND_OFFSET_X;
-    float tmp8[] = HOTEND_OFFSET_Y;
+    float tmp9[] = HOTEND_OFFSET_X;
+    float tmp10[] = HOTEND_OFFSET_Y;
   #else
-    float tmp7[] = {0,0,0,0};
-    float tmp8[] = {0,0,0,0};
+    float tmp9[] = {0};
+    float tmp10[] = {0};
   #endif
 
-  for (int i = 0; i < 3 + EXTRUDERS; i++) {
-    axis_steps_per_unit[i] = tmp1[i];
-    max_feedrate[i] = tmp2[i];
-    max_acceleration_units_per_sq_second[i] = tmp3[i];
+  for (int8_t i = 0; i < 3 + EXTRUDERS; i++) {
+    short max_i;
+    max_i = sizeof(tmp1) / sizeof(*tmp1);
+    if(i < max_i)
+      axis_steps_per_unit[i] = tmp1[i];
+    else
+      axis_steps_per_unit[i] = tmp1[max_i - 1];
+    max_i = sizeof(tmp2) / sizeof(*tmp2);
+    if(i < max_i)
+      max_feedrate[i] = tmp2[i];
+    else
+      max_feedrate[i] = tmp2[max_i - 1];
+    max_i = sizeof(tmp3) / sizeof(*tmp3);
+    if(i < max_i)
+      max_acceleration_units_per_sq_second[i] = tmp3[i];
+    else
+      max_acceleration_units_per_sq_second[i] = tmp3[max_i - 1];
+    if(i < EXTRUDERS) {
+      max_i = sizeof(tmp4) / sizeof(*tmp4);
+      if(i < max_i)
+        retract_acceleration[i] = tmp4[i];
+      else
+        retract_acceleration[i] = tmp4[max_i - 1];
+      max_i = sizeof(tmp5) / sizeof(*tmp5);
+      if(i < max_i)
+        max_e_jerk[i] = tmp5[i];
+      else
+        max_e_jerk[i] = tmp5[max_i - 1];
+      #if HOTENDS > 1
+      max_i = sizeof(tmp9) / sizeof(*tmp9);
+      if(i < max_i)
+        extruder_offset[X_AXIS][i] = tmp9[i];
+      else
+        extruder_offset[X_AXIS][i] = 0;
+      max_i = sizeof(tmp10) / sizeof(*tmp10);
+      if(i < max_i)
+        extruder_offset[Y_AXIS][i] = tmp10[i];
+      else
+        extruder_offset[Y_AXIS][i] = 0;
+      #endif // HOTENDS > 1
+    }
   }
 
-  for (int i = 0; i < EXTRUDERS; i++) {
-    #if HOTENDS > 1
-      hotend_offset[X_AXIS][i] = tmp7[i];
-      hotend_offset[Y_AXIS][i] = tmp8[i];
-    #endif
-    #ifdef SCARA
+  #ifdef SCARA
+    for (int8_t i = 0; i < NUM_AXIS; i++) {
       if (i < sizeof(axis_scaling) / sizeof(*axis_scaling))
         axis_scaling[i] = 1;
-    #endif
-  }
+    }
+  #endif
 
   // steps per sq second need to be updated to agree with the units per sq second
   reset_acceleration_rates();
 
   acceleration = DEFAULT_ACCELERATION;
-  retract_acceleration = DEFAULT_RETRACT_ACCELERATION;
   travel_acceleration = DEFAULT_TRAVEL_ACCELERATION;
   minimumfeedrate = DEFAULT_MINIMUMFEEDRATE;
   minsegmenttime = DEFAULT_MINSEGMENTTIME;
   mintravelfeedrate = DEFAULT_MINTRAVELFEEDRATE;
   max_xy_jerk = DEFAULT_XYJERK;
   max_z_jerk = DEFAULT_ZJERK;
-  max_e_jerk = DEFAULT_EJERK;
   home_offset[X_AXIS] = home_offset[Y_AXIS] = home_offset[Z_AXIS] = 0;
 
   #ifdef ENABLE_AUTO_BED_LEVELING
@@ -522,11 +518,10 @@ void Config_ResetDefault() {
   #endif //DOGLCD
 
   #ifdef PIDTEMP
-    for (int e = 0; e < HOTENDS; e++) 
-    {
-      Kp[e] = tmp4[e];
-      Ki[e] = scalePID_i(tmp5[e]);
-      Kd[e] = scalePID_d(tmp6[e]);
+    for (int8_t e = 0; e < HOTENDS; e++) {
+      Kp[e] = tmp6[e];
+      Ki[e] = scalePID_i(tmp7[e]);
+      Kd[e] = scalePID_d(tmp8[e]);
     }
     // call updatePID (similar to when we have processed M301)
     updatePID();
@@ -554,16 +549,11 @@ void Config_ResetDefault() {
   #endif
 
   volumetric_enabled = false;
-  filament_size[0] = DEFAULT_NOMINAL_FILAMENT_DIA;
-  #if EXTRUDERS > 1
-    filament_size[1] = DEFAULT_NOMINAL_FILAMENT_DIA;
-    #if EXTRUDERS > 2
-      filament_size[2] = DEFAULT_NOMINAL_FILAMENT_DIA;
-      #if EXTRUDERS > 3
-        filament_size[3] = DEFAULT_NOMINAL_FILAMENT_DIA;
-      #endif // EXTRUDERS > 3
-    #endif // EXTRUDERS > 2
-  #endif // EXTRUDERS > 1
+
+  for (short i = 0; i < EXTRUDERS; i++) {
+    filament_size[i] = DEFAULT_NOMINAL_FILAMENT_DIA;
+  }
+
   calculate_volumetric_multipliers();
 
   #ifdef IDLE_OOZING_PREVENT
@@ -587,17 +577,13 @@ void Config_ResetDefault() {
     ECHO_SMV(DB, "  M92 X", axis_steps_per_unit[X_AXIS]);
     ECHO_MV(" Y", axis_steps_per_unit[Y_AXIS]);
     ECHO_MV(" Z", axis_steps_per_unit[Z_AXIS]);
-    ECHO_MV(" E0 S", axis_steps_per_unit[E_AXIS + 0]);
+    ECHO_EMV(" E", axis_steps_per_unit[E_AXIS]);
     #if EXTRUDERS > 1
-      ECHO_MV(" E1 S", axis_steps_per_unit[E_AXIS + 1]);
-      #if EXTRUDERS > 2
-        ECHO_MV(" E2 S", axis_steps_per_unit[E_AXIS + 2]);
-        #if EXTRUDERS > 3
-          ECHO_MV(" E3 S", axis_steps_per_unit[E_AXIS + 3]);
-        #endif //EXTRUDERS > 3
-      #endif //EXTRUDERS > 2
+      for (short i = 1; i < EXTRUDERS; i++) {
+        ECHO_SMV(DB, "  M92 T", i);
+        ECHO_EMV(" E", axis_steps_per_unit[E_AXIS + i]);
+      }
     #endif //EXTRUDERS > 1
-    ECHO_E;
 
     #ifdef SCARA
       if (!forReplay) {
@@ -614,17 +600,13 @@ void Config_ResetDefault() {
     ECHO_SMV(DB, "  M203 X", max_feedrate[X_AXIS]);
     ECHO_MV(" Y", max_feedrate[Y_AXIS] ); 
     ECHO_MV(" Z", max_feedrate[Z_AXIS] ); 
-    ECHO_MV(" E0 S", max_feedrate[E_AXIS + 0]);
+    ECHO_EMV(" E", max_feedrate[E_AXIS]);
     #if EXTRUDERS > 1
-      ECHO_MV(" E1 S", max_feedrate[E_AXIS + 1]);
-      #if EXTRUDERS > 2
-        ECHO_MV(" E2 S", max_feedrate[E_AXIS + 2]);
-        #if EXTRUDERS > 3
-          ECHO_MV(" E3 S", max_feedrate[E_AXIS + 3]);
-        #endif //EXTRUDERS > 3
-      #endif //EXTRUDERS > 2
+      for (short i = 1; i < EXTRUDERS; i++) {
+        ECHO_SMV(DB, "  M203 T", i);
+        ECHO_EMV(" E", max_feedrate[E_AXIS + i]);
+      }
     #endif //EXTRUDERS > 1
-    ECHO_E;
 
     if (!forReplay) {
       ECHO_LM(DB, "Maximum Acceleration (mm/s2):");
@@ -632,34 +614,42 @@ void Config_ResetDefault() {
     ECHO_SMV(DB, "  M201 X", max_acceleration_units_per_sq_second[X_AXIS] );
     ECHO_MV(" Y", max_acceleration_units_per_sq_second[Y_AXIS] );
     ECHO_MV(" Z", max_acceleration_units_per_sq_second[Z_AXIS] );
-    ECHO_MV(" E0 S", max_acceleration_units_per_sq_second[E_AXIS]);
+    ECHO_EMV(" E", max_acceleration_units_per_sq_second[E_AXIS]);
     #if EXTRUDERS > 1
-      ECHO_MV(" E1 S", max_acceleration_units_per_sq_second[E_AXIS+1]);
-      #if EXTRUDERS > 2
-        ECHO_MV(" E2 S", max_acceleration_units_per_sq_second[E_AXIS+2]);
-        #if EXTRUDERS > 3
-          ECHO_MV(" E3 S", max_acceleration_units_per_sq_second[E_AXIS+3]);
-        #endif //EXTRUDERS > 3
-      #endif //EXTRUDERS > 2
+      for (short i = 1; i < EXTRUDERS; i++) {
+        ECHO_SMV(DB, "  M201 T", i);
+        ECHO_EMV(" E", max_acceleration_units_per_sq_second[E_AXIS + i]);
+      }
     #endif //EXTRUDERS > 1
     ECHO_E;
     
     if (!forReplay) {
-      ECHO_LM(DB, "Accelerations: P=printing, R=retract and T=travel");
+      ECHO_LM(DB, "Accelerations: P=printing, V=travel and T* R=retract");
     }
-    ECHO_SMV(DB,"  M204 P", acceleration );
-    ECHO_MV(" R", retract_acceleration);
-    ECHO_EMV(" T", travel_acceleration);
+    ECHO_SMV(DB,"  M204 P", acceleration);
+    ECHO_EMV(" V", travel_acceleration);
+    #if EXTRUDERS > 0
+      for (short i = 0; i < EXTRUDERS; i++) {
+        ECHO_SMV(DB, "  M204 T", i);
+        ECHO_EMV(" R" ,retract_acceleration[i]);
+      }
+    #endif
 
     if (!forReplay) {
-      ECHO_LM(DB, "Advanced variables: S=Min feedrate (mm/s), T=Min travel feedrate (mm/s), B=minimum segment time (ms), X=maximum XY jerk (mm/s),  Z=maximum Z jerk (mm/s),  E=maximum E jerk (mm/s)");
+      ECHO_LM(DB, "Advanced variables: S=Min feedrate (mm/s), V=Min travel feedrate (mm/s), B=minimum segment time (ms), X=maximum XY jerk (mm/s),  Z=maximum Z jerk (mm/s),  E=maximum E jerk (mm/s)");
     }
     ECHO_SMV(DB, "  M205 S", minimumfeedrate );
-    ECHO_MV(" T", mintravelfeedrate );
+    ECHO_MV(" V", mintravelfeedrate );
     ECHO_MV(" B", minsegmenttime );
     ECHO_MV(" X", max_xy_jerk );
     ECHO_MV(" Z", max_z_jerk);
-    ECHO_EMV(" E", max_e_jerk);
+    ECHO_EMV(" E", max_e_jerk[0]);
+    #if (EXTRUDERS > 1)
+      for(short i = 1; i < EXTRUDERS; i++) {
+        ECHO_SMV(DB, "  M205 T", i);
+        ECHO_EMV(" E" , max_e_jerk[i]);
+      }
+    #endif
 
     if (!forReplay) {
       ECHO_LM(DB, "Home offset (mm):");

MarlinKimbra/language_en.h

@@ -83,12 +83,12 @@
 #define MSG_ACC                             "Accel"
 #define MSG_VXY_JERK                        "Vxy-jerk"
 #define MSG_VZ_JERK                         "Vz-jerk"
-#define MSG_VE_JERK                         "Ve-jerk"
+#define MSG_VE_JERK                         "Ve-jerk "
 #define MSG_VMAX                            "Vmax "
-#define MSG_X                               "x"
-#define MSG_Y                               "y"
-#define MSG_Z                               "z"
-#define MSG_E                               "e"
+#define MSG_X                               "X"
+#define MSG_Y                               "Y"
+#define MSG_Z                               "Z"
+#define MSG_E                               "E"
 #define MSG_VMIN                            "Vmin"
 #define MSG_VTRAV_MIN                       "VTrav min"
 #define MSG_AMAX                            "Amax "
@@ -97,10 +97,10 @@
 #define MSG_XSTEPS                          "X steps/mm"
 #define MSG_YSTEPS                          "Y steps/mm"
 #define MSG_ZSTEPS                          "Z steps/mm"
-#define MSG_E0STEPS                         "E0 steps/mm"
-#define MSG_E1STEPS                         "E1 steps/mm"
-#define MSG_E2STEPS                         "E2 steps/mm"
-#define MSG_E3STEPS                         "E3 steps/mm"
+#define MSG_E0STEPS                         "E0steps/mm"
+#define MSG_E1STEPS                         "E1steps/mm"
+#define MSG_E2STEPS                         "E2steps/mm"
+#define MSG_E3STEPS                         "E3steps/mm"
 #define MSG_TEMPERATURE                     "Temperature"
 #define MSG_MOTION                          "Motion"
 #define MSG_VOLUMETRIC                      "Filament"

MarlinKimbra/language_it.h

@@ -83,24 +83,24 @@
 #define MSG_ACC                             "Accel"
 #define MSG_VXY_JERK                        "Vxy-jerk"
 #define MSG_VZ_JERK                         "Vz-jerk"
-#define MSG_VE_JERK                         "Ve-jerk"
+#define MSG_VE_JERK                         "Ve-jerk "
 #define MSG_VMAX                            "Vmax "
-#define MSG_X                               "x"
-#define MSG_Y                               "y"
-#define MSG_Z                               "z"
-#define MSG_E                               "e"
+#define MSG_X                               "X"
+#define MSG_Y                               "Y"
+#define MSG_Z                               "Z"
+#define MSG_E                               "E"
 #define MSG_VMIN                            "Vmin"
 #define MSG_VTRAV_MIN                       "VTrav min"
 #define MSG_AMAX                            "Amax "
-#define MSG_A_RETRACT                       "A-retract"
+#define MSG_A_RETRACT                       "A-retract "
 #define MSG_A_TRAVEL                        "A-travel"
 #define MSG_XSTEPS                          "X steps/mm"
 #define MSG_YSTEPS                          "Y steps/mm"
 #define MSG_ZSTEPS                          "Z steps/mm"
-#define MSG_E0STEPS                         "E0 steps/mm"
-#define MSG_E1STEPS                         "E1 steps/mm"
-#define MSG_E2STEPS                         "E2 steps/mm"
-#define MSG_E3STEPS                         "E3 steps/mm"
+#define MSG_E0STEPS                         "E0steps/mm"
+#define MSG_E1STEPS                         "E1steps/mm"
+#define MSG_E2STEPS                         "E2steps/mm"
+#define MSG_E3STEPS                         "E3steps/mm"
 #define MSG_TEMPERATURE                     "Temperatura"
 #define MSG_MOTION                          "Movimento"
 #define MSG_VOLUMETRIC                      "Filamento"

MarlinKimbra/planner.cpp

@@ -64,12 +64,12 @@ float max_feedrate[3 + EXTRUDERS]; // Max speeds in mm per minute
 float axis_steps_per_unit[3 + EXTRUDERS];
 unsigned long max_acceleration_units_per_sq_second[3 + EXTRUDERS]; // Use M201 to override by software
 float minimumfeedrate;
-float acceleration;         // Normal acceleration mm/s^2  DEFAULT ACCELERATION for all printing moves. M204 SXXXX
-float retract_acceleration; // Retract acceleration mm/s^2 filament pull-back and push-forward while standing still in the other axes M204 TXXXX
-float travel_acceleration;  // Travel acceleration mm/s^2  DEFAULT ACCELERATION for all NON printing moves. M204 MXXXX
-float max_xy_jerk;          // The largest speed change requiring no acceleration
+float acceleration;                     // Normal acceleration mm/s^2  DEFAULT ACCELERATION for all printing moves. M204 SXXXX
+float retract_acceleration[EXTRUDERS];  // mm/s^2 filament pull-back and push-forward while standing still in the other axes M204 TXXXX
+float travel_acceleration;              // Travel acceleration mm/s^2  DEFAULT ACCELERATION for all NON printing moves. M204 MXXXX
+float max_xy_jerk;                      // The largest speed change requiring no acceleration
 float max_z_jerk;
-float max_e_jerk;
+float max_e_jerk[EXTRUDERS];            // mm/s - initial speed for extruder retract moves
 float mintravelfeedrate;
 unsigned long axis_steps_per_sqr_second[3 + EXTRUDERS];
 
@@ -879,7 +879,7 @@ float junction_deviation = 0.1;
   float steps_per_mm = block->step_event_count / block->millimeters;
   long bsx = block->steps[X_AXIS], bsy = block->steps[Y_AXIS], bsz = block->steps[Z_AXIS], bse = block->steps[E_AXIS];
   if (bsx == 0 && bsy == 0 && bsz == 0) {
-    block->acceleration_st = ceil(retract_acceleration * steps_per_mm); // convert to: acceleration steps/sec^2
+    block->acceleration_st = ceil(retract_acceleration[extruder] * steps_per_mm); // convert to: acceleration steps/sec^2
   }
   else if (bse == 0) {
     block->acceleration_st = ceil(travel_acceleration * steps_per_mm); // convert to: acceleration steps/sec^2
@@ -951,7 +951,7 @@ float junction_deviation = 0.1;
   // Start with a safe speed
   float vmax_junction = max_xy_jerk / 2;
   float vmax_junction_factor = 1.0; 
-  float mz2 = max_z_jerk / 2, me2 = max_e_jerk / 2;
+  float mz2 = max_z_jerk / 2, me2 = max_e_jerk[extruder] / 2;
   float csz = current_speed[Z_AXIS], cse = current_speed[E_AXIS];
   if (fabs(csz) > mz2) vmax_junction = min(vmax_junction, mz2);
   if (fabs(cse) > me2) vmax_junction = min(vmax_junction, me2);
@@ -970,7 +970,7 @@ float junction_deviation = 0.1;
     //    }
     if (jerk > max_xy_jerk) vmax_junction_factor = max_xy_jerk / jerk;
     if (dz > max_z_jerk) vmax_junction_factor = min(vmax_junction_factor, max_z_jerk / dz);
-    if (de > max_e_jerk) vmax_junction_factor = min(vmax_junction_factor, max_e_jerk / de);
+    if (de > max_e_jerk[extruder]) vmax_junction_factor = min(vmax_junction_factor, max_e_jerk[extruder] / de);
 
     vmax_junction = min(previous_nominal_speed, vmax_junction * vmax_junction_factor); // Limit speed to max previous speed
   }
@@ -1059,7 +1059,7 @@ float junction_deviation = 0.1;
     st_set_position(nx, ny, nz, ne);
     previous_nominal_speed = 0.0; // Resets planner junction speeds. Assumes start from rest.
 
-    for (int i=0; i<NUM_AXIS; i++) previous_speed[i] = 0.0;
+    for (int i=0; i < NUM_AXIS; i++) previous_speed[i] = 0.0;
   }
 
 void plan_set_e_position(const float &e) {

MarlinKimbra/planner.h

@@ -124,11 +124,11 @@ extern float axis_steps_per_unit[3 + EXTRUDERS];
 extern unsigned long max_acceleration_units_per_sq_second[3 + EXTRUDERS]; // Use M201 to override by software
 extern float minimumfeedrate;
 extern float acceleration;         // Normal acceleration mm/s^2  THIS IS THE DEFAULT ACCELERATION for all moves. M204 SXXXX
-extern float retract_acceleration; //  mm/s^2   filament pull-pack and push-forward  while standing still in the other axis M204 TXXXX
+extern float retract_acceleration[EXTRUDERS]; //  mm/s^2   filament pull-pack and push-forward  while standing still in the other axis M204 TXXXX
 extern float travel_acceleration;  // Travel acceleration mm/s^2  THIS IS THE DEFAULT ACCELERATION for all NON printing moves. M204 MXXXX
 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 max_e_jerk[EXTRUDERS]; // mm/s - initial speed for extruder retract moves
 extern float mintravelfeedrate;
 extern unsigned long axis_steps_per_sqr_second[3 + EXTRUDERS];
 

MarlinKimbra/ultralcd.cpp

@@ -1178,32 +1178,47 @@ static void lcd_control_motion_menu() {
   MENU_ITEM_EDIT(float5, MSG_ACC, &acceleration, 10, 99000);
   MENU_ITEM_EDIT(float3, MSG_VXY_JERK, &max_xy_jerk, 1, 990);
   MENU_ITEM_EDIT(float52, MSG_VZ_JERK, &max_z_jerk, 0.1, 990);
-  MENU_ITEM_EDIT(float3, MSG_VE_JERK, &max_e_jerk, 1, 990);
   MENU_ITEM_EDIT(float3, MSG_VMAX MSG_X, &max_feedrate[X_AXIS], 1, 999);
   MENU_ITEM_EDIT(float3, MSG_VMAX MSG_Y, &max_feedrate[Y_AXIS], 1, 999);
   MENU_ITEM_EDIT(float3, MSG_VMAX MSG_Z, &max_feedrate[Z_AXIS], 1, 999);
-  MENU_ITEM_EDIT(float3, MSG_VMAX MSG_E, &max_feedrate[E_AXIS], 1, 999);
   MENU_ITEM_EDIT(float3, MSG_VMIN, &minimumfeedrate, 0, 999);
   MENU_ITEM_EDIT(float3, MSG_VTRAV_MIN, &mintravelfeedrate, 0, 999);
   MENU_ITEM_EDIT_CALLBACK(long5, MSG_AMAX MSG_X, &max_acceleration_units_per_sq_second[X_AXIS], 100, 99000, reset_acceleration_rates);
   MENU_ITEM_EDIT_CALLBACK(long5, MSG_AMAX MSG_Y, &max_acceleration_units_per_sq_second[Y_AXIS], 100, 99000, reset_acceleration_rates);
   MENU_ITEM_EDIT_CALLBACK(long5, MSG_AMAX MSG_Z, &max_acceleration_units_per_sq_second[Z_AXIS], 10, 99000, reset_acceleration_rates);
-  MENU_ITEM_EDIT_CALLBACK(long5, MSG_AMAX MSG_E, &max_acceleration_units_per_sq_second[E_AXIS], 100, 99000, reset_acceleration_rates);
-  MENU_ITEM_EDIT(float5, MSG_A_RETRACT, &retract_acceleration, 100, 99000);
   MENU_ITEM_EDIT(float5, MSG_A_TRAVEL, &travel_acceleration, 100, 99000);
   MENU_ITEM_EDIT(float52, MSG_XSTEPS, &axis_steps_per_unit[X_AXIS], 5, 9999);
   MENU_ITEM_EDIT(float52, MSG_YSTEPS, &axis_steps_per_unit[Y_AXIS], 5, 9999);
   MENU_ITEM_EDIT(float51, MSG_ZSTEPS, &axis_steps_per_unit[Z_AXIS], 5, 9999);
-  MENU_ITEM_EDIT(float51, MSG_E0STEPS, &axis_steps_per_unit[E_AXIS+0], 5, 9999);
-  #if EXTRUDERS > 1 
-    MENU_ITEM_EDIT(float51, MSG_E1STEPS, &axis_steps_per_unit[E_AXIS+1], 5, 9999);
-  #endif 
-  #if EXTRUDERS > 2
-    MENU_ITEM_EDIT(float51, MSG_E2STEPS, &axis_steps_per_unit[E_AXIS+2], 5, 9999);
-  #endif 
-  #if EXTRUDERS > 3
-    MENU_ITEM_EDIT(float51, MSG_E3STEPS, &axis_steps_per_unit[E_AXIS+3], 5, 9999);
-  #endif
+  #if EXTRUDERS > 0
+    MENU_ITEM_EDIT(float3, MSG_VE_JERK MSG_E "0", &max_e_jerk[0], 1, 990);
+    MENU_ITEM_EDIT(float3, MSG_VMAX MSG_E "0", &max_feedrate[E_AXIS], 1, 999);
+    MENU_ITEM_EDIT(long5, MSG_AMAX MSG_E "0", &max_acceleration_units_per_sq_second[E_AXIS], 100, 99000);
+    MENU_ITEM_EDIT(float5, MSG_A_RETRACT MSG_E "0", &retract_acceleration[0], 100, 99000);
+    MENU_ITEM_EDIT(float51, MSG_E0STEPS, &axis_steps_per_unit[E_AXIS], 5, 9999);
+    #if EXTRUDERS > 1
+      MENU_ITEM_EDIT(float3, MSG_VE_JERK MSG_E "1", &max_e_jerk[1], 1, 990);
+      MENU_ITEM_EDIT(float3, MSG_VMAX MSG_E "1", &max_feedrate[E_AXIS + 1], 1, 999);
+      MENU_ITEM_EDIT(long5, MSG_AMAX MSG_E "1", &max_acceleration_units_per_sq_second[E_AXIS + 1], 100, 99000);
+      MENU_ITEM_EDIT(float5, MSG_A_RETRACT MSG_E "1", &retract_acceleration[1], 100, 99000);
+      MENU_ITEM_EDIT(float51, MSG_E1STEPS, &axis_steps_per_unit[E_AXIS + 1], 5, 9999);
+      #if EXTRUDERS > 2
+        MENU_ITEM_EDIT(float3, MSG_VE_JERK MSG_E "2", &max_e_jerk[2], 1, 990);
+        MENU_ITEM_EDIT(float3, MSG_VMAX MSG_E "2", &max_feedrate[E_AXIS + 2], 1, 999);
+        MENU_ITEM_EDIT(long5, MSG_AMAX MSG_E "2", &max_acceleration_units_per_sq_second[E_AXIS + 2], 100, 99000);
+        MENU_ITEM_EDIT(float5, MSG_A_RETRACT MSG_E "2", &retract_acceleration[2], 100, 99000);
+        MENU_ITEM_EDIT(float51, MSG_E2STEPS, &axis_steps_per_unit[E_AXIS + 2], 5, 9999);
+        #if EXTRUDERS > 3
+          MENU_ITEM_EDIT(float3, MSG_VE_JERK MSG_E  "3", &max_e_jerk[3], 1, 990);
+          MENU_ITEM_EDIT(float3, MSG_VMAX MSG_E "3", &max_feedrate[E_AXIS + 3], 1, 999);
+          MENU_ITEM_EDIT(long5, MSG_AMAX MSG_E "3", &max_acceleration_units_per_sq_second[E_AXIS + 3], 100, 99000);
+          MENU_ITEM_EDIT(float5, MSG_A_RETRACT MSG_E "3", &retract_acceleration[3], 100, 99000);
+          MENU_ITEM_EDIT(float51, MSG_E3STEPS, &axis_steps_per_unit[E_AXIS + 3], 5, 9999);
+        #endif // EXTRUDERS > 3
+      #endif // EXTRUDERS > 2
+    #endif // EXTRUDERS > 1
+  #endif // EXTRUDERS > 0
+
   #ifdef ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
     MENU_ITEM_EDIT(bool, MSG_ENDSTOP_ABORT, &abort_on_endstop_hit);
   #endif