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/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