diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp
index 475dea4aa2..2a2a4ef07d 100644
--- a/Marlin/Marlin_main.cpp
+++ b/Marlin/Marlin_main.cpp
@@ -5150,7 +5150,7 @@ inline void gcode_M92() {
float factor = planner.axis_steps_per_unit[i] / value; // increase e constants if M92 E14 is given for netfab.
planner.max_e_jerk *= factor;
planner.max_feedrate[i] *= factor;
- planner.axis_steps_per_sqr_second[i] *= factor;
+ planner.max_acceleration_steps_per_s2[i] *= factor;
}
planner.axis_steps_per_unit[i] = value;
}
@@ -5337,7 +5337,7 @@ inline void gcode_M200() {
inline void gcode_M201() {
for (int8_t i = 0; i < NUM_AXIS; i++) {
if (code_seen(axis_codes[i])) {
- planner.max_acceleration_units_per_sq_second[i] = code_value_axis_units(i);
+ planner.max_acceleration_mm_per_s2[i] = code_value_axis_units(i);
}
}
// steps per sq second need to be updated to agree with the units per sq second (as they are what is used in the planner)
diff --git a/Marlin/configuration_store.cpp b/Marlin/configuration_store.cpp
index 977fd317d5..579c9868ec 100644
--- a/Marlin/configuration_store.cpp
+++ b/Marlin/configuration_store.cpp
@@ -45,7 +45,7 @@
*
* 104 M92 XYZE planner.axis_steps_per_unit (float x4)
* 120 M203 XYZE planner.max_feedrate (float x4)
- * 136 M201 XYZE planner.max_acceleration_units_per_sq_second (uint32_t x4)
+ * 136 M201 XYZE planner.max_acceleration_mm_per_s2 (uint32_t x4)
* 152 M204 P planner.acceleration (float)
* 156 M204 R planner.retract_acceleration (float)
* 160 M204 T planner.travel_acceleration (float)
@@ -175,7 +175,7 @@ void Config_StoreSettings() {
EEPROM_WRITE_VAR(i, ver); // invalidate data first
EEPROM_WRITE_VAR(i, planner.axis_steps_per_unit);
EEPROM_WRITE_VAR(i, planner.max_feedrate);
- EEPROM_WRITE_VAR(i, planner.max_acceleration_units_per_sq_second);
+ EEPROM_WRITE_VAR(i, planner.max_acceleration_mm_per_s2);
EEPROM_WRITE_VAR(i, planner.acceleration);
EEPROM_WRITE_VAR(i, planner.retract_acceleration);
EEPROM_WRITE_VAR(i, planner.travel_acceleration);
@@ -355,7 +355,7 @@ void Config_RetrieveSettings() {
// version number match
EEPROM_READ_VAR(i, planner.axis_steps_per_unit);
EEPROM_READ_VAR(i, planner.max_feedrate);
- EEPROM_READ_VAR(i, planner.max_acceleration_units_per_sq_second);
+ EEPROM_READ_VAR(i, planner.max_acceleration_mm_per_s2);
// steps per sq second need to be updated to agree with the units per sq second (as they are what is used in the planner)
planner.reset_acceleration_rates();
@@ -529,7 +529,7 @@ void Config_ResetDefault() {
for (uint8_t i = 0; i < NUM_AXIS; i++) {
planner.axis_steps_per_unit[i] = tmp1[i];
planner.max_feedrate[i] = tmp2[i];
- planner.max_acceleration_units_per_sq_second[i] = tmp3[i];
+ planner.max_acceleration_mm_per_s2[i] = tmp3[i];
#if ENABLED(SCARA)
if (i < COUNT(axis_scaling))
axis_scaling[i] = 1;
@@ -687,10 +687,10 @@ void Config_PrintSettings(bool forReplay) {
SERIAL_ECHOLNPGM("Maximum Acceleration (mm/s2):");
CONFIG_ECHO_START;
}
- SERIAL_ECHOPAIR(" M201 X", planner.max_acceleration_units_per_sq_second[X_AXIS]);
- SERIAL_ECHOPAIR(" Y", planner.max_acceleration_units_per_sq_second[Y_AXIS]);
- SERIAL_ECHOPAIR(" Z", planner.max_acceleration_units_per_sq_second[Z_AXIS]);
- SERIAL_ECHOPAIR(" E", planner.max_acceleration_units_per_sq_second[E_AXIS]);
+ SERIAL_ECHOPAIR(" M201 X", planner.max_acceleration_mm_per_s2[X_AXIS]);
+ SERIAL_ECHOPAIR(" Y", planner.max_acceleration_mm_per_s2[Y_AXIS]);
+ SERIAL_ECHOPAIR(" Z", planner.max_acceleration_mm_per_s2[Z_AXIS]);
+ SERIAL_ECHOPAIR(" E", planner.max_acceleration_mm_per_s2[E_AXIS]);
SERIAL_EOL;
CONFIG_ECHO_START;
if (!forReplay) {
diff --git a/Marlin/planner.cpp b/Marlin/planner.cpp
index d5e8312eda..186ff90a0e 100644
--- a/Marlin/planner.cpp
+++ b/Marlin/planner.cpp
@@ -82,8 +82,8 @@ volatile uint8_t Planner::block_buffer_tail = 0;
float Planner::max_feedrate[NUM_AXIS]; // Max speeds in mm per minute
float Planner::axis_steps_per_unit[NUM_AXIS];
-unsigned long Planner::axis_steps_per_sqr_second[NUM_AXIS];
-unsigned long Planner::max_acceleration_units_per_sq_second[NUM_AXIS]; // Use M201 to override by software
+unsigned long Planner::max_acceleration_steps_per_s2[NUM_AXIS];
+unsigned long Planner::max_acceleration_mm_per_s2[NUM_AXIS]; // Use M201 to override by software
millis_t Planner::min_segment_time;
float Planner::min_feedrate;
@@ -946,10 +946,10 @@ void Planner::check_axes_activity() {
}
// Limit acceleration per axis
unsigned long acc_st = block->acceleration_st,
- xsteps = axis_steps_per_sqr_second[X_AXIS],
- ysteps = axis_steps_per_sqr_second[Y_AXIS],
- zsteps = axis_steps_per_sqr_second[Z_AXIS],
- esteps = axis_steps_per_sqr_second[E_AXIS],
+ xsteps = max_acceleration_steps_per_s2[X_AXIS],
+ ysteps = max_acceleration_steps_per_s2[Y_AXIS],
+ zsteps = max_acceleration_steps_per_s2[Z_AXIS],
+ esteps = max_acceleration_steps_per_s2[E_AXIS],
allsteps = block->step_event_count;
if (xsteps < (acc_st * bsx) / allsteps) acc_st = (xsteps * allsteps) / bsx;
if (ysteps < (acc_st * bsy) / allsteps) acc_st = (ysteps * allsteps) / bsy;
@@ -1148,7 +1148,7 @@ void Planner::set_e_position_mm(const float& e) {
// Recalculate the steps/s^2 acceleration rates, based on the mm/s^2
void Planner::reset_acceleration_rates() {
for (int i = 0; i < NUM_AXIS; i++)
- axis_steps_per_sqr_second[i] = max_acceleration_units_per_sq_second[i] * axis_steps_per_unit[i];
+ max_acceleration_steps_per_s2[i] = max_acceleration_mm_per_s2[i] * axis_steps_per_unit[i];
}
#if ENABLED(AUTOTEMP)
diff --git a/Marlin/planner.h b/Marlin/planner.h
index 48773c5102..9cfb145301 100644
--- a/Marlin/planner.h
+++ b/Marlin/planner.h
@@ -114,8 +114,8 @@ class Planner {
static float max_feedrate[NUM_AXIS]; // Max speeds in mm per minute
static float axis_steps_per_unit[NUM_AXIS];
- static unsigned long axis_steps_per_sqr_second[NUM_AXIS];
- static unsigned long max_acceleration_units_per_sq_second[NUM_AXIS]; // Use M201 to override by software
+ static unsigned long max_acceleration_steps_per_s2[NUM_AXIS];
+ static unsigned long max_acceleration_mm_per_s2[NUM_AXIS]; // Use M201 to override by software
static millis_t min_segment_time;
static float min_feedrate;
diff --git a/Marlin/ultralcd.cpp b/Marlin/ultralcd.cpp
index c59bffb6b3..804fce37c0 100644
--- a/Marlin/ultralcd.cpp
+++ b/Marlin/ultralcd.cpp
@@ -1686,10 +1686,10 @@ static void lcd_control_motion_menu() {
MENU_ITEM_EDIT(float3, MSG_VMAX MSG_E, &planner.max_feedrate[E_AXIS], 1, 999);
MENU_ITEM_EDIT(float3, MSG_VMIN, &planner.min_feedrate, 0, 999);
MENU_ITEM_EDIT(float3, MSG_VTRAV_MIN, &planner.min_travel_feedrate, 0, 999);
- MENU_ITEM_EDIT_CALLBACK(long5, MSG_AMAX MSG_X, &planner.max_acceleration_units_per_sq_second[X_AXIS], 100, 99000, _reset_acceleration_rates);
- MENU_ITEM_EDIT_CALLBACK(long5, MSG_AMAX MSG_Y, &planner.max_acceleration_units_per_sq_second[Y_AXIS], 100, 99000, _reset_acceleration_rates);
- MENU_ITEM_EDIT_CALLBACK(long5, MSG_AMAX MSG_Z, &planner.max_acceleration_units_per_sq_second[Z_AXIS], 10, 99000, _reset_acceleration_rates);
- MENU_ITEM_EDIT_CALLBACK(long5, MSG_AMAX MSG_E, &planner.max_acceleration_units_per_sq_second[E_AXIS], 100, 99000, _reset_acceleration_rates);
+ MENU_ITEM_EDIT_CALLBACK(long5, MSG_AMAX MSG_X, &planner.max_acceleration_mm_per_s2[X_AXIS], 100, 99000, _reset_acceleration_rates);
+ MENU_ITEM_EDIT_CALLBACK(long5, MSG_AMAX MSG_Y, &planner.max_acceleration_mm_per_s2[Y_AXIS], 100, 99000, _reset_acceleration_rates);
+ MENU_ITEM_EDIT_CALLBACK(long5, MSG_AMAX MSG_Z, &planner.max_acceleration_mm_per_s2[Z_AXIS], 10, 99000, _reset_acceleration_rates);
+ MENU_ITEM_EDIT_CALLBACK(long5, MSG_AMAX MSG_E, &planner.max_acceleration_mm_per_s2[E_AXIS], 100, 99000, _reset_acceleration_rates);
MENU_ITEM_EDIT(float5, MSG_A_RETRACT, &planner.retract_acceleration, 100, 99000);
MENU_ITEM_EDIT(float5, MSG_A_TRAVEL, &planner.travel_acceleration, 100, 99000);
MENU_ITEM_EDIT(float52, MSG_XSTEPS, &planner.axis_steps_per_unit[X_AXIS], 5, 9999);