Add Travel Acceleration and change the M204 options

Added option to set Travel Acceleration (non printing moves).
The M204 options was a non sense (S for printing moves and T for retract
moves).

It has been changed to:
P = Printing moves
R = Retract only (no X, Y, Z) moves
T = Travel (non
printing) moves

I will add this info o G-Code wiki in reprap.org. I also advise to put
this info in Marlin next version changelog.

Marlin/Configuration.h

@@ -484,8 +484,9 @@ const bool Z_MAX_ENDSTOP_INVERTING = false; // set to true to invert the logic o
 #define DEFAULT_MAX_FEEDRATE          {300, 300, 5, 25}    // (mm/sec)
 #define DEFAULT_MAX_ACCELERATION      {3000,3000,100,10000}    // X, Y, Z, E maximum start speed for accelerated moves. E default values are good for Skeinforge 40+, for older versions raise them a lot.
 
-#define DEFAULT_ACCELERATION          3000    // X, Y, Z and E max acceleration in mm/s^2 for printing moves
-#define DEFAULT_RETRACT_ACCELERATION  3000   // X, Y, Z and E max acceleration in mm/s^2 for retracts
+#define DEFAULT_ACCELERATION          3000    // X, Y, Z and E acceleration in mm/s^2 for printing moves
+#define DEFAULT_RETRACT_ACCELERATION  3000   // E 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
 
 // 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).

Marlin/ConfigurationStore.cpp

@@ -3,14 +3,15 @@
  *
  * Configuration and EEPROM storage
  *
- * V15 EEPROM Layout:
+ * V16 EEPROM Layout:
  *
  *  ver
  *  axis_steps_per_unit (x4)
  *  max_feedrate (x4)
  *  max_acceleration_units_per_sq_second (x4)
  *  acceleration
  *  retract_acceleration
+ *  travel_aceeleration
  *  minimumfeedrate
  *  mintravelfeedrate
  *  minsegmenttime
@@ -104,7 +105,7 @@ void _EEPROM_readData(int &pos, uint8_t* value, uint8_t size) {
 // wrong data being written to the variables.
 // ALSO:  always make sure the variables in the Store and retrieve sections are in the same order.
 
-#define EEPROM_VERSION "V15"
+#define EEPROM_VERSION "V16"
 
 #ifdef EEPROM_SETTINGS
 
@@ -118,6 +119,7 @@ void Config_StoreSettings()  {
   EEPROM_WRITE_VAR(i, max_acceleration_units_per_sq_second);
   EEPROM_WRITE_VAR(i, acceleration);
   EEPROM_WRITE_VAR(i, retract_acceleration);
+  EEPROM_WRITE_VAR(i, travel_acceleration);
   EEPROM_WRITE_VAR(i, minimumfeedrate);
   EEPROM_WRITE_VAR(i, mintravelfeedrate);
   EEPROM_WRITE_VAR(i, minsegmenttime);
@@ -253,6 +255,7 @@ void Config_RetrieveSettings() {
 
     EEPROM_READ_VAR(i, acceleration);
     EEPROM_READ_VAR(i, retract_acceleration);
+    EEPROM_READ_VAR(i, travel_acceleration);
     EEPROM_READ_VAR(i, minimumfeedrate);
     EEPROM_READ_VAR(i, mintravelfeedrate);
     EEPROM_READ_VAR(i, minsegmenttime);
@@ -380,6 +383,7 @@ void Config_ResetDefault() {
 
   acceleration = DEFAULT_ACCELERATION;
   retract_acceleration = DEFAULT_RETRACT_ACCELERATION;
+  travel_acceleration = DEFAULT_TRAVEL_ACCELERATION;
   minimumfeedrate = DEFAULT_MINIMUMFEEDRATE;
   minsegmenttime = DEFAULT_MINSEGMENTTIME;
   mintravelfeedrate = DEFAULT_MINTRAVELFEEDRATE;
@@ -516,11 +520,12 @@ void Config_PrintSettings(bool forReplay) {
   SERIAL_EOL;
   SERIAL_ECHO_START;
   if (!forReplay) {
-    SERIAL_ECHOLNPGM("Acceleration: S=acceleration, T=retract acceleration");
+    SERIAL_ECHOLNPGM("Accelerations: P=printing, R=retract and T=travel");
     SERIAL_ECHO_START;
   }
-  SERIAL_ECHOPAIR("  M204 S", acceleration );
-  SERIAL_ECHOPAIR(" T", retract_acceleration);
+  SERIAL_ECHOPAIR("  M204 P", acceleration );
+  SERIAL_ECHOPAIR(" R", retract_acceleration);
+  SERIAL_ECHOPAIR(" T", travel_acceleration);
   SERIAL_EOL;
 
   SERIAL_ECHO_START;

Marlin/Marlin_main.cpp

@@ -3263,16 +3263,34 @@ inline void gcode_M203() {
 }
 
 /**
- * M204: Set Default Acceleration and/or Default Filament Acceleration in mm/sec^2 (M204 S3000 T7000)
+ * M204: Set Accelerations in mm/sec^2 (M204 P1200 R3000 T3000)
  *
- *    S = normal moves
- *    T = filament only moves
+ *    P = Printing moves
+ *    R = Retract only (no X, Y, Z) moves
+ *    T = 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 (code_seen('S')) acceleration = code_value();
-  if (code_seen('T')) retract_acceleration = code_value();
+  if (code_seen('P'))
+  {
+    acceleration = code_value();
+    SERIAL_ECHOPAIR("Setting Printing Acceleration: ", acceleration );
+    SERIAL_EOL;
+  }
+  if (code_seen('R'))
+  {
+    retract_acceleration = code_value();
+    SERIAL_ECHOPAIR("Setting Retract Acceleration: ", retract_acceleration );
+    SERIAL_EOL;
+  }
+  if (code_seen('T'))
+  {
+    travel_acceleration = code_value();
+    SERIAL_ECHOPAIR("Setting Travel Acceleration: ", travel_acceleration );
+    SERIAL_EOL;
+  }
+
 }
 
 /**

Marlin/example_configurations/Hephestos/Configuration.h

@@ -500,8 +500,11 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
 #define DEFAULT_MAX_FEEDRATE          {250, 250, 3.3, 25}    // (mm/sec)
 #define DEFAULT_MAX_ACCELERATION      {3000,3000,100,10000}    // X, Y, Z, E maximum start speed for accelerated moves. E default values are good for Skeinforge 40+, for older versions raise them a lot.
 
-#define DEFAULT_ACCELERATION          1000    // X, Y, Z and E max acceleration in mm/s^2 for printing moves
-#define DEFAULT_RETRACT_ACCELERATION  1000   // X, Y, Z and E max acceleration in mm/s^2 for retracts
+#define DEFAULT_ACCELERATION          1000    // X, Y, Z and E acceleration in mm/s^2 for printing moves
+#define DEFAULT_RETRACT_ACCELERATION  1000   // E acceleration in mm/s^2 for retracts
+#define DEFAULT_TRAVEL_ACCELERATION   1000    // 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).

Marlin/example_configurations/K8200/Configuration.h

@@ -505,8 +505,10 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
 #define DEFAULT_MAX_FEEDRATE          {500, 500, 5, 500}    // (mm/sec)
 #define DEFAULT_MAX_ACCELERATION      {9000,9000,100,10000}    // X, Y, Z, E maximum start speed for accelerated moves. E default values are good for Skeinforge 40+, for older versions raise them a lot.
 
-#define DEFAULT_ACCELERATION          1000    // X, Y, Z and E max acceleration in mm/s^2 for printing moves
-#define DEFAULT_RETRACT_ACCELERATION  1000   // X, Y, Z and E max acceleration in mm/s^2 for retracts
+#define DEFAULT_ACCELERATION          1000    // X, Y, Z and E acceleration in mm/s^2 for printing moves
+#define DEFAULT_RETRACT_ACCELERATION  1000   // E acceleration in mm/s^2 for retracts
+#define DEFAULT_TRAVEL_ACCELERATION   1000    // 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).

Marlin/example_configurations/SCARA/Configuration.h

@@ -530,8 +530,11 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
 #define DEFAULT_MAX_FEEDRATE          {300, 300, 30, 25}    // (mm/sec)
 #define DEFAULT_MAX_ACCELERATION      {300,300,20,1000}    // X, Y, Z, E maximum start speed for accelerated moves. E default values are good for Skeinforge 40+, for older versions raise them a lot.
 
-#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_ACCELERATION          400    // X, Y, Z and E acceleration in mm/s^2 for printing moves
+#define DEFAULT_RETRACT_ACCELERATION  2000   // E 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
+
+
 
 // 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).

Marlin/example_configurations/WITBOX/Configuration.h

@@ -499,8 +499,9 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
 #define DEFAULT_MAX_FEEDRATE          {350, 350, 7.2, 80}    // (mm/sec)
 #define DEFAULT_MAX_ACCELERATION      {1000,1000,10,1000}    // X, Y, Z, E maximum start speed for accelerated moves. E default values are good for Skeinforge 40+, for older versions raise them a lot.
 
-#define DEFAULT_ACCELERATION          3000    // X, Y, Z and E max acceleration in mm/s^2 for printing moves
-#define DEFAULT_RETRACT_ACCELERATION  3000   // X, Y, Z and E max acceleration in mm/s^2 for retracts
+#define DEFAULT_ACCELERATION          3000    // X, Y, Z and E acceleration in mm/s^2 for printing moves
+#define DEFAULT_RETRACT_ACCELERATION  3000   // E 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
 
 // 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).

Marlin/example_configurations/delta/Configuration.h

@@ -440,8 +440,10 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
 #define DEFAULT_MAX_FEEDRATE          {500, 500, 500, 25}    // (mm/sec)
 #define DEFAULT_MAX_ACCELERATION      {9000,9000,9000,10000}    // X, Y, Z, E maximum start speed for accelerated moves. E default values are good for skeinforge 40+, for older versions raise them a lot.
 
-#define DEFAULT_ACCELERATION          3000    // X, Y, Z and E max acceleration in mm/s^2 for printing moves
-#define DEFAULT_RETRACT_ACCELERATION  3000   // X, Y, Z and E max acceleration in mm/s^2 for retracts
+#define DEFAULT_ACCELERATION          3000    // X, Y, Z and E acceleration in mm/s^2 for printing moves
+#define DEFAULT_RETRACT_ACCELERATION  3000   // E 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
+
 
 // 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).

Marlin/example_configurations/makibox/Configuration.h

@@ -497,8 +497,9 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
 #define DEFAULT_MAX_FEEDRATE          {60, 60, 20, 45}         // (mm/sec)    
 #define DEFAULT_MAX_ACCELERATION      {2000,2000,30,10000}    // X, Y, Z, E maximum start speed for accelerated moves. E default values are good for skeinforge 40+, for older versions raise them a lot.
 
-#define DEFAULT_ACCELERATION          3000    // X, Y, Z and E max acceleration in mm/s^2 for printing moves
-#define DEFAULT_RETRACT_ACCELERATION  3000   // X, Y, Z and E max acceleration in mm/s^2 for retracts
+#define DEFAULT_ACCELERATION          3000    // X, Y, Z and E acceleration in mm/s^2 for printing moves
+#define DEFAULT_RETRACT_ACCELERATION  3000   // E 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
 
 // 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).

Marlin/example_configurations/tvrrug/Round2/Configuration.h

@@ -503,8 +503,10 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
 #define DEFAULT_MAX_ACCELERATION      {9000,9000,100,10000}    // X, Y, Z, E maximum start speed for accelerated moves. E default values are good for Skeinforge 40+, for older versions raise them a lot.
 
 /* MICHEL: This has an impact on the "ripples" in print walls */
-#define DEFAULT_ACCELERATION          500    // X, Y, Z and E max acceleration in mm/s^2 for printing moves
-#define DEFAULT_RETRACT_ACCELERATION  3000   // X, Y, Z and E max acceleration in mm/s^2 for retracts
+#define DEFAULT_ACCELERATION          500    // X, Y, Z and E acceleration in mm/s^2 for printing moves
+#define DEFAULT_RETRACT_ACCELERATION  3000   // E acceleration in mm/s^2 for retracts
+#define DEFAULT_TRAVEL_ACCELERATION   500    // 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).

Marlin/language_en.h

@@ -233,6 +233,9 @@
 #ifndef MSG_A_RETRACT
 #define MSG_A_RETRACT                       "A-retract"
 #endif
+#ifndef MSG_A_TRAVEL
+#define MSG_A_TRAVEL                        "A-travel"
+#endif
 #ifndef MSG_XSTEPS
 #define MSG_XSTEPS                          "Xsteps/mm"
 #endif

Marlin/planner.cpp

@@ -67,8 +67,9 @@ float max_feedrate[NUM_AXIS]; // set the max speeds
 float axis_steps_per_unit[NUM_AXIS];
 unsigned long max_acceleration_units_per_sq_second[NUM_AXIS]; // Use M201 to override by software
 float minimumfeedrate;
-float acceleration;         // Normal acceleration mm/s^2  THIS IS THE DEFAULT ACCELERATION for all moves. M204 SXXXX
+float acceleration;         // Normal acceleration mm/s^2  THIS IS THE DEFAULT ACCELERATION for all printing moves. M204 SXXXX
 float retract_acceleration; //  mm/s^2   filament pull-pack and push-forward  while standing still in the other axis M204 TXXXX
+float travel_acceleration;  // Travel acceleration mm/s^2  THIS IS THE DEFAULT ACCELERATION for all NON printing moves. M204 MXXXX
 float max_xy_jerk; //speed than can be stopped at once, if i understand correctly.
 float max_z_jerk;
 float max_e_jerk;
@@ -907,6 +908,10 @@ Having the real displacement of the head, we can calculate the total movement le
   {
     block->acceleration_st = ceil(retract_acceleration * steps_per_mm); // convert to: acceleration steps/sec^2
   }
+  else if(block->steps_e == 0)
+  {
+    block->acceleration_st = ceil(travel_acceleration * steps_per_mm); // convert to: acceleration steps/sec^2
+  }
   else
   {
     block->acceleration_st = ceil(acceleration * steps_per_mm); // convert to: acceleration steps/sec^2

Marlin/planner.h

@@ -112,6 +112,7 @@ extern unsigned long max_acceleration_units_per_sq_second[NUM_AXIS]; // Use M201
 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 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;

Marlin/ultralcd.cpp

@@ -903,6 +903,7 @@ static void lcd_control_motion_menu() {
   MENU_ITEM_EDIT_CALLBACK(long5, MSG_AMAX MSG_Z, &max_acceleration_units_per_sq_second[Z_AXIS], 100, 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);