🐛 Fix planner jerk limits (MarlinFirmware#26529)

Co-authored-by: Scott Lahteine <thinkyhead@users.noreply.github.com>

Author: mh-dm

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

@@ -297,14 +297,11 @@ void GcodeSuite::M205() {
   if (parser.seenval('S')) planner.settings.min_feedrate_mm_s = parser.value_linear_units();
   if (parser.seenval('T')) planner.settings.min_travel_feedrate_mm_s = parser.value_linear_units();
   #if HAS_JUNCTION_DEVIATION
-    #if ENABLED(CLASSIC_JERK) && AXIS_COLLISION('J')
-      #error "Can't set_max_jerk for 'J' axis because 'J' is used for Junction Deviation."
-    #endif
     if (parser.seenval('J')) {
       const float junc_dev = parser.value_linear_units();
       if (WITHIN(junc_dev, 0.01f, 0.3f)) {
         planner.junction_deviation_mm = junc_dev;
-        TERN_(LIN_ADVANCE, planner.recalculate_max_e_jerk());
+        TERN_(HAS_LINEAR_E_JERK, planner.recalculate_max_e_jerk());
       }
       else
         SERIAL_ERROR_MSG("?J out of range (0.01 to 0.3)");

Marlin/src/gcode/motion/G4.cpp

@@ -38,7 +38,8 @@ void GcodeSuite::G4() {
     SERIAL_ECHOLNPGM(STR_Z_MOVE_COMP);
   #endif
 
-  if (!ui.has_status()) LCD_MESSAGE(MSG_DWELL);
-
-  dwell(dwell_ms);
+  if (dwell_ms) {
+    if (!ui.has_status()) LCD_MESSAGE(MSG_DWELL);
+    dwell(dwell_ms);
+  }
 }

Marlin/src/module/planner.cpp

@@ -153,9 +153,7 @@ float Planner::mm_per_step[DISTINCT_AXES];      // (mm) Millimeters per step
   #if HAS_LINEAR_E_JERK
     float Planner::max_e_jerk[DISTINCT_E];      // Calculated from junction_deviation_mm
   #endif
-#endif
-
-#if ENABLED(CLASSIC_JERK)
+#else // CLASSIC_JERK
   TERN(HAS_LINEAR_E_JERK, xyz_pos_t, xyze_pos_t) Planner::max_jerk;
 #endif
 
@@ -2374,42 +2372,42 @@ bool Planner::_populate_block(
 
   // Limit speed on extruders, if any
   #if HAS_EXTRUDERS
-    {
-      current_speed.e = dist_mm.e * inverse_secs;
-      #if HAS_MIXER_SYNC_CHANNEL
-        // Move all mixing extruders at the specified rate
-        if (mixer.get_current_vtool() == MIXER_AUTORETRACT_TOOL)
-          current_speed.e *= MIXING_STEPPERS;
-      #endif
-
-      const feedRate_t cs = ABS(current_speed.e),
-                   max_fr = settings.max_feedrate_mm_s[E_AXIS_N(extruder)]
-                            * TERN(HAS_MIXER_SYNC_CHANNEL, MIXING_STEPPERS, 1);
-
-      if (cs > max_fr) NOMORE(speed_factor, max_fr / cs); //respect max feedrate on any movement (doesn't matter if E axes only or not)
-
-      #if ENABLED(VOLUMETRIC_EXTRUDER_LIMIT)
-        const feedRate_t max_vfr = volumetric_extruder_feedrate_limit[extruder]
-                                   * TERN(HAS_MIXER_SYNC_CHANNEL, MIXING_STEPPERS, 1);
+  {
+    current_speed.e = dist_mm.e * inverse_secs;
+    #if HAS_MIXER_SYNC_CHANNEL
+      // Move all mixing extruders at the specified rate
+      if (mixer.get_current_vtool() == MIXER_AUTORETRACT_TOOL)
+        current_speed.e *= MIXING_STEPPERS;
+    #endif
 
-        // TODO: Doesn't work properly for joined segments. Set MIN_STEPS_PER_SEGMENT 1 as workaround.
+    const feedRate_t cs = ABS(current_speed.e),
+                 max_fr = settings.max_feedrate_mm_s[E_AXIS_N(extruder)]
+                          * TERN(HAS_MIXER_SYNC_CHANNEL, MIXING_STEPPERS, 1);
 
-        if (block->steps.a || block->steps.b || block->steps.c) {
+    if (cs > max_fr) NOMORE(speed_factor, max_fr / cs); //respect max feedrate on any movement (doesn't matter if E axes only or not)
 
-          if (max_vfr > 0 && cs > max_vfr) {
-            NOMORE(speed_factor, max_vfr / cs); // respect volumetric extruder limit (if any)
-            /* <-- add a slash to enable
-            SERIAL_ECHOPGM("volumetric extruder limit enforced: ", (cs * CIRCLE_AREA(filament_size[extruder] * 0.5f)));
-            SERIAL_ECHOPGM(" mm^3/s (", cs);
-            SERIAL_ECHOPGM(" mm/s) limited to ", (max_vfr * CIRCLE_AREA(filament_size[extruder] * 0.5f)));
-            SERIAL_ECHOPGM(" mm^3/s (", max_vfr);
-            SERIAL_ECHOLNPGM(" mm/s)");
-            //*/
-          }
+    #if ENABLED(VOLUMETRIC_EXTRUDER_LIMIT)
+      const feedRate_t max_vfr = volumetric_extruder_feedrate_limit[extruder]
+                                 * TERN(HAS_MIXER_SYNC_CHANNEL, MIXING_STEPPERS, 1);
+
+      // TODO: Doesn't work properly for joined segments. Set MIN_STEPS_PER_SEGMENT 1 as workaround.
+
+      if (block->steps.a || block->steps.b || block->steps.c) {
+
+        if (max_vfr > 0 && cs > max_vfr) {
+          NOMORE(speed_factor, max_vfr / cs); // respect volumetric extruder limit (if any)
+          /* <-- add a slash to enable
+          SERIAL_ECHOPGM("volumetric extruder limit enforced: ", (cs * CIRCLE_AREA(filament_size[extruder] * 0.5f)));
+          SERIAL_ECHOPGM(" mm^3/s (", cs);
+          SERIAL_ECHOPGM(" mm/s) limited to ", (max_vfr * CIRCLE_AREA(filament_size[extruder] * 0.5f)));
+          SERIAL_ECHOPGM(" mm^3/s (", max_vfr);
+          SERIAL_ECHOLNPGM(" mm/s)");
+          //*/
         }
-      #endif
-    }
-  #endif
+      }
+    #endif
+  }
+  #endif // HAS_EXTRUDERS
 
   #ifdef XY_FREQUENCY_LIMIT
 
@@ -2492,7 +2490,7 @@ bool Planner::_populate_block(
        *
        * extruder_advance_K[extruder] : There is an advance factor set for this extruder.
        *
-       * dist.e > 0                       : Extruder is running forward (e.g., for "Wipe while retracting" (Slic3r) or "Combing" (Cura) moves)
+       * dist.e > 0                   : Extruder is running forward (e.g., for "Wipe while retracting" (Slic3r) or "Combing" (Cura) moves)
        */
       use_advance_lead = esteps && extruder_advance_K[E_INDEX_N(extruder)] && dist.e > 0;
 
@@ -2511,9 +2509,10 @@ bool Planner::_populate_block(
         else {
           // Scale E acceleration so that it will be possible to jump to the advance speed.
           const uint32_t max_accel_steps_per_s2 = MAX_E_JERK(extruder) / (extruder_advance_K[E_INDEX_N(extruder)] * e_D_ratio) * steps_per_mm;
-          if (TERN0(LA_DEBUG, accel > max_accel_steps_per_s2))
-            SERIAL_ECHOLNPGM("Acceleration limited.");
-          NOMORE(accel, max_accel_steps_per_s2);
+          if (accel > max_accel_steps_per_s2) {
+            accel = max_accel_steps_per_s2;
+            if (ENABLED(LA_DEBUG)) SERIAL_ECHOLNPGM("Acceleration limited.");
+          }
         }
       }
     #endif
@@ -2764,104 +2763,59 @@ bool Planner::_populate_block(
 
     prev_unit_vec = unit_vec;
 
-  #endif
-
-  #if ENABLED(CLASSIC_JERK)
+  #else // CLASSIC_JERK
 
     /**
-     * Adapted from Průša MKS firmware
+     * Heavily modified. Originally adapted from Průša firmware.
      * https://github.com/prusa3d/Prusa-Firmware
      */
-    // Exit speed limited by a jerk to full halt of a previous last segment
-    static float previous_safe_speed;
-
-    // Start with a safe speed (from which the machine may halt to stop immediately).
-    float safe_speed = block->nominal_speed;
-
     #ifndef TRAVEL_EXTRA_XYJERK
-      #define TRAVEL_EXTRA_XYJERK 0
+      #define TRAVEL_EXTRA_XYJERK 0.0f
     #endif
-    const float extra_xyjerk = TERN0(HAS_EXTRUDERS, dist.e <= 0) ? TRAVEL_EXTRA_XYJERK : 0;
-
-    uint8_t limited = 0;
-    TERN(HAS_LINEAR_E_JERK, LOOP_NUM_AXES, LOOP_LOGICAL_AXES)(i) {
-      const float jerk = ABS(current_speed[i]),   // cs : Starting from zero, change in speed for this axis
-                  maxj = (max_jerk[i] + (i == X_AXIS || i == Y_AXIS ? extra_xyjerk : 0.0f)); // mj : The max jerk setting for this axis
-      if (jerk > maxj) {                          // cs > mj : New current speed too fast?
-        if (limited) {                            // limited already?
-          const float mjerk = block->nominal_speed * maxj; // ns*mj
-          if (jerk * safe_speed > mjerk) safe_speed = mjerk / jerk; // ns*mj/cs
-        }
-        else {
-          safe_speed *= maxj / jerk;              // Initial limit: ns*mj/cs
-          ++limited;                              // Initially limited
-        }
-      }
-    }
+    const float extra_xyjerk = TERN0(HAS_EXTRUDERS, dist.e <= 0) ? TRAVEL_EXTRA_XYJERK : 0.0f;
 
-    float vmax_junction;
-    if (moves_queued && !UNEAR_ZERO(previous_nominal_speed)) {
-      // Estimate a maximum velocity allowed at a joint of two successive segments.
-      // If this maximum velocity allowed is lower than the minimum of the entry / exit safe velocities,
-      // then the machine is not coasting anymore and the safe entry / exit velocities shall be used.
+    if (!moves_queued || UNEAR_ZERO(previous_nominal_speed)) {
+      // Compute "safe" speed, limited by a jerk to/from full halt.
 
-      // Factor to multiply the previous / current nominal velocities to get componentwise limited velocities.
-      float v_factor = 1;
-      limited = 0;
+      float v_factor = 1.0f;
+      LOOP_LOGICAL_AXES(i) {
+        const float jerk = ABS(current_speed[i]),   // Starting from zero, change in speed for this axis
+                    maxj = max_jerk[i] + (i == X_AXIS || i == Y_AXIS ? extra_xyjerk : 0.0f); // The max jerk setting for this axis
+        if (jerk * v_factor > maxj) v_factor = maxj / jerk;
+      }
+      vmax_junction_sqr = sq(block->nominal_speed * v_factor);
+      NOLESS(minimum_planner_speed_sqr, vmax_junction_sqr);
+    }
+    else {
+      // Compute the maximum velocity allowed at a joint of two successive segments.
 
       // The junction velocity will be shared between successive segments. Limit the junction velocity to their minimum.
-      // Pick the smaller of the nominal speeds. Higher speed shall not be achieved at the junction during coasting.
-      float smaller_speed_factor = 1.0f;
+      float vmax_junction, previous_speed_factor, current_speed_factor;
       if (block->nominal_speed < previous_nominal_speed) {
         vmax_junction = block->nominal_speed;
-        smaller_speed_factor = vmax_junction / previous_nominal_speed;
+        previous_speed_factor = vmax_junction / previous_nominal_speed;
+        current_speed_factor = 1.0f;
       }
-      else
+      else {
         vmax_junction = previous_nominal_speed;
+        previous_speed_factor = 1.0f;
+        current_speed_factor = vmax_junction / block->nominal_speed;
+      }
 
       // Now limit the jerk in all axes.
-      TERN(HAS_LINEAR_E_JERK, LOOP_NUM_AXES, LOOP_LOGICAL_AXES)(axis) {
-        // Limit an axis. We have to differentiate: coasting, reversal of an axis, full stop.
-        float v_exit = previous_speed[axis] * smaller_speed_factor,
-              v_entry = current_speed[axis];
-        if (limited) {
-          v_exit *= v_factor;
-          v_entry *= v_factor;
-        }
-
-        // Calculate jerk depending on whether the axis is coasting in the same direction or reversing.
-        const float jerk = (v_exit > v_entry)
-            ? //                                  coasting             axis reversal
-              ( (v_entry > 0 || v_exit < 0) ? (v_exit - v_entry) : _MAX(v_exit, -v_entry) )
-            : // v_exit <= v_entry                coasting             axis reversal
-              ( (v_entry < 0 || v_exit > 0) ? (v_entry - v_exit) : _MAX(-v_exit, v_entry) );
-
-        const float maxj = (max_jerk[axis] + (axis == X_AXIS || axis == Y_AXIS ? extra_xyjerk : 0.0f));
-
-        if (jerk > maxj) {
-          v_factor *= maxj / jerk;
-          ++limited;
-        }
+      float v_factor = 1.0f;
+      LOOP_LOGICAL_AXES(i) {
+        // Scale per-axis velocities for the same vmax_junction.
+        const float v_exit = previous_speed[i] * previous_speed_factor,
+                    v_entry = current_speed[i] * current_speed_factor;
+
+        // Jerk is the per-axis velocity difference.
+        const float jerk = ABS(v_exit - v_entry),
+                    maxj = max_jerk[i] + (i == X_AXIS || i == Y_AXIS ? extra_xyjerk : 0.0f);
+        if (jerk * v_factor > maxj) v_factor = maxj / jerk;
       }
-      if (limited) vmax_junction *= v_factor;
-      // Now the transition velocity is known, which maximizes the shared exit / entry velocity while
-      // respecting the jerk factors, it may be possible, that applying separate safe exit / entry velocities will achieve faster prints.
-      const float vmax_junction_threshold = vmax_junction * 0.99f;
-      if (previous_safe_speed > vmax_junction_threshold && safe_speed > vmax_junction_threshold)
-        vmax_junction = safe_speed;
+      vmax_junction_sqr = sq(vmax_junction * v_factor);
     }
-    else
-      vmax_junction = safe_speed;
-
-    previous_safe_speed = safe_speed;
-
-    NOLESS(minimum_planner_speed_sqr, sq(safe_speed));
-
-    #if HAS_JUNCTION_DEVIATION
-      NOMORE(vmax_junction_sqr, sq(vmax_junction));   // Throttle down to max speed
-    #else
-      vmax_junction_sqr = sq(vmax_junction);          // Go up or down to the new speed
-    #endif
 
   #endif // CLASSIC_JERK
 

Marlin/src/module/planner.h

@@ -475,9 +475,7 @@ class Planner {
       #if HAS_LINEAR_E_JERK
         static float max_e_jerk[DISTINCT_E];          // Calculated from junction_deviation_mm
       #endif
-    #endif
-
-    #if ENABLED(CLASSIC_JERK)
+    #else // CLASSIC_JERK
       // (mm/s^2) M205 XYZ(E) - The largest speed change requiring no acceleration.
       static TERN(HAS_LINEAR_E_JERK, xyz_pos_t, xyze_pos_t) max_jerk;
     #endif