Use cs.acceleration from ConfigurationStore.

Firmware/ConfigurationStore.cpp

@@ -102,7 +102,7 @@ void Config_PrintSettings(uint8_t level)
 		echomagic, echomagic, max_feedrate_silent[X_AXIS], max_feedrate_silent[Y_AXIS], max_feedrate_silent[Z_AXIS], max_feedrate_silent[E_AXIS],
 		echomagic, echomagic, cs.max_acceleration_units_per_sq_second_normal[X_AXIS], cs.max_acceleration_units_per_sq_second_normal[Y_AXIS], cs.max_acceleration_units_per_sq_second_normal[Z_AXIS], cs.max_acceleration_units_per_sq_second_normal[E_AXIS],
 		echomagic, echomagic, max_acceleration_units_per_sq_second_silent[X_AXIS], max_acceleration_units_per_sq_second_silent[Y_AXIS], max_acceleration_units_per_sq_second_silent[Z_AXIS], max_acceleration_units_per_sq_second_silent[E_AXIS],
-		echomagic, echomagic, acceleration, retract_acceleration,
+		echomagic, echomagic, cs.acceleration, retract_acceleration,
 		echomagic, echomagic, minimumfeedrate, mintravelfeedrate, minsegmenttime, max_jerk[X_AXIS], max_jerk[Y_AXIS], max_jerk[Z_AXIS], max_jerk[E_AXIS],
 		echomagic, echomagic, add_homing[X_AXIS], add_homing[Y_AXIS], add_homing[Z_AXIS]
 #else //TMC2130
@@ -117,7 +117,7 @@ void Config_PrintSettings(uint8_t level)
 		echomagic, echomagic, cs.axis_steps_per_unit[X_AXIS], cs.axis_steps_per_unit[Y_AXIS], cs.axis_steps_per_unit[Z_AXIS], cs.axis_steps_per_unit[E_AXIS],
 		echomagic, echomagic, max_feedrate[X_AXIS], max_feedrate[Y_AXIS], max_feedrate[Z_AXIS], max_feedrate[E_AXIS],
 		echomagic, echomagic, max_acceleration_units_per_sq_second[X_AXIS], max_acceleration_units_per_sq_second[Y_AXIS], max_acceleration_units_per_sq_second[Z_AXIS], max_acceleration_units_per_sq_second[E_AXIS],
-		echomagic, echomagic, acceleration, retract_acceleration,
+		echomagic, echomagic, cs.acceleration, retract_acceleration,
 		echomagic, echomagic, minimumfeedrate, mintravelfeedrate, minsegmenttime, max_jerk[X_AXIS], max_jerk[Y_AXIS], max_jerk[Z_AXIS], max_jerk[E_AXIS],
 		echomagic, echomagic, add_homing[X_AXIS], add_homing[Y_AXIS], add_homing[Z_AXIS]
 #endif //TMC2130

Firmware/ConfigurationStore.h

@@ -10,7 +10,7 @@ typedef struct
     float axis_steps_per_unit[4];
     float max_feedrate_normal[4];
     unsigned long max_acceleration_units_per_sq_second_normal[4];
-    float acceleration;
+    float acceleration; //!< Normal acceleration mm/s^2  THIS IS THE DEFAULT ACCELERATION for all moves. M204 SXXXX
     float retract_acceleration;
     float minimumfeedrate;
     float mintravelfeedrate;

Firmware/Marlin_main.cpp

@@ -5941,14 +5941,14 @@ Sigma_Exit:
           // Legacy acceleration format. This format is used by the legacy Marlin, MK2 or MK3 firmware,
           // and it is also generated by Slic3r to control acceleration per extrusion type
           // (there is a separate acceleration settings in Slicer for perimeter, first layer etc).
-          acceleration = code_value();
+          cs.acceleration = code_value();
           // Interpret the T value as retract acceleration in the old Marlin format.
           if(code_seen('T'))
             retract_acceleration = code_value();
         } else {
           // New acceleration format, compatible with the upstream Marlin.
           if(code_seen('P'))
-            acceleration = code_value();
+            cs.acceleration = code_value();
           if(code_seen('R'))
             retract_acceleration = code_value();
           if(code_seen('T')) {

Firmware/planner.cpp

@@ -84,7 +84,6 @@ unsigned long max_acceleration_units_per_sq_second_silent[NUM_AXIS];
 unsigned long* max_acceleration_units_per_sq_second = cs.max_acceleration_units_per_sq_second_normal;
 
 float minimumfeedrate;
-float acceleration;         // Normal acceleration mm/s^2  THIS IS THE DEFAULT ACCELERATION for all moves. M204 SXXXX
 float retract_acceleration; //  mm/s^2   filament pull-pack and push-forward  while standing still in the other axis M204 TXXXX
 // Jerk is a maximum immediate velocity change.
 float max_jerk[NUM_AXIS];
@@ -1009,7 +1008,7 @@ Having the real displacement of the head, we can calculate the total movement le
   }
   else
   {
-    block->acceleration_st = ceil(acceleration * steps_per_mm); // convert to: acceleration steps/sec^2
+    block->acceleration_st = ceil(cs.acceleration * steps_per_mm); // convert to: acceleration steps/sec^2
     // Limit acceleration per axis
     //FIXME Vojtech: One shall rather limit a projection of the acceleration vector instead of using the limit.
     if(((float)block->acceleration_st * (float)block->steps_x.wide / (float)block->step_event_count.wide) > axis_steps_per_sqr_second[X_AXIS])

Firmware/planner.h

@@ -170,7 +170,6 @@ extern unsigned long max_acceleration_units_per_sq_second_silent[NUM_AXIS];
 extern unsigned long* max_acceleration_units_per_sq_second; 
 
 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
 // Jerk is a maximum immediate velocity change.
 extern float max_jerk[NUM_AXIS];