Use cs.max_jerk from ConfigurationStore.

Firmware/ConfigurationStore.cpp

@@ -103,7 +103,7 @@ void Config_PrintSettings(uint8_t level)
 		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, cs.acceleration, cs.retract_acceleration,
-		echomagic, echomagic, cs.minimumfeedrate, cs.mintravelfeedrate, cs.minsegmenttime, max_jerk[X_AXIS], max_jerk[Y_AXIS], max_jerk[Z_AXIS], max_jerk[E_AXIS],
+		echomagic, echomagic, cs.minimumfeedrate, cs.mintravelfeedrate, cs.minsegmenttime, cs.max_jerk[X_AXIS], cs.max_jerk[Y_AXIS], cs.max_jerk[Z_AXIS], cs.max_jerk[E_AXIS],
 		echomagic, echomagic, add_homing[X_AXIS], add_homing[Y_AXIS], add_homing[Z_AXIS]
 #else //TMC2130
 	printf_P(PSTR(
@@ -118,7 +118,7 @@ void Config_PrintSettings(uint8_t level)
 		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, cs.acceleration, cs.retract_acceleration,
-		echomagic, echomagic, cs.minimumfeedrate, cs.mintravelfeedrate, cs.minsegmenttime, max_jerk[X_AXIS], max_jerk[Y_AXIS], max_jerk[Z_AXIS], max_jerk[E_AXIS],
+		echomagic, echomagic, cs.minimumfeedrate, cs.mintravelfeedrate, cs.minsegmenttime, cs.max_jerk[X_AXIS], cs.max_jerk[Y_AXIS], cs.max_jerk[Z_AXIS], cs.max_jerk[E_AXIS],
 		echomagic, echomagic, add_homing[X_AXIS], add_homing[Y_AXIS], add_homing[Z_AXIS]
 #endif //TMC2130
 	);
@@ -232,8 +232,8 @@ bool Config_RetrieveSettings(uint16_t offset)
         EEPROM_READ_VAR(i,cs);
 
         
-		if (max_jerk[X_AXIS] > DEFAULT_XJERK) max_jerk[X_AXIS] = DEFAULT_XJERK;
-		if (max_jerk[Y_AXIS] > DEFAULT_YJERK) max_jerk[Y_AXIS] = DEFAULT_YJERK;
+		if (cs.max_jerk[X_AXIS] > DEFAULT_XJERK) cs.max_jerk[X_AXIS] = DEFAULT_XJERK;
+		if (cs.max_jerk[Y_AXIS] > DEFAULT_YJERK) cs.max_jerk[Y_AXIS] = DEFAULT_YJERK;
         calculate_extruder_multipliers();
 
 

Firmware/ConfigurationStore.h

@@ -15,7 +15,7 @@ typedef struct
     float minimumfeedrate;
     float mintravelfeedrate;
     unsigned long minsegmenttime;
-    float max_jerk[4];
+    float max_jerk[4]; //!< Jerk is a maximum immediate velocity change.
     float add_homing[3];
     float zprobe_zoffset;
     float Kp;

Firmware/Marlin_main.cpp

@@ -5700,7 +5700,7 @@ Sigma_Exit:
             float value = code_value();
             if(value < 20.0) {
               float factor = cs.axis_steps_per_unit[i] / value; // increase e constants if M92 E14 is given for netfab.
-              max_jerk[E_AXIS] *= factor;
+              cs.max_jerk[E_AXIS] *= factor;
               max_feedrate[i] *= factor;
               axis_steps_per_sqr_second[i] *= factor;
             }
@@ -5964,12 +5964,12 @@ Sigma_Exit:
       if(code_seen('S')) cs.minimumfeedrate = code_value();
       if(code_seen('T')) cs.mintravelfeedrate = code_value();
       if(code_seen('B')) cs.minsegmenttime = code_value() ;
-      if(code_seen('X')) max_jerk[X_AXIS] = max_jerk[Y_AXIS] = code_value();
-      if(code_seen('Y')) max_jerk[Y_AXIS] = code_value();
-      if(code_seen('Z')) max_jerk[Z_AXIS] = code_value();
-      if(code_seen('E')) max_jerk[E_AXIS] = code_value();
-		if (max_jerk[X_AXIS] > DEFAULT_XJERK) max_jerk[X_AXIS] = DEFAULT_XJERK;
-		if (max_jerk[Y_AXIS] > DEFAULT_YJERK) max_jerk[Y_AXIS] = DEFAULT_YJERK;
+      if(code_seen('X')) cs.max_jerk[X_AXIS] = cs.max_jerk[Y_AXIS] = code_value();
+      if(code_seen('Y')) cs.max_jerk[Y_AXIS] = code_value();
+      if(code_seen('Z')) cs.max_jerk[Z_AXIS] = code_value();
+      if(code_seen('E')) cs.max_jerk[E_AXIS] = code_value();
+		if (cs.max_jerk[X_AXIS] > DEFAULT_XJERK) cs.max_jerk[X_AXIS] = DEFAULT_XJERK;
+		if (cs.max_jerk[Y_AXIS] > DEFAULT_YJERK) cs.max_jerk[Y_AXIS] = DEFAULT_YJERK;
     }
     break;
     case 206: // M206 additional homing offset

Firmware/planner.cpp

@@ -80,9 +80,6 @@ float* max_feedrate = cs.max_feedrate_normal;
 // Use M201 to override by software
 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;
-
-// Jerk is a maximum immediate velocity change.
-float max_jerk[NUM_AXIS];
 unsigned long axis_steps_per_sqr_second[NUM_AXIS];
 
 #ifdef ENABLE_AUTO_BED_LEVELING
@@ -1042,20 +1039,20 @@ Having the real displacement of the head, we can calculate the total movement le
   bool  limited = false;
   for (uint8_t axis = 0; axis < 4; ++ axis) {
       float jerk = fabs(current_speed[axis]);
-      if (jerk > max_jerk[axis]) {
+      if (jerk > cs.max_jerk[axis]) {
           // The actual jerk is lower, if it has been limited by the XY jerk.
           if (limited) {
               // Spare one division by a following gymnastics:
               // Instead of jerk *= safe_speed / block->nominal_speed,
               // multiply max_jerk[axis] by the divisor.
               jerk *= safe_speed;
-              float mjerk = max_jerk[axis] * block->nominal_speed;
+              float mjerk = cs.max_jerk[axis] * block->nominal_speed;
               if (jerk > mjerk) {
                   safe_speed *= mjerk / jerk;
                   limited = true;
               }
           } else {
-              safe_speed = max_jerk[axis];
+              safe_speed = cs.max_jerk[axis];
               limited = true;
           }
       }
@@ -1108,8 +1105,8 @@ Having the real displacement of the head, we can calculate the total movement le
                       (v_entry - v_exit) :
                       // axis reversal
                       max(- v_exit, v_entry));
-          if (jerk > max_jerk[axis]) {
-              v_factor *= max_jerk[axis] / jerk;
+          if (jerk > cs.max_jerk[axis]) {
+              v_factor *= cs.max_jerk[axis] / jerk;
               limited = true;
           }
       }

Firmware/planner.h

@@ -166,9 +166,6 @@ extern float* max_feedrate;
 // Use M201 to override by software
 extern unsigned long max_acceleration_units_per_sq_second_silent[NUM_AXIS];
 extern unsigned long* max_acceleration_units_per_sq_second; 
-
-// Jerk is a maximum immediate velocity change.
-extern float max_jerk[NUM_AXIS];
 extern unsigned long axis_steps_per_sqr_second[NUM_AXIS];
 
 extern long position[NUM_AXIS];