Introduced reduced accelerations and M201.1

Corrected setting of default max speeds, accelerations and jerks
Added M201.1 to allow the reduced accelerations to be set

2 files changed, 21 insertions, 18 deletions

diff --git a/src/Platform/Platform.cpp b/src/Platform/Platform.cpp
index 69eb67f5..9d935855 100644
--- a/src/Platform/Platform.cpp
+++ b/src/Platform/Platform.cpp
@@ -609,25 +609,27 @@ void Platform::Init() noexcept
 		axisMinima[axis] = DefaultAxisMinimum;
 		axisMaxima[axis] = DefaultAxisMaximum;
 
-		maxFeedrates[axis] = DefaultXYMaxFeedrate;
-		accelerations[axis] = DefaultXYAcceleration;
-		driveStepsPerUnit[axis] = DefaultXYDriveStepsPerUnit;
-		instantDvs[axis] = DefaultXYInstantDv;
+		maxFeedrates[axis] = ConvertSpeedFromMmPerSec(DefaultAxisMaxFeedrate);
+		normalAccelerations[axis] = ConvertAcceleration(DefaultAxisAcceleration);
+		reducedAccelerations[axis] = ConvertAcceleration(DefaultReducedAxisAcceleration);
+		driveStepsPerUnit[axis] = DefaultAxisDriveStepsPerUnit;
+		instantDvs[axis] = ConvertSpeedFromMmPerSec(DefaultAxisInstantDv);
 	}
 
 	// We use different defaults for the Z axis
-	maxFeedrates[Z_AXIS] = DefaultZMaxFeedrate;
-	accelerations[Z_AXIS] = DefaultZAcceleration;
+	maxFeedrates[Z_AXIS] = ConvertSpeedFromMmPerSec(DefaultZMaxFeedrate);
+	normalAccelerations[Z_AXIS] = ConvertAcceleration(DefaultZAcceleration);
+	reducedAccelerations[Z_AXIS] = ConvertAcceleration(DefaultReducedZAcceleration);
 	driveStepsPerUnit[Z_AXIS] = DefaultZDriveStepsPerUnit;
-	instantDvs[Z_AXIS] = DefaultZInstantDv;
+	instantDvs[Z_AXIS] = ConvertSpeedFromMmPerSec(DefaultZInstantDv);
 
 	// Extruders
 	for (size_t drive = MaxAxes; drive < MaxAxesPlusExtruders; ++drive)
 	{
-		maxFeedrates[drive] = DefaultEMaxFeedrate;
-		accelerations[drive] = DefaultEAcceleration;
+		maxFeedrates[drive] = ConvertSpeedFromMmPerSec(DefaultEMaxFeedrate);
+		normalAccelerations[drive] = reducedAccelerations[drive] = ConvertAcceleration(DefaultEAcceleration);
 		driveStepsPerUnit[drive] = DefaultEDriveStepsPerUnit;
-		instantDvs[drive] = DefaultEInstantDv;
+		instantDvs[drive] = ConvertSpeedFromMmPerSec(DefaultEInstantDv);
 	}
 
 	minimumMovementSpeed = ConvertSpeedFromMmPerSec(DefaultMinFeedrate);
diff --git a/src/Platform/Platform.h b/src/Platform/Platform.h
index 44473d3e..a3f8b7c3 100644
--- a/src/Platform/Platform.h
+++ b/src/Platform/Platform.h
@@ -463,8 +463,8 @@ public:
 		{ return driveStepsPerUnit; }
 	void SetDriveStepsPerUnit(size_t axisOrExtruder, float value, uint32_t requestedMicrostepping) noexcept;
 	float Acceleration(size_t axisOrExtruder) const noexcept;
-	const float *_ecv_array Accelerations() const noexcept;
-	void SetAcceleration(size_t axisOrExtruder, float value) noexcept;
+	const float *_ecv_array Accelerations(bool useReduced) const noexcept;
+	void SetAcceleration(size_t axisOrExtruder, float value, bool reduced) noexcept;
 	float MaxFeedrate(size_t axisOrExtruder) const noexcept;
 	const float *_ecv_array MaxFeedrates() const noexcept { return maxFeedrates; }
 	void SetMaxFeedrate(size_t axisOrExtruder, float value) noexcept;
@@ -722,7 +722,8 @@ private:
 
 	volatile DriverStatus driverState[MaxAxesPlusExtruders];
 	float maxFeedrates[MaxAxesPlusExtruders];				// max feed rates in mm per step clock
-	float accelerations[MaxAxesPlusExtruders];				// max accelerations in mm per step clock squared
+	float normalAccelerations[MaxAxesPlusExtruders];		// max accelerations in mm per step clock squared for normal moves
+	float reducedAccelerations[MaxAxesPlusExtruders];		// max accelerations in mm per step clock squared for probing and stall detection moves
 	float driveStepsPerUnit[MaxAxesPlusExtruders];
 	float instantDvs[MaxAxesPlusExtruders];					// max jerk in mm per step clock
 	uint32_t driveDriverBits[MaxAxesPlusExtruders + NumDirectDrivers];
@@ -923,17 +924,17 @@ inline float Platform::DriveStepsPerUnit(size_t drive) const noexcept
 
 inline float Platform::Acceleration(size_t drive) const noexcept
 {
-	return accelerations[drive];
+	return normalAccelerations[drive];
 }
 
-inline const float *_ecv_array Platform::Accelerations() const noexcept
+inline const float *_ecv_array Platform::Accelerations(bool useReduced) const noexcept
 {
-	return accelerations;
+	return (useReduced) ? reducedAccelerations : normalAccelerations;
 }
 
-inline void Platform::SetAcceleration(size_t drive, float value) noexcept
+inline void Platform::SetAcceleration(size_t drive, float value, bool reduced) noexcept
 {
-	accelerations[drive] = max<float>(value, ConvertAcceleration(MinimumAcceleration));	// don't allow zero or negative
+	((reduced) ? reducedAccelerations : normalAccelerations)[drive] = max<float>(value, ConvertAcceleration(MinimumAcceleration));	// don't allow zero or negative
 }
 
 inline float Platform::MaxFeedrate(size_t drive) const noexcept