Rename some planner acceleration vars

- `per_sq_second` => `per_s2`
- `per_sqr_second` => `per_s2`
- `axis_steps_per_sqr_second` => `max_acceleration_steps_per_s2`

Marlin/Marlin_main.cpp

@@ -5150,7 +5150,7 @@ inline void gcode_M92() {
           float factor = planner.axis_steps_per_unit[i] / value; // increase e constants if M92 E14 is given for netfab.
           planner.max_e_jerk *= factor;
           planner.max_feedrate[i] *= factor;
-          planner.axis_steps_per_sqr_second[i] *= factor;
+          planner.max_acceleration_steps_per_s2[i] *= factor;
         }
         planner.axis_steps_per_unit[i] = value;
       }
@@ -5337,7 +5337,7 @@ inline void gcode_M200() {
 inline void gcode_M201() {
   for (int8_t i = 0; i < NUM_AXIS; i++) {
     if (code_seen(axis_codes[i])) {
-      planner.max_acceleration_units_per_sq_second[i] = code_value_axis_units(i);
+      planner.max_acceleration_mm_per_s2[i] = code_value_axis_units(i);
     }
   }
   // steps per sq second need to be updated to agree with the units per sq second (as they are what is used in the planner)

Marlin/configuration_store.cpp

@@ -45,7 +45,7 @@
  *
  *  104  M92 XYZE  planner.axis_steps_per_unit (float x4)
  *  120  M203 XYZE planner.max_feedrate (float x4)
- *  136  M201 XYZE planner.max_acceleration_units_per_sq_second (uint32_t x4)
+ *  136  M201 XYZE planner.max_acceleration_mm_per_s2 (uint32_t x4)
  *  152  M204 P    planner.acceleration (float)
  *  156  M204 R    planner.retract_acceleration (float)
  *  160  M204 T    planner.travel_acceleration (float)
@@ -175,7 +175,7 @@ void Config_StoreSettings()  {
   EEPROM_WRITE_VAR(i, ver); // invalidate data first
   EEPROM_WRITE_VAR(i, planner.axis_steps_per_unit);
   EEPROM_WRITE_VAR(i, planner.max_feedrate);
-  EEPROM_WRITE_VAR(i, planner.max_acceleration_units_per_sq_second);
+  EEPROM_WRITE_VAR(i, planner.max_acceleration_mm_per_s2);
   EEPROM_WRITE_VAR(i, planner.acceleration);
   EEPROM_WRITE_VAR(i, planner.retract_acceleration);
   EEPROM_WRITE_VAR(i, planner.travel_acceleration);
@@ -355,7 +355,7 @@ void Config_RetrieveSettings() {
     // version number match
     EEPROM_READ_VAR(i, planner.axis_steps_per_unit);
     EEPROM_READ_VAR(i, planner.max_feedrate);
-    EEPROM_READ_VAR(i, planner.max_acceleration_units_per_sq_second);
+    EEPROM_READ_VAR(i, planner.max_acceleration_mm_per_s2);
 
     // steps per sq second need to be updated to agree with the units per sq second (as they are what is used in the planner)
     planner.reset_acceleration_rates();
@@ -529,7 +529,7 @@ void Config_ResetDefault() {
   for (uint8_t i = 0; i < NUM_AXIS; i++) {
     planner.axis_steps_per_unit[i] = tmp1[i];
     planner.max_feedrate[i] = tmp2[i];
-    planner.max_acceleration_units_per_sq_second[i] = tmp3[i];
+    planner.max_acceleration_mm_per_s2[i] = tmp3[i];
     #if ENABLED(SCARA)
       if (i < COUNT(axis_scaling))
         axis_scaling[i] = 1;
@@ -687,10 +687,10 @@ void Config_PrintSettings(bool forReplay) {
     SERIAL_ECHOLNPGM("Maximum Acceleration (mm/s2):");
     CONFIG_ECHO_START;
   }
-  SERIAL_ECHOPAIR("  M201 X", planner.max_acceleration_units_per_sq_second[X_AXIS]);
-  SERIAL_ECHOPAIR(" Y", planner.max_acceleration_units_per_sq_second[Y_AXIS]);
-  SERIAL_ECHOPAIR(" Z", planner.max_acceleration_units_per_sq_second[Z_AXIS]);
-  SERIAL_ECHOPAIR(" E", planner.max_acceleration_units_per_sq_second[E_AXIS]);
+  SERIAL_ECHOPAIR("  M201 X", planner.max_acceleration_mm_per_s2[X_AXIS]);
+  SERIAL_ECHOPAIR(" Y", planner.max_acceleration_mm_per_s2[Y_AXIS]);
+  SERIAL_ECHOPAIR(" Z", planner.max_acceleration_mm_per_s2[Z_AXIS]);
+  SERIAL_ECHOPAIR(" E", planner.max_acceleration_mm_per_s2[E_AXIS]);
   SERIAL_EOL;
   CONFIG_ECHO_START;
   if (!forReplay) {

Marlin/planner.cpp

@@ -82,8 +82,8 @@ volatile uint8_t Planner::block_buffer_tail = 0;
 
 float Planner::max_feedrate[NUM_AXIS]; // Max speeds in mm per minute
 float Planner::axis_steps_per_unit[NUM_AXIS];
-unsigned long Planner::axis_steps_per_sqr_second[NUM_AXIS];
-unsigned long Planner::max_acceleration_units_per_sq_second[NUM_AXIS]; // Use M201 to override by software
+unsigned long Planner::max_acceleration_steps_per_s2[NUM_AXIS];
+unsigned long Planner::max_acceleration_mm_per_s2[NUM_AXIS]; // Use M201 to override by software
 
 millis_t Planner::min_segment_time;
 float Planner::min_feedrate;
@@ -946,10 +946,10 @@ void Planner::check_axes_activity() {
   }
   // Limit acceleration per axis
   unsigned long acc_st = block->acceleration_st,
-                xsteps = axis_steps_per_sqr_second[X_AXIS],
-                ysteps = axis_steps_per_sqr_second[Y_AXIS],
-                zsteps = axis_steps_per_sqr_second[Z_AXIS],
-                esteps = axis_steps_per_sqr_second[E_AXIS],
+                xsteps = max_acceleration_steps_per_s2[X_AXIS],
+                ysteps = max_acceleration_steps_per_s2[Y_AXIS],
+                zsteps = max_acceleration_steps_per_s2[Z_AXIS],
+                esteps = max_acceleration_steps_per_s2[E_AXIS],
                 allsteps = block->step_event_count;
   if (xsteps < (acc_st * bsx) / allsteps) acc_st = (xsteps * allsteps) / bsx;
   if (ysteps < (acc_st * bsy) / allsteps) acc_st = (ysteps * allsteps) / bsy;
@@ -1148,7 +1148,7 @@ void Planner::set_e_position_mm(const float& e) {
 // Recalculate the steps/s^2 acceleration rates, based on the mm/s^2
 void Planner::reset_acceleration_rates() {
   for (int i = 0; i < NUM_AXIS; i++)
-    axis_steps_per_sqr_second[i] = max_acceleration_units_per_sq_second[i] * axis_steps_per_unit[i];
+    max_acceleration_steps_per_s2[i] = max_acceleration_mm_per_s2[i] * axis_steps_per_unit[i];
 }
 
 #if ENABLED(AUTOTEMP)

Marlin/planner.h

@@ -114,8 +114,8 @@ class Planner {
 
     static float max_feedrate[NUM_AXIS]; // Max speeds in mm per minute
     static float axis_steps_per_unit[NUM_AXIS];
-    static unsigned long axis_steps_per_sqr_second[NUM_AXIS];
-    static unsigned long max_acceleration_units_per_sq_second[NUM_AXIS]; // Use M201 to override by software
+    static unsigned long max_acceleration_steps_per_s2[NUM_AXIS];
+    static unsigned long max_acceleration_mm_per_s2[NUM_AXIS]; // Use M201 to override by software
 
     static millis_t min_segment_time;
     static float min_feedrate;

Marlin/ultralcd.cpp

@@ -1686,10 +1686,10 @@ static void lcd_control_motion_menu() {
   MENU_ITEM_EDIT(float3, MSG_VMAX MSG_E, &planner.max_feedrate[E_AXIS], 1, 999);
   MENU_ITEM_EDIT(float3, MSG_VMIN, &planner.min_feedrate, 0, 999);
   MENU_ITEM_EDIT(float3, MSG_VTRAV_MIN, &planner.min_travel_feedrate, 0, 999);
-  MENU_ITEM_EDIT_CALLBACK(long5, MSG_AMAX MSG_X, &planner.max_acceleration_units_per_sq_second[X_AXIS], 100, 99000, _reset_acceleration_rates);
-  MENU_ITEM_EDIT_CALLBACK(long5, MSG_AMAX MSG_Y, &planner.max_acceleration_units_per_sq_second[Y_AXIS], 100, 99000, _reset_acceleration_rates);
-  MENU_ITEM_EDIT_CALLBACK(long5, MSG_AMAX MSG_Z, &planner.max_acceleration_units_per_sq_second[Z_AXIS], 10, 99000, _reset_acceleration_rates);
-  MENU_ITEM_EDIT_CALLBACK(long5, MSG_AMAX MSG_E, &planner.max_acceleration_units_per_sq_second[E_AXIS], 100, 99000, _reset_acceleration_rates);
+  MENU_ITEM_EDIT_CALLBACK(long5, MSG_AMAX MSG_X, &planner.max_acceleration_mm_per_s2[X_AXIS], 100, 99000, _reset_acceleration_rates);
+  MENU_ITEM_EDIT_CALLBACK(long5, MSG_AMAX MSG_Y, &planner.max_acceleration_mm_per_s2[Y_AXIS], 100, 99000, _reset_acceleration_rates);
+  MENU_ITEM_EDIT_CALLBACK(long5, MSG_AMAX MSG_Z, &planner.max_acceleration_mm_per_s2[Z_AXIS], 10, 99000, _reset_acceleration_rates);
+  MENU_ITEM_EDIT_CALLBACK(long5, MSG_AMAX MSG_E, &planner.max_acceleration_mm_per_s2[E_AXIS], 100, 99000, _reset_acceleration_rates);
   MENU_ITEM_EDIT(float5, MSG_A_RETRACT, &planner.retract_acceleration, 100, 99000);
   MENU_ITEM_EDIT(float5, MSG_A_TRAVEL, &planner.travel_acceleration, 100, 99000);
   MENU_ITEM_EDIT(float52, MSG_XSTEPS, &planner.axis_steps_per_unit[X_AXIS], 5, 9999);