Feedrate mode

Marlin/Configuration.h

@@ -2519,6 +2519,11 @@
 //
 //#define INCH_MODE_SUPPORT
 
+//
+// G93/G94 Feedrate mode support
+//
+//#define FEEDRATE_MODE_SUPPORT
+
 //
 // M149 Set temperature units support
 //

Marlin/src/MarlinCore.cpp

@@ -1231,7 +1231,7 @@ void setup() {
     #endif
   #endif
 
-  #if ENABLED(FREEZE_FEATURE) && DISABLED(NO_FREEZE_PIN)
+  #if ENABLED(FREEZE_FEATURE)
     SETUP_LOG("FREEZE_PIN");
     #if FREEZE_STATE
       SET_INPUT_PULLDOWN(FREEZE_PIN);
@@ -1334,7 +1334,10 @@ void setup() {
   #endif
   SERIAL_ECHO_MSG(" Compiled: " __DATE__);
   SERIAL_ECHO_MSG(STR_FREE_MEMORY, hal.freeMemory(), STR_PLANNER_BUFFER_BYTES, sizeof(block_t) * (BLOCK_BUFFER_SIZE));
-
+
+  #if HAS_ROTATIONAL_AXES
+    parser.cartes_move = true;
+  #endif
   // Some HAL need precise delay adjustment
   calibrate_delay_loop();
 

Marlin/src/feature/bedlevel/abl/bbl.cpp

@@ -78,7 +78,7 @@ void LevelingBilinear::extrapolate_one_point(const uint8_t x, const uint8_t y, c
   const float a = 2 * a1 - a2, b = 2 * b1 - b2, c = 2 * c1 - c2;
 
   // Take the average instead of the median
-  z_values[x][y] = (a + b + c) / 3.0;
+  z_values[x][y] = (a + b + c) / 3.0f;
   TERN_(EXTENSIBLE_UI, ExtUI::onMeshUpdate(x, y, z_values[x][y]));
 
   // Median is robust (ignores outliers).

Marlin/src/feature/bedlevel/mbl/mesh_bed_leveling.cpp

@@ -71,14 +71,10 @@
     void mesh_bed_leveling::line_to_destination(const feedRate_t scaled_fr_mm_s, uint8_t x_splits, uint8_t y_splits) {
       // Get current and destination cells for this line
       xy_uint8_t scel = cell_indexes(motion.position), ecel = cell_indexes(motion.destination);
-      NOMORE(scel.x, GRID_MAX_CELLS_X - 1);
-      NOMORE(scel.y, GRID_MAX_CELLS_Y - 1);
-      NOMORE(ecel.x, GRID_MAX_CELLS_X - 1);
-      NOMORE(ecel.y, GRID_MAX_CELLS_Y - 1);
 
       // Start and end in the same cell? No split needed.
       if (scel == ecel) {
-        motion.position = motion.destination;
+        motion.position =  motion.destination;
         motion.goto_current_position(scaled_fr_mm_s);
         return;
       }

Marlin/src/feature/bedlevel/ubl/ubl_motion.cpp

@@ -357,23 +357,39 @@
 
     const xyze_pos_t total = motion.destination - motion.position;
 
-    const float cart_xy_mm_2 = HYPOT2(total.x, total.y),
-                cart_xy_mm = SQRT(cart_xy_mm_2);                               // Total XY distance
+    // If the move is only in Z/E don't split up the move
+    if (!total.x && !total.y) {
+      planner.buffer_line(motion.destination, scaled_fr_mm_s);
+      return false; // caller will update current_position
+    }
+    #if HAS_ROTATIONAL_AXES
+      bool cartes_move = true;
+    #endif
+    float cartesian_mm = motion.get_move_distance(total OPTARG(HAS_ROTATIONAL_AXES, cartes_move));
+
+    // If the move is very short, check the E move distance
+    TERN_(HAS_EXTRUDERS, if (UNEAR_ZERO(cartesian_mm)) cartesian_mm = ABS(total.e));
+
+    // No E move either? Game over.
+    if (UNEAR_ZERO(cartesian_mm)) return true;
 
     #if IS_KINEMATIC
-      const float seconds = cart_xy_mm / scaled_fr_mm_s;                       // Duration of XY move at requested rate
+      // Minimum number of seconds to move the given distance
+      const float seconds = cartesian_mm / scaled_fr_mm_s;
+
       uint16_t segments = LROUND(segments_per_second * seconds),               // Preferred number of segments for distance @ feedrate
-               seglimit = LROUND(cart_xy_mm * RECIPROCAL(SEGMENT_MIN_LENGTH)); // Number of segments at minimum segment length
+               seglimit = LROUND(cartesian_mm * RECIPROCAL(SEGMENT_MIN_LENGTH)); // Number of segments at minimum segment length
+
       NOMORE(segments, seglimit);                                              // Limit to minimum segment length (fewer segments)
     #else
-      uint16_t segments = LROUND(cart_xy_mm * RECIPROCAL(SEGMENT_MIN_LENGTH)); // Cartesian fixed segment length
+      uint16_t segments = LROUND(cartesian_mm * RECIPROCAL(SEGMENT_MIN_LENGTH)); // Cartesian fixed segment length
     #endif
 
     NOLESS(segments, 1U);                                                      // Must have at least one segment
     const float inv_segments = 1.0f / segments;                                // Reciprocal to save calculation
 
     // Add hints to help optimize the move
-    PlannerHints hints(SQRT(cart_xy_mm_2 + sq(total.z)) * inv_segments);       // Length of each segment
+    PlannerHints hints(cartesian_mm * inv_segments);       // Length of each segment
     #if ENABLED(FEEDRATE_SCALING)
       hints.inv_duration = scaled_fr_mm_s / hints.millimeters;
     #endif

Marlin/src/gcode/bedlevel/G42.cpp

@@ -54,6 +54,8 @@ void GcodeSuite::G42() {
     return;
   }
 
+  TERN_(FEEDRATE_MODE_SUPPORT, parser.linear_motion_gcode = true);
+
   // Move to motion.position, as modified by I, J, P parameters
   motion.destination = motion.position;
 
@@ -67,7 +69,7 @@ void GcodeSuite::G42() {
     }
   #endif
 
-  const feedRate_t fval = parser.linearval('F'),
+  const feedRate_t fval = parser.feedrateval('F'),
                    fr_mm_s = MMM_TO_MMS(fval > 0 ? fval : 0.0f);
 
   // SCARA kinematic has "safe" XY raw moves
@@ -76,6 +78,8 @@ void GcodeSuite::G42() {
   #else
     motion.prepare_internal_move_to_destination(fr_mm_s);
   #endif
+
+  TERN_(FEEDRATE_MODE_SUPPORT, parser.linear_motion_gcode = false);
 }
 
 #endif // HAS_MESH

Marlin/src/gcode/feature/camera/M240.cpp

@@ -134,11 +134,11 @@ void GcodeSuite::M240() {
 
     #ifdef PHOTO_RETRACT_MM
       const float rval = parser.linearval('R', _PHOTO_RETRACT_MM);
-      const feedRate_t sval = parser.feedrateval('S', TERN(ADVANCED_PAUSE_FEATURE, PAUSE_PARK_RETRACT_FEEDRATE, TERN(FWRETRACT, RETRACT_FEEDRATE, 45)));
+      const feedRate_t sval = MMM_TO_MMS(parser.feedrateval('S', TERN(ADVANCED_PAUSE_FEATURE, PAUSE_PARK_RETRACT_FEEDRATE, TERN(FWRETRACT, RETRACT_FEEDRATE, 45))));
       e_move_m240(-rval, sval);
     #endif
 
-    feedRate_t fr_mm_s = parser.feedrateval('F');
+    feedRate_t fr_mm_s = MMM_TO_MMS(parser.feedrateval('F'));
     if (fr_mm_s) NOLESS(fr_mm_s, 10.0f);
 
     constexpr xyz_pos_t photo_position = PHOTO_POSITION;

Marlin/src/gcode/gcode.cpp

@@ -199,14 +199,26 @@ void GcodeSuite::get_destination_from_command() {
       motion.destination.e = motion.position.e;
   #endif
 
+  #if HAS_ROTATIONAL_AXES || IS_KINEMATIC || HAS_LEVELING || ENABLED(FEEDRATE_MODE_SUPPORT)
+    const xyze_pos_t displacement = motion.destination - motion.position;
+
+    parser.cartesian_mm = motion.get_move_distance(displacement OPTARG(HAS_ROTATIONAL_AXES, parser.cartes_move));
+
+    #if HAS_EXTRUDERS
+      if (NEAR_ZERO(parser.cartesian_mm)) {
+        parser.cartesian_mm = ABS(displacement.e);
+      }
+    #endif
+  #endif
+
   #if ENABLED(POWER_LOSS_RECOVERY) && !PIN_EXISTS(POWER_LOSS)
     // Only update power loss recovery on moves with E
     if (recovery.enabled && card.isStillPrinting() && seen.e && (seen.x || seen.y))
       recovery.save();
   #endif
 
   if (parser.floatval('F') > 0) {
-    const float fr_mm_min = parser.value_linear_units();
+    const float fr_mm_min = parser.value_feedrate();
     motion.feedrate_mm_s = MMM_TO_MMS(fr_mm_min);
     // Update the cutter feed rate for use by M4 I set inline moves.
     TERN_(LASER_FEATURE, cutter.feedrate_mm_m = fr_mm_min);
@@ -468,6 +480,11 @@ void GcodeSuite::process_parsed_command(bool no_ok/*=false*/) {
 
       case 92: G92(); break;                                      // G92: Set current axis position(s)
 
+      #if ENABLED(FEEDRATE_MODE_SUPPORT)
+        case 93: G93(); break;                                  // G93: Set feedrate mode to inverse time
+        case 94: G94(); break;                                  // G94: Set feedrate mode to length units per minute
+      #endif
+
       #if ENABLED(CALIBRATION_GCODE)
         case 425: G425(); break;                                  // G425: Perform calibration with calibration cube
       #endif

Marlin/src/gcode/gcode.h

@@ -649,6 +649,12 @@ class GcodeSuite {
 
   static void G92();
 
+
+  #if ENABLED(FEEDRATE_MODE_SUPPORT)
+    static void G93();
+    static void G94();
+  #endif
+
   #if ENABLED(CALIBRATION_GCODE)
     static void G425();
   #endif

Marlin/src/gcode/motion/G0_G1.cpp

@@ -54,17 +54,32 @@ void GcodeSuite::G0_G1(TERN_(HAS_FAST_MOVES, const bool fast_move/*=false*/)) {
   #ifdef G0_FEEDRATE
     feedRate_t old_feedrate;
     #if ENABLED(VARIABLE_G0_FEEDRATE)
+      #if ENABLED(FEEDRATE_MODE_SUPPORT)
+        parser.linear_motion_gcode = true;
+      #endif
       if (fast_move) {
         old_feedrate = motion.feedrate_mm_s;            // Back up the (old) motion mode feedrate
         motion.feedrate_mm_s = fast_move_feedrate;      // Get G0 feedrate from last usage
       }
+    #elif ENABLED(FEEDRATE_MODE_SUPPORT)
+      if (fast_move) {
+        parser.linear_motion_gcode = false;
+      }
+      else {
+        parser.linear_motion_gcode = true;
+      }
     #endif
+  #elif ENABLED(FEEDRATE_MODE_SUPPORT)
+    parser.linear_motion_gcode = true;
   #endif
 
   get_destination_from_command();                       // Get X Y [Z[I[J[K]]]] [E] F (and set cutter power)
 
   #ifdef G0_FEEDRATE
     if (fast_move) {
+      #if ENABLED(FEEDRATE_MODE_SUPPORT)
+        parser.linear_motion_gcode = false;
+      #endif
       #if ENABLED(VARIABLE_G0_FEEDRATE)
         fast_move_feedrate = motion.feedrate_mm_s;      // Save feedrate for the next G0
       #else
@@ -104,6 +119,10 @@ void GcodeSuite::G0_G1(TERN_(HAS_FAST_MOVES, const bool fast_move/*=false*/)) {
     if (fast_move) motion.feedrate_mm_s = old_feedrate;
   #endif
 
+  #if ENABLED(FEEDRATE_MODE_SUPPORT)
+    parser.linear_motion_gcode = false;
+  #endif
+
   #if ENABLED(NANODLP_Z_SYNC)
     #if ENABLED(NANODLP_ALL_AXIS)
       #define _MOVE_SYNC parser.seenval('X') || parser.seenval('Y') || parser.seenval('Z')  // For any move wait and output sync message

Marlin/src/gcode/motion/G2_G3.cpp

@@ -235,7 +235,9 @@ void plan_arc(
 
   // Add hints to help optimize the move
   PlannerHints hints;
-  #if ENABLED(FEEDRATE_SCALING)
+  #if ENABLED(FEEDRATE_MODE_SUPPORT)
+    hints.inv_duration = segments * (parser.inverse_time_enabled ? scaled_fr_mm_s : (scaled_fr_mm_s / flat_mm));
+  #elif ENABLED(FEEDRATE_SCALING)
     hints.inv_duration = (scaled_fr_mm_s / flat_mm) * segments;
   #endif
 
@@ -426,7 +428,10 @@ void GcodeSuite::G2_G3(const bool clockwise) {
   if (motion.gcode_motion_ignored()) return;
 
   TERN_(FULL_REPORT_TO_HOST_FEATURE, motion.set_and_report_grblstate(M_RUNNING));
-
+  #if HAS_ROTATIONAL_AXES || IS_KINEMATIC || HAS_LEVELING || ENABLED(FEEDRATE_MODE_SUPPORT)
+    parser.linear_motion_gcode = false;
+  #endif
+
   #if ENABLED(SF_ARC_FIX)
     const bool relative_mode_backup = motion.relative_mode;
     motion.relative_mode = true;

Marlin/src/gcode/parser.cpp

@@ -37,6 +37,18 @@ bool GCodeParser::volumetric_enabled;
   float GCodeParser::linear_unit_factor, GCodeParser::volumetric_unit_factor;
 #endif
 
+#if HAS_ROTATIONAL_AXES || IS_KINEMATIC || HAS_LEVELING || ENABLED(FEEDRATE_MODE_SUPPORT)
+  bool GCodeParser::linear_motion_gcode;
+  float GCodeParser::cartesian_mm;
+  #if ENABLED(FEEDRATE_MODE_SUPPORT)
+    bool GCodeParser::inverse_time_enabled;
+  #endif
+  #if HAS_ROTATIONAL_AXES
+    bool GCodeParser::cartes_move;
+  #endif
+
+#endif
+
 #if ENABLED(TEMPERATURE_UNITS_SUPPORT)
   TempUnit GCodeParser::input_temp_units = TEMPUNIT_C;
 #endif

Marlin/src/gcode/parser.h

@@ -76,6 +76,17 @@ class GCodeParser {
     static float linear_unit_factor, volumetric_unit_factor;
   #endif
 
+  #if HAS_ROTATIONAL_AXES || IS_KINEMATIC || HAS_LEVELING || ENABLED(FEEDRATE_MODE_SUPPORT)
+    static float cartesian_mm;
+    static bool linear_motion_gcode;
+    #if ENABLED(FEEDRATE_MODE_SUPPORT)
+      static bool inverse_time_enabled;
+    #endif
+    #if HAS_ROTATIONAL_AXES
+      static bool cartes_move;
+    #endif
+  #endif
+
   #if ENABLED(TEMPERATURE_UNITS_SUPPORT)
     static TempUnit input_temp_units;
   #endif
@@ -415,7 +426,18 @@ class GCodeParser {
 
   #endif // !TEMPERATURE_UNITS_SUPPORT
 
-  static feedRate_t value_feedrate() { return MMM_TO_MMS(value_linear_units()); }
+  static feedRate_t value_feedrate() { 
+    #if HAS_ROTATIONAL_AXES || ENABLED(FEEDRATE_MODE_SUPPORT)
+      float fr = ((TERN0(FEEDRATE_MODE_SUPPORT, inverse_time_enabled && linear_motion_gcode)) || TERN0(HAS_ROTATIONAL_AXES, (!cartes_move))) ? value_float() : value_linear_units();
+      #if ENABLED(FEEDRATE_MODE_SUPPORT)
+        if (inverse_time_enabled && linear_motion_gcode)
+          fr *= cartesian_mm;
+      #endif
+      return fr;
+    #else
+      return value_linear_units();
+    #endif
+  }
 
   void unknown_command_warning();
 

Marlin/src/gcode/units/G93_G94.cpp

@@ -0,0 +1,47 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2025 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * @file G93_G94.cpp
+ * @author DerAndere
+ * @brief G93 (inverse time mode) and G94 (units per minute feedrate mode).
+ *
+ * Copyright 2025 DerAndere
+ */
+
+#include "../../inc/MarlinConfig.h"
+
+#if ENABLED(FEEDRATE_MODE_SUPPORT)
+
+#include "../gcode.h"
+
+/**
+ * G93: Set feedrate mode to inverse time
+ */
+void GcodeSuite::G93() { parser.inverse_time_enabled = true; }
+
+/**
+ * G94: Set feedrate mode to length units per minute
+ */
+void GcodeSuite::G94() { parser.inverse_time_enabled = false; }
+
+#endif // FEEDRATE_MODE_SUPPORT

Marlin/src/inc/SanityCheck.h

@@ -581,10 +581,8 @@ static_assert(COUNT(arm) == LOGICAL_AXES, "AXIS_RELATIVE_MODES must contain " _L
  */
 #if ENABLED(SOFT_FEED_HOLD) && !defined(FREEZE_JERK)
   #error "SOFT_FEED_HOLD requires FREEZE_JERK."
-#elif ENABLED(FREEZE_FEATURE) && DISABLED(NO_FREEZE_PIN) && !(defined(FREEZE_PIN) && defined(FREEZE_STATE))
+#elif ENABLED(FREEZE_FEATURE) && !(defined(FREEZE_PIN) && defined(FREEZE_STATE))
   #error "FREEZE_FEATURE requires FREEZE_PIN and FREEZE_STATE."
-#elif ENABLED(NO_FREEZE_PIN) && !(defined(REALTIME_REPORTING_COMMANDS))
-  #error "NO_FREEZE_PIN requires REALTIME_REPORTING_COMMANDS."
 #endif
 
 /**
@@ -875,6 +873,13 @@ static_assert(COUNT(arm) == LOGICAL_AXES, "AXIS_RELATIVE_MODES must contain " _L
   #endif
 #endif
 
+/**
+ * Feedrate mode requirements
+ */
+#if ALL(FEEDRATE_MODE_SUPPORT, BEZIER_CURVE_SUPPORT)
+    #error "FEEDRATE_MODE_SUPPORT is currently incompatible with BEZIER_CURVE_SUPPORT."
+#endif
+
 /**
  * Special tool-changing options
  */