Overhaul of the planner (#11578)

- Move FWRETRACT to the planner
- Combine leveling, skew, etc. in a single modifier method
- Have kinematic and non-kinematic moves call one planner method

Marlin/src/Marlin.cpp

@@ -275,7 +275,7 @@ void quickstop_stepper() {
   planner.quick_stop();
   planner.synchronize();
   set_current_from_steppers_for_axis(ALL_AXES);
-  SYNC_PLAN_POSITION_KINEMATIC();
+  sync_plan_position();
 }
 
 void enable_all_steppers() {
@@ -465,7 +465,7 @@ void manage_inactivity(const bool ignore_stepper_queue/*=false*/) {
 
       const float olde = current_position[E_AXIS];
       current_position[E_AXIS] += EXTRUDER_RUNOUT_EXTRUDE;
-      planner.buffer_line_kinematic(current_position, MMM_TO_MMS(EXTRUDER_RUNOUT_SPEED), active_extruder);
+      planner.buffer_line(current_position, MMM_TO_MMS(EXTRUDER_RUNOUT_SPEED), active_extruder);
       current_position[E_AXIS] = olde;
       planner.set_e_position_mm(olde);
       planner.synchronize();
@@ -766,7 +766,7 @@ void setup() {
   #endif
 
   // Vital to init stepper/planner equivalent for current_position
-  SYNC_PLAN_POSITION_KINEMATIC();
+  sync_plan_position();
 
   thermalManager.init();    // Initialize temperature loop
 

Marlin/src/config/examples/delta/FLSUN/auto_calibrate/Configuration.h

@@ -539,9 +539,6 @@
   // and processor overload (too many expensive sqrt calls).
   #define DELTA_SEGMENTS_PER_SECOND 160
 
-  // Convert feedrates to apply to the Effector instead of the Carriages
-  #define DELTA_FEEDRATE_SCALING
-
   // After homing move down to a height where XY movement is unconstrained
   //#define DELTA_HOME_TO_SAFE_ZONE
 

Marlin/src/config/examples/delta/FLSUN/kossel/Configuration.h

@@ -539,9 +539,6 @@
   // and processor overload (too many expensive sqrt calls).
   #define DELTA_SEGMENTS_PER_SECOND 160
 
-  // Convert feedrates to apply to the Effector instead of the Carriages
-  #define DELTA_FEEDRATE_SCALING
-
   // After homing move down to a height where XY movement is unconstrained
   //#define DELTA_HOME_TO_SAFE_ZONE
 

Marlin/src/config/examples/delta/FLSUN/kossel_mini/Configuration.h

@@ -539,9 +539,6 @@
   // and processor overload (too many expensive sqrt calls).
   #define DELTA_SEGMENTS_PER_SECOND 160
 
-  // Convert feedrates to apply to the Effector instead of the Carriages
-  #define DELTA_FEEDRATE_SCALING
-
   // After homing move down to a height where XY movement is unconstrained
   //#define DELTA_HOME_TO_SAFE_ZONE
 

Marlin/src/config/examples/delta/Hatchbox_Alpha/Configuration.h

@@ -544,9 +544,6 @@
   // and processor overload (too many expensive sqrt calls).
   #define DELTA_SEGMENTS_PER_SECOND 200
 
-  // Convert feedrates to apply to the Effector instead of the Carriages
-  #define DELTA_FEEDRATE_SCALING
-
   // After homing move down to a height where XY movement is unconstrained
   //#define DELTA_HOME_TO_SAFE_ZONE
 

Marlin/src/config/examples/delta/generic/Configuration.h

@@ -529,9 +529,6 @@
   // and processor overload (too many expensive sqrt calls).
   #define DELTA_SEGMENTS_PER_SECOND 200
 
-  // Convert feedrates to apply to the Effector instead of the Carriages
-  #define DELTA_FEEDRATE_SCALING
-
   // After homing move down to a height where XY movement is unconstrained
   //#define DELTA_HOME_TO_SAFE_ZONE
 

Marlin/src/config/examples/delta/kossel_mini/Configuration.h

@@ -529,9 +529,6 @@
   // and processor overload (too many expensive sqrt calls).
   #define DELTA_SEGMENTS_PER_SECOND 200
 
-  // Convert feedrates to apply to the Effector instead of the Carriages
-  #define DELTA_FEEDRATE_SCALING
-
   // After homing move down to a height where XY movement is unconstrained
   //#define DELTA_HOME_TO_SAFE_ZONE
 

Marlin/src/config/examples/delta/kossel_pro/Configuration.h

@@ -515,9 +515,6 @@
   // and processor overload (too many expensive sqrt calls).
   #define DELTA_SEGMENTS_PER_SECOND 160
 
-  // Convert feedrates to apply to the Effector instead of the Carriages
-  #define DELTA_FEEDRATE_SCALING
-
   // After homing move down to a height where XY movement is unconstrained
   //#define DELTA_HOME_TO_SAFE_ZONE
 

Marlin/src/config/examples/delta/kossel_xl/Configuration.h

@@ -533,9 +533,6 @@
   // and processor overload (too many expensive sqrt calls).
   #define DELTA_SEGMENTS_PER_SECOND 160
 
-  // Convert feedrates to apply to the Effector instead of the Carriages
-  #define DELTA_FEEDRATE_SCALING
-
   // After homing move down to a height where XY movement is unconstrained
   //#define DELTA_HOME_TO_SAFE_ZONE
 

Marlin/src/feature/bedlevel/bedlevel.cpp

@@ -25,15 +25,12 @@
 #if HAS_LEVELING
 
 #include "bedlevel.h"
+#include "../../module/planner.h"
 
 #if ENABLED(MESH_BED_LEVELING) || ENABLED(PROBE_MANUALLY)
   #include "../../module/motion.h"
 #endif
 
-#if PLANNER_LEVELING
-  #include "../../module/planner.h"
-#endif
-
 #if ENABLED(PROBE_MANUALLY)
   bool g29_in_progress = false;
 #endif
@@ -79,74 +76,24 @@ void set_bed_leveling_enabled(const bool enable/*=true*/) {
 
     planner.synchronize();
 
-    #if ENABLED(MESH_BED_LEVELING)
+    #if ENABLED(AUTO_BED_LEVELING_BILINEAR)
+      // Force bilinear_z_offset to re-calculate next time
+      const float reset[XYZ] = { -9999.999, -9999.999, 0 };
+      (void)bilinear_z_offset(reset);
+    #endif
 
-      if (!enable)
+    if (planner.leveling_active) {      // leveling from on to off
-        planner.apply_leveling(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS]);
+      // change unleveled current_position to physical current_position without moving steppers.
+      planner.apply_leveling(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS]);
+      planner.leveling_active = false;  // disable only AFTER calling apply_leveling
+    }
+    else {                              // leveling from off to on
+      planner.leveling_active = true;   // enable BEFORE calling unapply_leveling, otherwise ignored
+      // change physical current_position to unleveled current_position without moving steppers.
+      planner.unapply_leveling(current_position);
+    }
 
-      const bool enabling = enable && leveling_is_valid();
+    sync_plan_position();
-      planner.leveling_active = enabling;
-      if (enabling) planner.unapply_leveling(current_position);
-
-    #elif ENABLED(AUTO_BED_LEVELING_UBL)
-      #if PLANNER_LEVELING
-        if (planner.leveling_active) {                   // leveling from on to off
-          // change unleveled current_position to physical current_position without moving steppers.
-          planner.apply_leveling(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS]);
-          planner.leveling_active = false;                   // disable only AFTER calling apply_leveling
-        }
-        else {                                        // leveling from off to on
-          planner.leveling_active = true;                    // enable BEFORE calling unapply_leveling, otherwise ignored
-          // change physical current_position to unleveled current_position without moving steppers.
-          planner.unapply_leveling(current_position);
-        }
-      #else
-        // UBL equivalents for apply/unapply_leveling
-        #if ENABLED(SKEW_CORRECTION)
-          float pos[XYZ] = { current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS] };
-          planner.skew(pos[X_AXIS], pos[Y_AXIS], pos[Z_AXIS]);
-        #else
-          const float (&pos)[XYZE] = current_position;
-        #endif
-        if (planner.leveling_active) {
-          current_position[Z_AXIS] += ubl.get_z_correction(pos[X_AXIS], pos[Y_AXIS]);
-          planner.leveling_active = false;
-        }
-        else {
-          planner.leveling_active = true;
-          current_position[Z_AXIS] -= ubl.get_z_correction(pos[X_AXIS], pos[Y_AXIS]);
-        }
-      #endif
-
-    #else // OLDSCHOOL_ABL
-
-      #if ENABLED(AUTO_BED_LEVELING_BILINEAR)
-        // Force bilinear_z_offset to re-calculate next time
-        const float reset[XYZ] = { -9999.999, -9999.999, 0 };
-        (void)bilinear_z_offset(reset);
-      #endif
-
-      // Enable or disable leveling compensation in the planner
-      planner.leveling_active = enable;
-
-      if (!enable)
-        // When disabling just get the current position from the steppers.
-        // This will yield the smallest error when first converted back to steps.
-        set_current_from_steppers_for_axis(
-          #if ABL_PLANAR
-            ALL_AXES
-          #else
-            Z_AXIS
-          #endif
-        );
-      else
-        // When enabling, remove compensation from the current position,
-        // so compensation will give the right stepper counts.
-        planner.unapply_leveling(current_position);
-
-      SYNC_PLAN_POSITION_KINEMATIC();
-
-    #endif // OLDSCHOOL_ABL
   }
 }
 

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

@@ -49,12 +49,11 @@
      * as possible to determine if this is the case. If this move is within the same cell, we will
      * just do the required Z-Height correction, call the Planner's buffer_line() routine, and leave
      */
-    #if ENABLED(SKEW_CORRECTION)
+    #if HAS_POSITION_MODIFIERS
-      // For skew correction just adjust the destination point and we're done
       float start[XYZE] = { current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS] },
             end[XYZE] = { destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS] };
-      planner.skew(start[X_AXIS], start[Y_AXIS], start[Z_AXIS]);
+      planner.apply_modifiers(start);
-      planner.skew(end[X_AXIS], end[Y_AXIS], end[Z_AXIS]);
+      planner.apply_modifiers(end);
     #else
       const float (&start)[XYZE] = current_position,
                     (&end)[XYZE] = destination;
@@ -364,47 +363,6 @@
 
 #else // UBL_SEGMENTED
 
-  #if IS_SCARA // scale the feed rate from mm/s to degrees/s
-    static float scara_feed_factor, scara_oldA, scara_oldB;
-  #endif
-
-  // We don't want additional apply_leveling() performed by regular buffer_line or buffer_line_kinematic,
-  // so we call buffer_segment directly here.  Per-segmented leveling and kinematics performed first.
-
-  inline void _O2 ubl_buffer_segment_raw(const float (&in_raw)[XYZE], const float &fr) {
-
-    #if ENABLED(SKEW_CORRECTION)
-      float raw[XYZE] = { in_raw[X_AXIS], in_raw[Y_AXIS], in_raw[Z_AXIS] };
-      planner.skew(raw[X_AXIS], raw[Y_AXIS], raw[Z_AXIS]);
-    #else
-      const float (&raw)[XYZE] = in_raw;
-    #endif
-
-    #if ENABLED(DELTA)  // apply delta inverse_kinematics
-
-      DELTA_IK(raw);
-      planner.buffer_segment(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], in_raw[E_AXIS], fr, active_extruder);
-
-    #elif IS_SCARA  // apply scara inverse_kinematics (should be changed to save raw->logical->raw)
-
-      inverse_kinematics(raw);  // this writes delta[ABC] from raw[XYZE]
-                                // should move the feedrate scaling to scara inverse_kinematics
-
-      const float adiff = ABS(delta[A_AXIS] - scara_oldA),
-                  bdiff = ABS(delta[B_AXIS] - scara_oldB);
-      scara_oldA = delta[A_AXIS];
-      scara_oldB = delta[B_AXIS];
-      float s_feedrate = MAX(adiff, bdiff) * scara_feed_factor;
-
-      planner.buffer_segment(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], in_raw[E_AXIS], s_feedrate, active_extruder);
-
-    #else // CARTESIAN
-
-      planner.buffer_segment(raw[X_AXIS], raw[Y_AXIS], raw[Z_AXIS], in_raw[E_AXIS], fr, active_extruder);
-
-    #endif
-  }
-
   #if IS_SCARA
     #define DELTA_SEGMENT_MIN_LENGTH 0.25 // SCARA minimum segment size is 0.25mm
   #elif ENABLED(DELTA)
@@ -449,10 +407,9 @@
     NOLESS(segments, 1U);                        // must have at least one segment
     const float inv_segments = 1.0f / segments;  // divide once, multiply thereafter
 
-    #if IS_SCARA // scale the feed rate from mm/s to degrees/s
+    const float segment_xyz_mm = HYPOT(cartesian_xy_mm, total[Z_AXIS]) * inv_segments;   // length of each segment
-      scara_feed_factor = cartesian_xy_mm * inv_segments * feedrate;
+    #if ENABLED(SCARA_FEEDRATE_SCALING)
-      scara_oldA = planner.get_axis_position_degrees(A_AXIS);
+      const float inv_duration = feedrate / segment_xyz_mm;
-      scara_oldB = planner.get_axis_position_degrees(B_AXIS);
     #endif
 
     const float diff[XYZE] = {
@@ -476,9 +433,17 @@
     if (!planner.leveling_active || !planner.leveling_active_at_z(rtarget[Z_AXIS])) {   // no mesh leveling
       while (--segments) {
         LOOP_XYZE(i) raw[i] += diff[i];
-        ubl_buffer_segment_raw(raw, feedrate);
+        planner.buffer_line(raw, feedrate, active_extruder, segment_xyz_mm
+          #if ENABLED(SCARA_FEEDRATE_SCALING)
+            , inv_duration
+          #endif
+        );
       }
-      ubl_buffer_segment_raw(rtarget, feedrate);
+      planner.buffer_line(rtarget, feedrate, active_extruder, segment_xyz_mm
+        #if ENABLED(SCARA_FEEDRATE_SCALING)
+          , inv_duration
+        #endif
+      );
       return false; // moved but did not set_current_from_destination();
     }
 
@@ -554,7 +519,11 @@
 
         const float z = raw[Z_AXIS];
         raw[Z_AXIS] += z_cxcy;
-        ubl_buffer_segment_raw(raw, feedrate);
+        planner.buffer_line(raw, feedrate, active_extruder, segment_xyz_mm
+          #if ENABLED(SCARA_FEEDRATE_SCALING)
+            , inv_duration
+          #endif
+        );
         raw[Z_AXIS] = z;
 
         if (segments == 0)                        // done with last segment

Marlin/src/feature/fwretract.cpp

@@ -54,6 +54,7 @@ float FWRetract::retract_length,                     // M207 S - G10 Retract len
       FWRetract::swap_retract_length,                // M207 W - G10 Swap Retract length
       FWRetract::swap_retract_recover_length,        // M208 W - G11 Swap Recover length
       FWRetract::swap_retract_recover_feedrate_mm_s, // M208 R - G11 Swap Recover feedrate
+      FWRetract::current_retract[EXTRUDERS],         // Retract value used by planner
       FWRetract::current_hop;
 
 void FWRetract::reset() {
@@ -73,6 +74,7 @@ void FWRetract::reset() {
     #if EXTRUDERS > 1
       retracted_swap[i] = false;
     #endif
+    current_retract[i] = 0.0;
   }
 }
 
@@ -84,9 +86,6 @@ void FWRetract::reset() {
  *
  * To simplify the logic, doubled retract/recover moves are ignored.
  *
- * Note: Z lift is done transparently to the planner. Aborting
- *       a print between G10 and G11 may corrupt the Z position.
- *
  * Note: Auto-retract will apply the set Z hop in addition to any Z hop
  *       included in the G-code. Use M207 Z0 to to prevent double hop.
  */
@@ -95,9 +94,6 @@ void FWRetract::retract(const bool retracting
     , bool swapping /* =false */
   #endif
 ) {
-
-  static float current_hop = 0.0;  // Total amount lifted, for use in recover
-
   // Prevent two retracts or recovers in a row
   if (retracted[active_extruder] == retracting) return;
 
@@ -129,48 +125,50 @@ void FWRetract::retract(const bool retracting
   //*/
 
   const float old_feedrate_mm_s = feedrate_mm_s,
-              renormalize = RECIPROCAL(planner.e_factor[active_extruder]),
+              unscale_e = RECIPROCAL(planner.e_factor[active_extruder]),
-              base_retract = swapping ? swap_retract_length : retract_length,
+              unscale_fr = 100.0 / feedrate_percentage, // Disable feedrate scaling for retract moves
-              old_z = current_position[Z_AXIS],
+              base_retract = swapping ? swap_retract_length : retract_length;
-              old_e = current_position[E_AXIS];
 
   // The current position will be the destination for E and Z moves
   set_destination_from_current();
 
   if (retracting) {
     // Retract by moving from a faux E position back to the current E position
-    feedrate_mm_s = retract_feedrate_mm_s;
+    feedrate_mm_s = retract_feedrate_mm_s * unscale_fr;
-    destination[E_AXIS] -= base_retract * renormalize;
+    current_retract[active_extruder] = base_retract * unscale_e;
     prepare_move_to_destination();                        // set_current_to_destination
+    planner.synchronize();                                // Wait for move to complete
 
     // Is a Z hop set, and has the hop not yet been done?
     if (retract_zlift > 0.01 && !current_hop) {           // Apply hop only once
       current_hop += retract_zlift;                       // Add to the hop total (again, only once)
-      destination[Z_AXIS] += retract_zlift;               // Raise Z by the zlift (M207 Z) amount
+      feedrate_mm_s = planner.max_feedrate_mm_s[Z_AXIS] * unscale_fr;  // Maximum Z feedrate
-      feedrate_mm_s = planner.max_feedrate_mm_s[Z_AXIS];  // Maximum Z feedrate
       prepare_move_to_destination();                      // Raise up, set_current_to_destination
+      planner.synchronize();                              // Wait for move to complete
     }
   }
   else {
     // If a hop was done and Z hasn't changed, undo the Z hop
     if (current_hop) {
-      current_position[Z_AXIS] += current_hop;            // Restore the actual Z position
+      current_hop = 0.0;
-      SYNC_PLAN_POSITION_KINEMATIC();                     // Unspoof the position planner
+      feedrate_mm_s = planner.max_feedrate_mm_s[Z_AXIS] * unscale_fr;  // Z feedrate to max
-      feedrate_mm_s = planner.max_feedrate_mm_s[Z_AXIS];  // Z feedrate to max
       prepare_move_to_destination();                      // Lower Z, set_current_to_destination
-      current_hop = 0.0;                                  // Clear the hop amount
+      planner.synchronize();                              // Wait for move to complete
     }
 
-    destination[E_AXIS] += (base_retract + (swapping ? swap_retract_recover_length : retract_recover_length)) * renormalize;
+    const float extra_recover = swapping ? swap_retract_recover_length : retract_recover_length;
-    feedrate_mm_s = swapping ? swap_retract_recover_feedrate_mm_s : retract_recover_feedrate_mm_s;
+    if (extra_recover != 0.0) {
+      current_position[E_AXIS] -= extra_recover;          // Adjust the current E position by the extra amount to recover
+      sync_plan_position_e();                             // Sync the planner position so the extra amount is recovered
+    }
+
+    current_retract[active_extruder] = 0.0;
+    feedrate_mm_s = (swapping ? swap_retract_recover_feedrate_mm_s : retract_recover_feedrate_mm_s) * unscale_fr;
     prepare_move_to_destination();                        // Recover E, set_current_to_destination
+    planner.synchronize();                                // Wait for move to complete
   }
 
   feedrate_mm_s = old_feedrate_mm_s;                      // Restore original feedrate
-  current_position[Z_AXIS] = old_z;                       // Restore Z and E positions
-  current_position[E_AXIS] = old_e;
-  SYNC_PLAN_POSITION_KINEMATIC();                         // As if the move never took place
-
   retracted[active_extruder] = retracting;                // Active extruder now retracted / recovered
 
   // If swap retract/recover update the retracted_swap flag too
@@ -194,7 +192,6 @@ void FWRetract::retract(const bool retracting
     SERIAL_ECHOLNPAIR("current_position[e] ", current_position[E_AXIS]);
     SERIAL_ECHOLNPAIR("current_hop ", current_hop);
   //*/
-
 }
 
 #endif // FWRETRACT

Marlin/src/feature/fwretract.h

@@ -46,7 +46,8 @@ public:
                swap_retract_length,                // M207 W - G10 Swap Retract length
                swap_retract_recover_length,        // M208 W - G11 Swap Recover length
                swap_retract_recover_feedrate_mm_s, // M208 R - G11 Swap Recover feedrate
-               current_hop;
+               current_retract[EXTRUDERS],         // Retract value used by planner
+               current_hop;                        // Hop value used by planner
 
   FWRetract() { reset(); }
 

Marlin/src/feature/pause.cpp

@@ -120,7 +120,7 @@ static bool ensure_safe_temperature(const AdvancedPauseMode mode=ADVANCED_PAUSE_
 static void do_pause_e_move(const float &length, const float &fr) {
   set_destination_from_current();
   destination[E_AXIS] += length / planner.e_factor[active_extruder];
-  planner.buffer_line_kinematic(destination, fr, active_extruder);
+  planner.buffer_line(destination, fr, active_extruder);
   set_current_from_destination();
   planner.synchronize();
 }

Marlin/src/feature/power_loss_recovery.cpp

@@ -39,6 +39,10 @@
 #include "../sd/cardreader.h"
 #include "../core/serial.h"
 
+#if ENABLED(FWRETRACT)
+  #include "fwretract.h"
+#endif
+
 // Recovery data
 job_recovery_info_t job_recovery_info;
 JobRecoveryPhase job_recovery_phase = JOB_RECOVERY_IDLE;
@@ -90,6 +94,15 @@ extern uint8_t commands_in_queue, cmd_queue_index_r;
           SERIAL_PROTOCOLPAIR("leveling: ", int(job_recovery_info.leveling));
           SERIAL_PROTOCOLLNPAIR(" fade: ", int(job_recovery_info.fade));
         #endif
+        #if ENABLED(FWRETRACT)
+          SERIAL_PROTOCOLPGM("retract: ");
+          for (int8_t e = 0; e < EXTRUDERS; e++) {
+            SERIAL_PROTOCOL(job_recovery_info.retract[e]);
+            if (e < EXTRUDERS - 1) SERIAL_CHAR(',');
+          }
+          SERIAL_EOL();
+          SERIAL_PROTOCOLLNPAIR("retract_hop: ", job_recovery_info.retract_hop);
+        #endif
         SERIAL_PROTOCOLLNPAIR("cmd_queue_index_r: ", int(job_recovery_info.cmd_queue_index_r));
         SERIAL_PROTOCOLLNPAIR("commands_in_queue: ", int(job_recovery_info.commands_in_queue));
         if (recovery)
@@ -160,6 +173,15 @@ void check_print_job_recovery() {
           }
         #endif
 
+        #if ENABLED(FWRETRACT)
+          for (uint8_t e = 0; e < EXTRUDERS; e++) {
+            if (job_recovery_info.retract[e] != 0.0)
+              fwretract.current_retract[e] = job_recovery_info.retract[e];
+              fwretract.retracted[e] = true;
+          }
+          fwretract.current_hop = job_recovery_info.retract_hop;
+        #endif
+
         dtostrf(job_recovery_info.current_position[Z_AXIS] + 2, 1, 3, str_1);
         dtostrf(job_recovery_info.current_position[E_AXIS]
           #if ENABLED(SAVE_EACH_CMD_MODE)
@@ -256,6 +278,11 @@ void save_job_recovery_info() {
       );
     #endif
 
+    #if ENABLED(FWRETRACT)
+      COPY(job_recovery_info.retract, fwretract.current_retract);
+      job_recovery_info.retract_hop = fwretract.current_hop;
+    #endif
+
     // Commands in the queue
     job_recovery_info.cmd_queue_index_r = cmd_queue_index_r;
     job_recovery_info.commands_in_queue = commands_in_queue;

Marlin/src/feature/power_loss_recovery.h

@@ -60,6 +60,10 @@ typedef struct {
     float fade;
   #endif
 
+  #if ENABLED(FWRETRACT)
+    float retract[EXTRUDERS], retract_hop;
+  #endif
+
   // Command queue
   uint8_t cmd_queue_index_r, commands_in_queue;
   char command_queue[BUFSIZE][MAX_CMD_SIZE];

Marlin/src/gcode/bedlevel/abl/G29.cpp

@@ -989,7 +989,7 @@ G29_TYPE GcodeSuite::G29() {
   KEEPALIVE_STATE(IN_HANDLER);
 
   if (planner.leveling_active)
-    SYNC_PLAN_POSITION_KINEMATIC();
+    sync_plan_position();
 
   #if HAS_BED_PROBE && defined(Z_AFTER_PROBING)
     move_z_after_probing();

Marlin/src/gcode/calibrate/G28.cpp

@@ -101,7 +101,7 @@
       if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("Z_SAFE_HOMING >>>");
     #endif
 
-    SYNC_PLAN_POSITION_KINEMATIC();
+    sync_plan_position();
 
     /**
      * Move the Z probe (or just the nozzle) to the safe homing point
@@ -182,7 +182,7 @@ void GcodeSuite::G28(const bool always_home_all) {
   #if ENABLED(MARLIN_DEV_MODE)
     if (parser.seen('S')) {
       LOOP_XYZ(a) set_axis_is_at_home((AxisEnum)a);
-      SYNC_PLAN_POSITION_KINEMATIC();
+      sync_plan_position();
       SERIAL_ECHOLNPGM("Simulated Homing");
       report_current_position();
       #if ENABLED(DEBUG_LEVELING_FEATURE)
@@ -357,7 +357,7 @@ void GcodeSuite::G28(const bool always_home_all) {
       } // home_all || homeZ
     #endif // Z_HOME_DIR < 0
 
-    SYNC_PLAN_POSITION_KINEMATIC();
+    sync_plan_position();
 
   #endif // !DELTA (G28)
 

Marlin/src/gcode/calibrate/M852.cpp

@@ -87,7 +87,7 @@ void GcodeSuite::M852() {
   // When skew is changed the current position changes
   if (setval) {
     set_current_from_steppers_for_axis(ALL_AXES);
-    SYNC_PLAN_POSITION_KINEMATIC();
+    sync_plan_position();
     report_current_position();
   }
 

Marlin/src/gcode/config/M200-M205.cpp

@@ -136,14 +136,17 @@ void GcodeSuite::M205() {
       const float junc_dev = parser.value_linear_units();
       if (WITHIN(junc_dev, 0.01f, 0.3f)) {
         planner.junction_deviation_mm = junc_dev;
-        planner.recalculate_max_e_jerk();
+        #if ENABLED(LIN_ADVANCE)
+          planner.recalculate_max_e_jerk();
+        #endif
       }
       else {
         SERIAL_ERROR_START();
         SERIAL_ERRORLNPGM("?J out of range (0.01 to 0.3)");
       }
     }
-  #else
+  #endif
+  #if HAS_CLASSIC_JERK
     if (parser.seen('X')) planner.max_jerk[X_AXIS] = parser.value_linear_units();
     if (parser.seen('Y')) planner.max_jerk[Y_AXIS] = parser.value_linear_units();
     if (parser.seen('Z')) {
@@ -153,6 +156,8 @@ void GcodeSuite::M205() {
           SERIAL_ECHOLNPGM("WARNING! Low Z Jerk may lead to unwanted pauses.");
       #endif
     }
-    if (parser.seen('E')) planner.max_jerk[E_AXIS] = parser.value_linear_units();
+    #if DISABLED(JUNCTION_DEVIATION) || DISABLED(LIN_ADVANCE)
+      if (parser.seen('E')) planner.max_jerk[E_AXIS] = parser.value_linear_units();
+    #endif
   #endif
 }

Marlin/src/gcode/config/M92.cpp

@@ -39,7 +39,7 @@ void GcodeSuite::M92() {
         const float value = parser.value_per_axis_unit((AxisEnum)(E_AXIS + TARGET_EXTRUDER));
         if (value < 20) {
           float factor = planner.axis_steps_per_mm[E_AXIS + TARGET_EXTRUDER] / value; // increase e constants if M92 E14 is given for netfab.
-          #if DISABLED(JUNCTION_DEVIATION)
+          #if HAS_CLASSIC_JERK && (DISABLED(JUNCTION_DEVIATION) || DISABLED(LIN_ADVANCE))
             planner.max_jerk[E_AXIS] *= factor;
           #endif
           planner.max_feedrate_mm_s[E_AXIS + TARGET_EXTRUDER] *= factor;

Marlin/src/gcode/geometry/G92.cpp

@@ -92,7 +92,7 @@ void GcodeSuite::G92() {
       COPY(coordinate_system[active_coordinate_system], position_shift);
   #endif
 
-  if    (didXYZ) SYNC_PLAN_POSITION_KINEMATIC();
+  if    (didXYZ) sync_plan_position();
   else if (didE) sync_plan_position_e();
 
   report_current_position();

Marlin/src/gcode/host/M114.cpp

@@ -56,7 +56,7 @@
 
     float leveled[XYZ] = { current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS] };
 
-    #if PLANNER_LEVELING
+    #if HAS_LEVELING
       SERIAL_PROTOCOLPGM("Leveled:");
       planner.apply_leveling(leveled);
       report_xyz(leveled);

Marlin/src/gcode/motion/G2_G3.cpp

@@ -35,10 +35,6 @@
   #include "../../module/scara.h"
 #endif
 
-#if HAS_FEEDRATE_SCALING && ENABLED(AUTO_BED_LEVELING_BILINEAR)
-  #include "../../feature/bedlevel/abl/abl.h"
-#endif
-
 #if N_ARC_CORRECTION < 1
   #undef N_ARC_CORRECTION
   #define N_ARC_CORRECTION 1
@@ -139,20 +135,12 @@ void plan_arc(
 
   const float fr_mm_s = MMS_SCALED(feedrate_mm_s);
 
-  millis_t next_idle_ms = millis() + 200UL;
+  #if ENABLED(SCARA_FEEDRATE_SCALING)
-
+    const float inv_duration = fr_mm_s / MM_PER_ARC_SEGMENT;
-  #if HAS_FEEDRATE_SCALING
-    // SCARA needs to scale the feed rate from mm/s to degrees/s
-    const float inv_segment_length = 1.0f / float(MM_PER_ARC_SEGMENT),
-                inverse_secs = inv_segment_length * fr_mm_s;
-    float oldA = planner.position_float[A_AXIS],
-          oldB = planner.position_float[B_AXIS]
-          #if ENABLED(DELTA_FEEDRATE_SCALING)
-            , oldC = planner.position_float[C_AXIS]
-          #endif
-          ;
   #endif
 
+  millis_t next_idle_ms = millis() + 200UL;
+
   #if N_ARC_CORRECTION > 1
     int8_t arc_recalc_count = N_ARC_CORRECTION;
   #endif
@@ -196,57 +184,32 @@ void plan_arc(
 
     clamp_to_software_endstops(raw);
 
-    #if HAS_FEEDRATE_SCALING
+    #if HAS_LEVELING && !PLANNER_LEVELING
-      inverse_kinematics(raw);
+      planner.apply_leveling(raw);
-      ADJUST_DELTA(raw);
     #endif
 
-    #if ENABLED(SCARA_FEEDRATE_SCALING)
+    if (!planner.buffer_line(raw, fr_mm_s, active_extruder, MM_PER_ARC_SEGMENT
-      // For SCARA scale the feed rate from mm/s to degrees/s
+      #if ENABLED(SCARA_FEEDRATE_SCALING)
-      // i.e., Complete the angular vector in the given time.
+        , inv_duration
-      if (!planner.buffer_segment(delta[A_AXIS], delta[B_AXIS], raw[Z_AXIS], raw[E_AXIS], HYPOT(delta[A_AXIS] - oldA, delta[B_AXIS] - oldB) * inverse_secs, active_extruder, MM_PER_ARC_SEGMENT))
+      #endif
-        break;
+    ))
-      oldA = delta[A_AXIS]; oldB = delta[B_AXIS];
+      break;
-    #elif ENABLED(DELTA_FEEDRATE_SCALING)
-      // For DELTA scale the feed rate from Effector mm/s to Carriage mm/s
-      // i.e., Complete the linear vector in the given time.
-      if (!planner.buffer_segment(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], raw[E_AXIS], SQRT(sq(delta[A_AXIS] - oldA) + sq(delta[B_AXIS] - oldB) + sq(delta[C_AXIS] - oldC)) * inverse_secs, active_extruder, MM_PER_ARC_SEGMENT))
-        break;
-      oldA = delta[A_AXIS]; oldB = delta[B_AXIS]; oldC = delta[C_AXIS];
-    #elif HAS_UBL_AND_CURVES
-      float pos[XYZ] = { raw[X_AXIS], raw[Y_AXIS], raw[Z_AXIS] };
-      planner.apply_leveling(pos);
-      if (!planner.buffer_segment(pos[X_AXIS], pos[Y_AXIS], pos[Z_AXIS], raw[E_AXIS], fr_mm_s, active_extruder, MM_PER_ARC_SEGMENT))
-        break;
-    #else
-      if (!planner.buffer_line_kinematic(raw, fr_mm_s, active_extruder))
-        break;
-    #endif
   }
 
   // Ensure last segment arrives at target location.
-  #if HAS_FEEDRATE_SCALING
+  COPY(raw, cart);
-    inverse_kinematics(cart);
+
-    ADJUST_DELTA(cart);
+  #if HAS_LEVELING && !PLANNER_LEVELING
+    planner.apply_leveling(raw);
   #endif
 
-  #if ENABLED(SCARA_FEEDRATE_SCALING)
+  planner.buffer_line(raw, fr_mm_s, active_extruder, MM_PER_ARC_SEGMENT
-    const float diff2 = HYPOT2(delta[A_AXIS] - oldA, delta[B_AXIS] - oldB);
+    #if ENABLED(SCARA_FEEDRATE_SCALING)
-    if (diff2)
+      , inv_duration
-      planner.buffer_segment(delta[A_AXIS], delta[B_AXIS], cart[Z_AXIS], cart[E_AXIS], SQRT(diff2) * inverse_secs, active_extruder, MM_PER_ARC_SEGMENT);
+    #endif
-  #elif ENABLED(DELTA_FEEDRATE_SCALING)
+  );
-    const float diff2 = sq(delta[A_AXIS] - oldA) + sq(delta[B_AXIS] - oldB) + sq(delta[C_AXIS] - oldC);
-    if (diff2)
-      planner.buffer_segment(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], cart[E_AXIS], SQRT(diff2) * inverse_secs, active_extruder, MM_PER_ARC_SEGMENT);
-  #elif HAS_UBL_AND_CURVES
-    float pos[XYZ] = { cart[X_AXIS], cart[Y_AXIS], cart[Z_AXIS] };
-    planner.apply_leveling(pos);
-    planner.buffer_segment(pos[X_AXIS], pos[Y_AXIS], pos[Z_AXIS], cart[E_AXIS], fr_mm_s, active_extruder, MM_PER_ARC_SEGMENT);
-  #else
-    planner.buffer_line_kinematic(cart, fr_mm_s, active_extruder);
-  #endif
 
-  COPY(current_position, cart);
+  COPY(current_position, raw);
 } // plan_arc
 
 /**

Marlin/src/gcode/probe/G38.cpp

@@ -56,7 +56,7 @@ static bool G38_run_probe() {
 
   endstops.hit_on_purpose();
   set_current_from_steppers_for_axis(ALL_AXES);
-  SYNC_PLAN_POSITION_KINEMATIC();
+  sync_plan_position();
 
   if (G38_endstop_hit) {
 
@@ -82,7 +82,7 @@ static bool G38_run_probe() {
       G38_move = false;
 
       set_current_from_steppers_for_axis(ALL_AXES);
-      SYNC_PLAN_POSITION_KINEMATIC();
+      sync_plan_position();
     #endif
   }
 

Marlin/src/inc/Conditionals_post.h

@@ -49,6 +49,8 @@
 #define IS_KINEMATIC (ENABLED(DELTA) || IS_SCARA)
 #define IS_CARTESIAN !IS_KINEMATIC
 
+#define HAS_CLASSIC_JERK (IS_KINEMATIC || DISABLED(JUNCTION_DEVIATION))
+
 /**
  * Axis lengths and center
  */
@@ -1173,10 +1175,9 @@
 #define HAS_LEVELING   (HAS_ABL || ENABLED(MESH_BED_LEVELING))
 #define HAS_AUTOLEVEL  (HAS_ABL && DISABLED(PROBE_MANUALLY))
 #define HAS_MESH       (ENABLED(AUTO_BED_LEVELING_BILINEAR) || ENABLED(AUTO_BED_LEVELING_UBL) || ENABLED(MESH_BED_LEVELING))
-#define PLANNER_LEVELING      (OLDSCHOOL_ABL || ENABLED(MESH_BED_LEVELING) || UBL_SEGMENTED || ENABLED(SKEW_CORRECTION))
+#define PLANNER_LEVELING      (HAS_LEVELING && DISABLED(AUTO_BED_LEVELING_UBL))
 #define HAS_PROBING_PROCEDURE (HAS_ABL || ENABLED(Z_MIN_PROBE_REPEATABILITY_TEST))
-#define HAS_UBL_AND_CURVES (ENABLED(AUTO_BED_LEVELING_UBL) && !PLANNER_LEVELING && (ENABLED(ARC_SUPPORT) || ENABLED(BEZIER_CURVE_SUPPORT)))
+#define HAS_POSITION_MODIFIERS (ENABLED(FWRETRACT) || HAS_LEVELING || ENABLED(SKEW_CORRECTION))
-#define HAS_FEEDRATE_SCALING (ENABLED(SCARA_FEEDRATE_SCALING) || ENABLED(DELTA_FEEDRATE_SCALING))
 
 #if ENABLED(AUTO_BED_LEVELING_UBL)
   #undef LCD_BED_LEVELING

Marlin/src/lcd/ultralcd.cpp

@@ -841,7 +841,7 @@ void lcd_quick_feedback(const bool clear_buttons) {
   }
 
   inline void line_to_current_z() {
-    planner.buffer_line_kinematic(current_position, MMM_TO_MMS(manual_feedrate_mm_m[Z_AXIS]), active_extruder);
+    planner.buffer_line(current_position, MMM_TO_MMS(manual_feedrate_mm_m[Z_AXIS]), active_extruder);
   }
 
   inline void line_to_z(const float &z) {
@@ -1892,7 +1892,7 @@ void lcd_quick_feedback(const bool clear_buttons) {
             break;
         #endif
       }
-      planner.buffer_line_kinematic(current_position, MMM_TO_MMS(manual_feedrate_mm_m[X_AXIS]), active_extruder);
+      planner.buffer_line(current_position, MMM_TO_MMS(manual_feedrate_mm_m[X_AXIS]), active_extruder);
       line_to_z(0.0);
       if (++bed_corner > 3
         #if ENABLED(LEVEL_CENTER_TOO)
@@ -2432,7 +2432,7 @@ void lcd_quick_feedback(const bool clear_buttons) {
     void ubl_map_move_to_xy() {
       current_position[X_AXIS] = pgm_read_float(&ubl._mesh_index_to_xpos[x_plot]);
       current_position[Y_AXIS] = pgm_read_float(&ubl._mesh_index_to_ypos[y_plot]);
-      planner.buffer_line_kinematic(current_position, MMM_TO_MMS(XY_PROBE_SPEED), active_extruder);
+      planner.buffer_line(current_position, MMM_TO_MMS(XY_PROBE_SPEED), active_extruder);
     }
 
     /**
@@ -2911,7 +2911,7 @@ void lcd_quick_feedback(const bool clear_buttons) {
 
       #else
 
-        planner.buffer_line_kinematic(current_position, MMM_TO_MMS(manual_feedrate_mm_m[manual_move_axis]), manual_move_axis == E_AXIS ? manual_move_e_index : active_extruder);
+        planner.buffer_line(current_position, MMM_TO_MMS(manual_feedrate_mm_m[manual_move_axis]), manual_move_axis == E_AXIS ? manual_move_e_index : active_extruder);
         manual_move_axis = (int8_t)NO_AXIS;
 
       #endif
@@ -3746,8 +3746,13 @@ void lcd_quick_feedback(const bool clear_buttons) {
       MENU_BACK(MSG_ADVANCED_SETTINGS);
 
       #if ENABLED(JUNCTION_DEVIATION)
-        MENU_ITEM_EDIT_CALLBACK(float43, MSG_JUNCTION_DEVIATION, &planner.junction_deviation_mm, 0.01f, 0.3f, planner.recalculate_max_e_jerk);
+        #if ENABLED(LIN_ADVANCE)
-      #else
+          MENU_ITEM_EDIT_CALLBACK(float43, MSG_JUNCTION_DEVIATION, &planner.junction_deviation_mm, 0.01f, 0.3f, planner.recalculate_max_e_jerk);
+        #else
+          MENU_ITEM_EDIT(float43, MSG_JUNCTION_DEVIATION, &planner.junction_deviation_mm, 0.01f, 0.3f);
+        #endif
+      #endif
+      #if HAS_CLASSIC_JERK
         MENU_MULTIPLIER_ITEM_EDIT(float3, MSG_VA_JERK, &planner.max_jerk[A_AXIS], 1, 990);
         MENU_MULTIPLIER_ITEM_EDIT(float3, MSG_VB_JERK, &planner.max_jerk[B_AXIS], 1, 990);
         #if ENABLED(DELTA)
@@ -3755,7 +3760,9 @@ void lcd_quick_feedback(const bool clear_buttons) {
         #else
           MENU_MULTIPLIER_ITEM_EDIT(float52sign, MSG_VC_JERK, &planner.max_jerk[C_AXIS], 0.1f, 990);
         #endif
-        MENU_MULTIPLIER_ITEM_EDIT(float3, MSG_VE_JERK, &planner.max_jerk[E_AXIS], 1, 990);
+        #if DISABLED(JUNCTION_DEVIATION) || DISABLED(LIN_ADVANCE)
+          MENU_MULTIPLIER_ITEM_EDIT(float3, MSG_VE_JERK, &planner.max_jerk[E_AXIS], 1, 990);
+        #endif
       #endif
 
       END_MENU();

Marlin/src/module/configuration_store.cpp

@@ -428,12 +428,20 @@ void MarlinSettings::postprocess() {
     EEPROM_WRITE(planner.min_feedrate_mm_s);
     EEPROM_WRITE(planner.min_travel_feedrate_mm_s);
 
-    #if ENABLED(JUNCTION_DEVIATION)
+    #if HAS_CLASSIC_JERK
+      EEPROM_WRITE(planner.max_jerk);
+      #if ENABLED(JUNCTION_DEVIATION) && ENABLED(LIN_ADVANCE)
+        dummy = float(DEFAULT_EJERK);
+        EEPROM_WRITE(dummy);
+      #endif
+    #else
       const float planner_max_jerk[] = { float(DEFAULT_XJERK), float(DEFAULT_YJERK), float(DEFAULT_ZJERK), float(DEFAULT_EJERK) };
       EEPROM_WRITE(planner_max_jerk);
+    #endif
+
+    #if ENABLED(JUNCTION_DEVIATION)
       EEPROM_WRITE(planner.junction_deviation_mm);
     #else
-      EEPROM_WRITE(planner.max_jerk);
       dummy = 0.02f;
       EEPROM_WRITE(dummy);
     #endif
@@ -1062,11 +1070,18 @@ void MarlinSettings::postprocess() {
       EEPROM_READ(planner.min_feedrate_mm_s);
       EEPROM_READ(planner.min_travel_feedrate_mm_s);
 
-      #if ENABLED(JUNCTION_DEVIATION)
+      #if HAS_CLASSIC_JERK
+        EEPROM_READ(planner.max_jerk);
+        #if ENABLED(JUNCTION_DEVIATION) && ENABLED(LIN_ADVANCE)
+          EEPROM_READ(dummy);
+        #endif
+      #else
         for (uint8_t q = 4; q--;) EEPROM_READ(dummy);
+      #endif
+
+      #if ENABLED(JUNCTION_DEVIATION)
         EEPROM_READ(planner.junction_deviation_mm);
       #else
-        EEPROM_READ(planner.max_jerk);
         EEPROM_READ(dummy);
       #endif
 
@@ -1808,11 +1823,15 @@ void MarlinSettings::reset(PORTARG_SOLO) {
 
   #if ENABLED(JUNCTION_DEVIATION)
     planner.junction_deviation_mm = float(JUNCTION_DEVIATION_MM);
-  #else
+  #endif
+
+  #if HAS_CLASSIC_JERK
     planner.max_jerk[X_AXIS] = DEFAULT_XJERK;
     planner.max_jerk[Y_AXIS] = DEFAULT_YJERK;
     planner.max_jerk[Z_AXIS] = DEFAULT_ZJERK;
-    planner.max_jerk[E_AXIS] = DEFAULT_EJERK;
+    #if DISABLED(JUNCTION_DEVIATION) || DISABLED(LIN_ADVANCE)
+      planner.max_jerk[E_AXIS] = DEFAULT_EJERK;
+    #endif
   #endif
 
   #if HAS_HOME_OFFSET
@@ -2243,11 +2262,12 @@ void MarlinSettings::reset(PORTARG_SOLO) {
       SERIAL_ECHOPGM_P(port, "Advanced: B<min_segment_time_us> S<min_feedrate> T<min_travel_feedrate>");
       #if ENABLED(JUNCTION_DEVIATION)
         SERIAL_ECHOPGM_P(port, " J<junc_dev>");
-      #else
-        SERIAL_ECHOPGM_P(port, " X<max_x_jerk> Y<max_y_jerk> Z<max_z_jerk>");
       #endif
-      #if DISABLED(JUNCTION_DEVIATION) || ENABLED(LIN_ADVANCE)
+      #if HAS_CLASSIC_JERK
-        SERIAL_ECHOPGM_P(port, " E<max_e_jerk>");
+        SERIAL_ECHOPGM_P(port, " X<max_x_jerk> Y<max_y_jerk> Z<max_z_jerk>");
+        #if DISABLED(JUNCTION_DEVIATION) || DISABLED(LIN_ADVANCE)
+          SERIAL_ECHOPGM_P(port, " E<max_e_jerk>");
+        #endif
       #endif
       SERIAL_EOL_P(port);
     }
@@ -2258,11 +2278,14 @@ void MarlinSettings::reset(PORTARG_SOLO) {
 
     #if ENABLED(JUNCTION_DEVIATION)
       SERIAL_ECHOPAIR_P(port, " J", LINEAR_UNIT(planner.junction_deviation_mm));
-    #else
+    #endif
+    #if HAS_CLASSIC_JERK
       SERIAL_ECHOPAIR_P(port, " X", LINEAR_UNIT(planner.max_jerk[X_AXIS]));
       SERIAL_ECHOPAIR_P(port, " Y", LINEAR_UNIT(planner.max_jerk[Y_AXIS]));
       SERIAL_ECHOPAIR_P(port, " Z", LINEAR_UNIT(planner.max_jerk[Z_AXIS]));
-      SERIAL_ECHOPAIR_P(port, " E", LINEAR_UNIT(planner.max_jerk[E_AXIS]));
+      #if DISABLED(JUNCTION_DEVIATION) || DISABLED(LIN_ADVANCE)
+        SERIAL_ECHOPAIR_P(port, " E", LINEAR_UNIT(planner.max_jerk[E_AXIS]));
+      #endif
     #endif
 
     SERIAL_EOL_P(port);

Marlin/src/module/delta.cpp

@@ -101,7 +101,7 @@ void recalc_delta_settings() {
     SERIAL_ECHOLNPAIR(" C:", delta[C_AXIS]);      \
   }while(0)
 
-void inverse_kinematics(const float raw[XYZ]) {
+void inverse_kinematics(const float (&raw)[XYZ]) {
   #if HAS_HOTEND_OFFSET
     // Delta hotend offsets must be applied in Cartesian space with no "spoofing"
     const float pos[XYZ] = {
@@ -224,6 +224,7 @@ void home_delta() {
   #endif
   // Init the current position of all carriages to 0,0,0
   ZERO(current_position);
+  ZERO(destination);
   sync_plan_position();
 
   // Disable stealthChop if used. Enable diag1 pin on driver.
@@ -232,9 +233,8 @@ void home_delta() {
   #endif
 
   // Move all carriages together linearly until an endstop is hit.
-  current_position[X_AXIS] = current_position[Y_AXIS] = current_position[Z_AXIS] = (delta_height + 10);
+  destination[Z_AXIS] = (delta_height + 10);
-  feedrate_mm_s = homing_feedrate(X_AXIS);
+  buffer_line_to_destination(homing_feedrate(X_AXIS));
-  line_to_current_position();
   planner.synchronize();
 
   // Re-enable stealthChop if used. Disable diag1 pin on driver.
@@ -256,7 +256,7 @@ void home_delta() {
   // give the impression that they are the same.
   LOOP_XYZ(i) set_axis_is_at_home((AxisEnum)i);
 
-  SYNC_PLAN_POSITION_KINEMATIC();
+  sync_plan_position();
 
   #if ENABLED(DEBUG_LEVELING_FEATURE)
     if (DEBUGGING(LEVELING)) DEBUG_POS("<<< home_delta", current_position);

Marlin/src/module/delta.h

@@ -24,8 +24,7 @@
  * delta.h - Delta-specific functions
  */
 
-#ifndef __DELTA_H__
+#pragma once
-#define __DELTA_H__
 
 extern float delta_height,
              delta_endstop_adj[ABC],
@@ -78,7 +77,11 @@ void recalc_delta_settings();
   delta[C_AXIS] = DELTA_Z(V, C_AXIS); \
 }while(0)
 
-void inverse_kinematics(const float raw[XYZ]);
+void inverse_kinematics(const float (&raw)[XYZ]);
+FORCE_INLINE void inverse_kinematics(const float (&raw)[XYZE]) {
+  const float raw_xyz[XYZ] = { raw[X_AXIS], raw[Y_AXIS], raw[Z_AXIS] };
+  inverse_kinematics(raw_xyz);
+}
 
 /**
  * Calculate the highest Z position where the
@@ -118,5 +121,3 @@ FORCE_INLINE void forward_kinematics_DELTA(const float (&point)[ABC]) {
 }
 
 void home_delta();
-
-#endif // __DELTA_H__

Marlin/src/module/motion.cpp

@@ -75,7 +75,7 @@ bool relative_mode; // = false;
  * Cartesian Current Position
  *   Used to track the native machine position as moves are queued.
  *   Used by 'buffer_line_to_current_position' to do a move after changing it.
- *   Used by 'SYNC_PLAN_POSITION_KINEMATIC' to update 'planner.position'.
+ *   Used by 'sync_plan_position' to update 'planner.position'.
  */
 float current_position[XYZE] = { 0 };
 
@@ -218,15 +218,22 @@ void get_cartesian_from_steppers() {
  * may have been applied.
  *
  * To prevent small shifts in axis position always call
- * SYNC_PLAN_POSITION_KINEMATIC after updating axes with this.
+ * sync_plan_position after updating axes with this.
  *
  * To keep hosts in sync, always call report_current_position
  * after updating the current_position.
  */
 void set_current_from_steppers_for_axis(const AxisEnum axis) {
   get_cartesian_from_steppers();
-  #if PLANNER_LEVELING
+
-    planner.unapply_leveling(cartes);
+  #if HAS_POSITION_MODIFIERS
+    float pos[XYZE] = { cartes[X_AXIS], cartes[Y_AXIS], cartes[Z_AXIS], current_position[E_AXIS] };
+    planner.unapply_modifiers(pos
+      #if HAS_LEVELING
+        , true
+      #endif
+    );
+    const float (&cartes)[XYZE] = pos;
   #endif
   if (axis == ALL_AXES)
     COPY(current_position, cartes);
@@ -252,13 +259,6 @@ void buffer_line_to_destination(const float fr_mm_s) {
 
 #if IS_KINEMATIC
 
-  void sync_plan_position_kinematic() {
-    #if ENABLED(DEBUG_LEVELING_FEATURE)
-      if (DEBUGGING(LEVELING)) DEBUG_POS("sync_plan_position_kinematic", current_position);
-    #endif
-    planner.set_position_mm_kinematic(current_position);
-  }
-
   /**
    * Calculate delta, start a line, and set current_position to destination
    */
@@ -277,7 +277,7 @@ void buffer_line_to_destination(const float fr_mm_s) {
         && current_position[E_AXIS] == destination[E_AXIS]
       ) return;
 
-      planner.buffer_line_kinematic(destination, MMS_SCALED(fr_mm_s ? fr_mm_s : feedrate_mm_s), active_extruder);
+      planner.buffer_line(destination, MMS_SCALED(fr_mm_s ? fr_mm_s : feedrate_mm_s), active_extruder);
     #endif
 
     set_current_from_destination();
@@ -538,7 +538,7 @@ float soft_endstop_min[XYZ] = { X_MIN_BED, Y_MIN_BED, Z_MIN_POS },
 
     // If the move is only in Z/E don't split up the move
     if (!xdiff && !ydiff) {
-      planner.buffer_line_kinematic(rtarget, _feedrate_mm_s, active_extruder);
+      planner.buffer_line(rtarget, _feedrate_mm_s, active_extruder);
       return false; // caller will update current_position
     }
 
@@ -580,53 +580,22 @@ float soft_endstop_min[XYZ] = { X_MIN_BED, Y_MIN_BED, Z_MIN_POS },
                   ydiff * inv_segments,
                   zdiff * inv_segments,
                   ediff * inv_segments
-                };
+                },
-
+                cartesian_segment_mm = cartesian_mm * inv_segments;
-    #if !HAS_FEEDRATE_SCALING
+    
-      const float cartesian_segment_mm = cartesian_mm * inv_segments;
+    #if ENABLED(SCARA_FEEDRATE_SCALING)
+      const float inv_duration = _feedrate_mm_s / cartesian_segment_mm;
     #endif
 
     /*
     SERIAL_ECHOPAIR("mm=", cartesian_mm);
     SERIAL_ECHOPAIR(" seconds=", seconds);
     SERIAL_ECHOPAIR(" segments=", segments);
-    #if !HAS_FEEDRATE_SCALING
+    SERIAL_ECHOPAIR(" segment_mm=", cartesian_segment_mm);
-      SERIAL_ECHOPAIR(" segment_mm=", cartesian_segment_mm);
-    #endif
     SERIAL_EOL();
     //*/
 
-    #if HAS_FEEDRATE_SCALING
+    // Get the current position as starting point
-      // SCARA needs to scale the feed rate from mm/s to degrees/s
-      // i.e., Complete the angular vector in the given time.
-      const float segment_length = cartesian_mm * inv_segments,
-                  inv_segment_length = 1.0f / segment_length, // 1/mm/segs
-                  inverse_secs = inv_segment_length * _feedrate_mm_s;
-
-      float oldA = planner.position_float[A_AXIS],
-            oldB = planner.position_float[B_AXIS]
-            #if ENABLED(DELTA_FEEDRATE_SCALING)
-              , oldC = planner.position_float[C_AXIS]
-            #endif
-            ;
-
-      /*
-      SERIAL_ECHOPGM("Scaled kinematic move: ");
-      SERIAL_ECHOPAIR(" segment_length (inv)=", segment_length);
-      SERIAL_ECHOPAIR(" (", inv_segment_length);
-      SERIAL_ECHOPAIR(") _feedrate_mm_s=", _feedrate_mm_s);
-      SERIAL_ECHOPAIR(" inverse_secs=", inverse_secs);
-      SERIAL_ECHOPAIR(" oldA=", oldA);
-      SERIAL_ECHOPAIR(" oldB=", oldB);
-      #if ENABLED(DELTA_FEEDRATE_SCALING)
-        SERIAL_ECHOPAIR(" oldC=", oldC);
-      #endif
-      SERIAL_EOL();
-      safe_delay(5);
-      //*/
-    #endif
-
-     // Get the current position as starting point
     float raw[XYZE];
     COPY(raw, current_position);
 
@@ -642,78 +611,20 @@ float soft_endstop_min[XYZ] = { X_MIN_BED, Y_MIN_BED, Z_MIN_POS },
 
       LOOP_XYZE(i) raw[i] += segment_distance[i];
 
-      #if ENABLED(DELTA) && HOTENDS < 2
+      if (!planner.buffer_line(raw, _feedrate_mm_s, active_extruder, cartesian_segment_mm
-        DELTA_IK(raw); // Delta can inline its kinematics
+        #if ENABLED(SCARA_FEEDRATE_SCALING)
-      #else
+          , inv_duration
-        inverse_kinematics(raw);
+        #endif
-      #endif
+      ))
-      ADJUST_DELTA(raw); // Adjust Z if bed leveling is enabled
+        break;
-
-      #if ENABLED(SCARA_FEEDRATE_SCALING)
-        // For SCARA scale the feed rate from mm/s to degrees/s
-        // i.e., Complete the angular vector in the given time.
-        if (!planner.buffer_segment(delta[A_AXIS], delta[B_AXIS], raw[Z_AXIS], raw[E_AXIS], HYPOT(delta[A_AXIS] - oldA, delta[B_AXIS] - oldB) * inverse_secs, active_extruder, segment_length))
-          break;
-        /*
-        SERIAL_ECHO(segments);
-        SERIAL_ECHOPAIR(": X=", raw[X_AXIS]); SERIAL_ECHOPAIR(" Y=", raw[Y_AXIS]);
-        SERIAL_ECHOPAIR(" A=", delta[A_AXIS]); SERIAL_ECHOPAIR(" B=", delta[B_AXIS]);
-        SERIAL_ECHOLNPAIR(" F", HYPOT(delta[A_AXIS] - oldA, delta[B_AXIS] - oldB) * inverse_secs * 60);
-        safe_delay(5);
-        //*/
-        oldA = delta[A_AXIS]; oldB = delta[B_AXIS];
-      #elif ENABLED(DELTA_FEEDRATE_SCALING)
-        // For DELTA scale the feed rate from Effector mm/s to Carriage mm/s
-        // i.e., Complete the linear vector in the given time.
-        if (!planner.buffer_segment(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], raw[E_AXIS], SQRT(sq(delta[A_AXIS] - oldA) + sq(delta[B_AXIS] - oldB) + sq(delta[C_AXIS] - oldC)) * inverse_secs, active_extruder, segment_length))
-          break;
-        /*
-        SERIAL_ECHO(segments);
-        SERIAL_ECHOPAIR(": X=", raw[X_AXIS]); SERIAL_ECHOPAIR(" Y=", raw[Y_AXIS]);
-        SERIAL_ECHOPAIR(" A=", delta[A_AXIS]); SERIAL_ECHOPAIR(" B=", delta[B_AXIS]); SERIAL_ECHOPAIR(" C=", delta[C_AXIS]);
-        SERIAL_ECHOLNPAIR(" F", SQRT(sq(delta[A_AXIS] - oldA) + sq(delta[B_AXIS] - oldB) + sq(delta[C_AXIS] - oldC)) * inverse_secs * 60);
-        safe_delay(5);
-        //*/
-        oldA = delta[A_AXIS]; oldB = delta[B_AXIS]; oldC = delta[C_AXIS];
-      #else
-        if (!planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], raw[E_AXIS], _feedrate_mm_s, active_extruder, cartesian_segment_mm))
-          break;
-      #endif
     }
 
     // Ensure last segment arrives at target location.
-    #if HAS_FEEDRATE_SCALING
+    planner.buffer_line(rtarget, _feedrate_mm_s, active_extruder, cartesian_segment_mm
-      inverse_kinematics(rtarget);
+      #if ENABLED(SCARA_FEEDRATE_SCALING)
-      ADJUST_DELTA(rtarget);
+        , inv_duration
-    #endif
+      #endif
-
+    );
-    #if ENABLED(SCARA_FEEDRATE_SCALING)
-      const float diff2 = HYPOT2(delta[A_AXIS] - oldA, delta[B_AXIS] - oldB);
-      if (diff2) {
-        planner.buffer_segment(delta[A_AXIS], delta[B_AXIS], rtarget[Z_AXIS], rtarget[E_AXIS], SQRT(diff2) * inverse_secs, active_extruder, segment_length);
-        /*
-        SERIAL_ECHOPAIR("final: A=", delta[A_AXIS]); SERIAL_ECHOPAIR(" B=", delta[B_AXIS]);
-        SERIAL_ECHOPAIR(" adiff=", delta[A_AXIS] - oldA); SERIAL_ECHOPAIR(" bdiff=", delta[B_AXIS] - oldB);
-        SERIAL_ECHOLNPAIR(" F", SQRT(diff2) * inverse_secs * 60);
-        SERIAL_EOL();
-        safe_delay(5);
-        //*/
-      }
-    #elif ENABLED(DELTA_FEEDRATE_SCALING)
-      const float diff2 = sq(delta[A_AXIS] - oldA) + sq(delta[B_AXIS] - oldB) + sq(delta[C_AXIS] - oldC);
-      if (diff2) {
-        planner.buffer_segment(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], rtarget[E_AXIS], SQRT(diff2) * inverse_secs, active_extruder, segment_length);
-        /*
-        SERIAL_ECHOPAIR("final: A=", delta[A_AXIS]); SERIAL_ECHOPAIR(" B=", delta[B_AXIS]); SERIAL_ECHOPAIR(" C=", delta[C_AXIS]);
-        SERIAL_ECHOPAIR(" adiff=", delta[A_AXIS] - oldA); SERIAL_ECHOPAIR(" bdiff=", delta[B_AXIS] - oldB); SERIAL_ECHOPAIR(" cdiff=", delta[C_AXIS] - oldC);
-        SERIAL_ECHOLNPAIR(" F", SQRT(diff2) * inverse_secs * 60);
-        SERIAL_EOL();
-        safe_delay(5);
-        //*/
-      }
-    #else
-      planner.buffer_line_kinematic(rtarget, _feedrate_mm_s, active_extruder, cartesian_segment_mm);
-    #endif
 
     return false; // caller will update current_position
   }
@@ -736,7 +647,7 @@ float soft_endstop_min[XYZ] = { X_MIN_BED, Y_MIN_BED, Z_MIN_POS },
 
       // If the move is only in Z/E don't split up the move
       if (!xdiff && !ydiff) {
-        planner.buffer_line_kinematic(destination, fr_mm_s, active_extruder);
+        planner.buffer_line(destination, fr_mm_s, active_extruder);
         return;
       }
 
@@ -766,6 +677,10 @@ float soft_endstop_min[XYZ] = { X_MIN_BED, Y_MIN_BED, Z_MIN_POS },
                     ediff * inv_segments
                   };
 
+      #if ENABLED(SCARA_FEEDRATE_SCALING)
+        const float inv_duration = _feedrate_mm_s / cartesian_segment_mm;
+      #endif
+
       // SERIAL_ECHOPAIR("mm=", cartesian_mm);
       // SERIAL_ECHOLNPAIR(" segments=", segments);
       // SERIAL_ECHOLNPAIR(" segment_mm=", cartesian_segment_mm);
@@ -783,13 +698,21 @@ float soft_endstop_min[XYZ] = { X_MIN_BED, Y_MIN_BED, Z_MIN_POS },
           idle();
         }
         LOOP_XYZE(i) raw[i] += segment_distance[i];
-        if (!planner.buffer_line_kinematic(raw, fr_mm_s, active_extruder, cartesian_segment_mm))
+        if (!planner.buffer_line(raw, fr_mm_s, active_extruder, cartesian_segment_mm
+          #if ENABLED(SCARA_FEEDRATE_SCALING)
+            , inv_duration
+          #endif
+        ))
           break;
       }
 
       // Since segment_distance is only approximate,
       // the final move must be to the exact destination.
-      planner.buffer_line_kinematic(destination, fr_mm_s, active_extruder, cartesian_segment_mm);
+      planner.buffer_line(destination, fr_mm_s, active_extruder, cartesian_segment_mm
+        #if ENABLED(SCARA_FEEDRATE_SCALING)
+          , inv_duration
+        #endif
+      );
     }
 
   #endif // SEGMENT_LEVELED_MOVES
@@ -922,7 +845,7 @@ float soft_endstop_min[XYZ] = { X_MIN_BED, Y_MIN_BED, Z_MIN_POS },
               planner.max_feedrate_mm_s[X_AXIS], 1)
             ) break;
             planner.synchronize();
-            SYNC_PLAN_POSITION_KINEMATIC();
+            sync_plan_position();
             extruder_duplication_enabled = true;
             active_extruder_parked = false;
             #if ENABLED(DEBUG_LEVELING_FEATURE)
@@ -1092,7 +1015,7 @@ inline float get_homing_bump_feedrate(const AxisEnum axis) {
 /**
  * Home an individual linear axis
  */
-static void do_homing_move(const AxisEnum axis, const float distance, const float fr_mm_s=0.0) {
+void do_homing_move(const AxisEnum axis, const float distance, const float fr_mm_s=0.0) {
 
   #if ENABLED(DEBUG_LEVELING_FEATURE)
     if (DEBUGGING(LEVELING)) {
@@ -1139,18 +1062,29 @@ static void do_homing_move(const AxisEnum axis, const float distance, const floa
     #endif
   }
 
-  // Tell the planner the axis is at 0
-  current_position[axis] = 0;
-
   #if IS_SCARA
-    SYNC_PLAN_POSITION_KINEMATIC();
+    // Tell the planner the axis is at 0
-    current_position[axis] = distance;
+    current_position[axis] = 0;
-    inverse_kinematics(current_position);
-    planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], current_position[E_AXIS], fr_mm_s ? fr_mm_s : homing_feedrate(axis), active_extruder);
-  #else
     sync_plan_position();
-    current_position[axis] = distance; // Set delta/cartesian axes directly
+    current_position[axis] = distance;
-    planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], fr_mm_s ? fr_mm_s : homing_feedrate(axis), active_extruder);
+    planner.buffer_line(current_position, fr_mm_s ? fr_mm_s : homing_feedrate(axis), active_extruder);
+  #else
+    float target[ABCE] = { planner.get_axis_position_mm(A_AXIS), planner.get_axis_position_mm(B_AXIS), planner.get_axis_position_mm(C_AXIS), planner.get_axis_position_mm(E_AXIS) };
+    target[axis] = 0;
+    planner.set_machine_position_mm(target);
+    target[axis] = distance;
+
+    #if IS_KINEMATIC && ENABLED(JUNCTION_DEVIATION)
+      const float delta_mm_cart[XYZE] = {0, 0, 0, 0};
+    #endif
+
+    // Set delta/cartesian axes directly
+    planner.buffer_segment(target
+      #if IS_KINEMATIC && ENABLED(JUNCTION_DEVIATION)
+        , delta_mm_cart
+      #endif
+      , fr_mm_s ? fr_mm_s : homing_feedrate(axis), active_extruder
+    );
   #endif
 
   planner.synchronize();
@@ -1349,7 +1283,14 @@ void homeaxis(const AxisEnum axis) {
     if (axis == Z_AXIS && set_bltouch_deployed(true)) return;
   #endif
 
-  do_homing_move(axis, 1.5f * max_length(axis) * axis_home_dir);
+  do_homing_move(axis, 1.5f * max_length(
+    #if ENABLED(DELTA)
+      Z_AXIS
+    #else
+      axis
+    #endif
+    ) * axis_home_dir
+  );
 
   #if HOMING_Z_WITH_PROBE && ENABLED(BLTOUCH)
     // BLTOUCH needs to be stowed after trigger to rearm itself
@@ -1481,7 +1422,7 @@ void homeaxis(const AxisEnum axis) {
   #if IS_SCARA
 
     set_axis_is_at_home(axis);
-    SYNC_PLAN_POSITION_KINEMATIC();
+    sync_plan_position();
 
   #elif ENABLED(DELTA)
 

Marlin/src/module/motion.h

@@ -129,13 +129,6 @@ void set_current_from_steppers_for_axis(const AxisEnum axis);
 void sync_plan_position();
 void sync_plan_position_e();
 
-#if IS_KINEMATIC
-  void sync_plan_position_kinematic();
-  #define SYNC_PLAN_POSITION_KINEMATIC() sync_plan_position_kinematic()
-#else
-  #define SYNC_PLAN_POSITION_KINEMATIC() sync_plan_position()
-#endif
-
 /**
  * Move the planner to the current position from wherever it last moved
  * (or from wherever it has been told it is located).
@@ -354,20 +347,4 @@ void homeaxis(const AxisEnum axis);
   void set_home_offset(const AxisEnum axis, const float v);
 #endif
 
-#if ENABLED(AUTO_BED_LEVELING_BILINEAR)
-  #if ENABLED(DELTA)
-    #define ADJUST_DELTA(V) \
-      if (planner.leveling_active) { \
-        const float zadj = bilinear_z_offset(V); \
-        delta[A_AXIS] += zadj; \
-        delta[B_AXIS] += zadj; \
-        delta[C_AXIS] += zadj; \
-      }
-  #else
-    #define ADJUST_DELTA(V) if (planner.leveling_active) { delta[Z_AXIS] += bilinear_z_offset(V); }
-  #endif
-#else
-  #define ADJUST_DELTA(V) NOOP
-#endif
-
 #endif // MOTION_H

Marlin/src/module/planner.cpp

@@ -133,8 +133,13 @@ float Planner::max_feedrate_mm_s[XYZE_N],     // (mm/s) M203 XYZE - Max speeds
       float Planner::max_e_jerk;
     #endif
   #endif
-#else
+#endif
-  float Planner::max_jerk[XYZE];              // (mm/s^2) M205 XYZE - The largest speed change requiring no acceleration.
+#if HAS_CLASSIC_JERK
+  #if ENABLED(JUNCTION_DEVIATION) && ENABLED(LIN_ADVANCE)
+    float Planner::max_jerk[XYZ];             // (mm/s^2) M205 XYZ - The largest speed change requiring no acceleration.
+  #else
+    float Planner::max_jerk[XYZE];            // (mm/s^2) M205 XYZE - The largest speed change requiring no acceleration.
+  #endif
 #endif
 
 #if ENABLED(ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
@@ -220,6 +225,10 @@ float Planner::previous_speed[NUM_AXIS],
   float Planner::position_float[XYZE]; // Needed for accurate maths. Steps cannot be used!
 #endif
 
+#if IS_KINEMATIC
+  float Planner::position_cart[XYZE];
+#endif
+
 #if ENABLED(ULTRA_LCD)
   volatile uint32_t Planner::block_buffer_runtime_us = 0;
 #endif
@@ -235,6 +244,9 @@ void Planner::init() {
   #if HAS_POSITION_FLOAT
     ZERO(position_float);
   #endif
+  #if IS_KINEMATIC
+    ZERO(position_cart);
+  #endif
   ZERO(previous_speed);
   previous_nominal_speed_sqr = 0;
   #if ABL_PLANAR
@@ -1354,17 +1366,12 @@ void Planner::check_axes_activity() {
   }
 #endif
 
-#if PLANNER_LEVELING || HAS_UBL_AND_CURVES
+#if HAS_LEVELING
   /**
    * rx, ry, rz - Cartesian positions in mm
    *              Leveled XYZ on completion
    */
   void Planner::apply_leveling(float &rx, float &ry, float &rz) {
-
-    #if ENABLED(SKEW_CORRECTION)
-      skew(rx, ry, rz);
-    #endif
-
     if (!leveling_active) return;
 
     #if ABL_PLANAR
@@ -1406,10 +1413,6 @@ void Planner::check_axes_activity() {
     #endif
   }
 
-#endif
-
-#if PLANNER_LEVELING
-
   void Planner::unapply_leveling(float raw[XYZ]) {
 
     if (leveling_active) {
@@ -1456,7 +1459,23 @@ void Planner::check_axes_activity() {
     #endif
   }
 
-#endif // PLANNER_LEVELING
+#endif // HAS_LEVELING
+
+#if ENABLED(FWRETRACT)
+  /**
+   * rz, e - Cartesian positions in mm
+   */
+  void Planner::apply_retract(float &rz, float &e) {
+    rz += fwretract.current_hop;
+    e -= fwretract.current_retract[active_extruder];
+  }
+
+  void Planner::unapply_retract(float &rz, float &e) {
+    rz -= fwretract.current_hop;
+    e += fwretract.current_retract[active_extruder];
+  }
+
+#endif
 
 void Planner::quick_stop() {
 
@@ -1554,6 +1573,7 @@ void Planner::synchronize() {
  * Add a new linear movement to the planner queue (in terms of steps).
  *
  *  target      - target position in steps units
+ *  target_float - target position in direct (mm, degrees) units. optional
  *  fr_mm_s     - (target) speed of the move
  *  extruder    - target extruder
  *  millimeters - the length of the movement, if known
@@ -1562,7 +1582,10 @@ void Planner::synchronize() {
  */
 bool Planner::_buffer_steps(const int32_t (&target)[XYZE]
   #if HAS_POSITION_FLOAT
-    , const float (&target_float)[XYZE]
+    , const float (&target_float)[ABCE]
+  #endif
+  #if IS_KINEMATIC && ENABLED(JUNCTION_DEVIATION)
+    , const float (&delta_mm_cart)[XYZE]
   #endif
   , float fr_mm_s, const uint8_t extruder, const float &millimeters
 ) {
@@ -1579,6 +1602,9 @@ bool Planner::_buffer_steps(const int32_t (&target)[XYZE]
     #if HAS_POSITION_FLOAT
       , target_float
     #endif
+    #if IS_KINEMATIC && ENABLED(JUNCTION_DEVIATION)
+      , delta_mm_cart
+    #endif
     , fr_mm_s, extruder, millimeters
   )) {
     // Movement was not queued, probably because it was too short.
@@ -1618,9 +1644,12 @@ bool Planner::_buffer_steps(const int32_t (&target)[XYZE]
  * Returns true is movement is acceptable, false otherwise
  */
 bool Planner::_populate_block(block_t * const block, bool split_move,
-  const int32_t (&target)[XYZE]
+  const int32_t (&target)[ABCE]
   #if HAS_POSITION_FLOAT
-    , const float (&target_float)[XYZE]
+    , const float (&target_float)[ABCE]
+  #endif
+  #if IS_KINEMATIC && ENABLED(JUNCTION_DEVIATION)
+    , const float (&delta_mm_cart)[XYZE]
   #endif
   , float fr_mm_s, const uint8_t extruder, const float &millimeters/*=0.0*/
 ) {
@@ -2243,12 +2272,21 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
     // Unit vector of previous path line segment
     static float previous_unit_vec[XYZE];
 
-    float unit_vec[] = {
+    #if IS_KINEMATIC && ENABLED(JUNCTION_DEVIATION)
-      delta_mm[A_AXIS] * inverse_millimeters,
+      float unit_vec[] = {
-      delta_mm[B_AXIS] * inverse_millimeters,
+        delta_mm_cart[X_AXIS] * inverse_millimeters,
-      delta_mm[C_AXIS] * inverse_millimeters,
+        delta_mm_cart[Y_AXIS] * inverse_millimeters,
-      delta_mm[E_AXIS] * inverse_millimeters
+        delta_mm_cart[Z_AXIS] * inverse_millimeters,
-    };
+        delta_mm_cart[E_AXIS] * inverse_millimeters
+      };
+    #else
+      float unit_vec[] = {
+        delta_mm[X_AXIS] * inverse_millimeters,
+        delta_mm[Y_AXIS] * inverse_millimeters,
+        delta_mm[Z_AXIS] * inverse_millimeters,
+        delta_mm[E_AXIS] * inverse_millimeters
+      };
+    #endif
 
     // Skip first block or when previous_nominal_speed is used as a flag for homing and offset cycles.
     if (moves_queued && !UNEAR_ZERO(previous_nominal_speed_sqr)) {
@@ -2302,7 +2340,9 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
 
     COPY(previous_unit_vec, unit_vec);
 
-  #else // Classic Jerk Limiting
+  #endif
+
+  #if HAS_CLASSIC_JERK
 
     /**
      * Adapted from Průša MKS firmware
@@ -2317,7 +2357,12 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
     float safe_speed = nominal_speed;
 
     uint8_t limited = 0;
-    LOOP_XYZE(i) {
+    #if ENABLED(JUNCTION_DEVIATION) && ENABLED(LIN_ADVANCE)
+      LOOP_XYZ(i)
+    #else
+      LOOP_XYZE(i)
+    #endif
+    {
       const float jerk = ABS(current_speed[i]),   // cs : Starting from zero, change in speed for this axis
                   maxj = max_jerk[i];             // mj : The max jerk setting for this axis
       if (jerk > maxj) {                          // cs > mj : New current speed too fast?
@@ -2349,7 +2394,12 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
 
       // Now limit the jerk in all axes.
       const float smaller_speed_factor = vmax_junction / previous_nominal_speed;
-      LOOP_XYZE(axis) {
+      #if ENABLED(JUNCTION_DEVIATION) && ENABLED(LIN_ADVANCE)
+        LOOP_XYZ(axis)
+      #else
+        LOOP_XYZE(axis)
+      #endif
+      {
         // Limit an axis. We have to differentiate: coasting, reversal of an axis, full stop.
         float v_exit = previous_speed[axis] * smaller_speed_factor,
               v_entry = current_speed[axis];
@@ -2381,7 +2431,12 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
       vmax_junction = safe_speed;
 
     previous_safe_speed = safe_speed;
-    vmax_junction_sqr = sq(vmax_junction);
+
+    #if ENABLED(JUNCTION_DEVIATION)
+      vmax_junction_sqr = MIN(vmax_junction_sqr, sq(vmax_junction));
+    #else
+      vmax_junction_sqr = sq(vmax_junction);
+    #endif
 
   #endif // Classic Jerk Limiting
 
@@ -2466,7 +2521,12 @@ void Planner::buffer_sync_block() {
  *  extruder    - target extruder
  *  millimeters - the length of the movement, if known
  */
-bool Planner::buffer_segment(const float &a, const float &b, const float &c, const float &e, const float &fr_mm_s, const uint8_t extruder, const float &millimeters/*=0.0*/) {
+bool Planner::buffer_segment(const float &a, const float &b, const float &c, const float &e
+  #if IS_KINEMATIC && ENABLED(JUNCTION_DEVIATION)
+    , const float (&delta_mm_cart)[XYZE]
+  #endif
+  , const float &fr_mm_s, const uint8_t extruder, const float &millimeters/*=0.0*/
+) {
 
   // If we are cleaning, do not accept queuing of movements
   if (cleaning_buffer_counter) return false;
@@ -2534,6 +2594,9 @@ bool Planner::buffer_segment(const float &a, const float &b, const float &c, con
       #if HAS_POSITION_FLOAT
         , target_float
       #endif
+      #if IS_KINEMATIC && ENABLED(JUNCTION_DEVIATION)
+        , delta_mm_cart
+      #endif
       , fr_mm_s, extruder, millimeters
     )
   ) return false;
@@ -2543,24 +2606,84 @@ bool Planner::buffer_segment(const float &a, const float &b, const float &c, con
 } // buffer_segment()
 
 /**
- * Directly set the planner XYZ position (and stepper positions)
+ * Add a new linear movement to the buffer.
+ * The target is cartesian, it's translated to delta/scara if
+ * needed.
+ *
+ *
+ *  rx,ry,rz,e   - target position in mm or degrees
+ *  fr_mm_s      - (target) speed of the move (mm/s)
+ *  extruder     - target extruder
+ *  millimeters  - the length of the movement, if known
+ *  inv_duration - the reciprocal if the duration of the movement, if known (kinematic only if feeedrate scaling is enabled) 
+ */
+bool Planner::buffer_line(const float &rx, const float &ry, const float &rz, const float &e, const float &fr_mm_s, const uint8_t extruder, const float millimeters
+  #if ENABLED(SCARA_FEEDRATE_SCALING)
+    , const float &inv_duration
+  #endif
+) {
+  float raw[XYZE] = { rx, ry, rz, e };
+  #if HAS_POSITION_MODIFIERS
+    apply_modifiers(raw);
+  #endif
+
+  #if IS_KINEMATIC
+    const float delta_mm_cart[] = {
+      rx - position_cart[X_AXIS],
+      ry - position_cart[Y_AXIS],
+      rz - position_cart[Z_AXIS]
+      #if ENABLED(JUNCTION_DEVIATION)
+        , e - position_cart[E_AXIS]
+      #endif
+    };
+
+    float mm = millimeters;
+    if (mm == 0.0)
+      mm = (delta_mm_cart[X_AXIS] != 0.0 || delta_mm_cart[Y_AXIS] != 0.0) ? SQRT(sq(delta_mm_cart[X_AXIS]) + sq(delta_mm_cart[Y_AXIS]) + sq(delta_mm_cart[Z_AXIS])) : fabs(delta_mm_cart[Z_AXIS]);
+
+    inverse_kinematics(raw);
+
+    #if ENABLED(SCARA_FEEDRATE_SCALING)
+      // For SCARA scale the feed rate from mm/s to degrees/s
+      // i.e., Complete the angular vector in the given time.
+      const float duration_recip = inv_duration ? inv_duration : fr_mm_s / mm,
+                  feedrate = HYPOT(delta[A_AXIS] - position_float[A_AXIS], delta[B_AXIS] - position_float[B_AXIS]) * duration_recip;
+    #else
+      const float feedrate = fr_mm_s;
+    #endif
+    if (buffer_segment(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], raw[E_AXIS]
+      #if ENABLED(JUNCTION_DEVIATION)
+        , delta_mm_cart
+      #endif
+      , feedrate, extruder, mm
+    )) {
+      position_cart[X_AXIS] = rx;
+      position_cart[Y_AXIS] = ry;
+      position_cart[Z_AXIS] = rz;
+      position_cart[E_AXIS] = e;
+      return true;
+    }
+    else
+      return false;
+  #else
+    return buffer_segment(raw, fr_mm_s, extruder, millimeters);
+  #endif
+} // buffer_line()
+
+/**
+ * Directly set the planner ABC position (and stepper positions)
  * converting mm (or angles for SCARA) into steps.
  *
- * On CORE machines stepper ABC will be translated from the given XYZ.
+ * The provided ABC position is in machine units.
  */
 
-void Planner::_set_position_mm(const float &a, const float &b, const float &c, const float &e) {
+void Planner::set_machine_position_mm(const float &a, const float &b, const float &c, const float &e) {
   #if ENABLED(DISTINCT_E_FACTORS)
     last_extruder = active_extruder;
   #endif
   position[A_AXIS] = LROUND(a * axis_steps_per_mm[A_AXIS]);
   position[B_AXIS] = LROUND(b * axis_steps_per_mm[B_AXIS]);
-  position[C_AXIS] = LROUND(axis_steps_per_mm[C_AXIS] * (c +(
+  position[C_AXIS] = LROUND(c * axis_steps_per_mm[C_AXIS]);
-    #if !IS_KINEMATIC && ENABLED(AUTO_BED_LEVELING_UBL)
-      leveling_active ? ubl.get_z_correction(a, b) :
-    #endif
-    0)
-  ));
   position[E_AXIS] = LROUND(e * axis_steps_per_mm[_EINDEX]);
   #if HAS_POSITION_FLOAT
     position_float[A_AXIS] = a;
@@ -2577,44 +2700,54 @@ void Planner::_set_position_mm(const float &a, const float &b, const float &c, c
     stepper.set_position(position[A_AXIS], position[B_AXIS], position[C_AXIS], position[E_AXIS]);
 }
 
-void Planner::set_position_mm_kinematic(const float (&cart)[XYZE]) {
+void Planner::set_position_mm(const float &rx, const float &ry, const float &rz, const float &e) {
-  #if PLANNER_LEVELING
+  float raw[XYZE] = { rx, ry, rz, e };
-    float raw[XYZ] = { cart[X_AXIS], cart[Y_AXIS], cart[Z_AXIS] };
+  #if HAS_POSITION_MODIFIERS
-    apply_leveling(raw);
+    apply_modifiers(raw
-  #else
+      #if HAS_LEVELING
-    const float (&raw)[XYZE] = cart;
+        , true
+      #endif
+    );
   #endif
   #if IS_KINEMATIC
+    position_cart[X_AXIS] = rx;
+    position_cart[Y_AXIS] = ry;
+    position_cart[Z_AXIS] = rz;
+    position_cart[E_AXIS] = e;
+
     inverse_kinematics(raw);
-    _set_position_mm(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], cart[E_AXIS]);
+    set_machine_position_mm(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], raw[E_AXIS]);
   #else
-    _set_position_mm(raw[X_AXIS], raw[Y_AXIS], raw[Z_AXIS], cart[E_AXIS]);
+    set_machine_position_mm(raw[X_AXIS], raw[Y_AXIS], raw[Z_AXIS], raw[E_AXIS]);
   #endif
 }
 
 /**
  * Setters for planner position (also setting stepper position).
  */
-void Planner::set_position_mm(const AxisEnum axis, const float &v) {
+void Planner::set_e_position_mm(const float &e) {
   #if ENABLED(DISTINCT_E_FACTORS)
-    const uint8_t axis_index = axis + (axis == E_AXIS ? active_extruder : 0);
+    const uint8_t axis_index = E_AXIS + active_extruder;
     last_extruder = active_extruder;
   #else
-    const uint8_t axis_index = axis;
+    const uint8_t axis_index = E_AXIS;
   #endif
-  position[axis] = LROUND(axis_steps_per_mm[axis_index] * (v + (
+  #if ENABLED(FWRETRACT)
-    #if ENABLED(AUTO_BED_LEVELING_UBL)
+    float e_new = e - fwretract.current_retract[active_extruder];
-      axis == Z_AXIS && leveling_active ? ubl.get_z_correction(current_position[X_AXIS], current_position[Y_AXIS]) :
+  #else
-    #endif
+    const float e_new = e;
-    0)
+  #endif
-  ));
+  position[E_AXIS] = LROUND(axis_steps_per_mm[axis_index] * e_new);
   #if HAS_POSITION_FLOAT
-    position_float[axis] = v;
+    position_float[E_AXIS] = e_new;
+  #endif
+  #if IS_KINEMATIC
+    position_cart[E_AXIS] = e;
   #endif
   if (has_blocks_queued())
     buffer_sync_block();
   else
-    stepper.set_position(axis, position[axis]);
+    stepper.set_position(E_AXIS, position[E_AXIS]);
 }
 
 // Recalculate the steps/s^2 acceleration rates, based on the mm/s^2
@@ -2638,7 +2771,7 @@ void Planner::reset_acceleration_rates() {
 // Recalculate position, steps_to_mm if axis_steps_per_mm changes!
 void Planner::refresh_positioning() {
   LOOP_XYZE_N(i) steps_to_mm[i] = 1.0f / axis_steps_per_mm[i];
-  set_position_mm_kinematic(current_position);
+  set_position_mm(current_position);
   reset_acceleration_rates();
 }
 

Marlin/src/module/planner.h

@@ -45,6 +45,10 @@
   #include "../libs/vector_3.h"
 #endif
 
+#if ENABLED(FWRETRACT)
+  #include "../feature/fwretract.h"
+#endif
+
 enum BlockFlagBit : char {
   // Recalculate trapezoids on entry junction. For optimization.
   BLOCK_BIT_RECALCULATE,
@@ -151,7 +155,7 @@ typedef struct {
 
 } block_t;
 
-#define HAS_POSITION_FLOAT (ENABLED(LIN_ADVANCE) || HAS_FEEDRATE_SCALING)
+#define HAS_POSITION_FLOAT (ENABLED(LIN_ADVANCE) || ENABLED(SCARA_FEEDRATE_SCALING))
 
 #define BLOCK_MOD(n) ((n)&(BLOCK_BUFFER_SIZE-1))
 
@@ -210,14 +214,22 @@ class Planner {
     #if ENABLED(JUNCTION_DEVIATION)
       static float junction_deviation_mm;       // (mm) M205 J
       #if ENABLED(LIN_ADVANCE)
-        #if ENABLED(DISTINCT_E_FACTORS)
+        static float max_e_jerk                 // Calculated from junction_deviation_mm
-          static float max_e_jerk[EXTRUDERS];   // Calculated from junction_deviation_mm
+          #if ENABLED(DISTINCT_E_FACTORS)
-        #else
+            [EXTRUDERS]
-          static float max_e_jerk;
+          #endif
-        #endif
+        ;
       #endif
-    #else
+    #endif
-      static float max_jerk[XYZE];              // (mm/s^2) M205 XYZE - The largest speed change requiring no acceleration.
+
+    #if HAS_CLASSIC_JERK
+      static float max_jerk[
+        #if ENABLED(JUNCTION_DEVIATION) && ENABLED(LIN_ADVANCE)
+          XYZ                                    // (mm/s^2) M205 XYZ - The largest speed change requiring no acceleration.
+        #else
+          XYZE                                   // (mm/s^2) M205 XYZE - The largest speed change requiring no acceleration.
+        #endif
+      ];
     #endif
 
     #if HAS_LEVELING
@@ -240,6 +252,10 @@ class Planner {
       static float position_float[XYZE];
     #endif
 
+    #if IS_KINEMATIC
+      static float position_cart[XYZE];
+    #endif
+
     #if ENABLED(SKEW_CORRECTION)
       #if ENABLED(SKEW_CORRECTION_GCODE)
         static float xy_skew_factor;
@@ -410,6 +426,8 @@ class Planner {
           }
         }
       }
+      FORCE_INLINE static void skew(float (&raw)[XYZ]) { skew(raw[X_AXIS], raw[Y_AXIS], raw[Z_AXIS]); }
+      FORCE_INLINE static void skew(float (&raw)[XYZE]) { skew(raw[X_AXIS], raw[Y_AXIS], raw[Z_AXIS]); }
 
       FORCE_INLINE static void unskew(float &cx, float &cy, const float &cz) {
         if (WITHIN(cx, X_MIN_POS, X_MAX_POS) && WITHIN(cy, Y_MIN_POS, Y_MAX_POS)) {
@@ -420,29 +438,76 @@ class Planner {
           }
         }
       }
+      FORCE_INLINE static void unskew(float (&raw)[XYZ]) { unskew(raw[X_AXIS], raw[Y_AXIS], raw[Z_AXIS]); }
+      FORCE_INLINE static void unskew(float (&raw)[XYZE]) { unskew(raw[X_AXIS], raw[Y_AXIS], raw[Z_AXIS]); }
 
     #endif // SKEW_CORRECTION
 
-    #if PLANNER_LEVELING || HAS_UBL_AND_CURVES
+    #if HAS_LEVELING
       /**
        * Apply leveling to transform a cartesian position
        * as it will be given to the planner and steppers.
        */
       static void apply_leveling(float &rx, float &ry, float &rz);
       FORCE_INLINE static void apply_leveling(float (&raw)[XYZ]) { apply_leveling(raw[X_AXIS], raw[Y_AXIS], raw[Z_AXIS]); }
+      FORCE_INLINE static void apply_leveling(float (&raw)[XYZE]) { apply_leveling(raw[X_AXIS], raw[Y_AXIS], raw[Z_AXIS]); }
+
+      static void unapply_leveling(float raw[XYZ]);
     #endif
 
-    #if PLANNER_LEVELING
+    #if ENABLED(FWRETRACT)
-      #define ARG_X float rx
+      static void apply_retract(float &rz, float &e);
-      #define ARG_Y float ry
+      FORCE_INLINE static void apply_retract(float (&raw)[XYZE]) { apply_retract(raw[Z_AXIS], raw[E_AXIS]); }
-      #define ARG_Z float rz
+      static void unapply_retract(float &rz, float &e);
-      static void unapply_leveling(float raw[XYZ]);
+      FORCE_INLINE static void unapply_retract(float (&raw)[XYZE]) { unapply_retract(raw[Z_AXIS], raw[E_AXIS]); }
-    #else
-      #define ARG_X const float &rx
-      #define ARG_Y const float &ry
-      #define ARG_Z const float &rz
     #endif
 
+    #if HAS_POSITION_MODIFIERS
+      FORCE_INLINE static void apply_modifiers(float (&pos)[XYZE]
+        #if HAS_LEVELING
+          , bool leveling =
+          #if PLANNER_LEVELING
+            true
+          #else
+            false
+          #endif
+        #endif
+      ) {
+        #if ENABLED(SKEW_CORRECTION)
+          skew(pos);
+        #endif
+        #if HAS_LEVELING
+          if (leveling)
+            apply_leveling(pos);
+        #endif
+        #if ENABLED(FWRETRACT)
+          apply_retract(pos);
+        #endif
+      }
+
+      FORCE_INLINE static void unapply_modifiers(float (&pos)[XYZE]
+        #if HAS_LEVELING
+          , bool leveling =
+          #if PLANNER_LEVELING
+            true
+          #else
+            false
+          #endif
+        #endif
+      ) {
+        #if ENABLED(FWRETRACT)
+          unapply_retract(pos);
+        #endif
+        #if HAS_LEVELING
+          if (leveling)
+            unapply_leveling(pos);
+        #endif
+        #if ENABLED(SKEW_CORRECTION)
+          unskew(pos);
+        #endif
+      }
+    #endif // HAS_POSITION_MODIFIERS
+
     // Number of moves currently in the planner including the busy block, if any
     FORCE_INLINE static uint8_t movesplanned() { return BLOCK_MOD(block_buffer_head - block_buffer_tail); }
 
@@ -489,7 +554,10 @@ class Planner {
      */
     static bool _buffer_steps(const int32_t (&target)[XYZE]
       #if HAS_POSITION_FLOAT
-        , const float (&target_float)[XYZE]
+        , const float (&target_float)[ABCE]
+      #endif
+      #if IS_KINEMATIC && ENABLED(JUNCTION_DEVIATION)
+        , const float (&delta_mm_cart)[XYZE]
       #endif
       , float fr_mm_s, const uint8_t extruder, const float &millimeters=0.0
     );
@@ -511,6 +579,9 @@ class Planner {
       #if HAS_POSITION_FLOAT
         , const float (&target_float)[XYZE]
       #endif
+      #if IS_KINEMATIC && ENABLED(JUNCTION_DEVIATION)
+        , const float (&delta_mm_cart)[XYZE]
+      #endif
       , float fr_mm_s, const uint8_t extruder, const float &millimeters=0.0
     );
 
@@ -520,6 +591,13 @@ class Planner {
      */
     static void buffer_sync_block();
 
+  #if IS_KINEMATIC
+    private:
+
+      // Allow do_homing_move to access internal functions, such as buffer_segment.
+      friend void do_homing_move(const AxisEnum, const float, const float);
+  #endif
+
     /**
      * Planner::buffer_segment
      *
@@ -532,74 +610,83 @@ class Planner {
      *  extruder    - target extruder
      *  millimeters - the length of the movement, if known
      */
-    static bool buffer_segment(const float &a, const float &b, const float &c, const float &e, const float &fr_mm_s, const uint8_t extruder, const float &millimeters=0.0);
+    static bool buffer_segment(const float &a, const float &b, const float &c, const float &e
-
+      #if IS_KINEMATIC && ENABLED(JUNCTION_DEVIATION)
-    static void _set_position_mm(const float &a, const float &b, const float &c, const float &e);
+        , const float (&delta_mm_cart)[XYZE]
-
-    /**
-     * Add a new linear movement to the buffer.
-     * The target is NOT translated to delta/scara
-     *
-     * Leveling will be applied to input on cartesians.
-     * Kinematic machines should call buffer_line_kinematic (for leveled moves).
-     * (Cartesians may also call buffer_line_kinematic.)
-     *
-     *  rx,ry,rz,e   - target position in mm or degrees
-     *  fr_mm_s      - (target) speed of the move (mm/s)
-     *  extruder     - target extruder
-     *  millimeters  - the length of the movement, if known
-     */
-    FORCE_INLINE static bool buffer_line(ARG_X, ARG_Y, ARG_Z, const float &e, const float &fr_mm_s, const uint8_t extruder, const float millimeters = 0.0) {
-      #if PLANNER_LEVELING && IS_CARTESIAN
-        apply_leveling(rx, ry, rz);
       #endif
-      return buffer_segment(rx, ry, rz, e, fr_mm_s, extruder, millimeters);
+      , const float &fr_mm_s, const uint8_t extruder, const float &millimeters=0.0
+    );
+
+    FORCE_INLINE static bool buffer_segment(const float (&abce)[ABCE]
+      #if IS_KINEMATIC && ENABLED(JUNCTION_DEVIATION)
+        , const float (&delta_mm_cart)[XYZE]
+      #endif
+      , const float &fr_mm_s, const uint8_t extruder, const float &millimeters=0.0
+    ) {
+      return buffer_segment(abce[A_AXIS], abce[B_AXIS], abce[C_AXIS], abce[E_AXIS]
+        #if IS_KINEMATIC && ENABLED(JUNCTION_DEVIATION)
+          , delta_mm_cart
+        #endif
+        , fr_mm_s, extruder, millimeters);
     }
 
+  public:
+
     /**
      * Add a new linear movement to the buffer.
      * The target is cartesian, it's translated to delta/scara if
      * needed.
      *
-     *  cart         - x,y,z,e CARTESIAN target in mm
+     *
+     *  rx,ry,rz,e   - target position in mm or degrees
      *  fr_mm_s      - (target) speed of the move (mm/s)
      *  extruder     - target extruder
      *  millimeters  - the length of the movement, if known
+     *  inv_duration - the reciprocal if the duration of the movement, if known (kinematic only if feeedrate scaling is enabled) 
      */
-    FORCE_INLINE static bool buffer_line_kinematic(const float (&cart)[XYZE], const float &fr_mm_s, const uint8_t extruder, const float millimeters = 0.0) {
+    static bool buffer_line(const float &rx, const float &ry, const float &rz, const float &e, const float &fr_mm_s, const uint8_t extruder, const float millimeters=0.0
-      #if PLANNER_LEVELING
+      #if ENABLED(SCARA_FEEDRATE_SCALING)
-        float raw[XYZ] = { cart[X_AXIS], cart[Y_AXIS], cart[Z_AXIS] };
+        , const float &inv_duration=0.0
-        apply_leveling(raw);
-      #else
-        const float (&raw)[XYZE] = cart;
       #endif
-      #if IS_KINEMATIC
+    );
-        inverse_kinematics(raw);
+
-        return buffer_segment(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], cart[E_AXIS], fr_mm_s, extruder, millimeters);
+    FORCE_INLINE static bool buffer_line(const float (&cart)[XYZE], const float &fr_mm_s, const uint8_t extruder, const float millimeters=0.0
-      #else
+      #if ENABLED(SCARA_FEEDRATE_SCALING)
-        return buffer_segment(raw[X_AXIS], raw[Y_AXIS], raw[Z_AXIS], cart[E_AXIS], fr_mm_s, extruder, millimeters);
+        , const float &inv_duration=0.0
       #endif
+    ) {
+      return buffer_line(cart[X_AXIS], cart[Y_AXIS], cart[Z_AXIS], cart[E_AXIS], fr_mm_s, extruder, millimeters
+        #if ENABLED(SCARA_FEEDRATE_SCALING)
+          , inv_duration
+        #endif
+      );
     }
 
     /**
      * Set the planner.position and individual stepper positions.
      * Used by G92, G28, G29, and other procedures.
+     * 
+     * The supplied position is in the cartesian coordinate space and is
+     * translated in to machine space as needed. Modifiers such as leveling
+     * and skew are also applied.
      *
      * Multiplies by axis_steps_per_mm[] and does necessary conversion
      * for COREXY / COREXZ / COREYZ to set the corresponding stepper positions.
      *
      * Clears previous speed values.
      */
-    FORCE_INLINE static void set_position_mm(ARG_X, ARG_Y, ARG_Z, const float &e) {
+    static void set_position_mm(const float &rx, const float &ry, const float &rz, const float &e);
-      #if PLANNER_LEVELING && IS_CARTESIAN
+    FORCE_INLINE static void set_position_mm(const float (&cart)[XYZE]) { set_position_mm(cart[X_AXIS], cart[Y_AXIS], cart[Z_AXIS], cart[E_AXIS]); }
-        apply_leveling(rx, ry, rz);
+    static void set_e_position_mm(const float &e);
-      #endif
+
-      _set_position_mm(rx, ry, rz, e);
+    /**
-    }
+     * Set the planner.position and individual stepper positions.
-    static void set_position_mm_kinematic(const float (&cart)[XYZE]);
+     * 
-    static void set_position_mm(const AxisEnum axis, const float &v);
+     * The supplied position is in machine space, and no additional
-    FORCE_INLINE static void set_z_position_mm(const float &z) { set_position_mm(Z_AXIS, z); }
+     * conversions are applied.
-    FORCE_INLINE static void set_e_position_mm(const float &e) { set_position_mm(E_AXIS, e); }
+     */
+    static void set_machine_position_mm(const float &a, const float &b, const float &c, const float &e);
+    FORCE_INLINE static void set_machine_position_mm(const float (&abce)[ABCE]) { set_machine_position_mm(abce[A_AXIS], abce[B_AXIS], abce[C_AXIS], abce[E_AXIS]); }
 
     /**
      * Get an axis position according to stepper position(s)
@@ -756,16 +843,14 @@ class Planner {
       static void autotemp_M104_M109();
     #endif
 
-    #if ENABLED(JUNCTION_DEVIATION)
+    #if ENABLED(JUNCTION_DEVIATION) && ENABLED(LIN_ADVANCE)
       FORCE_INLINE static void recalculate_max_e_jerk() {
         #define GET_MAX_E_JERK(N) SQRT(SQRT(0.5) * junction_deviation_mm * (N) * RECIPROCAL(1.0 - SQRT(0.5)))
-        #if ENABLED(LIN_ADVANCE)
+        #if ENABLED(DISTINCT_E_FACTORS)
-          #if ENABLED(DISTINCT_E_FACTORS)
+          for (uint8_t i = 0; i < EXTRUDERS; i++)
-            for (uint8_t i = 0; i < EXTRUDERS; i++)
+            max_e_jerk[i] = GET_MAX_E_JERK(max_acceleration_mm_per_s2[E_AXIS + i]);
-              max_e_jerk[i] = GET_MAX_E_JERK(max_acceleration_mm_per_s2[E_AXIS + i]);
+        #else
-          #else
+          max_e_jerk = GET_MAX_E_JERK(max_acceleration_mm_per_s2[E_AXIS]);
-            max_e_jerk = GET_MAX_E_JERK(max_acceleration_mm_per_s2[E_AXIS]);
-          #endif
         #endif
       }
     #endif

Marlin/src/module/planner_bezier.cpp

@@ -190,15 +190,15 @@ void cubic_b_spline(const float position[NUM_AXIS], const float target[NUM_AXIS]
     bez_target[E_AXIS] = interp(position[E_AXIS], target[E_AXIS], t);
     clamp_to_software_endstops(bez_target);
 
-    #if HAS_UBL_AND_CURVES
+    #if HAS_LEVELING && !PLANNER_LEVELING
-      float pos[XYZ] = { bez_target[X_AXIS], bez_target[Y_AXIS], bez_target[Z_AXIS] };
+      float pos[XYZE] = { bez_target[X_AXIS], bez_target[Y_AXIS], bez_target[Z_AXIS], bez_target[E_AXIS] };
       planner.apply_leveling(pos);
-      if (!planner.buffer_segment(pos[X_AXIS], pos[Y_AXIS], pos[Z_AXIS], bez_target[E_AXIS], fr_mm_s, active_extruder))
-        break;
     #else
-      if (!planner.buffer_line_kinematic(bez_target, fr_mm_s, extruder))
+      const float (&pos)[XYZE] = bez_target;
-        break;
     #endif
+
+    if (!planner.buffer_line(pos, fr_mm_s, active_extruder, step))
+      break;
   }
 }
 

Marlin/src/module/probe.cpp

@@ -537,7 +537,7 @@ static bool do_probe_move(const float z, const float fr_mm_s) {
   set_current_from_steppers_for_axis(Z_AXIS);
 
   // Tell the planner where we actually are
-  SYNC_PLAN_POSITION_KINEMATIC();
+  sync_plan_position();
 
   #if ENABLED(DEBUG_LEVELING_FEATURE)
     if (DEBUGGING(LEVELING)) DEBUG_POS("<<< do_probe_move", current_position);

Marlin/src/module/scara.cpp

@@ -104,7 +104,7 @@ void forward_kinematics_SCARA(const float &a, const float &b) {
  * Maths and first version by QHARLEY.
  * Integrated into Marlin and slightly restructured by Joachim Cerny.
  */
-void inverse_kinematics(const float raw[XYZ]) {
+void inverse_kinematics(const float (&raw)[XYZ]) {
 
   static float C2, S2, SK1, SK2, THETA, PSI;
 

Marlin/src/module/scara.h

@@ -24,8 +24,7 @@
  * scara.h - SCARA-specific functions
  */
 
-#ifndef __SCARA_H__
+#pragma once
-#define __SCARA_H__
 
 #include "../core/macros.h"
 
@@ -38,9 +37,11 @@ float constexpr L1 = SCARA_LINKAGE_1, L2 = SCARA_LINKAGE_2,
 
 void scara_set_axis_is_at_home(const AxisEnum axis);
 
-void inverse_kinematics(const float raw[XYZ]);
+void inverse_kinematics(const float (&raw)[XYZ]);
+FORCE_INLINE void inverse_kinematics(const float (&raw)[XYZE]) {
+  const float raw_xyz[XYZ] = { raw[X_AXIS], raw[Y_AXIS], raw[Z_AXIS] };
+  inverse_kinematics(raw_xyz);
+}
 void forward_kinematics_SCARA(const float &a, const float &b);
 
 void scara_report_positions();
-
-#endif // __SCARA_H__

Marlin/src/module/tool_change.cpp

@@ -134,7 +134,7 @@
       #if ENABLED(DEBUG_LEVELING_FEATURE)
         if (DEBUGGING(LEVELING)) DEBUG_POS("(1) Raise Z-Axis", current_position);
       #endif
-      planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[Z_AXIS], active_extruder);
+      planner.buffer_line(current_position, planner.max_feedrate_mm_s[Z_AXIS], active_extruder);
       planner.synchronize();
 
       // STEP 2
@@ -145,7 +145,7 @@
           DEBUG_POS("Moving ParkPos", current_position);
         }
       #endif
-      planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[X_AXIS], active_extruder);
+      planner.buffer_line(current_position, planner.max_feedrate_mm_s[X_AXIS], active_extruder);
       planner.synchronize();
 
       // STEP 3
@@ -163,7 +163,7 @@
       #if ENABLED(DEBUG_LEVELING_FEATURE)
         if (DEBUGGING(LEVELING)) DEBUG_POS("Move away from parked extruder", current_position);
       #endif
-      planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[X_AXIS], active_extruder);
+      planner.buffer_line(current_position, planner.max_feedrate_mm_s[X_AXIS], active_extruder);
       planner.synchronize();
 
       // STEP 5
@@ -178,12 +178,12 @@
 
       // STEP 6
       current_position[X_AXIS] = grabpos + (tmp_extruder ? -10 : 10);
-      planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[X_AXIS], active_extruder);
+      planner.buffer_line(current_position, planner.max_feedrate_mm_s[X_AXIS], active_extruder);
       current_position[X_AXIS] = grabpos;
       #if ENABLED(DEBUG_LEVELING_FEATURE)
         if (DEBUGGING(LEVELING)) DEBUG_POS("(6) Unpark extruder", current_position);
       #endif
-      planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[X_AXIS]/2, active_extruder);
+      planner.buffer_line(current_position, planner.max_feedrate_mm_s[X_AXIS]/2, active_extruder);
       planner.synchronize();
 
       // Step 7
@@ -191,7 +191,7 @@
       #if ENABLED(DEBUG_LEVELING_FEATURE)
         if (DEBUGGING(LEVELING)) DEBUG_POS("(7) Move midway between hotends", current_position);
       #endif
-      planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[X_AXIS], active_extruder);
+      planner.buffer_line(current_position, planner.max_feedrate_mm_s[X_AXIS], active_extruder);
       planner.synchronize();
       #if ENABLED(DEBUG_LEVELING_FEATURE)
         SERIAL_ECHOLNPGM("Autopark done.");
@@ -241,7 +241,7 @@
     #if ENABLED(DEBUG_LEVELING_FEATURE)
       if (DEBUGGING(LEVELING)) DEBUG_POS("(1) Raise Z-Axis", current_position);
     #endif
-    planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[Z_AXIS], active_extruder);
+    planner.buffer_line(current_position, planner.max_feedrate_mm_s[Z_AXIS], active_extruder);
     planner.synchronize();
 
     // STEP 2
@@ -252,14 +252,14 @@
         DEBUG_POS("Move X SwitchPos", current_position);
       }
     #endif
-    planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[X_AXIS], active_extruder);
+    planner.buffer_line(current_position, planner.max_feedrate_mm_s[X_AXIS], active_extruder);
     planner.synchronize();
 
     current_position[Y_AXIS] = SWITCHING_TOOLHEAD_Y_POS - SWITCHING_TOOLHEAD_Y_SECURITY;
     #if ENABLED(DEBUG_LEVELING_FEATURE)
       if (DEBUGGING(LEVELING)) DEBUG_POS("Move Y SwitchPos + Security", current_position);
     #endif
-    planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[Y_AXIS], active_extruder);
+    planner.buffer_line(current_position, planner.max_feedrate_mm_s[Y_AXIS], active_extruder);
     planner.synchronize();
 
     // STEP 3
@@ -273,14 +273,14 @@
     #if ENABLED(DEBUG_LEVELING_FEATURE)
       if (DEBUGGING(LEVELING)) DEBUG_POS("Move Y SwitchPos", current_position);
     #endif
-    planner.buffer_line_kinematic(current_position,(planner.max_feedrate_mm_s[Y_AXIS] * 0.5), active_extruder);
+    planner.buffer_line(current_position,(planner.max_feedrate_mm_s[Y_AXIS] * 0.5), active_extruder);
     planner.synchronize();
     safe_delay(200);
     current_position[Y_AXIS] -= SWITCHING_TOOLHEAD_Y_CLEAR;
     #if ENABLED(DEBUG_LEVELING_FEATURE)
       if (DEBUGGING(LEVELING)) DEBUG_POS("Move back Y clear", current_position);
     #endif
-    planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[Y_AXIS], active_extruder); // move away from docked toolhead
+    planner.buffer_line(current_position, planner.max_feedrate_mm_s[Y_AXIS], active_extruder); // move away from docked toolhead
     planner.synchronize();
 
     // STEP 4
@@ -291,13 +291,13 @@
     #if ENABLED(DEBUG_LEVELING_FEATURE)
       if (DEBUGGING(LEVELING)) DEBUG_POS("Move to new toolhead X", current_position);
     #endif
-    planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[X_AXIS], active_extruder);
+    planner.buffer_line(current_position, planner.max_feedrate_mm_s[X_AXIS], active_extruder);
     planner.synchronize();
     current_position[Y_AXIS] = SWITCHING_TOOLHEAD_Y_POS - SWITCHING_TOOLHEAD_Y_SECURITY;
     #if ENABLED(DEBUG_LEVELING_FEATURE)
       if (DEBUGGING(LEVELING)) DEBUG_POS("Move Y SwitchPos + Security", current_position);
     #endif
-    planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[Y_AXIS], active_extruder);
+    planner.buffer_line(current_position, planner.max_feedrate_mm_s[Y_AXIS], active_extruder);
     planner.synchronize();
 
     // STEP 5
@@ -308,7 +308,7 @@
     #if ENABLED(DEBUG_LEVELING_FEATURE)
       if (DEBUGGING(LEVELING)) DEBUG_POS("Move Y SwitchPos", current_position);
     #endif
-    planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[Y_AXIS] * 0.5, active_extruder);
+    planner.buffer_line(current_position, planner.max_feedrate_mm_s[Y_AXIS] * 0.5, active_extruder);
     planner.synchronize();
 
     safe_delay(200);
@@ -319,7 +319,7 @@
     #if ENABLED(DEBUG_LEVELING_FEATURE)
       if (DEBUGGING(LEVELING)) DEBUG_POS("Move back Y clear", current_position);
     #endif
-    planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[Y_AXIS], active_extruder); // move away from docked toolhead
+    planner.buffer_line(current_position, planner.max_feedrate_mm_s[Y_AXIS], active_extruder); // move away from docked toolhead
     planner.synchronize();
 
     // STEP 6
@@ -524,7 +524,7 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
             #if ENABLED(SWITCHING_NOZZLE)
               // Always raise by at least 1 to avoid workpiece
               current_position[Z_AXIS] += MAX(-zdiff, 0.0) + 1;
-              planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[Z_AXIS], active_extruder);
+              planner.buffer_line(current_position, planner.max_feedrate_mm_s[Z_AXIS], active_extruder);
               move_nozzle_servo(tmp_extruder);
             #endif
           #endif
@@ -549,7 +549,7 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
         #endif // !DUAL_X_CARRIAGE
 
         // Tell the planner the new "current position"
-        SYNC_PLAN_POSITION_KINEMATIC();
+        sync_plan_position();
 
         #if ENABLED(DELTA)
           //LOOP_XYZ(i) update_software_endstops(i); // or modify the constrain function
@@ -563,7 +563,7 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
           #if DISABLED(SWITCHING_NOZZLE)
             // Do a small lift to avoid the workpiece in the move back (below)
             current_position[Z_AXIS] += 1.0;
-            planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[Z_AXIS], active_extruder);
+            planner.buffer_line(current_position, planner.max_feedrate_mm_s[Z_AXIS], active_extruder);
           #endif
           #if ENABLED(DEBUG_LEVELING_FEATURE)
             if (DEBUGGING(LEVELING)) DEBUG_POS("Move back", destination);