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Add per-move PA field and capability bit for CAN motion compatibility for adaptive pressure advance #9

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Add per-move PA field and capability bit for CAN motion compatibility for adaptive pressure advance #9

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8426853
Add per-move pressure advance field to linear shaped CAN moves
Argolein Feb 9, 2026
dc1bcfc
Add announce capability bit for movement PA snapshot support
Argolein Feb 9, 2026
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7 changes: 5 additions & 2 deletions src/CanMessageFormats.h
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Original file line number Diff line number Diff line change
Expand Up @@ -141,8 +141,9 @@ struct __attribute__((packed)) CanMessageMovementLinearShaped

static constexpr uint8_t SeqMask = 0x0f;

float acceleration; // the base acceleration during the acceleration segment, when the total distance is normalised to 1.0
float acceleration; // the base acceleration during the acceleration segment, when the total distance is normalised to 1.0
float deceleration; // the base deceleration during the deceleration segment, when the total distance is normalised to 1.0
float pressureAdvanceClocks; // PA to apply to extruders in this move, in step clocks

union PerDriveValues
{
Expand All @@ -162,6 +163,7 @@ struct __attribute__((packed)) CanMessageMovementLinearShaped
extruderDrives = 0;
usePressureAdvance = 0;
useLateInputShaping = 0;
pressureAdvanceClocks = 0.0;
zero1 = zero2 = 0;
}

Expand Down Expand Up @@ -829,7 +831,8 @@ struct __attribute__((packed)) CanMessageAnnounceNew
uint8_t uniqueId[16]; // the unique ID of this board
uint8_t numDrivers: 4, // the number of motor drivers on this board
usesUf2Binary : 1, // set if this board takes a main firmware binary in .uf2 format
zero : 3; // for future expansion, set to zero
supportsMovementPaSnapshot : 1, // set if this board supports per-move PA snapshot in movement frames
zero : 2; // for future expansion, set to zero
char boardTypeAndFirmwareVersion[43]; // the type short name of this board followed by '|' and the firmware version

size_t GetActualDataLength() const noexcept
Expand Down