/**
 * Marlin 3D Printer Firmware
 * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
 *
 * Based on Sprinter and grbl.
 * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <http://www.gnu.org/licenses/>.
 *
 */

/**
 * M201: Set max acceleration in units/s^2 for print moves (M201 X1000 Y1000)
 *
 *       With multiple extruders use T to specify which one.
 */
void gcode_M201() {

  GET_TARGET_EXTRUDER();

  LOOP_XYZE(i) {
    if (parser.seen(axis_codes[i])) {
      const uint8_t a = i + (i == E_AXIS ? TARGET_EXTRUDER : 0);
      planner.max_acceleration_mm_per_s2[a] = parser.value_axis_units((AxisEnum)a);
    }
  }
  // steps per sq second need to be updated to agree with the units per sq second (as they are what is used in the planner)
  planner.reset_acceleration_rates();
}