From 93ba5bddd76b9dc2b26659cf9cce5e456f540737 Mon Sep 17 00:00:00 2001 From: Scott Lahteine Date: Fri, 15 Jul 2016 18:49:34 -0700 Subject: [PATCH 1/4] Append units to feedrate variables --- Marlin/Marlin.h | 14 +- Marlin/Marlin_main.cpp | 199 +++++++++--------- Marlin/configuration_store.cpp | 48 ++--- Marlin/dogm_lcd_implementation.h | 2 +- Marlin/planner.cpp | 22 +- Marlin/planner.h | 12 +- Marlin/planner_bezier.cpp | 6 +- Marlin/planner_bezier.h | 2 +- Marlin/ultralcd.cpp | 58 ++--- .../ultralcd_implementation_hitachi_HD44780.h | 2 +- 10 files changed, 189 insertions(+), 176 deletions(-) diff --git a/Marlin/Marlin.h b/Marlin/Marlin.h index bc1f567fe4..f471e13f9f 100644 --- a/Marlin/Marlin.h +++ b/Marlin/Marlin.h @@ -296,8 +296,18 @@ inline void refresh_cmd_timeout() { previous_cmd_ms = millis(); } #define CRITICAL_SECTION_END SREG = _sreg; #endif +/** + * Feedrate scaling and conversion + */ +extern int feedrate_percentage; + +#define MMM_TO_MMS(MM_M) ((MM_M)/60.0) +#define MMS_TO_MMM(MM_S) ((MM_S)*60.0) +#define MMM_SCALED(MM_M) ((MM_M)*feedrate_percentage/100.0) +#define MMS_SCALED(MM_S) MMM_SCALED(MM_S) +#define MMM_TO_MMS_SCALED(MM_M) (MMS_SCALED(MMM_TO_MMS(MM_M))) + extern bool axis_relative_modes[]; -extern int feedrate_multiplier; extern bool volumetric_enabled; extern int extruder_multiplier[EXTRUDERS]; // sets extrude multiply factor (in percent) for each extruder individually extern float filament_size[EXTRUDERS]; // cross-sectional area of filament (in millimeters), typically around 1.75 or 2.85, 0 disables the volumetric calculations for the extruder. @@ -385,7 +395,7 @@ float code_value_temp_diff(); extern bool autoretract_enabled; extern bool retracted[EXTRUDERS]; // extruder[n].retracted extern float retract_length, retract_length_swap, retract_feedrate_mm_s, retract_zlift; - extern float retract_recover_length, retract_recover_length_swap, retract_recover_feedrate; + extern float retract_recover_length, retract_recover_length_swap, retract_recover_feedrate_mm_s; #endif // Print job timer diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp index e7355292f8..140dd5def6 100644 --- a/Marlin/Marlin_main.cpp +++ b/Marlin/Marlin_main.cpp @@ -280,7 +280,6 @@ bool Running = true; uint8_t marlin_debug_flags = DEBUG_NONE; -static float feedrate = 1500.0, saved_feedrate; float current_position[NUM_AXIS] = { 0.0 }; static float destination[NUM_AXIS] = { 0.0 }; bool axis_known_position[3] = { false }; @@ -302,11 +301,15 @@ static uint8_t cmd_queue_index_r = 0, TempUnit input_temp_units = TEMPUNIT_C; #endif -const float homing_feedrate[] = HOMING_FEEDRATE; +/** + * Feed rates are often configured with mm/m + * but the planner and stepper like mm/s units. + */ +const float homing_feedrate_mm_m[] = HOMING_FEEDRATE; +static float feedrate_mm_m = 1500.0, saved_feedrate_mm_m; +int feedrate_percentage = 100, saved_feedrate_percentage; bool axis_relative_modes[] = AXIS_RELATIVE_MODES; -int feedrate_multiplier = 100; //100->1 200->2 -int saved_feedrate_multiplier; int extruder_multiplier[EXTRUDERS] = ARRAY_BY_EXTRUDERS1(100); bool volumetric_enabled = false; float filament_size[EXTRUDERS] = ARRAY_BY_EXTRUDERS1(DEFAULT_NOMINAL_FILAMENT_DIA); @@ -382,16 +385,16 @@ static uint8_t target_extruder; float zprobe_zoffset = Z_PROBE_OFFSET_FROM_EXTRUDER; #endif -#define PLANNER_XY_FEEDRATE() (min(planner.max_feedrate[X_AXIS], planner.max_feedrate[Y_AXIS])) +#define PLANNER_XY_FEEDRATE() (min(planner.max_feedrate_mm_s[X_AXIS], planner.max_feedrate_mm_s[Y_AXIS])) #if ENABLED(AUTO_BED_LEVELING_FEATURE) - int xy_probe_speed = XY_PROBE_SPEED; + int xy_probe_feedrate_mm_m = XY_PROBE_SPEED; bool bed_leveling_in_progress = false; - #define XY_PROBE_FEEDRATE xy_probe_speed + #define XY_PROBE_FEEDRATE_MM_M xy_probe_feedrate_mm_m #elif defined(XY_PROBE_SPEED) - #define XY_PROBE_FEEDRATE XY_PROBE_SPEED + #define XY_PROBE_FEEDRATE_MM_M XY_PROBE_SPEED #else - #define XY_PROBE_FEEDRATE (PLANNER_XY_FEEDRATE() * 60) + #define XY_PROBE_FEEDRATE_MM_M MMS_TO_MMM(PLANNER_XY_FEEDRATE()) #endif #if ENABLED(Z_DUAL_ENDSTOPS) && DISABLED(DELTA) @@ -430,7 +433,7 @@ static uint8_t target_extruder; float retract_zlift = RETRACT_ZLIFT; float retract_recover_length = RETRACT_RECOVER_LENGTH; float retract_recover_length_swap = RETRACT_RECOVER_LENGTH_SWAP; - float retract_recover_feedrate = RETRACT_RECOVER_FEEDRATE; + float retract_recover_feedrate_mm_s = RETRACT_RECOVER_FEEDRATE; #endif // FWRETRACT @@ -1598,7 +1601,7 @@ inline void set_homing_bump_feedrate(AxisEnum axis) { SERIAL_ECHO_START; SERIAL_ECHOLNPGM("Warning: Homing Bump Divisor < 1"); } - feedrate = homing_feedrate[axis] / hbd; + feedrate_mm_m = homing_feedrate_mm_m[axis] / hbd; } // // line_to_current_position @@ -1606,19 +1609,19 @@ inline void set_homing_bump_feedrate(AxisEnum axis) { // (or from wherever it has been told it is located). // inline void line_to_current_position() { - planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate / 60, active_extruder); + planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], MMM_TO_MMS(feedrate_mm_m), active_extruder); } inline void line_to_z(float zPosition) { - planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], feedrate / 60, active_extruder); + planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], MMM_TO_MMS(feedrate_mm_m), active_extruder); } // // line_to_destination // Move the planner, not necessarily synced with current_position // -inline void line_to_destination(float mm_m) { - planner.buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], mm_m / 60, active_extruder); +inline void line_to_destination(float fr_mm_m) { + planner.buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], MMM_TO_MMS(fr_mm_m), active_extruder); } -inline void line_to_destination() { line_to_destination(feedrate); } +inline void line_to_destination() { line_to_destination(feedrate_mm_m); } /** * sync_plan_position @@ -1646,7 +1649,7 @@ inline void set_destination_to_current() { memcpy(destination, current_position, #endif refresh_cmd_timeout(); calculate_delta(destination); - planner.buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], destination[E_AXIS], (feedrate / 60) * (feedrate_multiplier / 100.0), active_extruder); + planner.buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], destination[E_AXIS], MMM_TO_MMS_SCALED(feedrate_mm_m), active_extruder); set_current_to_destination(); } #endif @@ -1655,8 +1658,8 @@ inline void set_destination_to_current() { memcpy(destination, current_position, * Plan a move to (X, Y, Z) and set the current_position * The final current_position may not be the one that was requested */ -static void do_blocking_move_to(float x, float y, float z, float feed_rate = 0.0) { - float old_feedrate = feedrate; +static void do_blocking_move_to(float x, float y, float z, float fr_mm_m = 0.0) { + float old_feedrate_mm_m = feedrate_mm_m; #if ENABLED(DEBUG_LEVELING_FEATURE) if (DEBUGGING(LEVELING)) print_xyz(PSTR("do_blocking_move_to"), NULL, x, y, z); @@ -1664,7 +1667,7 @@ static void do_blocking_move_to(float x, float y, float z, float feed_rate = 0.0 #if ENABLED(DELTA) - feedrate = (feed_rate != 0.0) ? feed_rate : XY_PROBE_FEEDRATE; + feedrate_mm_m = (fr_mm_m != 0.0) ? fr_mm_m : XY_PROBE_FEEDRATE_MM_M; destination[X_AXIS] = x; destination[Y_AXIS] = y; @@ -1679,19 +1682,19 @@ static void do_blocking_move_to(float x, float y, float z, float feed_rate = 0.0 // If Z needs to raise, do it before moving XY if (current_position[Z_AXIS] < z) { - feedrate = (feed_rate != 0.0) ? feed_rate : homing_feedrate[Z_AXIS]; + feedrate_mm_m = (fr_mm_m != 0.0) ? fr_mm_m : homing_feedrate_mm_m[Z_AXIS]; current_position[Z_AXIS] = z; line_to_current_position(); } - feedrate = (feed_rate != 0.0) ? feed_rate : XY_PROBE_FEEDRATE; + feedrate_mm_m = (fr_mm_m != 0.0) ? fr_mm_m : XY_PROBE_FEEDRATE_MM_M; current_position[X_AXIS] = x; current_position[Y_AXIS] = y; line_to_current_position(); // If Z needs to lower, do it after moving XY if (current_position[Z_AXIS] > z) { - feedrate = (feed_rate != 0.0) ? feed_rate : homing_feedrate[Z_AXIS]; + feedrate_mm_m = (fr_mm_m != 0.0) ? fr_mm_m : homing_feedrate_mm_m[Z_AXIS]; current_position[Z_AXIS] = z; line_to_current_position(); } @@ -1700,23 +1703,23 @@ static void do_blocking_move_to(float x, float y, float z, float feed_rate = 0.0 stepper.synchronize(); - feedrate = old_feedrate; + feedrate_mm_m = old_feedrate_mm_m; } -inline void do_blocking_move_to_x(float x, float feed_rate = 0.0) { - do_blocking_move_to(x, current_position[Y_AXIS], current_position[Z_AXIS], feed_rate); +inline void do_blocking_move_to_x(float x, float fr_mm_m = 0.0) { + do_blocking_move_to(x, current_position[Y_AXIS], current_position[Z_AXIS], fr_mm_m); } inline void do_blocking_move_to_y(float y) { do_blocking_move_to(current_position[X_AXIS], y, current_position[Z_AXIS]); } -inline void do_blocking_move_to_xy(float x, float y, float feed_rate = 0.0) { - do_blocking_move_to(x, y, current_position[Z_AXIS], feed_rate); +inline void do_blocking_move_to_xy(float x, float y, float fr_mm_m = 0.0) { + do_blocking_move_to(x, y, current_position[Z_AXIS], fr_mm_m); } -inline void do_blocking_move_to_z(float z, float feed_rate = 0.0) { - do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], z, feed_rate); +inline void do_blocking_move_to_z(float z, float fr_mm_m = 0.0) { + do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], z, fr_mm_m); } // @@ -1732,9 +1735,9 @@ static void setup_for_endstop_or_probe_move() { #if ENABLED(DEBUG_LEVELING_FEATURE) if (DEBUGGING(LEVELING)) DEBUG_POS("setup_for_endstop_or_probe_move", current_position); #endif - saved_feedrate = feedrate; - saved_feedrate_multiplier = feedrate_multiplier; - feedrate_multiplier = 100; + saved_feedrate_mm_m = feedrate_mm_m; + saved_feedrate_percentage = feedrate_percentage; + feedrate_percentage = 100; refresh_cmd_timeout(); } @@ -1742,8 +1745,8 @@ static void clean_up_after_endstop_or_probe_move() { #if ENABLED(DEBUG_LEVELING_FEATURE) if (DEBUGGING(LEVELING)) DEBUG_POS("clean_up_after_endstop_or_probe_move", current_position); #endif - feedrate = saved_feedrate; - feedrate_multiplier = saved_feedrate_multiplier; + feedrate_mm_m = saved_feedrate_mm_m; + feedrate_percentage = saved_feedrate_percentage; refresh_cmd_timeout(); } @@ -2061,7 +2064,7 @@ static void clean_up_after_endstop_or_probe_move() { // at the height where the probe triggered. static float run_z_probe() { - float old_feedrate = feedrate; + float old_feedrate_mm_m = feedrate_mm_m; // Prevent stepper_inactive_time from running out and EXTRUDER_RUNOUT_PREVENT from extruding refresh_cmd_timeout(); @@ -2076,7 +2079,7 @@ static void clean_up_after_endstop_or_probe_move() { #endif // move down slowly until you find the bed - feedrate = homing_feedrate[Z_AXIS] / 4; + feedrate_mm_m = homing_feedrate_mm_m[Z_AXIS] / 4; destination[Z_AXIS] = -10; prepare_move_to_destination_raw(); // this will also set_current_to_destination stepper.synchronize(); @@ -2100,7 +2103,7 @@ static void clean_up_after_endstop_or_probe_move() { planner.bed_level_matrix.set_to_identity(); #endif - feedrate = homing_feedrate[Z_AXIS]; + feedrate_mm_m = homing_feedrate_mm_m[Z_AXIS]; // Move down until the Z probe (or endstop?) is triggered float zPosition = -(Z_MAX_LENGTH + 10); @@ -2139,7 +2142,7 @@ static void clean_up_after_endstop_or_probe_move() { SYNC_PLAN_POSITION_KINEMATIC(); - feedrate = old_feedrate; + feedrate_mm_m = old_feedrate_mm_m; return current_position[Z_AXIS]; } @@ -2164,7 +2167,7 @@ static void clean_up_after_endstop_or_probe_move() { } #endif - float old_feedrate = feedrate; + float old_feedrate_mm_m = feedrate_mm_m; // Ensure a minimum height before moving the probe do_probe_raise(Z_RAISE_BETWEEN_PROBINGS); @@ -2177,7 +2180,7 @@ static void clean_up_after_endstop_or_probe_move() { SERIAL_ECHOLNPGM(")"); } #endif - feedrate = XY_PROBE_FEEDRATE; + feedrate_mm_m = XY_PROBE_FEEDRATE_MM_M; do_blocking_move_to_xy(x - (X_PROBE_OFFSET_FROM_EXTRUDER), y - (Y_PROBE_OFFSET_FROM_EXTRUDER)); #if ENABLED(DEBUG_LEVELING_FEATURE) @@ -2214,7 +2217,7 @@ static void clean_up_after_endstop_or_probe_move() { if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< probe_pt"); #endif - feedrate = old_feedrate; + feedrate_mm_m = old_feedrate_mm_m; return measured_z; } @@ -2415,7 +2418,7 @@ static void homeaxis(AxisEnum axis) { // Move towards the endstop until an endstop is triggered destination[axis] = 1.5 * max_length(axis) * axis_home_dir; - feedrate = homing_feedrate[axis]; + feedrate_mm_m = homing_feedrate_mm_m[axis]; line_to_destination(); stepper.synchronize(); @@ -2455,7 +2458,7 @@ static void homeaxis(AxisEnum axis) { sync_plan_position(); // Move to the adjusted endstop height - feedrate = homing_feedrate[axis]; + feedrate_mm_m = homing_feedrate_mm_m[axis]; destination[Z_AXIS] = adj; line_to_destination(); stepper.synchronize(); @@ -2519,13 +2522,13 @@ static void homeaxis(AxisEnum axis) { if (retracting == retracted[active_extruder]) return; - float old_feedrate = feedrate; + float old_feedrate_mm_m = feedrate_mm_m; set_destination_to_current(); if (retracting) { - feedrate = retract_feedrate_mm_s * 60; + feedrate_mm_m = MMS_TO_MMM(retract_feedrate_mm_s); current_position[E_AXIS] += (swapping ? retract_length_swap : retract_length) / volumetric_multiplier[active_extruder]; sync_plan_position_e(); prepare_move_to_destination(); @@ -2543,14 +2546,14 @@ static void homeaxis(AxisEnum axis) { SYNC_PLAN_POSITION_KINEMATIC(); } - feedrate = retract_recover_feedrate * 60; + feedrate_mm_m = MMM_TO_MMS(retract_recover_feedrate_mm_s); float move_e = swapping ? retract_length_swap + retract_recover_length_swap : retract_length + retract_recover_length; current_position[E_AXIS] -= move_e / volumetric_multiplier[active_extruder]; sync_plan_position_e(); prepare_move_to_destination(); } - feedrate = old_feedrate; + feedrate_mm_m = old_feedrate_mm_m; retracted[active_extruder] = retracting; } // retract() @@ -2612,10 +2615,10 @@ void gcode_get_destination() { } if (code_seen('F') && code_value_linear_units() > 0.0) - feedrate = code_value_linear_units(); + feedrate_mm_m = code_value_linear_units(); #if ENABLED(PRINTCOUNTER) - if(!DEBUGGING(DRYRUN)) + if (!DEBUGGING(DRYRUN)) print_job_timer.incFilamentUsed(destination[E_AXIS] - current_position[E_AXIS]); #endif @@ -2845,7 +2848,7 @@ inline void gcode_G4() { destination[X_AXIS] = 1.5 * mlx * x_axis_home_dir; destination[Y_AXIS] = 1.5 * mly * home_dir(Y_AXIS); - feedrate = min(homing_feedrate[X_AXIS], homing_feedrate[Y_AXIS]) * sqrt(mlratio * mlratio + 1); + feedrate_mm_m = min(homing_feedrate_mm_m[X_AXIS], homing_feedrate_mm_m[Y_AXIS]) * sqrt(sq(mlratio) + 1); line_to_destination(); stepper.synchronize(); endstops.hit_on_purpose(); // clear endstop hit flags @@ -2942,7 +2945,7 @@ inline void gcode_G28() { // Move all carriages up together until the first endstop is hit. for (int i = X_AXIS; i <= Z_AXIS; i++) destination[i] = 3 * (Z_MAX_LENGTH); - feedrate = 1.732 * homing_feedrate[X_AXIS]; + feedrate_mm_m = 1.732 * homing_feedrate_mm_m[X_AXIS]; line_to_destination(); stepper.synchronize(); endstops.hit_on_purpose(); // clear endstop hit flags @@ -3163,7 +3166,7 @@ inline void gcode_G28() { #if ENABLED(MESH_G28_REST_ORIGIN) current_position[Z_AXIS] = 0.0; set_destination_to_current(); - feedrate = homing_feedrate[Z_AXIS]; + feedrate_mm_m = homing_feedrate_mm_m[Z_AXIS]; line_to_destination(); stepper.synchronize(); #if ENABLED(DEBUG_LEVELING_FEATURE) @@ -3223,8 +3226,8 @@ inline void gcode_G28() { enum MeshLevelingState { MeshReport, MeshStart, MeshNext, MeshSet, MeshSetZOffset, MeshReset }; inline void _mbl_goto_xy(float x, float y) { - float old_feedrate = feedrate; - feedrate = homing_feedrate[X_AXIS]; + float old_feedrate_mm_m = feedrate_mm_m; + feedrate_mm_m = homing_feedrate_mm_m[X_AXIS]; current_position[Z_AXIS] = MESH_HOME_SEARCH_Z #if Z_RAISE_BETWEEN_PROBINGS > MIN_Z_HEIGHT_FOR_HOMING @@ -3244,7 +3247,7 @@ inline void gcode_G28() { line_to_current_position(); #endif - feedrate = old_feedrate; + feedrate_mm_m = old_feedrate_mm_m; stepper.synchronize(); } @@ -3491,7 +3494,7 @@ inline void gcode_G28() { } #endif - xy_probe_speed = code_seen('S') ? (int)code_value_linear_units() : XY_PROBE_SPEED; + xy_probe_feedrate_mm_m = code_seen('S') ? (int)code_value_linear_units() : XY_PROBE_SPEED; int left_probe_bed_position = code_seen('L') ? (int)code_value_axis_units(X_AXIS) : LEFT_PROBE_BED_POSITION, right_probe_bed_position = code_seen('R') ? (int)code_value_axis_units(X_AXIS) : RIGHT_PROBE_BED_POSITION, @@ -5162,7 +5165,7 @@ inline void gcode_M92() { if (value < 20.0) { float factor = planner.axis_steps_per_mm[i] / value; // increase e constants if M92 E14 is given for netfab. planner.max_e_jerk *= factor; - planner.max_feedrate[i] *= factor; + planner.max_feedrate_mm_s[i] *= factor; planner.max_acceleration_steps_per_s2[i] *= factor; } planner.axis_steps_per_mm[i] = value; @@ -5371,7 +5374,7 @@ inline void gcode_M201() { inline void gcode_M203() { for (int8_t i = 0; i < NUM_AXIS; i++) if (code_seen(axis_codes[i])) - planner.max_feedrate[i] = code_value_axis_units(i); + planner.max_feedrate_mm_s[i] = code_value_axis_units(i); } /** @@ -5417,8 +5420,8 @@ inline void gcode_M204() { * E = Max E Jerk (units/sec^2) */ inline void gcode_M205() { - if (code_seen('S')) planner.min_feedrate = code_value_linear_units(); - if (code_seen('T')) planner.min_travel_feedrate = code_value_linear_units(); + if (code_seen('S')) planner.min_feedrate_mm_s = code_value_linear_units(); + if (code_seen('T')) planner.min_travel_feedrate_mm_s = code_value_linear_units(); if (code_seen('B')) planner.min_segment_time = code_value_millis(); if (code_seen('X')) planner.max_xy_jerk = code_value_linear_units(); if (code_seen('Z')) planner.max_z_jerk = code_value_axis_units(Z_AXIS); @@ -5516,7 +5519,7 @@ inline void gcode_M206() { */ inline void gcode_M207() { if (code_seen('S')) retract_length = code_value_axis_units(E_AXIS); - if (code_seen('F')) retract_feedrate_mm_s = code_value_axis_units(E_AXIS) / 60; + if (code_seen('F')) retract_feedrate_mm_s = MMM_TO_MMS(code_value_axis_units(E_AXIS)); if (code_seen('Z')) retract_zlift = code_value_axis_units(Z_AXIS); #if EXTRUDERS > 1 if (code_seen('W')) retract_length_swap = code_value_axis_units(E_AXIS); @@ -5528,11 +5531,11 @@ inline void gcode_M206() { * * S[+units] retract_recover_length (in addition to M207 S*) * W[+units] retract_recover_length_swap (multi-extruder) - * F[units/min] retract_recover_feedrate + * F[units/min] retract_recover_feedrate_mm_s */ inline void gcode_M208() { if (code_seen('S')) retract_recover_length = code_value_axis_units(E_AXIS); - if (code_seen('F')) retract_recover_feedrate = code_value_axis_units(E_AXIS) / 60; + if (code_seen('F')) retract_recover_feedrate_mm_s = MMM_TO_MMS(code_value_axis_units(E_AXIS)); #if EXTRUDERS > 1 if (code_seen('W')) retract_recover_length_swap = code_value_axis_units(E_AXIS); #endif @@ -5603,7 +5606,7 @@ inline void gcode_M206() { * M220: Set speed percentage factor, aka "Feed Rate" (M220 S95) */ inline void gcode_M220() { - if (code_seen('S')) feedrate_multiplier = code_value_int(); + if (code_seen('S')) feedrate_percentage = code_value_int(); } /** @@ -6307,10 +6310,10 @@ inline void gcode_M503() { // Define runplan for move axes #if ENABLED(DELTA) - #define RUNPLAN(RATE) calculate_delta(destination); \ - planner.buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], destination[E_AXIS], RATE, active_extruder); + #define RUNPLAN(RATE_MM_S) calculate_delta(destination); \ + planner.buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], destination[E_AXIS], RATE_MM_S, active_extruder); #else - #define RUNPLAN(RATE) line_to_destination(RATE * 60); + #define RUNPLAN(RATE_MM_S) line_to_destination(MMS_TO_MMM(RATE_MM_S)); #endif KEEPALIVE_STATE(IN_HANDLER); @@ -6725,14 +6728,14 @@ inline void gcode_T(uint8_t tmp_extruder) { return; } - float old_feedrate = feedrate; + float old_feedrate_mm_m = feedrate_mm_m; if (code_seen('F')) { - float next_feedrate = code_value_axis_units(X_AXIS); - if (next_feedrate > 0.0) old_feedrate = feedrate = next_feedrate; + float next_feedrate_mm_m = code_value_axis_units(X_AXIS); + if (next_feedrate_mm_m > 0.0) old_feedrate_mm_m = feedrate_mm_m = next_feedrate_mm_m; } else - feedrate = XY_PROBE_FEEDRATE; + feedrate_mm_m = XY_PROBE_FEEDRATE_MM_M; if (tmp_extruder != active_extruder) { bool no_move = code_seen('S') && code_value_bool(); @@ -6775,7 +6778,7 @@ inline void gcode_T(uint8_t tmp_extruder) { current_position[Y_AXIS], current_position[Z_AXIS] + (i == 2 ? 0 : TOOLCHANGE_PARK_ZLIFT), current_position[E_AXIS], - planner.max_feedrate[i == 1 ? X_AXIS : Z_AXIS], + planner.max_feedrate_mm_s[i == 1 ? X_AXIS : Z_AXIS], active_extruder ); stepper.synchronize(); @@ -6838,7 +6841,7 @@ inline void gcode_T(uint8_t tmp_extruder) { current_position[Y_AXIS], current_position[Z_AXIS] + z_raise, current_position[E_AXIS], - planner.max_feedrate[Z_AXIS], + planner.max_feedrate_mm_s[Z_AXIS], active_extruder ); stepper.synchronize(); @@ -6853,7 +6856,7 @@ inline void gcode_T(uint8_t tmp_extruder) { current_position[Y_AXIS], current_position[Z_AXIS] + z_diff, current_position[E_AXIS], - planner.max_feedrate[Z_AXIS], + planner.max_feedrate_mm_s[Z_AXIS], active_extruder ); stepper.synchronize(); @@ -6984,7 +6987,7 @@ inline void gcode_T(uint8_t tmp_extruder) { enable_solenoid_on_active_extruder(); #endif // EXT_SOLENOID - feedrate = old_feedrate; + feedrate_mm_m = old_feedrate_mm_m; #else // HOTENDS <= 1 @@ -7837,9 +7840,9 @@ void clamp_to_software_endstops(float target[3]) { #if ENABLED(MESH_BED_LEVELING) // This function is used to split lines on mesh borders so each segment is only part of one mesh area -void mesh_buffer_line(float x, float y, float z, const float e, float feed_rate, const uint8_t& extruder, uint8_t x_splits = 0xff, uint8_t y_splits = 0xff) { +void mesh_buffer_line(float x, float y, float z, const float e, float fr_mm_s, const uint8_t& extruder, uint8_t x_splits = 0xff, uint8_t y_splits = 0xff) { if (!mbl.active()) { - planner.buffer_line(x, y, z, e, feed_rate, extruder); + planner.buffer_line(x, y, z, e, fr_mm_s, extruder); set_current_to_destination(); return; } @@ -7853,7 +7856,7 @@ void mesh_buffer_line(float x, float y, float z, const float e, float feed_rate, NOMORE(cy, MESH_NUM_Y_POINTS - 2); if (pcx == cx && pcy == cy) { // Start and end on same mesh square - planner.buffer_line(x, y, z, e, feed_rate, extruder); + planner.buffer_line(x, y, z, e, fr_mm_s, extruder); set_current_to_destination(); return; } @@ -7892,7 +7895,7 @@ void mesh_buffer_line(float x, float y, float z, const float e, float feed_rate, } else { // Already split on a border - planner.buffer_line(x, y, z, e, feed_rate, extruder); + planner.buffer_line(x, y, z, e, fr_mm_s, extruder); set_current_to_destination(); return; } @@ -7901,12 +7904,12 @@ void mesh_buffer_line(float x, float y, float z, const float e, float feed_rate, destination[Y_AXIS] = ny; destination[Z_AXIS] = nz; destination[E_AXIS] = ne; - mesh_buffer_line(nx, ny, nz, ne, feed_rate, extruder, x_splits, y_splits); + mesh_buffer_line(nx, ny, nz, ne, fr_mm_s, extruder, x_splits, y_splits); destination[X_AXIS] = x; destination[Y_AXIS] = y; destination[Z_AXIS] = z; destination[E_AXIS] = e; - mesh_buffer_line(x, y, z, e, feed_rate, extruder, x_splits, y_splits); + mesh_buffer_line(x, y, z, e, fr_mm_s, extruder, x_splits, y_splits); } #endif // MESH_BED_LEVELING @@ -7919,8 +7922,8 @@ void mesh_buffer_line(float x, float y, float z, const float e, float feed_rate, float cartesian_mm = sqrt(sq(difference[X_AXIS]) + sq(difference[Y_AXIS]) + sq(difference[Z_AXIS])); if (cartesian_mm < 0.000001) cartesian_mm = abs(difference[E_AXIS]); if (cartesian_mm < 0.000001) return false; - float _feedrate = feedrate * feedrate_multiplier / 6000.0; - float seconds = cartesian_mm / _feedrate; + float _feedrate_mm_s = MMM_TO_MMS_SCALED(feedrate_mm_m); + float seconds = cartesian_mm / _feedrate_mm_s; int steps = max(1, int(delta_segments_per_second * seconds)); float inv_steps = 1.0/steps; @@ -7944,7 +7947,7 @@ void mesh_buffer_line(float x, float y, float z, const float e, float feed_rate, //DEBUG_POS("prepare_delta_move_to", target); //DEBUG_POS("prepare_delta_move_to", delta); - planner.buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], target[E_AXIS], _feedrate, active_extruder); + planner.buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], target[E_AXIS], _feedrate_mm_s, active_extruder); } return true; } @@ -7963,7 +7966,7 @@ void mesh_buffer_line(float x, float y, float z, const float e, float feed_rate, // move duplicate extruder into correct duplication position. planner.set_position_mm(inactive_extruder_x_pos, current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); planner.buffer_line(current_position[X_AXIS] + duplicate_extruder_x_offset, - current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], planner.max_feedrate[X_AXIS], 1); + current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], planner.max_feedrate_mm_s[X_AXIS], 1); SYNC_PLAN_POSITION_KINEMATIC(); stepper.synchronize(); extruder_duplication_enabled = true; @@ -7983,9 +7986,9 @@ void mesh_buffer_line(float x, float y, float z, const float e, float feed_rate, } delayed_move_time = 0; // unpark extruder: 1) raise, 2) move into starting XY position, 3) lower - planner.buffer_line(raised_parked_position[X_AXIS], raised_parked_position[Y_AXIS], raised_parked_position[Z_AXIS], current_position[E_AXIS], planner.max_feedrate[Z_AXIS], active_extruder); + planner.buffer_line(raised_parked_position[X_AXIS], raised_parked_position[Y_AXIS], raised_parked_position[Z_AXIS], current_position[E_AXIS], planner.max_feedrate_mm_s[Z_AXIS], active_extruder); planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], raised_parked_position[Z_AXIS], current_position[E_AXIS], PLANNER_XY_FEEDRATE(), active_extruder); - planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], planner.max_feedrate[Z_AXIS], active_extruder); + planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], planner.max_feedrate_mm_s[Z_AXIS], active_extruder); active_extruder_parked = false; } } @@ -7997,16 +8000,16 @@ void mesh_buffer_line(float x, float y, float z, const float e, float feed_rate, #if DISABLED(DELTA) && DISABLED(SCARA) inline bool prepare_move_to_destination_cartesian() { - // Do not use feedrate_multiplier for E or Z only moves + // Do not use feedrate_percentage for E or Z only moves if (current_position[X_AXIS] == destination[X_AXIS] && current_position[Y_AXIS] == destination[Y_AXIS]) { line_to_destination(); } else { #if ENABLED(MESH_BED_LEVELING) - mesh_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], (feedrate / 60) * (feedrate_multiplier / 100.0), active_extruder); + mesh_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], MMM_TO_MMS_SCALED(feedrate_mm_m), active_extruder); return false; #else - line_to_destination(feedrate * feedrate_multiplier / 100.0); + line_to_destination(MMM_SCALED(feedrate_mm_m)); #endif } return true; @@ -8150,7 +8153,7 @@ void prepare_move_to_destination() { // Initialize the extruder axis arc_target[E_AXIS] = current_position[E_AXIS]; - float feed_rate = feedrate * feedrate_multiplier / 60 / 100.0; + float fr_mm_s = MMM_TO_MMS_SCALED(feedrate_mm_m); millis_t next_idle_ms = millis() + 200UL; @@ -8194,9 +8197,9 @@ void prepare_move_to_destination() { #if ENABLED(AUTO_BED_LEVELING_FEATURE) adjust_delta(arc_target); #endif - planner.buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], arc_target[E_AXIS], feed_rate, active_extruder); + planner.buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], arc_target[E_AXIS], fr_mm_s, active_extruder); #else - planner.buffer_line(arc_target[X_AXIS], arc_target[Y_AXIS], arc_target[Z_AXIS], arc_target[E_AXIS], feed_rate, active_extruder); + planner.buffer_line(arc_target[X_AXIS], arc_target[Y_AXIS], arc_target[Z_AXIS], arc_target[E_AXIS], fr_mm_s, active_extruder); #endif } @@ -8206,9 +8209,9 @@ void prepare_move_to_destination() { #if ENABLED(AUTO_BED_LEVELING_FEATURE) adjust_delta(target); #endif - planner.buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], target[E_AXIS], feed_rate, active_extruder); + planner.buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], target[E_AXIS], fr_mm_s, active_extruder); #else - planner.buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], feed_rate, active_extruder); + planner.buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], fr_mm_s, active_extruder); #endif // As far as the parser is concerned, the position is now == target. In reality the @@ -8221,7 +8224,7 @@ void prepare_move_to_destination() { #if ENABLED(BEZIER_CURVE_SUPPORT) void plan_cubic_move(const float offset[4]) { - cubic_b_spline(current_position, destination, offset, feedrate * feedrate_multiplier / 60 / 100.0, active_extruder); + cubic_b_spline(current_position, destination, offset, MMM_TO_MMS_SCALED(feedrate_mm_m), active_extruder); // As far as the parser is concerned, the position is now == target. In reality the // motion control system might still be processing the action and the real tool position @@ -8547,7 +8550,7 @@ void manage_inactivity(bool ignore_stepper_queue/*=false*/) { float oldepos = current_position[E_AXIS], oldedes = destination[E_AXIS]; planner.buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS] + (EXTRUDER_RUNOUT_EXTRUDE) * (EXTRUDER_RUNOUT_ESTEPS) / planner.axis_steps_per_mm[E_AXIS], - (EXTRUDER_RUNOUT_SPEED) / 60. * (EXTRUDER_RUNOUT_ESTEPS) / planner.axis_steps_per_mm[E_AXIS], active_extruder); + MMM_TO_MMS(EXTRUDER_RUNOUT_SPEED) * (EXTRUDER_RUNOUT_ESTEPS) / planner.axis_steps_per_mm[E_AXIS], active_extruder); current_position[E_AXIS] = oldepos; destination[E_AXIS] = oldedes; planner.set_e_position_mm(oldepos); diff --git a/Marlin/configuration_store.cpp b/Marlin/configuration_store.cpp index 4cf9f5d367..937e105b36 100644 --- a/Marlin/configuration_store.cpp +++ b/Marlin/configuration_store.cpp @@ -49,13 +49,13 @@ * 104 EEPROM Checksum (uint16_t) * * 106 M92 XYZE planner.axis_steps_per_mm (float x4) - * 122 M203 XYZE planner.max_feedrate (float x4) + * 122 M203 XYZE planner.max_feedrate_mm_s (float x4) * 138 M201 XYZE planner.max_acceleration_mm_per_s2 (uint32_t x4) * 154 M204 P planner.acceleration (float) * 158 M204 R planner.retract_acceleration (float) * 162 M204 T planner.travel_acceleration (float) - * 166 M205 S planner.min_feedrate (float) - * 170 M205 T planner.min_travel_feedrate (float) + * 166 M205 S planner.min_feedrate_mm_s (float) + * 170 M205 T planner.min_travel_feedrate_mm_s (float) * 174 M205 B planner.min_segment_time (ulong) * 178 M205 X planner.max_xy_jerk (float) * 182 M205 Z planner.max_z_jerk (float) @@ -116,7 +116,7 @@ * 406 M207 Z retract_zlift (float) * 410 M208 S retract_recover_length (float) * 414 M208 W retract_recover_length_swap (float) - * 418 M208 F retract_recover_feedrate (float) + * 418 M208 F retract_recover_feedrate_mm_s (float) * * Volumetric Extrusion: * 422 M200 D volumetric_enabled (bool) @@ -201,13 +201,13 @@ void Config_StoreSettings() { eeprom_checksum = 0; // clear before first "real data" EEPROM_WRITE_VAR(i, planner.axis_steps_per_mm); - EEPROM_WRITE_VAR(i, planner.max_feedrate); + EEPROM_WRITE_VAR(i, planner.max_feedrate_mm_s); EEPROM_WRITE_VAR(i, planner.max_acceleration_mm_per_s2); EEPROM_WRITE_VAR(i, planner.acceleration); EEPROM_WRITE_VAR(i, planner.retract_acceleration); EEPROM_WRITE_VAR(i, planner.travel_acceleration); - EEPROM_WRITE_VAR(i, planner.min_feedrate); - EEPROM_WRITE_VAR(i, planner.min_travel_feedrate); + EEPROM_WRITE_VAR(i, planner.min_feedrate_mm_s); + EEPROM_WRITE_VAR(i, planner.min_travel_feedrate_mm_s); EEPROM_WRITE_VAR(i, planner.min_segment_time); EEPROM_WRITE_VAR(i, planner.max_xy_jerk); EEPROM_WRITE_VAR(i, planner.max_z_jerk); @@ -342,7 +342,7 @@ void Config_StoreSettings() { dummy = 0.0f; EEPROM_WRITE_VAR(i, dummy); #endif - EEPROM_WRITE_VAR(i, retract_recover_feedrate); + EEPROM_WRITE_VAR(i, retract_recover_feedrate_mm_s); #endif // FWRETRACT EEPROM_WRITE_VAR(i, volumetric_enabled); @@ -388,14 +388,14 @@ void Config_RetrieveSettings() { // version number match EEPROM_READ_VAR(i, planner.axis_steps_per_mm); - EEPROM_READ_VAR(i, planner.max_feedrate); + EEPROM_READ_VAR(i, planner.max_feedrate_mm_s); EEPROM_READ_VAR(i, planner.max_acceleration_mm_per_s2); EEPROM_READ_VAR(i, planner.acceleration); EEPROM_READ_VAR(i, planner.retract_acceleration); EEPROM_READ_VAR(i, planner.travel_acceleration); - EEPROM_READ_VAR(i, planner.min_feedrate); - EEPROM_READ_VAR(i, planner.min_travel_feedrate); + EEPROM_READ_VAR(i, planner.min_feedrate_mm_s); + EEPROM_READ_VAR(i, planner.min_travel_feedrate_mm_s); EEPROM_READ_VAR(i, planner.min_segment_time); EEPROM_READ_VAR(i, planner.max_xy_jerk); EEPROM_READ_VAR(i, planner.max_z_jerk); @@ -524,7 +524,7 @@ void Config_RetrieveSettings() { #else EEPROM_READ_VAR(i, dummy); #endif - EEPROM_READ_VAR(i, retract_recover_feedrate); + EEPROM_READ_VAR(i, retract_recover_feedrate_mm_s); #endif // FWRETRACT EEPROM_READ_VAR(i, volumetric_enabled); @@ -564,7 +564,7 @@ void Config_ResetDefault() { long tmp3[] = DEFAULT_MAX_ACCELERATION; for (uint8_t i = 0; i < NUM_AXIS; i++) { planner.axis_steps_per_mm[i] = tmp1[i]; - planner.max_feedrate[i] = tmp2[i]; + planner.max_feedrate_mm_s[i] = tmp2[i]; planner.max_acceleration_mm_per_s2[i] = tmp3[i]; #if ENABLED(SCARA) if (i < COUNT(axis_scaling)) @@ -575,9 +575,9 @@ void Config_ResetDefault() { planner.acceleration = DEFAULT_ACCELERATION; planner.retract_acceleration = DEFAULT_RETRACT_ACCELERATION; planner.travel_acceleration = DEFAULT_TRAVEL_ACCELERATION; - planner.min_feedrate = DEFAULT_MINIMUMFEEDRATE; + planner.min_feedrate_mm_s = DEFAULT_MINIMUMFEEDRATE; planner.min_segment_time = DEFAULT_MINSEGMENTTIME; - planner.min_travel_feedrate = DEFAULT_MINTRAVELFEEDRATE; + planner.min_travel_feedrate_mm_s = DEFAULT_MINTRAVELFEEDRATE; planner.max_xy_jerk = DEFAULT_XYJERK; planner.max_z_jerk = DEFAULT_ZJERK; planner.max_e_jerk = DEFAULT_EJERK; @@ -653,7 +653,7 @@ void Config_ResetDefault() { #if EXTRUDERS > 1 retract_recover_length_swap = RETRACT_RECOVER_LENGTH_SWAP; #endif - retract_recover_feedrate = RETRACT_RECOVER_FEEDRATE; + retract_recover_feedrate_mm_s = RETRACT_RECOVER_FEEDRATE; #endif volumetric_enabled = false; @@ -706,10 +706,10 @@ void Config_PrintSettings(bool forReplay) { SERIAL_ECHOLNPGM("Maximum feedrates (mm/s):"); CONFIG_ECHO_START; } - SERIAL_ECHOPAIR(" M203 X", planner.max_feedrate[X_AXIS]); - SERIAL_ECHOPAIR(" Y", planner.max_feedrate[Y_AXIS]); - SERIAL_ECHOPAIR(" Z", planner.max_feedrate[Z_AXIS]); - SERIAL_ECHOPAIR(" E", planner.max_feedrate[E_AXIS]); + SERIAL_ECHOPAIR(" M203 X", planner.max_feedrate_mm_s[X_AXIS]); + SERIAL_ECHOPAIR(" Y", planner.max_feedrate_mm_s[Y_AXIS]); + SERIAL_ECHOPAIR(" Z", planner.max_feedrate_mm_s[Z_AXIS]); + SERIAL_ECHOPAIR(" E", planner.max_feedrate_mm_s[E_AXIS]); SERIAL_EOL; CONFIG_ECHO_START; @@ -737,8 +737,8 @@ void Config_PrintSettings(bool forReplay) { SERIAL_ECHOLNPGM("Advanced variables: S=Min feedrate (mm/s), T=Min travel feedrate (mm/s), B=minimum segment time (ms), X=maximum XY jerk (mm/s), Z=maximum Z jerk (mm/s), E=maximum E jerk (mm/s)"); CONFIG_ECHO_START; } - SERIAL_ECHOPAIR(" M205 S", planner.min_feedrate); - SERIAL_ECHOPAIR(" T", planner.min_travel_feedrate); + SERIAL_ECHOPAIR(" M205 S", planner.min_feedrate_mm_s); + SERIAL_ECHOPAIR(" T", planner.min_travel_feedrate_mm_s); SERIAL_ECHOPAIR(" B", planner.min_segment_time); SERIAL_ECHOPAIR(" X", planner.max_xy_jerk); SERIAL_ECHOPAIR(" Z", planner.max_z_jerk); @@ -894,7 +894,7 @@ void Config_PrintSettings(bool forReplay) { #if EXTRUDERS > 1 SERIAL_ECHOPAIR(" W", retract_length_swap); #endif - SERIAL_ECHOPAIR(" F", retract_feedrate_mm_s * 60); + SERIAL_ECHOPAIR(" F", MMS_TO_MMM(retract_feedrate_mm_s)); SERIAL_ECHOPAIR(" Z", retract_zlift); SERIAL_EOL; CONFIG_ECHO_START; @@ -906,7 +906,7 @@ void Config_PrintSettings(bool forReplay) { #if EXTRUDERS > 1 SERIAL_ECHOPAIR(" W", retract_recover_length_swap); #endif - SERIAL_ECHOPAIR(" F", retract_recover_feedrate * 60); + SERIAL_ECHOPAIR(" F", MMS_TO_MMM(retract_recover_feedrate_mm_s)); SERIAL_EOL; CONFIG_ECHO_START; if (!forReplay) { diff --git a/Marlin/dogm_lcd_implementation.h b/Marlin/dogm_lcd_implementation.h index b1dd403117..8edb204bd5 100644 --- a/Marlin/dogm_lcd_implementation.h +++ b/Marlin/dogm_lcd_implementation.h @@ -450,7 +450,7 @@ static void lcd_implementation_status_screen() { lcd_setFont(FONT_STATUSMENU); u8g.setPrintPos(12, 49); - lcd_print(itostr3(feedrate_multiplier)); + lcd_print(itostr3(feedrate_percentage)); lcd_print('%'); // Status line diff --git a/Marlin/planner.cpp b/Marlin/planner.cpp index 900866e63a..deda9f3dfa 100644 --- a/Marlin/planner.cpp +++ b/Marlin/planner.cpp @@ -80,20 +80,20 @@ block_t Planner::block_buffer[BLOCK_BUFFER_SIZE]; volatile uint8_t Planner::block_buffer_head = 0; // Index of the next block to be pushed volatile uint8_t Planner::block_buffer_tail = 0; -float Planner::max_feedrate[NUM_AXIS]; // Max speeds in mm per second +float Planner::max_feedrate_mm_s[NUM_AXIS]; // Max speeds in mm per second float Planner::axis_steps_per_mm[NUM_AXIS]; unsigned long Planner::max_acceleration_steps_per_s2[NUM_AXIS]; unsigned long Planner::max_acceleration_mm_per_s2[NUM_AXIS]; // Use M201 to override by software millis_t Planner::min_segment_time; -float Planner::min_feedrate; +float Planner::min_feedrate_mm_s; float Planner::acceleration; // Normal acceleration mm/s^2 DEFAULT ACCELERATION for all printing moves. M204 SXXXX float Planner::retract_acceleration; // Retract acceleration mm/s^2 filament pull-back and push-forward while standing still in the other axes M204 TXXXX float Planner::travel_acceleration; // Travel acceleration mm/s^2 DEFAULT ACCELERATION for all NON printing moves. M204 MXXXX float Planner::max_xy_jerk; // The largest speed change requiring no acceleration float Planner::max_z_jerk; float Planner::max_e_jerk; -float Planner::min_travel_feedrate; +float Planner::min_travel_feedrate_mm_s; #if ENABLED(AUTO_BED_LEVELING_FEATURE) matrix_3x3 Planner::bed_level_matrix; // Transform to compensate for bed level @@ -527,14 +527,14 @@ void Planner::check_axes_activity() { * Add a new linear movement to the buffer. * * x,y,z,e - target position in mm - * feed_rate - (target) speed of the move + * fr_mm_s - (target) speed of the move * extruder - target extruder */ #if ENABLED(AUTO_BED_LEVELING_FEATURE) || ENABLED(MESH_BED_LEVELING) - void Planner::buffer_line(float x, float y, float z, const float& e, float feed_rate, const uint8_t extruder) + void Planner::buffer_line(float x, float y, float z, const float& e, float fr_mm_s, const uint8_t extruder) #else - void Planner::buffer_line(const float& x, const float& y, const float& z, const float& e, float feed_rate, const uint8_t extruder) + void Planner::buffer_line(const float& x, const float& y, const float& z, const float& e, float fr_mm_s, const uint8_t extruder) #endif // AUTO_BED_LEVELING_FEATURE { // Calculate the buffer head after we push this byte @@ -768,9 +768,9 @@ void Planner::check_axes_activity() { } if (block->steps[E_AXIS]) - NOLESS(feed_rate, min_feedrate); + NOLESS(fr_mm_s, min_feedrate_mm_s); else - NOLESS(feed_rate, min_travel_feedrate); + NOLESS(fr_mm_s, min_travel_feedrate_mm_s); /** * This part of the code calculates the total length of the movement. @@ -828,7 +828,7 @@ void Planner::check_axes_activity() { float inverse_millimeters = 1.0 / block->millimeters; // Inverse millimeters to remove multiple divides // Calculate moves/second for this move. No divide by zero due to previous checks. - float inverse_second = feed_rate * inverse_millimeters; + float inverse_second = fr_mm_s * inverse_millimeters; int moves_queued = movesplanned(); @@ -836,7 +836,7 @@ void Planner::check_axes_activity() { #if ENABLED(OLD_SLOWDOWN) || ENABLED(SLOWDOWN) bool mq = moves_queued > 1 && moves_queued < (BLOCK_BUFFER_SIZE) / 2; #if ENABLED(OLD_SLOWDOWN) - if (mq) feed_rate *= 2.0 * moves_queued / (BLOCK_BUFFER_SIZE); + if (mq) fr_mm_s *= 2.0 * moves_queued / (BLOCK_BUFFER_SIZE); #endif #if ENABLED(SLOWDOWN) // segment time im micro seconds @@ -895,7 +895,7 @@ void Planner::check_axes_activity() { float speed_factor = 1.0; //factor <=1 do decrease speed for (int i = 0; i < NUM_AXIS; i++) { current_speed[i] = delta_mm[i] * inverse_second; - float cs = fabs(current_speed[i]), mf = max_feedrate[i]; + float cs = fabs(current_speed[i]), mf = max_feedrate_mm_s[i]; if (cs > mf) speed_factor = min(speed_factor, mf / cs); } diff --git a/Marlin/planner.h b/Marlin/planner.h index d963fba4c4..74fa3592e5 100644 --- a/Marlin/planner.h +++ b/Marlin/planner.h @@ -119,20 +119,20 @@ class Planner { static volatile uint8_t block_buffer_head; // Index of the next block to be pushed static volatile uint8_t block_buffer_tail; - static float max_feedrate[NUM_AXIS]; // Max speeds in mm per second + static float max_feedrate_mm_s[NUM_AXIS]; // Max speeds in mm per second static float axis_steps_per_mm[NUM_AXIS]; static unsigned long max_acceleration_steps_per_s2[NUM_AXIS]; static unsigned long max_acceleration_mm_per_s2[NUM_AXIS]; // Use M201 to override by software static millis_t min_segment_time; - static float min_feedrate; + static float min_feedrate_mm_s; static float acceleration; // Normal acceleration mm/s^2 DEFAULT ACCELERATION for all printing moves. M204 SXXXX static float retract_acceleration; // Retract acceleration mm/s^2 filament pull-back and push-forward while standing still in the other axes M204 TXXXX static float travel_acceleration; // Travel acceleration mm/s^2 DEFAULT ACCELERATION for all NON printing moves. M204 MXXXX static float max_xy_jerk; // The largest speed change requiring no acceleration static float max_z_jerk; static float max_e_jerk; - static float min_travel_feedrate; + static float min_travel_feedrate_mm_s; #if ENABLED(AUTO_BED_LEVELING_FEATURE) static matrix_3x3 bed_level_matrix; // Transform to compensate for bed level @@ -211,10 +211,10 @@ class Planner { * Add a new linear movement to the buffer. * * x,y,z,e - target position in mm - * feed_rate - (target) speed of the move + * fr_mm_s - (target) speed of the move (mm/s) * extruder - target extruder */ - static void buffer_line(float x, float y, float z, const float& e, float feed_rate, const uint8_t extruder); + static void buffer_line(float x, float y, float z, const float& e, float fr_mm_s, const uint8_t extruder); /** * Set the planner.position and individual stepper positions. @@ -229,7 +229,7 @@ class Planner { #else - static void buffer_line(const float& x, const float& y, const float& z, const float& e, float feed_rate, const uint8_t extruder); + static void buffer_line(const float& x, const float& y, const float& z, const float& e, float fr_mm_s, const uint8_t extruder); static void set_position_mm(const float& x, const float& y, const float& z, const float& e); #endif // AUTO_BED_LEVELING_FEATURE || MESH_BED_LEVELING diff --git a/Marlin/planner_bezier.cpp b/Marlin/planner_bezier.cpp index b789b3db53..ad3319a498 100644 --- a/Marlin/planner_bezier.cpp +++ b/Marlin/planner_bezier.cpp @@ -105,7 +105,7 @@ inline static float dist1(float x1, float y1, float x2, float y2) { return fabs( * the mitigation offered by MIN_STEP and the small computational * power available on Arduino, I think it is not wise to implement it. */ -void cubic_b_spline(const float position[NUM_AXIS], const float target[NUM_AXIS], const float offset[4], float feed_rate, uint8_t extruder) { +void cubic_b_spline(const float position[NUM_AXIS], const float target[NUM_AXIS], const float offset[4], float fr_mm_s, uint8_t extruder) { // Absolute first and second control points are recovered. float first0 = position[X_AXIS] + offset[0]; float first1 = position[Y_AXIS] + offset[1]; @@ -193,9 +193,9 @@ void cubic_b_spline(const float position[NUM_AXIS], const float target[NUM_AXIS] #if ENABLED(AUTO_BED_LEVELING_FEATURE) adjust_delta(bez_target); #endif - planner.buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], bez_target[E_AXIS], feed_rate, extruder); + planner.buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], bez_target[E_AXIS], fr_mm_s, extruder); #else - planner.buffer_line(bez_target[X_AXIS], bez_target[Y_AXIS], bez_target[Z_AXIS], bez_target[E_AXIS], feed_rate, extruder); + planner.buffer_line(bez_target[X_AXIS], bez_target[Y_AXIS], bez_target[Z_AXIS], bez_target[E_AXIS], fr_mm_s, extruder); #endif } } diff --git a/Marlin/planner_bezier.h b/Marlin/planner_bezier.h index 61026b8f67..d17e7c80a0 100644 --- a/Marlin/planner_bezier.h +++ b/Marlin/planner_bezier.h @@ -36,7 +36,7 @@ void cubic_b_spline( const float position[NUM_AXIS], // current position const float target[NUM_AXIS], // target position const float offset[4], // a pair of offsets - float feed_rate, + float fr_mm_s, uint8_t extruder ); diff --git a/Marlin/ultralcd.cpp b/Marlin/ultralcd.cpp index bd8d6c3936..4fd6d5eb82 100755 --- a/Marlin/ultralcd.cpp +++ b/Marlin/ultralcd.cpp @@ -104,7 +104,7 @@ uint8_t lcdDrawUpdate = LCDVIEW_CLEAR_CALL_REDRAW; // Set when the LCD needs to #if HAS_POWER_SWITCH extern bool powersupply; #endif - const float manual_feedrate[] = MANUAL_FEEDRATE; + const float manual_feedrate_mm_m[] = MANUAL_FEEDRATE; static void lcd_main_menu(); static void lcd_tune_menu(); static void lcd_prepare_menu(); @@ -254,10 +254,10 @@ uint8_t lcdDrawUpdate = LCDVIEW_CLEAR_CALL_REDRAW; // Set when the LCD needs to * lcd_implementation_drawmenu_function(sel, row, PSTR(MSG_PAUSE_PRINT), lcd_sdcard_pause) * menu_action_function(lcd_sdcard_pause) * - * MENU_ITEM_EDIT(int3, MSG_SPEED, &feedrate_multiplier, 10, 999) - * MENU_ITEM(setting_edit_int3, MSG_SPEED, PSTR(MSG_SPEED), &feedrate_multiplier, 10, 999) - * lcd_implementation_drawmenu_setting_edit_int3(sel, row, PSTR(MSG_SPEED), PSTR(MSG_SPEED), &feedrate_multiplier, 10, 999) - * menu_action_setting_edit_int3(PSTR(MSG_SPEED), &feedrate_multiplier, 10, 999) + * MENU_ITEM_EDIT(int3, MSG_SPEED, &feedrate_percentage, 10, 999) + * MENU_ITEM(setting_edit_int3, MSG_SPEED, PSTR(MSG_SPEED), &feedrate_percentage, 10, 999) + * lcd_implementation_drawmenu_setting_edit_int3(sel, row, PSTR(MSG_SPEED), PSTR(MSG_SPEED), &feedrate_percentage, 10, 999) + * menu_action_setting_edit_int3(PSTR(MSG_SPEED), &feedrate_percentage, 10, 999) * */ #define _MENU_ITEM_PART_1(TYPE, LABEL, ARGS...) \ @@ -523,29 +523,29 @@ static void lcd_status_screen() { } #if ENABLED(ULTIPANEL_FEEDMULTIPLY) - int new_frm = feedrate_multiplier + (int32_t)encoderPosition; + int new_frm = feedrate_percentage + (int32_t)encoderPosition; // Dead zone at 100% feedrate - if ((feedrate_multiplier < 100 && new_frm > 100) || (feedrate_multiplier > 100 && new_frm < 100)) { - feedrate_multiplier = 100; + if ((feedrate_percentage < 100 && new_frm > 100) || (feedrate_percentage > 100 && new_frm < 100)) { + feedrate_percentage = 100; encoderPosition = 0; } - else if (feedrate_multiplier == 100) { + else if (feedrate_percentage == 100) { if ((int32_t)encoderPosition > ENCODER_FEEDRATE_DEADZONE) { - feedrate_multiplier += (int32_t)encoderPosition - (ENCODER_FEEDRATE_DEADZONE); + feedrate_percentage += (int32_t)encoderPosition - (ENCODER_FEEDRATE_DEADZONE); encoderPosition = 0; } else if ((int32_t)encoderPosition < -(ENCODER_FEEDRATE_DEADZONE)) { - feedrate_multiplier += (int32_t)encoderPosition + ENCODER_FEEDRATE_DEADZONE; + feedrate_percentage += (int32_t)encoderPosition + ENCODER_FEEDRATE_DEADZONE; encoderPosition = 0; } } else { - feedrate_multiplier = new_frm; + feedrate_percentage = new_frm; encoderPosition = 0; } #endif // ULTIPANEL_FEEDMULTIPLY - feedrate_multiplier = constrain(feedrate_multiplier, 10, 999); + feedrate_percentage = constrain(feedrate_percentage, 10, 999); #endif //ULTIPANEL } @@ -573,9 +573,9 @@ void kill_screen(const char* lcd_msg) { inline void line_to_current(AxisEnum axis) { #if ENABLED(DELTA) calculate_delta(current_position); - planner.buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS], manual_feedrate[axis]/60, active_extruder); + planner.buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS], MMM_TO_MMS(manual_feedrate_mm_m[axis]), active_extruder); #else // !DELTA - planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], manual_feedrate[axis]/60, active_extruder); + planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], MMM_TO_MMS(manual_feedrate_mm_m[axis]), active_extruder); #endif // !DELTA } @@ -757,7 +757,7 @@ void kill_screen(const char* lcd_msg) { // // Speed: // - MENU_ITEM_EDIT(int3, MSG_SPEED, &feedrate_multiplier, 10, 999); + MENU_ITEM_EDIT(int3, MSG_SPEED, &feedrate_percentage, 10, 999); // Manual bed leveling, Bed Z: #if ENABLED(MANUAL_BED_LEVELING) @@ -1020,7 +1020,7 @@ void kill_screen(const char* lcd_msg) { line_to_current(Z_AXIS); current_position[X_AXIS] = x + home_offset[X_AXIS]; current_position[Y_AXIS] = y + home_offset[Y_AXIS]; - line_to_current(manual_feedrate[X_AXIS] <= manual_feedrate[Y_AXIS] ? X_AXIS : Y_AXIS); + line_to_current(manual_feedrate_mm_m[X_AXIS] <= manual_feedrate_mm_m[Y_AXIS] ? X_AXIS : Y_AXIS); #if MIN_Z_HEIGHT_FOR_HOMING > 0 current_position[Z_AXIS] = MESH_HOME_SEARCH_Z; // How do condition and action match? line_to_current(Z_AXIS); @@ -1310,9 +1310,9 @@ void kill_screen(const char* lcd_msg) { if (manual_move_axis != (int8_t)NO_AXIS && ELAPSED(millis(), manual_move_start_time) && !planner.is_full()) { #if ENABLED(DELTA) calculate_delta(current_position); - planner.buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS], manual_feedrate[manual_move_axis]/60, manual_move_e_index); + planner.buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS], MMM_TO_MMS(manual_feedrate_mm_m[manual_move_axis]), manual_move_e_index); #else - planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], manual_feedrate[manual_move_axis]/60, manual_move_e_index); + planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], MMM_TO_MMS(manual_feedrate_mm_m[manual_move_axis]), manual_move_e_index); #endif manual_move_axis = (int8_t)NO_AXIS; } @@ -1800,12 +1800,12 @@ void kill_screen(const char* lcd_msg) { MENU_ITEM_EDIT(float52, MSG_VZ_JERK, &planner.max_z_jerk, 0.1, 990); #endif MENU_ITEM_EDIT(float3, MSG_VE_JERK, &planner.max_e_jerk, 1, 990); - MENU_ITEM_EDIT(float3, MSG_VMAX MSG_X, &planner.max_feedrate[X_AXIS], 1, 999); - MENU_ITEM_EDIT(float3, MSG_VMAX MSG_Y, &planner.max_feedrate[Y_AXIS], 1, 999); - MENU_ITEM_EDIT(float3, MSG_VMAX MSG_Z, &planner.max_feedrate[Z_AXIS], 1, 999); - MENU_ITEM_EDIT(float3, MSG_VMAX MSG_E, &planner.max_feedrate[E_AXIS], 1, 999); - MENU_ITEM_EDIT(float3, MSG_VMIN, &planner.min_feedrate, 0, 999); - MENU_ITEM_EDIT(float3, MSG_VTRAV_MIN, &planner.min_travel_feedrate, 0, 999); + MENU_ITEM_EDIT(float3, MSG_VMAX MSG_X, &planner.max_feedrate_mm_s[X_AXIS], 1, 999); + MENU_ITEM_EDIT(float3, MSG_VMAX MSG_Y, &planner.max_feedrate_mm_s[Y_AXIS], 1, 999); + MENU_ITEM_EDIT(float3, MSG_VMAX MSG_Z, &planner.max_feedrate_mm_s[Z_AXIS], 1, 999); + MENU_ITEM_EDIT(float3, MSG_VMAX MSG_E, &planner.max_feedrate_mm_s[E_AXIS], 1, 999); + MENU_ITEM_EDIT(float3, MSG_VMIN, &planner.min_feedrate_mm_s, 0, 999); + MENU_ITEM_EDIT(float3, MSG_VTRAV_MIN, &planner.min_travel_feedrate_mm_s, 0, 999); MENU_ITEM_EDIT_CALLBACK(long5, MSG_AMAX MSG_X, &planner.max_acceleration_mm_per_s2[X_AXIS], 100, 99000, _reset_acceleration_rates); MENU_ITEM_EDIT_CALLBACK(long5, MSG_AMAX MSG_Y, &planner.max_acceleration_mm_per_s2[Y_AXIS], 100, 99000, _reset_acceleration_rates); MENU_ITEM_EDIT_CALLBACK(long5, MSG_AMAX MSG_Z, &planner.max_acceleration_mm_per_s2[Z_AXIS], 10, 99000, _reset_acceleration_rates); @@ -1905,7 +1905,7 @@ void kill_screen(const char* lcd_msg) { #if EXTRUDERS > 1 MENU_ITEM_EDIT(float52, MSG_CONTROL_RETRACT_RECOVER_SWAP, &retract_recover_length_swap, 0, 100); #endif - MENU_ITEM_EDIT(float3, MSG_CONTROL_RETRACT_RECOVERF, &retract_recover_feedrate, 1, 999); + MENU_ITEM_EDIT(float3, MSG_CONTROL_RETRACT_RECOVERF, &retract_recover_feedrate_mm_s, 1, 999); END_MENU(); } #endif // FWRETRACT @@ -2257,15 +2257,15 @@ void kill_screen(const char* lcd_msg) { * static void menu_action_setting_edit_callback_int3(const char* pstr, int* ptr, int minValue, int maxValue, screenFunc_t callback); // edit int with callback * * You can then use one of the menu macros to present the edit interface: - * MENU_ITEM_EDIT(int3, MSG_SPEED, &feedrate_multiplier, 10, 999) + * MENU_ITEM_EDIT(int3, MSG_SPEED, &feedrate_percentage, 10, 999) * * This expands into a more primitive menu item: - * MENU_ITEM(setting_edit_int3, MSG_SPEED, PSTR(MSG_SPEED), &feedrate_multiplier, 10, 999) + * MENU_ITEM(setting_edit_int3, MSG_SPEED, PSTR(MSG_SPEED), &feedrate_percentage, 10, 999) * * * Also: MENU_MULTIPLIER_ITEM_EDIT, MENU_ITEM_EDIT_CALLBACK, and MENU_MULTIPLIER_ITEM_EDIT_CALLBACK * - * menu_action_setting_edit_int3(PSTR(MSG_SPEED), &feedrate_multiplier, 10, 999) + * menu_action_setting_edit_int3(PSTR(MSG_SPEED), &feedrate_percentage, 10, 999) */ #define menu_edit_type(_type, _name, _strFunc, scale) \ bool _menu_edit_ ## _name () { \ diff --git a/Marlin/ultralcd_implementation_hitachi_HD44780.h b/Marlin/ultralcd_implementation_hitachi_HD44780.h index b5342bd3bb..d1d047fca2 100644 --- a/Marlin/ultralcd_implementation_hitachi_HD44780.h +++ b/Marlin/ultralcd_implementation_hitachi_HD44780.h @@ -742,7 +742,7 @@ static void lcd_implementation_status_screen() { lcd.setCursor(0, 2); lcd.print(LCD_STR_FEEDRATE[0]); - lcd.print(itostr3(feedrate_multiplier)); + lcd.print(itostr3(feedrate_percentage)); lcd.print('%'); #if LCD_WIDTH > 19 && ENABLED(SDSUPPORT) From 9f9fe043ba46361a4ff6a04c695cf1f3cb159c7f Mon Sep 17 00:00:00 2001 From: Scott Lahteine Date: Fri, 15 Jul 2016 18:50:25 -0700 Subject: [PATCH 2/4] Apply sq macro throughout --- Marlin/Marlin_main.cpp | 17 ++++++++--------- Marlin/macros.h | 1 + Marlin/planner.cpp | 16 ++++++++-------- Marlin/planner.h | 6 +++--- Marlin/ultralcd.cpp | 2 +- 5 files changed, 21 insertions(+), 21 deletions(-) diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp index 140dd5def6..93854b629a 100644 --- a/Marlin/Marlin_main.cpp +++ b/Marlin/Marlin_main.cpp @@ -3596,7 +3596,7 @@ inline void gcode_G28() { * so Vx = -a Vy = -b Vz = 1 (we want the vector facing towards positive Z */ - int abl2 = auto_bed_leveling_grid_points * auto_bed_leveling_grid_points; + int abl2 = sq(auto_bed_leveling_grid_points); double eqnAMatrix[abl2 * 3], // "A" matrix of the linear system of equations eqnBVector[abl2], // "B" vector of Z points @@ -3629,7 +3629,7 @@ inline void gcode_G28() { #if ENABLED(DELTA) // Avoid probing the corners (outside the round or hexagon print surface) on a delta printer. - float distance_from_center = sqrt(xProbe * xProbe + yProbe * yProbe); + float distance_from_center = HYPOT(xProbe, yProbe); if (distance_from_center > DELTA_PROBEABLE_RADIUS) continue; #endif //DELTA @@ -4252,7 +4252,7 @@ inline void gcode_M42() { return; } #else - if (sqrt(X_probe_location * X_probe_location + Y_probe_location * Y_probe_location) > DELTA_PROBEABLE_RADIUS) { + if (HYPOT(X_probe_location, Y_probe_location) > DELTA_PROBEABLE_RADIUS) { SERIAL_PROTOCOLLNPGM("? (X,Y) location outside of probeable radius."); return; } @@ -4342,7 +4342,7 @@ inline void gcode_M42() { #else // If we have gone out too far, we can do a simple fix and scale the numbers // back in closer to the origin. - while (sqrt(X_current * X_current + Y_current * Y_current) > DELTA_PROBEABLE_RADIUS) { + while (HYPOT(X_current, Y_current) > DELTA_PROBEABLE_RADIUS) { X_current /= 1.25; Y_current /= 1.25; if (verbose_level > 3) { @@ -4378,10 +4378,9 @@ inline void gcode_M42() { * data points we have so far */ sum = 0.0; - for (uint8_t j = 0; j <= n; j++) { - float ss = sample_set[j] - mean; - sum += ss * ss; - } + for (uint8_t j = 0; j <= n; j++) + sum += sq(sample_set[j] - mean); + sigma = sqrt(sum / (n + 1)); if (verbose_level > 0) { if (verbose_level > 1) { @@ -8139,7 +8138,7 @@ void prepare_move_to_destination() { * This is important when there are successive arc motions. */ // Vector rotation matrix values - float cos_T = 1 - 0.5 * theta_per_segment * theta_per_segment; // Small angle approximation + float cos_T = 1 - 0.5 * sq(theta_per_segment); // Small angle approximation float sin_T = theta_per_segment; float arc_target[NUM_AXIS]; diff --git a/Marlin/macros.h b/Marlin/macros.h index 7dbadee089..bf2d07180b 100644 --- a/Marlin/macros.h +++ b/Marlin/macros.h @@ -36,6 +36,7 @@ // Macros for maths shortcuts #define RADIANS(d) ((d)*M_PI/180.0) #define DEGREES(r) ((r)*180.0/M_PI) +#define HYPOT(x,y) sqrt(sq(x)+sq(y)) // Macros to contrain values #define NOLESS(v,n) do{ if (v < n) v = n; }while(0) diff --git a/Marlin/planner.cpp b/Marlin/planner.cpp index deda9f3dfa..03796100ec 100644 --- a/Marlin/planner.cpp +++ b/Marlin/planner.cpp @@ -171,8 +171,8 @@ void Planner::calculate_trapezoid_for_block(block_t* block, float entry_factor, } #if ENABLED(ADVANCE) - volatile long initial_advance = block->advance * entry_factor * entry_factor; - volatile long final_advance = block->advance * exit_factor * exit_factor; + volatile long initial_advance = block->advance * sq(entry_factor); + volatile long final_advance = block->advance * sq(exit_factor); #endif // ADVANCE // block->accelerate_until = accelerate_steps; @@ -815,13 +815,13 @@ void Planner::check_axes_activity() { else { block->millimeters = sqrt( #if ENABLED(COREXY) - square(delta_mm[X_HEAD]) + square(delta_mm[Y_HEAD]) + square(delta_mm[Z_AXIS]) + sq(delta_mm[X_HEAD]) + sq(delta_mm[Y_HEAD]) + sq(delta_mm[Z_AXIS]) #elif ENABLED(COREXZ) - square(delta_mm[X_HEAD]) + square(delta_mm[Y_AXIS]) + square(delta_mm[Z_HEAD]) + sq(delta_mm[X_HEAD]) + sq(delta_mm[Y_AXIS]) + sq(delta_mm[Z_HEAD]) #elif ENABLED(COREYZ) - square(delta_mm[X_AXIS]) + square(delta_mm[Y_HEAD]) + square(delta_mm[Z_HEAD]) + sq(delta_mm[X_AXIS]) + sq(delta_mm[Y_HEAD]) + sq(delta_mm[Z_HEAD]) #else - square(delta_mm[X_AXIS]) + square(delta_mm[Y_AXIS]) + square(delta_mm[Z_AXIS]) + sq(delta_mm[X_AXIS]) + sq(delta_mm[Y_AXIS]) + sq(delta_mm[Z_AXIS]) #endif ); } @@ -1030,7 +1030,7 @@ void Planner::check_axes_activity() { dsy = current_speed[Y_AXIS] - previous_speed[Y_AXIS], dsz = fabs(csz - previous_speed[Z_AXIS]), dse = fabs(cse - previous_speed[E_AXIS]), - jerk = sqrt(dsx * dsx + dsy * dsy); + jerk = HYPOT(dsx, dsy); // if ((fabs(previous_speed[X_AXIS]) > 0.0001) || (fabs(previous_speed[Y_AXIS]) > 0.0001)) { vmax_junction = block->nominal_speed; @@ -1086,7 +1086,7 @@ void Planner::check_axes_activity() { } else { long acc_dist = estimate_acceleration_distance(0, block->nominal_rate, block->acceleration_steps_per_s2); - float advance = ((STEPS_PER_CUBIC_MM_E) * (EXTRUDER_ADVANCE_K)) * (cse * cse * (EXTRUSION_AREA) * (EXTRUSION_AREA)) * 256; + float advance = ((STEPS_PER_CUBIC_MM_E) * (EXTRUDER_ADVANCE_K)) * HYPOT(cse, EXTRUSION_AREA) * 256; block->advance = advance; block->advance_rate = acc_dist ? advance / (float)acc_dist : 0; } diff --git a/Marlin/planner.h b/Marlin/planner.h index 74fa3592e5..74abd1cb2d 100644 --- a/Marlin/planner.h +++ b/Marlin/planner.h @@ -290,7 +290,7 @@ class Planner { */ static float estimate_acceleration_distance(float initial_rate, float target_rate, float accel) { if (accel == 0) return 0; // accel was 0, set acceleration distance to 0 - return (target_rate * target_rate - initial_rate * initial_rate) / (accel * 2); + return (sq(target_rate) - sq(initial_rate)) / (accel * 2); } /** @@ -303,7 +303,7 @@ class Planner { */ static float intersection_distance(float initial_rate, float final_rate, float accel, float distance) { if (accel == 0) return 0; // accel was 0, set intersection distance to 0 - return (accel * 2 * distance - initial_rate * initial_rate + final_rate * final_rate) / (accel * 4); + return (accel * 2 * distance - sq(initial_rate) + sq(final_rate)) / (accel * 4); } /** @@ -312,7 +312,7 @@ class Planner { * 'distance'. */ static float max_allowable_speed(float accel, float target_velocity, float distance) { - return sqrt(target_velocity * target_velocity - 2 * accel * distance); + return sqrt(sq(target_velocity) - 2 * accel * distance); } static void calculate_trapezoid_for_block(block_t* block, float entry_factor, float exit_factor); diff --git a/Marlin/ultralcd.cpp b/Marlin/ultralcd.cpp index 4fd6d5eb82..3e933ee89a 100755 --- a/Marlin/ultralcd.cpp +++ b/Marlin/ultralcd.cpp @@ -1356,7 +1356,7 @@ void kill_screen(const char* lcd_msg) { } #if ENABLED(DELTA) static float delta_clip_radius_2 = (DELTA_PRINTABLE_RADIUS) * (DELTA_PRINTABLE_RADIUS); - static int delta_clip( float a ) { return sqrt(delta_clip_radius_2 - a*a); } + static int delta_clip( float a ) { return sqrt(delta_clip_radius_2 - sq(a)); } static void lcd_move_x() { int clip = delta_clip(current_position[Y_AXIS]); _lcd_move_xyz(PSTR(MSG_MOVE_X), X_AXIS, max(sw_endstop_min[X_AXIS], -clip), min(sw_endstop_max[X_AXIS], clip)); } static void lcd_move_y() { int clip = delta_clip(current_position[X_AXIS]); _lcd_move_xyz(PSTR(MSG_MOVE_Y), Y_AXIS, max(sw_endstop_min[Y_AXIS], -clip), min(sw_endstop_max[Y_AXIS], clip)); } #else From 3d78b8f92982b6a3ccec426936e6ddd11b28805f Mon Sep 17 00:00:00 2001 From: Scott Lahteine Date: Fri, 15 Jul 2016 18:55:09 -0700 Subject: [PATCH 3/4] Use HYPOT macro instead of hypot function --- Marlin/Marlin_main.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp index 93854b629a..015c7d200b 100644 --- a/Marlin/Marlin_main.cpp +++ b/Marlin/Marlin_main.cpp @@ -8083,7 +8083,7 @@ void prepare_move_to_destination() { uint8_t clockwise // Clockwise? ) { - float radius = hypot(offset[X_AXIS], offset[Y_AXIS]), + float radius = HYPOT(offset[X_AXIS], offset[Y_AXIS]), center_X = current_position[X_AXIS] + offset[X_AXIS], center_Y = current_position[Y_AXIS] + offset[Y_AXIS], linear_travel = target[Z_AXIS] - current_position[Z_AXIS], @@ -8102,7 +8102,7 @@ void prepare_move_to_destination() { if (angular_travel == 0 && current_position[X_AXIS] == target[X_AXIS] && current_position[Y_AXIS] == target[Y_AXIS]) angular_travel += RADIANS(360); - float mm_of_travel = hypot(angular_travel * radius, fabs(linear_travel)); + float mm_of_travel = HYPOT(angular_travel * radius, fabs(linear_travel)); if (mm_of_travel < 0.001) return; uint16_t segments = floor(mm_of_travel / (MM_PER_ARC_SEGMENT)); if (segments == 0) segments = 1; From f38553b48215e7e5fa3b2351dd928a9cc3c9e3bd Mon Sep 17 00:00:00 2001 From: Scott Lahteine Date: Fri, 15 Jul 2016 19:26:23 -0700 Subject: [PATCH 4/4] fix a debug message --- Marlin/Marlin_main.cpp | 1 + 1 file changed, 1 insertion(+) diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp index 015c7d200b..387777ae58 100644 --- a/Marlin/Marlin_main.cpp +++ b/Marlin/Marlin_main.cpp @@ -2005,6 +2005,7 @@ static void clean_up_after_endstop_or_probe_move() { if (DEBUGGING(LEVELING)) { DEBUG_POS("set_probe_deployed", current_position); SERIAL_ECHOPAIR("deploy: ", deploy); + SERIAL_EOL; } #endif