SunRed/Marlin-Artillery-M600
Archived
1
0
Fork 0
Code Issues Pull requests Projects Releases Wiki Activity

Replace double with float, optimize calculation

Browse source
This commit is contained in:
etagle 2018-07-01 17:20:28 -03:00 committed by Scott Lahteine
parent d960d448fa
commit 1367df2875
38 changed files with 263 additions and 267 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

3
Marlin/src/HAL/HAL_AVR/HAL.h
View file

@ -353,4 +353,7 @@ inline void HAL_adc_init(void) {
#define HAL_SENSITIVE_PINS 0, 1 #define HAL_SENSITIVE_PINS 0, 1
// AVR compatibility
#define strtof strtod
#endif // _HAL_AVR_H_ #endif // _HAL_AVR_H_

12
Marlin/src/HAL/HAL_STM32F7/TMC2660.cpp
View file

@ -297,8 +297,8 @@ char TMC26XStepper::stop(void) {
void TMC26XStepper::setCurrent(unsigned int current) { void TMC26XStepper::setCurrent(unsigned int current) {
unsigned char current_scaling = 0; unsigned char current_scaling = 0;
//calculate the current scaling from the max current setting (in mA) //calculate the current scaling from the max current setting (in mA)
double mASetting = (double)current, float mASetting = (float)current,
resistor_value = (double)this->resistor; resistor_value = (float)this->resistor;
// remove vsense flag // remove vsense flag
this->driver_configuration_register_value &= ~(VSENSE); this->driver_configuration_register_value &= ~(VSENSE);
// Derived from I = (cs + 1) / 32 * (Vsense / Rsense) // Derived from I = (cs + 1) / 32 * (Vsense / Rsense)
@ -340,8 +340,8 @@ void TMC26XStepper::setCurrent(unsigned int current) {
unsigned int TMC26XStepper::getCurrent(void) { unsigned int TMC26XStepper::getCurrent(void) {
// Calculate the current according to the datasheet to be on the safe side. // Calculate the current according to the datasheet to be on the safe side.
// This is not the fastest but the most accurate and illustrative way. // This is not the fastest but the most accurate and illustrative way.
double result = (double)(stall_guard2_current_register_value & CURRENT_SCALING_PATTERN), float result = (float)(stall_guard2_current_register_value & CURRENT_SCALING_PATTERN),
resistor_value = (double)this->resistor, resistor_value = (float)this->resistor,
voltage = (driver_configuration_register_value & VSENSE) ? 0.165 : 0.31; voltage = (driver_configuration_register_value & VSENSE) ? 0.165 : 0.31;
result = (result + 1.0) / 32.0 * voltage / resistor_value * sq(1000.0); result = (result + 1.0) / 32.0 * voltage / resistor_value * sq(1000.0);
return (unsigned int)result; return (unsigned int)result;
@ -739,8 +739,8 @@ unsigned char TMC26XStepper::getCurrentCSReading(void) {
} }
unsigned int TMC26XStepper::getCurrentCurrent(void) { unsigned int TMC26XStepper::getCurrentCurrent(void) {
double result = (double)getCurrentCSReading(), float result = (float)getCurrentCSReading(),
resistor_value = (double)this->resistor, resistor_value = (float)this->resistor,
voltage = (driver_configuration_register_value & VSENSE)? 0.165 : 0.31; voltage = (driver_configuration_register_value & VSENSE)? 0.165 : 0.31;
result = (result + 1.0) / 32.0 * voltage / resistor_value * sq(1000.0); result = (result + 1.0) / 32.0 * voltage / resistor_value * sq(1000.0);
return (unsigned int)result; return (unsigned int)result;

5
Marlin/src/Marlin.h
View file

@ -185,11 +185,6 @@ extern volatile bool wait_for_heatup;
extern bool suspend_auto_report; extern bool suspend_auto_report;
#endif #endif
#if ENABLED(AUTO_BED_LEVELING_UBL)
typedef struct { double A, B, D; } linear_fit;
linear_fit* lsf_linear_fit(double x[], double y[], double z[], const int);
#endif
// Inactivity shutdown timer // Inactivity shutdown timer
extern millis_t max_inactive_time, stepper_inactive_time; extern millis_t max_inactive_time, stepper_inactive_time;

41
Marlin/src/core/macros.h
View file

@ -79,15 +79,15 @@
#define CBI32(n,b) (n &= ~_BV32(b)) #define CBI32(n,b) (n &= ~_BV32(b))
// Macros for maths shortcuts // Macros for maths shortcuts
#ifndef M_PI #undef M_PI
#define M_PI 3.14159265358979323846 #define M_PI 3.14159265358979323846f
#endif
#define RADIANS(d) ((d)*M_PI/180.0) #define RADIANS(d) ((d)*float(M_PI)/180.0f)
#define DEGREES(r) ((r)*180.0/M_PI) #define DEGREES(r) ((r)*180.0f/float(M_PI))
#define HYPOT2(x,y) (sq(x)+sq(y)) #define HYPOT2(x,y) (sq(x)+sq(y))
#define CIRCLE_AREA(R) (M_PI * sq(R)) #define CIRCLE_AREA(R) (float(M_PI) * sq(float(R)))
#define CIRCLE_CIRC(R) (2.0 * M_PI * (R)) #define CIRCLE_CIRC(R) (2 * float(M_PI) * float(R))
#define SIGN(a) ((a>0)-(a<0)) #define SIGN(a) ((a>0)-(a<0))
#define IS_POWER_OF_2(x) ((x) && !((x) & ((x) - 1))) #define IS_POWER_OF_2(x) ((x) && !((x) & ((x) - 1)))
@ -200,8 +200,8 @@
#define PENDING(NOW,SOON) ((long)(NOW-(SOON))<0) #define PENDING(NOW,SOON) ((long)(NOW-(SOON))<0)
#define ELAPSED(NOW,SOON) (!PENDING(NOW,SOON)) #define ELAPSED(NOW,SOON) (!PENDING(NOW,SOON))
#define MMM_TO_MMS(MM_M) ((MM_M)/60.0) #define MMM_TO_MMS(MM_M) ((MM_M)/60.0f)
#define MMS_TO_MMM(MM_S) ((MM_S)*60.0) #define MMS_TO_MMM(MM_S) ((MM_S)*60.0f)
#define NOOP do{} while(0) #define NOOP do{} while(0)
@ -250,23 +250,24 @@
#define MAX4(a, b, c, d) MAX(MAX3(a, b, c), d) #define MAX4(a, b, c, d) MAX(MAX3(a, b, c), d)
#define MAX5(a, b, c, d, e) MAX(MAX4(a, b, c, d), e) #define MAX5(a, b, c, d, e) MAX(MAX4(a, b, c, d), e)
#define UNEAR_ZERO(x) ((x) < 0.000001) #define UNEAR_ZERO(x) ((x) < 0.000001f)
#define NEAR_ZERO(x) WITHIN(x, -0.000001, 0.000001) #define NEAR_ZERO(x) WITHIN(x, -0.000001f, 0.000001f)
#define NEAR(x,y) NEAR_ZERO((x)-(y)) #define NEAR(x,y) NEAR_ZERO((x)-(y))
#define RECIPROCAL(x) (NEAR_ZERO(x) ? 0.0 : 1.0 / (x)) #define RECIPROCAL(x) (NEAR_ZERO(x) ? 0 : (1 / float(x)))
#define FIXFLOAT(f) (f + (f < 0.0 ? -0.00005 : 0.00005)) #define FIXFLOAT(f) (f + (f < 0 ? -0.00005f : 0.00005f))
// //
// Maths macros that can be overridden by HAL // Maths macros that can be overridden by HAL
// //
#define ATAN2(y, x) atan2(y, x) #define ATAN2(y, x) atan2f(y, x)
#define POW(x, y) pow(x, y) #define POW(x, y) powf(x, y)
#define SQRT(x) sqrt(x) #define SQRT(x) sqrtf(x)
#define CEIL(x) ceil(x) #define RSQRT(x) (1 / sqrtf(x))
#define FLOOR(x) floor(x) #define CEIL(x) ceilf(x)
#define LROUND(x) lround(x) #define FLOOR(x) floorf(x)
#define FMOD(x, y) fmod(x, y) #define LROUND(x) lroundf(x)
#define FMOD(x, y) fmodf(x, y)
#define HYPOT(x,y) SQRT(HYPOT2(x,y)) #define HYPOT(x,y) SQRT(HYPOT2(x,y))
#endif //__MACROS_H #endif //__MACROS_H

4
Marlin/src/core/utility.h
View file

@ -87,14 +87,14 @@ void safe_delay(millis_t ms);
char* ftostr62rj(const float &x); char* ftostr62rj(const float &x);
// Convert float to rj string with 123 or -12 format // Convert float to rj string with 123 or -12 format
FORCE_INLINE char* ftostr3(const float &x) { return itostr3(int(x + (x < 0 ? -0.5 : 0.5))); } FORCE_INLINE char* ftostr3(const float &x) { return itostr3(int(x + (x < 0 ? -0.5f : 0.5f))); }
#if ENABLED(LCD_DECIMAL_SMALL_XY) #if ENABLED(LCD_DECIMAL_SMALL_XY)
// Convert float to rj string with 1234, _123, 12.3, _1.2, -123, _-12, or -1.2 format // Convert float to rj string with 1234, _123, 12.3, _1.2, -123, _-12, or -1.2 format
char* ftostr4sign(const float &fx); char* ftostr4sign(const float &fx);
#else #else
// Convert float to rj string with 1234, _123, -123, __12, _-12, ___1, or __-1 format // Convert float to rj string with 1234, _123, -123, __12, _-12, ___1, or __-1 format
FORCE_INLINE char* ftostr4sign(const float &x) { return itostr4sign(int(x + (x < 0 ? -0.5 : 0.5))); } FORCE_INLINE char* ftostr4sign(const float &x) { return itostr4sign(int(x + (x < 0 ? -0.5f : 0.5f))); }
#endif #endif
#endif // ULTRA_LCD #endif // ULTRA_LCD

2
Marlin/src/feature/I2CPositionEncoder.cpp
View file

@ -181,7 +181,7 @@ void I2CPositionEncoder::update() {
if (errPrstIdx >= I2CPE_ERR_PRST_ARRAY_SIZE) { if (errPrstIdx >= I2CPE_ERR_PRST_ARRAY_SIZE) {
float sumP = 0; float sumP = 0;
LOOP_L_N(i, I2CPE_ERR_PRST_ARRAY_SIZE) sumP += errPrst[i]; LOOP_L_N(i, I2CPE_ERR_PRST_ARRAY_SIZE) sumP += errPrst[i];
const int32_t errorP = int32_t(sumP * (1.0 / (I2CPE_ERR_PRST_ARRAY_SIZE))); const int32_t errorP = int32_t(sumP * (1.0f / (I2CPE_ERR_PRST_ARRAY_SIZE)));
SERIAL_ECHO(axis_codes[encoderAxis]); SERIAL_ECHO(axis_codes[encoderAxis]);
SERIAL_ECHOPAIR(" - err detected: ", errorP * planner.steps_to_mm[encoderAxis]); SERIAL_ECHOPAIR(" - err detected: ", errorP * planner.steps_to_mm[encoderAxis]);
SERIAL_ECHOLNPGM("mm; correcting!"); SERIAL_ECHOLNPGM("mm; correcting!");

4
Marlin/src/feature/I2CPositionEncoder.h
View file

@ -133,16 +133,12 @@ class I2CPositionEncoder {
nextErrorCountTime = 0, nextErrorCountTime = 0,
lastErrorTime; lastErrorTime;
//double positionMm; //calculate
#if ENABLED(I2CPE_ERR_ROLLING_AVERAGE) #if ENABLED(I2CPE_ERR_ROLLING_AVERAGE)
uint8_t errIdx = 0, errPrstIdx = 0; uint8_t errIdx = 0, errPrstIdx = 0;
int err[I2CPE_ERR_ARRAY_SIZE] = { 0 }, int err[I2CPE_ERR_ARRAY_SIZE] = { 0 },
errPrst[I2CPE_ERR_PRST_ARRAY_SIZE] = { 0 }; errPrst[I2CPE_ERR_PRST_ARRAY_SIZE] = { 0 };
#endif #endif
//float positionMm; //calculate
public: public:
void init(const uint8_t address, const AxisEnum axis); void init(const uint8_t address, const AxisEnum axis);
void reset(); void reset();

8
Marlin/src/feature/bedlevel/mbl/mesh_bed_leveling.h
View file

@ -72,22 +72,22 @@ public:
} }
static int8_t cell_index_x(const float &x) { static int8_t cell_index_x(const float &x) {
int8_t cx = (x - (MESH_MIN_X)) * (1.0 / (MESH_X_DIST)); int8_t cx = (x - (MESH_MIN_X)) * (1.0f / (MESH_X_DIST));
return constrain(cx, 0, (GRID_MAX_POINTS_X) - 2); return constrain(cx, 0, (GRID_MAX_POINTS_X) - 2);
} }
static int8_t cell_index_y(const float &y) { static int8_t cell_index_y(const float &y) {
int8_t cy = (y - (MESH_MIN_Y)) * (1.0 / (MESH_Y_DIST)); int8_t cy = (y - (MESH_MIN_Y)) * (1.0f / (MESH_Y_DIST));
return constrain(cy, 0, (GRID_MAX_POINTS_Y) - 2); return constrain(cy, 0, (GRID_MAX_POINTS_Y) - 2);
} }
static int8_t probe_index_x(const float &x) { static int8_t probe_index_x(const float &x) {
int8_t px = (x - (MESH_MIN_X) + 0.5 * (MESH_X_DIST)) * (1.0 / (MESH_X_DIST)); int8_t px = (x - (MESH_MIN_X) + 0.5 * (MESH_X_DIST)) * (1.0f / (MESH_X_DIST));
return WITHIN(px, 0, GRID_MAX_POINTS_X - 1) ? px : -1; return WITHIN(px, 0, GRID_MAX_POINTS_X - 1) ? px : -1;
} }
static int8_t probe_index_y(const float &y) { static int8_t probe_index_y(const float &y) {
int8_t py = (y - (MESH_MIN_Y) + 0.5 * (MESH_Y_DIST)) * (1.0 / (MESH_Y_DIST)); int8_t py = (y - (MESH_MIN_Y) + 0.5 * (MESH_Y_DIST)) * (1.0f / (MESH_Y_DIST));
return WITHIN(py, 0, GRID_MAX_POINTS_Y - 1) ? py : -1; return WITHIN(py, 0, GRID_MAX_POINTS_Y - 1) ? py : -1;
} }

12
Marlin/src/feature/bedlevel/ubl/ubl.h
View file

@ -168,14 +168,14 @@ class unified_bed_leveling {
FORCE_INLINE static void set_z(const int8_t px, const int8_t py, const float &z) { z_values[px][py] = z; } FORCE_INLINE static void set_z(const int8_t px, const int8_t py, const float &z) { z_values[px][py] = z; }
static int8_t get_cell_index_x(const float &x) { static int8_t get_cell_index_x(const float &x) {
const int8_t cx = (x - (MESH_MIN_X)) * (1.0 / (MESH_X_DIST)); const int8_t cx = (x - (MESH_MIN_X)) * (1.0f / (MESH_X_DIST));
return constrain(cx, 0, (GRID_MAX_POINTS_X) - 1); // -1 is appropriate if we want all movement to the X_MAX return constrain(cx, 0, (GRID_MAX_POINTS_X) - 1); // -1 is appropriate if we want all movement to the X_MAX
} // position. But with this defined this way, it is possible } // position. But with this defined this way, it is possible
// to extrapolate off of this point even further out. Probably // to extrapolate off of this point even further out. Probably
// that is OK because something else should be keeping that from // that is OK because something else should be keeping that from
// happening and should not be worried about at this level. // happening and should not be worried about at this level.
static int8_t get_cell_index_y(const float &y) { static int8_t get_cell_index_y(const float &y) {
const int8_t cy = (y - (MESH_MIN_Y)) * (1.0 / (MESH_Y_DIST)); const int8_t cy = (y - (MESH_MIN_Y)) * (1.0f / (MESH_Y_DIST));
return constrain(cy, 0, (GRID_MAX_POINTS_Y) - 1); // -1 is appropriate if we want all movement to the Y_MAX return constrain(cy, 0, (GRID_MAX_POINTS_Y) - 1); // -1 is appropriate if we want all movement to the Y_MAX
} // position. But with this defined this way, it is possible } // position. But with this defined this way, it is possible
// to extrapolate off of this point even further out. Probably // to extrapolate off of this point even further out. Probably
@ -183,12 +183,12 @@ class unified_bed_leveling {
// happening and should not be worried about at this level. // happening and should not be worried about at this level.
static int8_t find_closest_x_index(const float &x) { static int8_t find_closest_x_index(const float &x) {
const int8_t px = (x - (MESH_MIN_X) + (MESH_X_DIST) * 0.5) * (1.0 / (MESH_X_DIST)); const int8_t px = (x - (MESH_MIN_X) + (MESH_X_DIST) * 0.5) * (1.0f / (MESH_X_DIST));
return WITHIN(px, 0, GRID_MAX_POINTS_X - 1) ? px : -1; return WITHIN(px, 0, GRID_MAX_POINTS_X - 1) ? px : -1;
} }
static int8_t find_closest_y_index(const float &y) { static int8_t find_closest_y_index(const float &y) {
const int8_t py = (y - (MESH_MIN_Y) + (MESH_Y_DIST) * 0.5) * (1.0 / (MESH_Y_DIST)); const int8_t py = (y - (MESH_MIN_Y) + (MESH_Y_DIST) * 0.5) * (1.0f / (MESH_Y_DIST));
return WITHIN(py, 0, GRID_MAX_POINTS_Y - 1) ? py : -1; return WITHIN(py, 0, GRID_MAX_POINTS_Y - 1) ? py : -1;
} }
@ -238,7 +238,7 @@ class unified_bed_leveling {
); );
} }
const float xratio = (rx0 - mesh_index_to_xpos(x1_i)) * (1.0 / (MESH_X_DIST)), const float xratio = (rx0 - mesh_index_to_xpos(x1_i)) * (1.0f / (MESH_X_DIST)),
z1 = z_values[x1_i][yi]; z1 = z_values[x1_i][yi];
return z1 + xratio * (z_values[MIN(x1_i, GRID_MAX_POINTS_X - 2) + 1][yi] - z1); // Don't allow x1_i+1 to be past the end of the array return z1 + xratio * (z_values[MIN(x1_i, GRID_MAX_POINTS_X - 2) + 1][yi] - z1); // Don't allow x1_i+1 to be past the end of the array
@ -272,7 +272,7 @@ class unified_bed_leveling {
); );
} }
const float yratio = (ry0 - mesh_index_to_ypos(y1_i)) * (1.0 / (MESH_Y_DIST)), const float yratio = (ry0 - mesh_index_to_ypos(y1_i)) * (1.0f / (MESH_Y_DIST)),
z1 = z_values[xi][y1_i]; z1 = z_values[xi][y1_i];
return z1 + yratio * (z_values[xi][MIN(y1_i, GRID_MAX_POINTS_Y - 2) + 1] - z1); // Don't allow y1_i+1 to be past the end of the array return z1 + yratio * (z_values[xi][MIN(y1_i, GRID_MAX_POINTS_Y - 2) + 1] - z1); // Don't allow y1_i+1 to be past the end of the array

6
Marlin/src/feature/bedlevel/ubl/ubl_G29.cpp
View file

@ -874,8 +874,8 @@
serialprintPGM(parser.seen('B') ? PSTR(MSG_UBL_BC_INSERT) : PSTR(MSG_UBL_BC_INSERT2)); serialprintPGM(parser.seen('B') ? PSTR(MSG_UBL_BC_INSERT) : PSTR(MSG_UBL_BC_INSERT2));
const float z_step = 0.01; // existing behavior: 0.01mm per click, occasionally step const float z_step = 0.01; // existing behavior: 0.01mm per click, occasionally step
//const float z_step = 1.0 / planner.axis_steps_per_mm[Z_AXIS]; // approx one step each click //const float z_step = planner.steps_to_mm[Z_AXIS]; // approx one step each click
move_z_with_encoder(z_step); move_z_with_encoder(z_step);
@ -1252,7 +1252,7 @@
// last half of the mesh (when every unprobed mesh point is one index // last half of the mesh (when every unprobed mesh point is one index
// from a probed location). // from a probed location).
d1 = HYPOT(i - k, j - l) + (1.0 / ((millis() % 47) + 13)); d1 = HYPOT(i - k, j - l) + (1.0f / ((millis() % 47) + 13));
if (d1 < d2) { // found a closer distance from invalid mesh point at (i,j) to defined mesh point at (k,l) if (d1 < d2) { // found a closer distance from invalid mesh point at (i,j) to defined mesh point at (k,l)
d2 = d1; // found a closer location with d2 = d1; // found a closer location with

22
Marlin/src/feature/bedlevel/ubl/ubl_motion.cpp
View file

@ -102,7 +102,7 @@
FINAL_MOVE: FINAL_MOVE:
// The distance is always MESH_X_DIST so multiply by the constant reciprocal. // The distance is always MESH_X_DIST so multiply by the constant reciprocal.
const float xratio = (end[X_AXIS] - mesh_index_to_xpos(cell_dest_xi)) * (1.0 / (MESH_X_DIST)); const float xratio = (end[X_AXIS] - mesh_index_to_xpos(cell_dest_xi)) * (1.0f / (MESH_X_DIST));
float z1 = z_values[cell_dest_xi ][cell_dest_yi ] + xratio * float z1 = z_values[cell_dest_xi ][cell_dest_yi ] + xratio *
(z_values[cell_dest_xi + 1][cell_dest_yi ] - z_values[cell_dest_xi][cell_dest_yi ]), (z_values[cell_dest_xi + 1][cell_dest_yi ] - z_values[cell_dest_xi][cell_dest_yi ]),
@ -112,7 +112,7 @@
if (cell_dest_xi >= GRID_MAX_POINTS_X - 1) z1 = z2 = 0.0; if (cell_dest_xi >= GRID_MAX_POINTS_X - 1) z1 = z2 = 0.0;
// X cell-fraction done. Interpolate the two Z offsets with the Y fraction for the final Z offset. // X cell-fraction done. Interpolate the two Z offsets with the Y fraction for the final Z offset.
const float yratio = (end[Y_AXIS] - mesh_index_to_ypos(cell_dest_yi)) * (1.0 / (MESH_Y_DIST)), const float yratio = (end[Y_AXIS] - mesh_index_to_ypos(cell_dest_yi)) * (1.0f / (MESH_Y_DIST)),
z0 = cell_dest_yi < GRID_MAX_POINTS_Y - 1 ? (z1 + (z2 - z1) * yratio) * planner.fade_scaling_factor_for_z(end[Z_AXIS]) : 0.0; z0 = cell_dest_yi < GRID_MAX_POINTS_Y - 1 ? (z1 + (z2 - z1) * yratio) * planner.fade_scaling_factor_for_z(end[Z_AXIS]) : 0.0;
// Undefined parts of the Mesh in z_values[][] are NAN. // Undefined parts of the Mesh in z_values[][] are NAN.
@ -440,14 +440,14 @@
#if IS_KINEMATIC #if IS_KINEMATIC
const float seconds = cartesian_xy_mm / feedrate; // seconds to move xy distance at requested rate const float seconds = cartesian_xy_mm / feedrate; // seconds to move xy distance at requested rate
uint16_t segments = lroundf(delta_segments_per_second * seconds), // preferred number of segments for distance @ feedrate uint16_t segments = lroundf(delta_segments_per_second * seconds), // preferred number of segments for distance @ feedrate
seglimit = lroundf(cartesian_xy_mm * (1.0 / (DELTA_SEGMENT_MIN_LENGTH))); // number of segments at minimum segment length seglimit = lroundf(cartesian_xy_mm * (1.0f / (DELTA_SEGMENT_MIN_LENGTH))); // number of segments at minimum segment length
NOMORE(segments, seglimit); // limit to minimum segment length (fewer segments) NOMORE(segments, seglimit); // limit to minimum segment length (fewer segments)
#else #else
uint16_t segments = lroundf(cartesian_xy_mm * (1.0 / (DELTA_SEGMENT_MIN_LENGTH))); // cartesian fixed segment length uint16_t segments = lroundf(cartesian_xy_mm * (1.0f / (DELTA_SEGMENT_MIN_LENGTH))); // cartesian fixed segment length
#endif #endif
NOLESS(segments, 1U); // must have at least one segment NOLESS(segments, 1U); // must have at least one segment
const float inv_segments = 1.0 / segments; // divide once, multiply thereafter const float inv_segments = 1.0f / segments; // divide once, multiply thereafter
#if IS_SCARA // scale the feed rate from mm/s to degrees/s #if IS_SCARA // scale the feed rate from mm/s to degrees/s
scara_feed_factor = cartesian_xy_mm * inv_segments * feedrate; scara_feed_factor = cartesian_xy_mm * inv_segments * feedrate;
@ -500,8 +500,8 @@
// in top of loop and again re-find same adjacent cell and use it, just less efficient // in top of loop and again re-find same adjacent cell and use it, just less efficient
// for mesh inset area. // for mesh inset area.
int8_t cell_xi = (raw[X_AXIS] - (MESH_MIN_X)) * (1.0 / (MESH_X_DIST)), int8_t cell_xi = (raw[X_AXIS] - (MESH_MIN_X)) * (1.0f / (MESH_X_DIST)),
cell_yi = (raw[Y_AXIS] - (MESH_MIN_Y)) * (1.0 / (MESH_Y_DIST)); cell_yi = (raw[Y_AXIS] - (MESH_MIN_Y)) * (1.0f / (MESH_Y_DIST));
cell_xi = constrain(cell_xi, 0, (GRID_MAX_POINTS_X) - 1); cell_xi = constrain(cell_xi, 0, (GRID_MAX_POINTS_X) - 1);
cell_yi = constrain(cell_yi, 0, (GRID_MAX_POINTS_Y) - 1); cell_yi = constrain(cell_yi, 0, (GRID_MAX_POINTS_Y) - 1);
@ -522,15 +522,15 @@
float cx = raw[X_AXIS] - x0, // cell-relative x and y float cx = raw[X_AXIS] - x0, // cell-relative x and y
cy = raw[Y_AXIS] - y0; cy = raw[Y_AXIS] - y0;
const float z_xmy0 = (z_x1y0 - z_x0y0) * (1.0 / (MESH_X_DIST)), // z slope per x along y0 (lower left to lower right) const float z_xmy0 = (z_x1y0 - z_x0y0) * (1.0f / (MESH_X_DIST)), // z slope per x along y0 (lower left to lower right)
z_xmy1 = (z_x1y1 - z_x0y1) * (1.0 / (MESH_X_DIST)); // z slope per x along y1 (upper left to upper right) z_xmy1 = (z_x1y1 - z_x0y1) * (1.0f / (MESH_X_DIST)); // z slope per x along y1 (upper left to upper right)
float z_cxy0 = z_x0y0 + z_xmy0 * cx; // z height along y0 at cx (changes for each cx in cell) float z_cxy0 = z_x0y0 + z_xmy0 * cx; // z height along y0 at cx (changes for each cx in cell)
const float z_cxy1 = z_x0y1 + z_xmy1 * cx, // z height along y1 at cx const float z_cxy1 = z_x0y1 + z_xmy1 * cx, // z height along y1 at cx
z_cxyd = z_cxy1 - z_cxy0; // z height difference along cx from y0 to y1 z_cxyd = z_cxy1 - z_cxy0; // z height difference along cx from y0 to y1
float z_cxym = z_cxyd * (1.0 / (MESH_Y_DIST)); // z slope per y along cx from y0 to y1 (changes for each cx in cell) float z_cxym = z_cxyd * (1.0f / (MESH_Y_DIST)); // z slope per y along cx from y0 to y1 (changes for each cx in cell)
// float z_cxcy = z_cxy0 + z_cxym * cy; // interpolated mesh z height along cx at cy (do inside the segment loop) // float z_cxcy = z_cxy0 + z_cxym * cy; // interpolated mesh z height along cx at cy (do inside the segment loop)
@ -539,7 +539,7 @@
// each change by a constant for fixed segment lengths. // each change by a constant for fixed segment lengths.
const float z_sxy0 = z_xmy0 * diff[X_AXIS], // per-segment adjustment to z_cxy0 const float z_sxy0 = z_xmy0 * diff[X_AXIS], // per-segment adjustment to z_cxy0
z_sxym = (z_xmy1 - z_xmy0) * (1.0 / (MESH_Y_DIST)) * diff[X_AXIS]; // per-segment adjustment to z_cxym z_sxym = (z_xmy1 - z_xmy0) * (1.0f / (MESH_Y_DIST)) * diff[X_AXIS]; // per-segment adjustment to z_cxym
for (;;) { // for all segments within this mesh cell for (;;) { // for all segments within this mesh cell

4
Marlin/src/feature/dac/stepper_dac.cpp
View file

@ -91,8 +91,8 @@ void dac_current_raw(uint8_t channel, uint16_t val) {
mcp4728_simpleCommand(UPDATE); mcp4728_simpleCommand(UPDATE);
} }
static float dac_perc(int8_t n) { return 100.0 * mcp4728_getValue(dac_order[n]) * (1.0 / (DAC_STEPPER_MAX)); } static float dac_perc(int8_t n) { return 100.0 * mcp4728_getValue(dac_order[n]) * (1.0f / (DAC_STEPPER_MAX)); }
static float dac_amps(int8_t n) { return mcp4728_getDrvPct(dac_order[n]) * (DAC_STEPPER_MAX) * 0.125 * (1.0 / (DAC_STEPPER_SENSE)); } static float dac_amps(int8_t n) { return mcp4728_getDrvPct(dac_order[n]) * (DAC_STEPPER_MAX) * 0.125 * (1.0f / (DAC_STEPPER_SENSE)); }
uint8_t dac_current_get_percent(AxisEnum axis) { return mcp4728_getDrvPct(dac_order[axis]); } uint8_t dac_current_get_percent(AxisEnum axis) { return mcp4728_getDrvPct(dac_order[axis]); }
void dac_current_set_percents(const uint8_t pct[XYZE]) { void dac_current_set_percents(const uint8_t pct[XYZE]) {

2
Marlin/src/feature/digipot/digipot_mcp4018.cpp
View file

@ -87,7 +87,7 @@ static void i2c_send(const uint8_t channel, const byte v) {
// This is for the MCP4018 I2C based digipot // This is for the MCP4018 I2C based digipot
void digipot_i2c_set_current(const uint8_t channel, const float current) { void digipot_i2c_set_current(const uint8_t channel, const float current) {
i2c_send(channel, current_to_wiper(MIN(MAX(current, 0.0f), float(DIGIPOT_A4988_MAX_CURRENT)))); i2c_send(channel, current_to_wiper(MIN(MAX(current, 0), float(DIGIPOT_A4988_MAX_CURRENT))));
} }
void digipot_i2c_init() { void digipot_i2c_init() {

2
Marlin/src/feature/digipot/digipot_mcp4451.cpp
View file

@ -69,7 +69,7 @@ void digipot_i2c_set_current(const uint8_t channel, const float current) {
// Set actual wiper value // Set actual wiper value
byte addresses[4] = { 0x00, 0x10, 0x60, 0x70 }; byte addresses[4] = { 0x00, 0x10, 0x60, 0x70 };
i2c_send(addr, addresses[channel & 0x3], current_to_wiper(MIN((float) MAX(current, 0.0f), DIGIPOT_I2C_MAX_CURRENT))); i2c_send(addr, addresses[channel & 0x3], current_to_wiper(MIN((float) MAX(current, 0), DIGIPOT_I2C_MAX_CURRENT)));
} }
void digipot_i2c_init() { void digipot_i2c_init() {

2
Marlin/src/gcode/calibrate/G33.cpp
View file

@ -359,7 +359,7 @@ static float auto_tune_h() {
float h_fac = 0.0; float h_fac = 0.0;
h_fac = r_quot / (2.0 / 3.0); h_fac = r_quot / (2.0 / 3.0);
h_fac = 1.0 / h_fac; // (2/3)/CR h_fac = 1.0f / h_fac; // (2/3)/CR
return h_fac; return h_fac;
} }

6
Marlin/src/gcode/calibrate/M48.cpp
View file

@ -111,7 +111,7 @@ void GcodeSuite::M48() {
setup_for_endstop_or_probe_move(); setup_for_endstop_or_probe_move();
double mean = 0.0, sigma = 0.0, min = 99999.9, max = -99999.9, sample_set[n_samples]; float mean = 0.0, sigma = 0.0, min = 99999.9, max = -99999.9, sample_set[n_samples];
// Move to the first point, deploy, and probe // Move to the first point, deploy, and probe
const float t = probe_pt(X_probe_location, Y_probe_location, raise_after, verbose_level); const float t = probe_pt(X_probe_location, Y_probe_location, raise_after, verbose_level);
@ -142,7 +142,7 @@ void GcodeSuite::M48() {
} }
for (uint8_t l = 0; l < n_legs - 1; l++) { for (uint8_t l = 0; l < n_legs - 1; l++) {
double delta_angle; float delta_angle;
if (schizoid_flag) if (schizoid_flag)
// The points of a 5 point star are 72 degrees apart. We need to // The points of a 5 point star are 72 degrees apart. We need to
@ -199,7 +199,7 @@ void GcodeSuite::M48() {
/** /**
* Get the current mean for the data points we have so far * Get the current mean for the data points we have so far
*/ */
double sum = 0.0; float sum = 0.0;
for (uint8_t j = 0; j <= n; j++) sum += sample_set[j]; for (uint8_t j = 0; j <= n; j++) sum += sample_set[j];
mean = sum / (n + 1); mean = sum / (n + 1);

6
Marlin/src/gcode/config/M200-M205.cpp
View file

@ -40,7 +40,7 @@
// setting any extruder filament size disables volumetric on the assumption that // setting any extruder filament size disables volumetric on the assumption that
// slicers either generate in extruder values as cubic mm or as as filament feeds // slicers either generate in extruder values as cubic mm or as as filament feeds
// for all extruders // for all extruders
if ( (parser.volumetric_enabled = (parser.value_linear_units() != 0.0)) ) if ( (parser.volumetric_enabled = (parser.value_linear_units() != 0)) )
planner.set_filament_size(target_extruder, parser.value_linear_units()); planner.set_filament_size(target_extruder, parser.value_linear_units());
} }
planner.calculate_volumetric_multipliers(); planner.calculate_volumetric_multipliers();
@ -134,7 +134,7 @@ void GcodeSuite::M205() {
#if ENABLED(JUNCTION_DEVIATION) #if ENABLED(JUNCTION_DEVIATION)
if (parser.seen('J')) { if (parser.seen('J')) {
const float junc_dev = parser.value_linear_units(); const float junc_dev = parser.value_linear_units();
if (WITHIN(junc_dev, 0.01, 0.3)) { if (WITHIN(junc_dev, 0.01f, 0.3f)) {
planner.junction_deviation_mm = junc_dev; planner.junction_deviation_mm = junc_dev;
planner.recalculate_max_e_jerk(); planner.recalculate_max_e_jerk();
} }
@ -149,7 +149,7 @@ void GcodeSuite::M205() {
if (parser.seen('Z')) { if (parser.seen('Z')) {
planner.max_jerk[Z_AXIS] = parser.value_linear_units(); planner.max_jerk[Z_AXIS] = parser.value_linear_units();
#if HAS_MESH #if HAS_MESH
if (planner.max_jerk[Z_AXIS] <= 0.1) if (planner.max_jerk[Z_AXIS] <= 0.1f)
SERIAL_ECHOLNPGM("WARNING! Low Z Jerk may lead to unwanted pauses."); SERIAL_ECHOLNPGM("WARNING! Low Z Jerk may lead to unwanted pauses.");
#endif #endif
} }

2
Marlin/src/gcode/config/M92.cpp
View file

@ -37,7 +37,7 @@ void GcodeSuite::M92() {
if (parser.seen(axis_codes[i])) { if (parser.seen(axis_codes[i])) {
if (i == E_AXIS) { if (i == E_AXIS) {
const float value = parser.value_per_axis_unit((AxisEnum)(E_AXIS + TARGET_EXTRUDER)); const float value = parser.value_per_axis_unit((AxisEnum)(E_AXIS + TARGET_EXTRUDER));
if (value < 20.0) { 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. 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 DISABLED(JUNCTION_DEVIATION)
planner.max_jerk[E_AXIS] *= factor; planner.max_jerk[E_AXIS] *= factor;

6
Marlin/src/gcode/control/M3-M5.cpp
View file

@ -107,12 +107,12 @@ void GcodeSuite::M3_M4(bool is_M3) {
delay_for_power_down(); delay_for_power_down();
} }
else { else {
int16_t ocr_val = (spindle_laser_power - (SPEED_POWER_INTERCEPT)) * (1.0 / (SPEED_POWER_SLOPE)); // convert RPM to PWM duty cycle int16_t ocr_val = (spindle_laser_power - (SPEED_POWER_INTERCEPT)) * (1.0f / (SPEED_POWER_SLOPE)); // convert RPM to PWM duty cycle
NOMORE(ocr_val, 255); // limit to max the Atmel PWM will support NOMORE(ocr_val, 255); // limit to max the Atmel PWM will support
if (spindle_laser_power <= SPEED_POWER_MIN) if (spindle_laser_power <= SPEED_POWER_MIN)
ocr_val = (SPEED_POWER_MIN - (SPEED_POWER_INTERCEPT)) * (1.0 / (SPEED_POWER_SLOPE)); // minimum setting ocr_val = (SPEED_POWER_MIN - (SPEED_POWER_INTERCEPT)) * (1.0f / (SPEED_POWER_SLOPE)); // minimum setting
if (spindle_laser_power >= SPEED_POWER_MAX) if (spindle_laser_power >= SPEED_POWER_MAX)
ocr_val = (SPEED_POWER_MAX - (SPEED_POWER_INTERCEPT)) * (1.0 / (SPEED_POWER_SLOPE)); // limit to max RPM ocr_val = (SPEED_POWER_MAX - (SPEED_POWER_INTERCEPT)) * (1.0f / (SPEED_POWER_SLOPE)); // limit to max RPM
if (SPINDLE_LASER_PWM_INVERT) ocr_val = 255 - ocr_val; if (SPINDLE_LASER_PWM_INVERT) ocr_val = 255 - ocr_val;
WRITE(SPINDLE_LASER_ENABLE_PIN, SPINDLE_LASER_ENABLE_INVERT); // turn spindle on (active low) WRITE(SPINDLE_LASER_ENABLE_PIN, SPINDLE_LASER_ENABLE_INVERT); // turn spindle on (active low)
analogWrite(SPINDLE_LASER_PWM_PIN, ocr_val & 0xFF); // only write low byte analogWrite(SPINDLE_LASER_PWM_PIN, ocr_val & 0xFF); // only write low byte

2
Marlin/src/gcode/gcode.cpp
View file

@ -103,7 +103,7 @@ void GcodeSuite::get_destination_from_command() {
destination[i] = current_position[i]; destination[i] = current_position[i];
} }
if (parser.linearval('F') > 0.0) if (parser.linearval('F') > 0)
feedrate_mm_s = MMM_TO_MMS(parser.value_feedrate()); feedrate_mm_s = MMM_TO_MMS(parser.value_feedrate());
#if ENABLED(PRINTCOUNTER) #if ENABLED(PRINTCOUNTER)

23
Marlin/src/gcode/motion/G2_G3.cpp
View file

@ -92,7 +92,7 @@ void plan_arc(
const float flat_mm = radius * angular_travel, const float flat_mm = radius * angular_travel,
mm_of_travel = linear_travel ? HYPOT(flat_mm, linear_travel) : ABS(flat_mm); mm_of_travel = linear_travel ? HYPOT(flat_mm, linear_travel) : ABS(flat_mm);
if (mm_of_travel < 0.001) return; if (mm_of_travel < 0.001f) return;
uint16_t segments = FLOOR(mm_of_travel / (MM_PER_ARC_SEGMENT)); uint16_t segments = FLOOR(mm_of_travel / (MM_PER_ARC_SEGMENT));
if (segments == 0) segments = 1; if (segments == 0) segments = 1;
@ -129,7 +129,7 @@ void plan_arc(
linear_per_segment = linear_travel / segments, linear_per_segment = linear_travel / segments,
extruder_per_segment = extruder_travel / segments, extruder_per_segment = extruder_travel / segments,
sin_T = theta_per_segment, sin_T = theta_per_segment,
cos_T = 1 - 0.5 * sq(theta_per_segment); // Small angle approximation cos_T = 1 - 0.5f * sq(theta_per_segment); // Small angle approximation
// Initialize the linear axis // Initialize the linear axis
raw[l_axis] = current_position[l_axis]; raw[l_axis] = current_position[l_axis];
@ -143,7 +143,7 @@ void plan_arc(
#if HAS_FEEDRATE_SCALING #if HAS_FEEDRATE_SCALING
// SCARA needs to scale the feed rate from mm/s to degrees/s // SCARA needs to scale the feed rate from mm/s to degrees/s
const float inv_segment_length = 1.0 / (MM_PER_ARC_SEGMENT), const float inv_segment_length = 1.0f / float(MM_PER_ARC_SEGMENT),
inverse_secs = inv_segment_length * fr_mm_s; inverse_secs = inv_segment_length * fr_mm_s;
float oldA = planner.position_float[A_AXIS], float oldA = planner.position_float[A_AXIS],
oldB = planner.position_float[B_AXIS] oldB = planner.position_float[B_AXIS]
@ -289,19 +289,20 @@ void GcodeSuite::G2_G3(const bool clockwise) {
relative_mode = relative_mode_backup; relative_mode = relative_mode_backup;
#endif #endif
float arc_offset[2] = { 0.0, 0.0 }; float arc_offset[2] = { 0, 0 };
if (parser.seenval('R')) { if (parser.seenval('R')) {
const float r = parser.value_linear_units(), const float r = parser.value_linear_units(),
p1 = current_position[X_AXIS], q1 = current_position[Y_AXIS], p1 = current_position[X_AXIS], q1 = current_position[Y_AXIS],
p2 = destination[X_AXIS], q2 = destination[Y_AXIS]; p2 = destination[X_AXIS], q2 = destination[Y_AXIS];
if (r && (p2 != p1 || q2 != q1)) { if (r && (p2 != p1 || q2 != q1)) {
const float e = clockwise ^ (r < 0) ? -1 : 1, // clockwise -1/1, counterclockwise 1/-1 const float e = clockwise ^ (r < 0) ? -1 : 1, // clockwise -1/1, counterclockwise 1/-1
dx = p2 - p1, dy = q2 - q1, // X and Y differences dx = p2 - p1, dy = q2 - q1, // X and Y differences
d = HYPOT(dx, dy), // Linear distance between the points d = HYPOT(dx, dy), // Linear distance between the points
h = SQRT(sq(r) - sq(d * 0.5)), // Distance to the arc pivot-point dinv = 1/d, // Inverse of d
mx = (p1 + p2) * 0.5, my = (q1 + q2) * 0.5, // Point between the two points h = SQRT(sq(r) - sq(d * 0.5f)), // Distance to the arc pivot-point
sx = -dy / d, sy = dx / d, // Slope of the perpendicular bisector mx = (p1 + p2) * 0.5f, my = (q1 + q2) * 0.5f,// Point between the two points
cx = mx + e * h * sx, cy = my + e * h * sy; // Pivot-point of the arc sx = -dy * dinv, sy = dx * dinv, // Slope of the perpendicular bisector
cx = mx + e * h * sx, cy = my + e * h * sy; // Pivot-point of the arc
arc_offset[0] = cx - p1; arc_offset[0] = cx - p1;
arc_offset[1] = cy - q1; arc_offset[1] = cy - q1;
} }

28
Marlin/src/gcode/parser.h
View file

@ -186,15 +186,15 @@ public:
if (c == '\0' || c == ' ') break; if (c == '\0' || c == ' ') break;
if (c == 'E' || c == 'e') { if (c == 'E' || c == 'e') {
*e = '\0'; *e = '\0';
const float ret = strtod(value_ptr, NULL); const float ret = strtof(value_ptr, NULL);
*e = c; *e = c;
return ret; return ret;
} }
++e; ++e;
} }
return strtod(value_ptr, NULL); return strtof(value_ptr, NULL);
} }
return 0.0; return 0;
} }
// Code value as a long or ulong // Code value as a long or ulong
@ -203,7 +203,7 @@ public:
// Code value for use as time // Code value for use as time
FORCE_INLINE static millis_t value_millis() { return value_ulong(); } FORCE_INLINE static millis_t value_millis() { return value_ulong(); }
FORCE_INLINE static millis_t value_millis_from_seconds() { return value_float() * 1000UL; } FORCE_INLINE static millis_t value_millis_from_seconds() { return (millis_t)(value_float() * 1000); }
// Reduce to fewer bits // Reduce to fewer bits
FORCE_INLINE static int16_t value_int() { return (int16_t)value_long(); } FORCE_INLINE static int16_t value_int() { return (int16_t)value_long(); }
@ -220,14 +220,14 @@ public:
inline static void set_input_linear_units(const LinearUnit units) { inline static void set_input_linear_units(const LinearUnit units) {
switch (units) { switch (units) {
case LINEARUNIT_INCH: case LINEARUNIT_INCH:
linear_unit_factor = 25.4; linear_unit_factor = 25.4f;
break; break;
case LINEARUNIT_MM: case LINEARUNIT_MM:
default: default:
linear_unit_factor = 1.0; linear_unit_factor = 1;
break; break;
} }
volumetric_unit_factor = POW(linear_unit_factor, 3.0); volumetric_unit_factor = POW(linear_unit_factor, 3);
} }
inline static float axis_unit_factor(const AxisEnum axis) { inline static float axis_unit_factor(const AxisEnum axis) {
@ -261,9 +261,9 @@ public:
inline static float to_temp_units(const float &f) { inline static float to_temp_units(const float &f) {
switch (input_temp_units) { switch (input_temp_units) {
case TEMPUNIT_F: case TEMPUNIT_F:
return f * 0.5555555556 + 32.0; return f * 0.5555555556f + 32;
case TEMPUNIT_K: case TEMPUNIT_K:
return f + 273.15; return f + 273.15f;
case TEMPUNIT_C: case TEMPUNIT_C:
default: default:
return f; return f;
@ -276,9 +276,9 @@ public:
const float f = value_float(); const float f = value_float();
switch (input_temp_units) { switch (input_temp_units) {
case TEMPUNIT_F: case TEMPUNIT_F:
return (f - 32.0) * 0.5555555556; return (f - 32) * 0.5555555556f;
case TEMPUNIT_K: case TEMPUNIT_K:
return f - 273.15; return f - 273.15f;
case TEMPUNIT_C: case TEMPUNIT_C:
default: default:
return f; return f;
@ -288,7 +288,7 @@ public:
inline static float value_celsius_diff() { inline static float value_celsius_diff() {
switch (input_temp_units) { switch (input_temp_units) {
case TEMPUNIT_F: case TEMPUNIT_F:
return value_float() * 0.5555555556; return value_float() * 0.5555555556f;
case TEMPUNIT_C: case TEMPUNIT_C:
case TEMPUNIT_K: case TEMPUNIT_K:
default: default:
@ -315,8 +315,8 @@ public:
FORCE_INLINE static uint16_t ushortval(const char c, const uint16_t dval=0) { return seenval(c) ? value_ushort() : dval; } FORCE_INLINE static uint16_t ushortval(const char c, const uint16_t dval=0) { return seenval(c) ? value_ushort() : dval; }
FORCE_INLINE static int32_t longval(const char c, const int32_t dval=0) { return seenval(c) ? value_long() : dval; } FORCE_INLINE static int32_t longval(const char c, const int32_t dval=0) { return seenval(c) ? value_long() : dval; }
FORCE_INLINE static uint32_t ulongval(const char c, const uint32_t dval=0) { return seenval(c) ? value_ulong() : dval; } FORCE_INLINE static uint32_t ulongval(const char c, const uint32_t dval=0) { return seenval(c) ? value_ulong() : dval; }
FORCE_INLINE static float linearval(const char c, const float dval=0.0) { return seenval(c) ? value_linear_units() : dval; } FORCE_INLINE static float linearval(const char c, const float dval=0) { return seenval(c) ? value_linear_units() : dval; }
FORCE_INLINE static float celsiusval(const char c, const float dval=0.0) { return seenval(c) ? value_celsius() : dval; } FORCE_INLINE static float celsiusval(const char c, const float dval=0){ return seenval(c) ? value_celsius() : dval; }
}; };

2
Marlin/src/gcode/temperature/M104_M109.cpp
View file

@ -225,7 +225,7 @@ void GcodeSuite::M109() {
// break after MIN_COOLING_SLOPE_TIME seconds // break after MIN_COOLING_SLOPE_TIME seconds
// if the temperature did not drop at least MIN_COOLING_SLOPE_DEG // if the temperature did not drop at least MIN_COOLING_SLOPE_DEG
if (!next_cool_check_ms || ELAPSED(now, next_cool_check_ms)) { if (!next_cool_check_ms || ELAPSED(now, next_cool_check_ms)) {
if (old_temp - temp < MIN_COOLING_SLOPE_DEG) break; if (old_temp - temp < float(MIN_COOLING_SLOPE_DEG)) break;
next_cool_check_ms = now + 1000UL * MIN_COOLING_SLOPE_TIME; next_cool_check_ms = now + 1000UL * MIN_COOLING_SLOPE_TIME;
old_temp = temp; old_temp = temp;
} }

4
Marlin/src/gcode/temperature/M140_M190.cpp
View file

@ -82,7 +82,7 @@ void GcodeSuite::M190() {
#define TEMP_BED_CONDITIONS (wants_to_cool ? thermalManager.isCoolingBed() : thermalManager.isHeatingBed()) #define TEMP_BED_CONDITIONS (wants_to_cool ? thermalManager.isCoolingBed() : thermalManager.isHeatingBed())
#endif #endif
float target_temp = -1.0, old_temp = 9999.0; float target_temp = -1, old_temp = 9999;
bool wants_to_cool = false; bool wants_to_cool = false;
wait_for_heatup = true; wait_for_heatup = true;
millis_t now, next_temp_ms = 0, next_cool_check_ms = 0; millis_t now, next_temp_ms = 0, next_cool_check_ms = 0;
@ -163,7 +163,7 @@ void GcodeSuite::M190() {
// Break after MIN_COOLING_SLOPE_TIME_BED seconds // Break after MIN_COOLING_SLOPE_TIME_BED seconds
// if the temperature did not drop at least MIN_COOLING_SLOPE_DEG_BED // if the temperature did not drop at least MIN_COOLING_SLOPE_DEG_BED
if (!next_cool_check_ms || ELAPSED(now, next_cool_check_ms)) { if (!next_cool_check_ms || ELAPSED(now, next_cool_check_ms)) {
if (old_temp - temp < MIN_COOLING_SLOPE_DEG_BED) break; if (old_temp - temp < float(MIN_COOLING_SLOPE_DEG_BED)) break;
next_cool_check_ms = now + 1000UL * MIN_COOLING_SLOPE_TIME_BED; next_cool_check_ms = now + 1000UL * MIN_COOLING_SLOPE_TIME_BED;
old_temp = temp; old_temp = temp;
} }

2
Marlin/src/lcd/dogm/status_screen_DOGM.h
View file

@ -72,7 +72,7 @@ FORCE_INLINE void _draw_heater_status(const uint8_t x, const int8_t heater, cons
} }
if (PAGE_CONTAINS(21, 28)) { if (PAGE_CONTAINS(21, 28)) {
_draw_centered_temp(0.5 + ( _draw_centered_temp(0.5f + (
#if HAS_HEATED_BED #if HAS_HEATED_BED
isBed ? thermalManager.degBed() : isBed ? thermalManager.degBed() :
#endif #endif

128
Marlin/src/lcd/ultralcd.cpp
View file

@ -479,7 +479,7 @@ uint16_t max_display_update_time = 0;
#if IS_KINEMATIC #if IS_KINEMATIC
bool processing_manual_move = false; bool processing_manual_move = false;
float manual_move_offset = 0.0; float manual_move_offset = 0;
#else #else
constexpr bool processing_manual_move = false; constexpr bool processing_manual_move = false;
#endif #endif
@ -1285,13 +1285,13 @@ void lcd_quick_feedback(const bool clear_buttons) {
ubl_encoderPosition = (ubl.encoder_diff > 0) ? 1 : -1; ubl_encoderPosition = (ubl.encoder_diff > 0) ? 1 : -1;
ubl.encoder_diff = 0; ubl.encoder_diff = 0;
mesh_edit_accumulator += float(ubl_encoderPosition) * 0.005 / 2.0; mesh_edit_accumulator += float(ubl_encoderPosition) * 0.005f * 0.5f;
mesh_edit_value = mesh_edit_accumulator; mesh_edit_value = mesh_edit_accumulator;
encoderPosition = 0; encoderPosition = 0;
lcdDrawUpdate = LCDVIEW_CALL_REDRAW_NEXT; lcdDrawUpdate = LCDVIEW_CALL_REDRAW_NEXT;
const int32_t rounded = (int32_t)(mesh_edit_value * 1000.0); const int32_t rounded = (int32_t)(mesh_edit_value * 1000);
mesh_edit_value = float(rounded - (rounded % 5L)) / 1000.0; mesh_edit_value = float(rounded - (rounded % 5L)) / 1000;
} }
if (lcdDrawUpdate) { if (lcdDrawUpdate) {
@ -1419,7 +1419,7 @@ void lcd_quick_feedback(const bool clear_buttons) {
// Leveling Fade Height // Leveling Fade Height
// //
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT) && DISABLED(SLIM_LCD_MENUS) #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT) && DISABLED(SLIM_LCD_MENUS)
MENU_MULTIPLIER_ITEM_EDIT_CALLBACK(float3, MSG_Z_FADE_HEIGHT, &new_z_fade_height, 0.0, 100.0, _lcd_set_z_fade_height); MENU_MULTIPLIER_ITEM_EDIT_CALLBACK(float3, MSG_Z_FADE_HEIGHT, &new_z_fade_height, 0, 100, _lcd_set_z_fade_height);
#endif #endif
// //
@ -1978,7 +1978,7 @@ void lcd_quick_feedback(const bool clear_buttons) {
// //
if (encoderPosition) { if (encoderPosition) {
const float z = current_position[Z_AXIS] + float((int32_t)encoderPosition) * (MBL_Z_STEP); const float z = current_position[Z_AXIS] + float((int32_t)encoderPosition) * (MBL_Z_STEP);
line_to_z(constrain(z, -(LCD_PROBE_Z_RANGE) * 0.5, (LCD_PROBE_Z_RANGE) * 0.5)); line_to_z(constrain(z, -(LCD_PROBE_Z_RANGE) * 0.5f, (LCD_PROBE_Z_RANGE) * 0.5f));
lcdDrawUpdate = LCDVIEW_CALL_REDRAW_NEXT; lcdDrawUpdate = LCDVIEW_CALL_REDRAW_NEXT;
encoderPosition = 0; encoderPosition = 0;
} }
@ -1988,7 +1988,7 @@ void lcd_quick_feedback(const bool clear_buttons) {
// //
if (lcdDrawUpdate) { if (lcdDrawUpdate) {
const float v = current_position[Z_AXIS]; const float v = current_position[Z_AXIS];
lcd_implementation_drawedit(PSTR(MSG_MOVE_Z), ftostr43sign(v + (v < 0 ? -0.0001 : 0.0001), '+')); lcd_implementation_drawedit(PSTR(MSG_MOVE_Z), ftostr43sign(v + (v < 0 ? -0.0001f : 0.0001f), '+'));
} }
} }
@ -2571,7 +2571,7 @@ void lcd_quick_feedback(const bool clear_buttons) {
MENU_ITEM(submenu, MSG_UBL_TOOLS, _lcd_ubl_tools_menu); MENU_ITEM(submenu, MSG_UBL_TOOLS, _lcd_ubl_tools_menu);
MENU_ITEM(gcode, MSG_UBL_INFO_UBL, PSTR("G29 W")); MENU_ITEM(gcode, MSG_UBL_INFO_UBL, PSTR("G29 W"));
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT) #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
MENU_MULTIPLIER_ITEM_EDIT_CALLBACK(float3, MSG_Z_FADE_HEIGHT, &new_z_fade_height, 0.0, 100.0, _lcd_set_z_fade_height); MENU_MULTIPLIER_ITEM_EDIT_CALLBACK(float3, MSG_Z_FADE_HEIGHT, &new_z_fade_height, 0, 100, _lcd_set_z_fade_height);
#endif #endif
END_MENU(); END_MENU();
} }
@ -2627,7 +2627,7 @@ void lcd_quick_feedback(const bool clear_buttons) {
// Z Fade Height // Z Fade Height
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT) #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
MENU_MULTIPLIER_ITEM_EDIT_CALLBACK(float3, MSG_Z_FADE_HEIGHT, &new_z_fade_height, 0.0, 100.0, _lcd_set_z_fade_height); MENU_MULTIPLIER_ITEM_EDIT_CALLBACK(float3, MSG_Z_FADE_HEIGHT, &new_z_fade_height, 0, 100, _lcd_set_z_fade_height);
#endif #endif
// //
@ -2713,7 +2713,7 @@ void lcd_quick_feedback(const bool clear_buttons) {
MENU_ITEM_EDIT_CALLBACK(bool, MSG_BED_LEVELING, &new_level_state, _lcd_toggle_bed_leveling); MENU_ITEM_EDIT_CALLBACK(bool, MSG_BED_LEVELING, &new_level_state, _lcd_toggle_bed_leveling);
} }
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT) #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
MENU_MULTIPLIER_ITEM_EDIT_CALLBACK(float3, MSG_Z_FADE_HEIGHT, &new_z_fade_height, 0.0, 100.0, _lcd_set_z_fade_height); MENU_MULTIPLIER_ITEM_EDIT_CALLBACK(float3, MSG_Z_FADE_HEIGHT, &new_z_fade_height, 0, 100, _lcd_set_z_fade_height);
#endif #endif
#endif #endif
@ -2877,15 +2877,15 @@ void lcd_quick_feedback(const bool clear_buttons) {
void lcd_delta_settings() { void lcd_delta_settings() {
START_MENU(); START_MENU();
MENU_BACK(MSG_DELTA_CALIBRATE); MENU_BACK(MSG_DELTA_CALIBRATE);
MENU_ITEM_EDIT_CALLBACK(float52sign, MSG_DELTA_HEIGHT, &delta_height, delta_height - 10.0, delta_height + 10.0, _recalc_delta_settings); MENU_ITEM_EDIT_CALLBACK(float52sign, MSG_DELTA_HEIGHT, &delta_height, delta_height - 10, delta_height + 10, _recalc_delta_settings);
MENU_ITEM_EDIT_CALLBACK(float43, "Ex", &delta_endstop_adj[A_AXIS], -5.0, 5.0, _recalc_delta_settings); MENU_ITEM_EDIT_CALLBACK(float43, "Ex", &delta_endstop_adj[A_AXIS], -5, 5, _recalc_delta_settings);
MENU_ITEM_EDIT_CALLBACK(float43, "Ey", &delta_endstop_adj[B_AXIS], -5.0, 5.0, _recalc_delta_settings); MENU_ITEM_EDIT_CALLBACK(float43, "Ey", &delta_endstop_adj[B_AXIS], -5, 5, _recalc_delta_settings);
MENU_ITEM_EDIT_CALLBACK(float43, "Ez", &delta_endstop_adj[C_AXIS], -5.0, 5.0, _recalc_delta_settings); MENU_ITEM_EDIT_CALLBACK(float43, "Ez", &delta_endstop_adj[C_AXIS], -5, 5, _recalc_delta_settings);
MENU_ITEM_EDIT_CALLBACK(float52sign, MSG_DELTA_RADIUS, &delta_radius, delta_radius - 5.0, delta_radius + 5.0, _recalc_delta_settings); MENU_ITEM_EDIT_CALLBACK(float52sign, MSG_DELTA_RADIUS, &delta_radius, delta_radius - 5, delta_radius + 5, _recalc_delta_settings);
MENU_ITEM_EDIT_CALLBACK(float43, "Tx", &delta_tower_angle_trim[A_AXIS], -5.0, 5.0, _recalc_delta_settings); MENU_ITEM_EDIT_CALLBACK(float43, "Tx", &delta_tower_angle_trim[A_AXIS], -5, 5, _recalc_delta_settings);
MENU_ITEM_EDIT_CALLBACK(float43, "Ty", &delta_tower_angle_trim[B_AXIS], -5.0, 5.0, _recalc_delta_settings); MENU_ITEM_EDIT_CALLBACK(float43, "Ty", &delta_tower_angle_trim[B_AXIS], -5, 5, _recalc_delta_settings);
MENU_ITEM_EDIT_CALLBACK(float43, "Tz", &delta_tower_angle_trim[C_AXIS], -5.0, 5.0, _recalc_delta_settings); MENU_ITEM_EDIT_CALLBACK(float43, "Tz", &delta_tower_angle_trim[C_AXIS], -5, 5, _recalc_delta_settings);
MENU_ITEM_EDIT_CALLBACK(float52sign, MSG_DELTA_DIAG_ROD, &delta_diagonal_rod, delta_diagonal_rod - 5.0, delta_diagonal_rod + 5.0, _recalc_delta_settings); MENU_ITEM_EDIT_CALLBACK(float52sign, MSG_DELTA_DIAG_ROD, &delta_diagonal_rod, delta_diagonal_rod - 5, delta_diagonal_rod + 5, _recalc_delta_settings);
END_MENU(); END_MENU();
} }
@ -2981,7 +2981,7 @@ void lcd_quick_feedback(const bool clear_buttons) {
#endif #endif
manual_move_e_index = eindex >= 0 ? eindex : active_extruder; manual_move_e_index = eindex >= 0 ? eindex : active_extruder;
#endif #endif
manual_move_start_time = millis() + (move_menu_scale < 0.99 ? 0UL : 250UL); // delay for bigger moves manual_move_start_time = millis() + (move_menu_scale < 0.99f ? 0UL : 250UL); // delay for bigger moves
manual_move_axis = (int8_t)axis; manual_move_axis = (int8_t)axis;
} }
@ -3065,7 +3065,7 @@ void lcd_quick_feedback(const bool clear_buttons) {
+ manual_move_offset + manual_move_offset
#endif #endif
, axis); , axis);
lcd_implementation_drawedit(name, move_menu_scale >= 0.1 ? ftostr41sign(pos) : ftostr43sign(pos)); lcd_implementation_drawedit(name, move_menu_scale >= 0.1f ? ftostr41sign(pos) : ftostr43sign(pos));
} }
} }
void lcd_move_x() { _lcd_move_xyz(PSTR(MSG_MOVE_X), X_AXIS); } void lcd_move_x() { _lcd_move_xyz(PSTR(MSG_MOVE_X), X_AXIS); }
@ -3150,9 +3150,9 @@ void lcd_quick_feedback(const bool clear_buttons) {
move_menu_scale = scale; move_menu_scale = scale;
lcd_goto_screen(_manual_move_func_ptr); lcd_goto_screen(_manual_move_func_ptr);
} }
void lcd_move_menu_10mm() { _goto_manual_move(10.0); } void lcd_move_menu_10mm() { _goto_manual_move(10); }
void lcd_move_menu_1mm() { _goto_manual_move( 1.0); } void lcd_move_menu_1mm() { _goto_manual_move( 1); }
void lcd_move_menu_01mm() { _goto_manual_move( 0.1); } void lcd_move_menu_01mm() { _goto_manual_move( 0.1f); }
void _lcd_move_distance_menu(const AxisEnum axis, const screenFunc_t func) { void _lcd_move_distance_menu(const AxisEnum axis, const screenFunc_t func) {
_manual_move_func_ptr = func; _manual_move_func_ptr = func;
@ -3527,9 +3527,9 @@ void lcd_quick_feedback(const bool clear_buttons) {
// //
#if ENABLED(AUTOTEMP) && HAS_TEMP_HOTEND #if ENABLED(AUTOTEMP) && HAS_TEMP_HOTEND
MENU_ITEM_EDIT(bool, MSG_AUTOTEMP, &planner.autotemp_enabled); MENU_ITEM_EDIT(bool, MSG_AUTOTEMP, &planner.autotemp_enabled);
MENU_ITEM_EDIT(float3, MSG_MIN, &planner.autotemp_min, 0, HEATER_0_MAXTEMP - 15); MENU_ITEM_EDIT(float3, MSG_MIN, &planner.autotemp_min, 0, float(HEATER_0_MAXTEMP) - 15);
MENU_ITEM_EDIT(float3, MSG_MAX, &planner.autotemp_max, 0, HEATER_0_MAXTEMP - 15); MENU_ITEM_EDIT(float3, MSG_MAX, &planner.autotemp_max, 0, float(HEATER_0_MAXTEMP) - 15);
MENU_ITEM_EDIT(float52, MSG_FACTOR, &planner.autotemp_factor, 0.0, 1.0); MENU_ITEM_EDIT(float52, MSG_FACTOR, &planner.autotemp_factor, 0, 1);
#endif #endif
// //
@ -3546,7 +3546,7 @@ void lcd_quick_feedback(const bool clear_buttons) {
raw_Ki = unscalePID_i(PID_PARAM(Ki, eindex)); \ raw_Ki = unscalePID_i(PID_PARAM(Ki, eindex)); \
raw_Kd = unscalePID_d(PID_PARAM(Kd, eindex)); \ raw_Kd = unscalePID_d(PID_PARAM(Kd, eindex)); \
MENU_ITEM_EDIT(float52sign, MSG_PID_P ELABEL, &PID_PARAM(Kp, eindex), 1, 9990); \ MENU_ITEM_EDIT(float52sign, MSG_PID_P ELABEL, &PID_PARAM(Kp, eindex), 1, 9990); \
MENU_ITEM_EDIT_CALLBACK(float52sign, MSG_PID_I ELABEL, &raw_Ki, 0.01, 9990, copy_and_scalePID_i_E ## eindex); \ MENU_ITEM_EDIT_CALLBACK(float52sign, MSG_PID_I ELABEL, &raw_Ki, 0.01f, 9990, copy_and_scalePID_i_E ## eindex); \
MENU_ITEM_EDIT_CALLBACK(float52sign, MSG_PID_D ELABEL, &raw_Kd, 1, 9990, copy_and_scalePID_d_E ## eindex) MENU_ITEM_EDIT_CALLBACK(float52sign, MSG_PID_D ELABEL, &raw_Kd, 1, 9990, copy_and_scalePID_d_E ## eindex)
#if ENABLED(PID_EXTRUSION_SCALING) #if ENABLED(PID_EXTRUSION_SCALING)
@ -3668,7 +3668,7 @@ void lcd_quick_feedback(const bool clear_buttons) {
if (e == active_extruder) if (e == active_extruder)
_planner_refresh_positioning(); _planner_refresh_positioning();
else else
planner.steps_to_mm[E_AXIS + e] = 1.0 / planner.axis_steps_per_mm[E_AXIS + e]; planner.steps_to_mm[E_AXIS + e] = 1.0f / planner.axis_steps_per_mm[E_AXIS + e];
} }
void _planner_refresh_e0_positioning() { _planner_refresh_e_positioning(0); } void _planner_refresh_e0_positioning() { _planner_refresh_e_positioning(0); }
void _planner_refresh_e1_positioning() { _planner_refresh_e_positioning(1); } void _planner_refresh_e1_positioning() { _planner_refresh_e_positioning(1); }
@ -3764,14 +3764,14 @@ void lcd_quick_feedback(const bool clear_buttons) {
MENU_BACK(MSG_MOTION); MENU_BACK(MSG_MOTION);
#if ENABLED(JUNCTION_DEVIATION) #if ENABLED(JUNCTION_DEVIATION)
MENU_ITEM_EDIT_CALLBACK(float43, MSG_JUNCTION_DEVIATION, &planner.junction_deviation_mm, 0.01, 0.3, planner.recalculate_max_e_jerk); MENU_ITEM_EDIT_CALLBACK(float43, MSG_JUNCTION_DEVIATION, &planner.junction_deviation_mm, 0.01f, 0.3f, planner.recalculate_max_e_jerk);
#else #else
MENU_MULTIPLIER_ITEM_EDIT(float3, MSG_VA_JERK, &planner.max_jerk[A_AXIS], 1, 990); 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); MENU_MULTIPLIER_ITEM_EDIT(float3, MSG_VB_JERK, &planner.max_jerk[B_AXIS], 1, 990);
#if ENABLED(DELTA) #if ENABLED(DELTA)
MENU_MULTIPLIER_ITEM_EDIT(float3, MSG_VC_JERK, &planner.max_jerk[C_AXIS], 1, 990); MENU_MULTIPLIER_ITEM_EDIT(float3, MSG_VC_JERK, &planner.max_jerk[C_AXIS], 1, 990);
#else #else
MENU_MULTIPLIER_ITEM_EDIT(float52sign, MSG_VC_JERK, &planner.max_jerk[C_AXIS], 0.1, 990); MENU_MULTIPLIER_ITEM_EDIT(float52sign, MSG_VC_JERK, &planner.max_jerk[C_AXIS], 0.1f, 990);
#endif #endif
MENU_MULTIPLIER_ITEM_EDIT(float3, MSG_VE_JERK, &planner.max_jerk[E_AXIS], 1, 990); MENU_MULTIPLIER_ITEM_EDIT(float3, MSG_VE_JERK, &planner.max_jerk[E_AXIS], 1, 990);
#endif #endif
@ -3869,17 +3869,17 @@ void lcd_quick_feedback(const bool clear_buttons) {
if (parser.volumetric_enabled) { if (parser.volumetric_enabled) {
#if EXTRUDERS == 1 #if EXTRUDERS == 1
MENU_MULTIPLIER_ITEM_EDIT_CALLBACK(float43, MSG_FILAMENT_DIAM, &planner.filament_size[0], 1.5, 3.25, planner.calculate_volumetric_multipliers); MENU_MULTIPLIER_ITEM_EDIT_CALLBACK(float43, MSG_FILAMENT_DIAM, &planner.filament_size[0], 1.5f, 3.25f, planner.calculate_volumetric_multipliers);
#else // EXTRUDERS > 1 #else // EXTRUDERS > 1
MENU_MULTIPLIER_ITEM_EDIT_CALLBACK(float43, MSG_FILAMENT_DIAM, &planner.filament_size[active_extruder], 1.5, 3.25, planner.calculate_volumetric_multipliers); MENU_MULTIPLIER_ITEM_EDIT_CALLBACK(float43, MSG_FILAMENT_DIAM, &planner.filament_size[active_extruder], 1.5f, 3.25f, planner.calculate_volumetric_multipliers);
MENU_MULTIPLIER_ITEM_EDIT_CALLBACK(float43, MSG_FILAMENT_DIAM MSG_DIAM_E1, &planner.filament_size[0], 1.5, 3.25, planner.calculate_volumetric_multipliers); MENU_MULTIPLIER_ITEM_EDIT_CALLBACK(float43, MSG_FILAMENT_DIAM MSG_DIAM_E1, &planner.filament_size[0], 1.5f, 3.25f, planner.calculate_volumetric_multipliers);
MENU_MULTIPLIER_ITEM_EDIT_CALLBACK(float43, MSG_FILAMENT_DIAM MSG_DIAM_E2, &planner.filament_size[1], 1.5, 3.25, planner.calculate_volumetric_multipliers); MENU_MULTIPLIER_ITEM_EDIT_CALLBACK(float43, MSG_FILAMENT_DIAM MSG_DIAM_E2, &planner.filament_size[1], 1.5f, 3.25f, planner.calculate_volumetric_multipliers);
#if EXTRUDERS > 2 #if EXTRUDERS > 2
MENU_MULTIPLIER_ITEM_EDIT_CALLBACK(float43, MSG_FILAMENT_DIAM MSG_DIAM_E3, &planner.filament_size[2], 1.5, 3.25, planner.calculate_volumetric_multipliers); MENU_MULTIPLIER_ITEM_EDIT_CALLBACK(float43, MSG_FILAMENT_DIAM MSG_DIAM_E3, &planner.filament_size[2], 1.5f, 3.25f, planner.calculate_volumetric_multipliers);
#if EXTRUDERS > 3 #if EXTRUDERS > 3
MENU_MULTIPLIER_ITEM_EDIT_CALLBACK(float43, MSG_FILAMENT_DIAM MSG_DIAM_E4, &planner.filament_size[3], 1.5, 3.25, planner.calculate_volumetric_multipliers); MENU_MULTIPLIER_ITEM_EDIT_CALLBACK(float43, MSG_FILAMENT_DIAM MSG_DIAM_E4, &planner.filament_size[3], 1.5f, 3.25f, planner.calculate_volumetric_multipliers);
#if EXTRUDERS > 4 #if EXTRUDERS > 4
MENU_MULTIPLIER_ITEM_EDIT_CALLBACK(float43, MSG_FILAMENT_DIAM MSG_DIAM_E5, &planner.filament_size[4], 1.5, 3.25, planner.calculate_volumetric_multipliers); MENU_MULTIPLIER_ITEM_EDIT_CALLBACK(float43, MSG_FILAMENT_DIAM MSG_DIAM_E5, &planner.filament_size[4], 1.5f, 3.25f, planner.calculate_volumetric_multipliers);
#endif // EXTRUDERS > 4 #endif // EXTRUDERS > 4
#endif // EXTRUDERS > 3 #endif // EXTRUDERS > 3
#endif // EXTRUDERS > 2 #endif // EXTRUDERS > 2
@ -3892,39 +3892,39 @@ void lcd_quick_feedback(const bool clear_buttons) {
#if ENABLED(PREVENT_LENGTHY_EXTRUDE) #if ENABLED(PREVENT_LENGTHY_EXTRUDE)
EXTRUDE_MAXLENGTH EXTRUDE_MAXLENGTH
#else #else
999.0f 999
#endif #endif
; ;
#if EXTRUDERS == 1 #if EXTRUDERS == 1
MENU_MULTIPLIER_ITEM_EDIT(float3, MSG_FILAMENT_UNLOAD, &filament_change_unload_length[0], 0.0, extrude_maxlength); MENU_MULTIPLIER_ITEM_EDIT(float3, MSG_FILAMENT_UNLOAD, &filament_change_unload_length[0], 0, extrude_maxlength);
#else // EXTRUDERS > 1 #else // EXTRUDERS > 1
MENU_MULTIPLIER_ITEM_EDIT(float3, MSG_FILAMENT_UNLOAD, &filament_change_unload_length[active_extruder], 0.0, extrude_maxlength); MENU_MULTIPLIER_ITEM_EDIT(float3, MSG_FILAMENT_UNLOAD, &filament_change_unload_length[active_extruder], 0, extrude_maxlength);
MENU_MULTIPLIER_ITEM_EDIT(float3, MSG_FILAMENT_UNLOAD MSG_DIAM_E1, &filament_change_unload_length[0], 0.0, extrude_maxlength); MENU_MULTIPLIER_ITEM_EDIT(float3, MSG_FILAMENT_UNLOAD MSG_DIAM_E1, &filament_change_unload_length[0], 0, extrude_maxlength);
MENU_MULTIPLIER_ITEM_EDIT(float3, MSG_FILAMENT_UNLOAD MSG_DIAM_E2, &filament_change_unload_length[1], 0.0, extrude_maxlength); MENU_MULTIPLIER_ITEM_EDIT(float3, MSG_FILAMENT_UNLOAD MSG_DIAM_E2, &filament_change_unload_length[1], 0, extrude_maxlength);
#if EXTRUDERS > 2 #if EXTRUDERS > 2
MENU_MULTIPLIER_ITEM_EDIT(float3, MSG_FILAMENT_UNLOAD MSG_DIAM_E3, &filament_change_unload_length[2], 0.0, extrude_maxlength); MENU_MULTIPLIER_ITEM_EDIT(float3, MSG_FILAMENT_UNLOAD MSG_DIAM_E3, &filament_change_unload_length[2], 0, extrude_maxlength);
#if EXTRUDERS > 3 #if EXTRUDERS > 3
MENU_MULTIPLIER_ITEM_EDIT(float3, MSG_FILAMENT_UNLOAD MSG_DIAM_E4, &filament_change_unload_length[3], 0.0, extrude_maxlength); MENU_MULTIPLIER_ITEM_EDIT(float3, MSG_FILAMENT_UNLOAD MSG_DIAM_E4, &filament_change_unload_length[3], 0, extrude_maxlength);
#if EXTRUDERS > 4 #if EXTRUDERS > 4
MENU_MULTIPLIER_ITEM_EDIT(float3, MSG_FILAMENT_UNLOAD MSG_DIAM_E5, &filament_change_unload_length[4], 0.0, extrude_maxlength); MENU_MULTIPLIER_ITEM_EDIT(float3, MSG_FILAMENT_UNLOAD MSG_DIAM_E5, &filament_change_unload_length[4], 0, extrude_maxlength);
#endif // EXTRUDERS > 4 #endif // EXTRUDERS > 4
#endif // EXTRUDERS > 3 #endif // EXTRUDERS > 3
#endif // EXTRUDERS > 2 #endif // EXTRUDERS > 2
#endif // EXTRUDERS > 1 #endif // EXTRUDERS > 1
#if EXTRUDERS == 1 #if EXTRUDERS == 1
MENU_MULTIPLIER_ITEM_EDIT(float3, MSG_FILAMENT_LOAD, &filament_change_load_length[0], 0.0, extrude_maxlength); MENU_MULTIPLIER_ITEM_EDIT(float3, MSG_FILAMENT_LOAD, &filament_change_load_length[0], 0, extrude_maxlength);
#else // EXTRUDERS > 1 #else // EXTRUDERS > 1
MENU_MULTIPLIER_ITEM_EDIT(float3, MSG_FILAMENT_LOAD, &filament_change_load_length[active_extruder], 0.0, extrude_maxlength); MENU_MULTIPLIER_ITEM_EDIT(float3, MSG_FILAMENT_LOAD, &filament_change_load_length[active_extruder], 0, extrude_maxlength);
MENU_MULTIPLIER_ITEM_EDIT(float3, MSG_FILAMENT_LOAD MSG_DIAM_E1, &filament_change_load_length[0], 0.0, extrude_maxlength); MENU_MULTIPLIER_ITEM_EDIT(float3, MSG_FILAMENT_LOAD MSG_DIAM_E1, &filament_change_load_length[0], 0, extrude_maxlength);
MENU_MULTIPLIER_ITEM_EDIT(float3, MSG_FILAMENT_LOAD MSG_DIAM_E2, &filament_change_load_length[1], 0.0, extrude_maxlength); MENU_MULTIPLIER_ITEM_EDIT(float3, MSG_FILAMENT_LOAD MSG_DIAM_E2, &filament_change_load_length[1], 0, extrude_maxlength);
#if EXTRUDERS > 2 #if EXTRUDERS > 2
MENU_MULTIPLIER_ITEM_EDIT(float3, MSG_FILAMENT_LOAD MSG_DIAM_E3, &filament_change_load_length[2], 0.0, extrude_maxlength); MENU_MULTIPLIER_ITEM_EDIT(float3, MSG_FILAMENT_LOAD MSG_DIAM_E3, &filament_change_load_length[2], 0, extrude_maxlength);
#if EXTRUDERS > 3 #if EXTRUDERS > 3
MENU_MULTIPLIER_ITEM_EDIT(float3, MSG_FILAMENT_LOAD MSG_DIAM_E4, &filament_change_load_length[3], 0.0, extrude_maxlength); MENU_MULTIPLIER_ITEM_EDIT(float3, MSG_FILAMENT_LOAD MSG_DIAM_E4, &filament_change_load_length[3], 0, extrude_maxlength);
#if EXTRUDERS > 4 #if EXTRUDERS > 4
MENU_MULTIPLIER_ITEM_EDIT(float3, MSG_FILAMENT_LOAD MSG_DIAM_E5, &filament_change_load_length[4], 0.0, extrude_maxlength); MENU_MULTIPLIER_ITEM_EDIT(float3, MSG_FILAMENT_LOAD MSG_DIAM_E5, &filament_change_load_length[4], 0, extrude_maxlength);
#endif // EXTRUDERS > 4 #endif // EXTRUDERS > 4
#endif // EXTRUDERS > 3 #endif // EXTRUDERS > 3
#endif // EXTRUDERS > 2 #endif // EXTRUDERS > 2
@ -4824,9 +4824,9 @@ void lcd_quick_feedback(const bool clear_buttons) {
if ((int32_t)encoderPosition < 0) encoderPosition = 0; \ if ((int32_t)encoderPosition < 0) encoderPosition = 0; \
if ((int32_t)encoderPosition > maxEditValue) encoderPosition = maxEditValue; \ if ((int32_t)encoderPosition > maxEditValue) encoderPosition = maxEditValue; \
if (lcdDrawUpdate) \ if (lcdDrawUpdate) \
lcd_implementation_drawedit(editLabel, _strFunc(((_type)((int32_t)encoderPosition + minEditValue)) * (1.0 / _scale))); \ lcd_implementation_drawedit(editLabel, _strFunc(((_type)((int32_t)encoderPosition + minEditValue)) * (1.0f / _scale))); \
if (lcd_clicked || (liveEdit && lcdDrawUpdate)) { \ if (lcd_clicked || (liveEdit && lcdDrawUpdate)) { \
_type value = ((_type)((int32_t)encoderPosition + minEditValue)) * (1.0 / _scale); \ _type value = ((_type)((int32_t)encoderPosition + minEditValue)) * (1.0f / _scale); \
if (editValue != NULL) *((_type*)editValue) = value; \ if (editValue != NULL) *((_type*)editValue) = value; \
if (callbackFunc && (liveEdit || lcd_clicked)) (*callbackFunc)(); \ if (callbackFunc && (liveEdit || lcd_clicked)) (*callbackFunc)(); \
if (lcd_clicked) lcd_goto_previous_menu(); \ if (lcd_clicked) lcd_goto_previous_menu(); \
@ -4857,14 +4857,14 @@ void lcd_quick_feedback(const bool clear_buttons) {
DEFINE_MENU_EDIT_TYPE(int16_t, int3, itostr3, 1); DEFINE_MENU_EDIT_TYPE(int16_t, int3, itostr3, 1);
DEFINE_MENU_EDIT_TYPE(uint8_t, int8, i8tostr3, 1); DEFINE_MENU_EDIT_TYPE(uint8_t, int8, i8tostr3, 1);
DEFINE_MENU_EDIT_TYPE(float, float3, ftostr3, 1.0); DEFINE_MENU_EDIT_TYPE(float, float3, ftostr3, 1);
DEFINE_MENU_EDIT_TYPE(float, float52, ftostr52, 100.0); DEFINE_MENU_EDIT_TYPE(float, float52, ftostr52, 100);
DEFINE_MENU_EDIT_TYPE(float, float43, ftostr43sign, 1000.0); DEFINE_MENU_EDIT_TYPE(float, float43, ftostr43sign, 1000);
DEFINE_MENU_EDIT_TYPE(float, float5, ftostr5rj, 0.01); DEFINE_MENU_EDIT_TYPE(float, float5, ftostr5rj, 0.01f);
DEFINE_MENU_EDIT_TYPE(float, float51, ftostr51sign, 10.0); DEFINE_MENU_EDIT_TYPE(float, float51, ftostr51sign, 10);
DEFINE_MENU_EDIT_TYPE(float, float52sign, ftostr52sign, 100.0); DEFINE_MENU_EDIT_TYPE(float, float52sign, ftostr52sign, 100);
DEFINE_MENU_EDIT_TYPE(float, float62, ftostr62rj, 100.0); DEFINE_MENU_EDIT_TYPE(float, float62, ftostr62rj, 100);
DEFINE_MENU_EDIT_TYPE(uint32_t, long5, ftostr5rj, 0.01); DEFINE_MENU_EDIT_TYPE(uint32_t, long5, ftostr5rj, 0.01f);
/** /**
* *
@ -5228,7 +5228,7 @@ void lcd_update() {
if (lastEncoderMovementMillis) { if (lastEncoderMovementMillis) {
// Note that the rate is always calculated between two passes through the // Note that the rate is always calculated between two passes through the
// loop and that the abs of the encoderDiff value is tracked. // loop and that the abs of the encoderDiff value is tracked.
float encoderStepRate = float(encoderMovementSteps) / float(ms - lastEncoderMovementMillis) * 1000.0; float encoderStepRate = float(encoderMovementSteps) / float(ms - lastEncoderMovementMillis) * 1000;
if (encoderStepRate >= ENCODER_100X_STEPS_PER_SEC) encoderMultiplier = 100; if (encoderStepRate >= ENCODER_100X_STEPS_PER_SEC) encoderMultiplier = 100;
else if (encoderStepRate >= ENCODER_10X_STEPS_PER_SEC) encoderMultiplier = 10; else if (encoderStepRate >= ENCODER_10X_STEPS_PER_SEC) encoderMultiplier = 10;

2
Marlin/src/libs/vector_3.cpp
View file

@ -69,7 +69,7 @@ vector_3 vector_3::get_normal() {
float vector_3::get_length() { return SQRT(sq(x) + sq(y) + sq(z)); } float vector_3::get_length() { return SQRT(sq(x) + sq(y) + sq(z)); }
void vector_3::normalize() { void vector_3::normalize() {
const float inv_length = 1.0 / get_length(); const float inv_length = RSQRT(sq(x) + sq(y) + sq(z));
x *= inv_length; x *= inv_length;
y *= inv_length; y *= inv_length;
z *= inv_length; z *= inv_length;

12
Marlin/src/module/configuration_store.cpp
View file

@ -417,12 +417,12 @@ void MarlinSettings::postprocess() {
EEPROM_WRITE(planner.min_travel_feedrate_mm_s); EEPROM_WRITE(planner.min_travel_feedrate_mm_s);
#if ENABLED(JUNCTION_DEVIATION) #if ENABLED(JUNCTION_DEVIATION)
const float planner_max_jerk[] = { DEFAULT_XJERK, DEFAULT_YJERK, DEFAULT_ZJERK, DEFAULT_EJERK }; const float planner_max_jerk[] = { float(DEFAULT_XJERK), float(DEFAULT_YJERK), float(DEFAULT_ZJERK), float(DEFAULT_EJERK) };
EEPROM_WRITE(planner_max_jerk); EEPROM_WRITE(planner_max_jerk);
EEPROM_WRITE(planner.junction_deviation_mm); EEPROM_WRITE(planner.junction_deviation_mm);
#else #else
EEPROM_WRITE(planner.max_jerk); EEPROM_WRITE(planner.max_jerk);
dummy = 0.02; dummy = 0.02f;
EEPROM_WRITE(dummy); EEPROM_WRITE(dummy);
#endif #endif
@ -488,7 +488,7 @@ void MarlinSettings::postprocess() {
#if ABL_PLANAR #if ABL_PLANAR
EEPROM_WRITE(planner.bed_level_matrix); EEPROM_WRITE(planner.bed_level_matrix);
#else #else
dummy = 0.0; dummy = 0.0f;
for (uint8_t q = 9; q--;) EEPROM_WRITE(dummy); for (uint8_t q = 9; q--;) EEPROM_WRITE(dummy);
#endif #endif
@ -974,7 +974,7 @@ void MarlinSettings::postprocess() {
eeprom_error = true; eeprom_error = true;
} }
else { else {
float dummy = 0; float dummy = 0.0f;
#if DISABLED(AUTO_BED_LEVELING_UBL) || DISABLED(FWRETRACT) || ENABLED(NO_VOLUMETRICS) #if DISABLED(AUTO_BED_LEVELING_UBL) || DISABLED(FWRETRACT) || ENABLED(NO_VOLUMETRICS)
bool dummyb; bool dummyb;
#endif #endif
@ -1733,7 +1733,7 @@ void MarlinSettings::reset(PORTARG_SOLO) {
planner.min_travel_feedrate_mm_s = DEFAULT_MINTRAVELFEEDRATE; planner.min_travel_feedrate_mm_s = DEFAULT_MINTRAVELFEEDRATE;
#if ENABLED(JUNCTION_DEVIATION) #if ENABLED(JUNCTION_DEVIATION)
planner.junction_deviation_mm = JUNCTION_DEVIATION_MM; planner.junction_deviation_mm = float(JUNCTION_DEVIATION_MM);
#else #else
planner.max_jerk[X_AXIS] = DEFAULT_XJERK; planner.max_jerk[X_AXIS] = DEFAULT_XJERK;
planner.max_jerk[Y_AXIS] = DEFAULT_YJERK; planner.max_jerk[Y_AXIS] = DEFAULT_YJERK;
@ -1835,7 +1835,7 @@ void MarlinSettings::reset(PORTARG_SOLO) {
HOTEND_LOOP() HOTEND_LOOP()
#endif #endif
{ {
PID_PARAM(Kp, e) = DEFAULT_Kp; PID_PARAM(Kp, e) = float(DEFAULT_Kp);
PID_PARAM(Ki, e) = scalePID_i(DEFAULT_Ki); PID_PARAM(Ki, e) = scalePID_i(DEFAULT_Ki);
PID_PARAM(Kd, e) = scalePID_d(DEFAULT_Kd); PID_PARAM(Kd, e) = scalePID_d(DEFAULT_Kd);
#if ENABLED(PID_EXTRUSION_SCALING) #if ENABLED(PID_EXTRUSION_SCALING)

18
Marlin/src/module/motion.cpp
View file

@ -77,7 +77,7 @@ bool relative_mode; // = false;
* Used by 'buffer_line_to_current_position' to do a move after changing it. * 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_KINEMATIC' to update 'planner.position'.
*/ */
float current_position[XYZE] = { 0.0 }; float current_position[XYZE] = { 0 };
/** /**
* Cartesian Destination * Cartesian Destination
@ -85,7 +85,7 @@ float current_position[XYZE] = { 0.0 };
* and expected by functions like 'prepare_move_to_destination'. * and expected by functions like 'prepare_move_to_destination'.
* Set with 'get_destination_from_command' or 'set_destination_from_current'. * Set with 'get_destination_from_command' or 'set_destination_from_current'.
*/ */
float destination[XYZE] = { 0.0 }; float destination[XYZE] = { 0 };
// The active extruder (tool). Set with T<extruder> command. // The active extruder (tool). Set with T<extruder> command.
@ -100,7 +100,7 @@ uint8_t active_extruder; // = 0;
// no other feedrate is specified. Overridden for special moves. // no other feedrate is specified. Overridden for special moves.
// Set by the last G0 through G5 command's "F" parameter. // Set by the last G0 through G5 command's "F" parameter.
// Functions that override this for custom moves *must always* restore it! // Functions that override this for custom moves *must always* restore it!
float feedrate_mm_s = MMM_TO_MMS(1500.0); float feedrate_mm_s = MMM_TO_MMS(1500.0f);
int16_t feedrate_percentage = 100; int16_t feedrate_percentage = 100;
@ -509,7 +509,7 @@ float soft_endstop_min[XYZ] = { X_MIN_BED, Y_MIN_BED, Z_MIN_POS },
* but may produce jagged lines. Try 0.5mm, 1.0mm, and 2.0mm * but may produce jagged lines. Try 0.5mm, 1.0mm, and 2.0mm
* and compare the difference. * and compare the difference.
*/ */
#define SCARA_MIN_SEGMENT_LENGTH 0.5 #define SCARA_MIN_SEGMENT_LENGTH 0.5f
#endif #endif
/** /**
@ -566,14 +566,14 @@ float soft_endstop_min[XYZ] = { X_MIN_BED, Y_MIN_BED, Z_MIN_POS },
// For SCARA enforce a minimum segment size // For SCARA enforce a minimum segment size
#if IS_SCARA #if IS_SCARA
NOMORE(segments, cartesian_mm * (1.0 / SCARA_MIN_SEGMENT_LENGTH)); NOMORE(segments, cartesian_mm * (1.0f / float(SCARA_MIN_SEGMENT_LENGTH)));
#endif #endif
// At least one segment is required // At least one segment is required
NOLESS(segments, 1U); NOLESS(segments, 1U);
// The approximate length of each segment // The approximate length of each segment
const float inv_segments = 1.0 / float(segments), const float inv_segments = 1.0f / float(segments),
segment_distance[XYZE] = { segment_distance[XYZE] = {
xdiff * inv_segments, xdiff * inv_segments,
ydiff * inv_segments, ydiff * inv_segments,
@ -599,7 +599,7 @@ float soft_endstop_min[XYZ] = { X_MIN_BED, Y_MIN_BED, Z_MIN_POS },
// SCARA needs to scale the feed rate from mm/s to degrees/s // SCARA needs to scale the feed rate from mm/s to degrees/s
// i.e., Complete the angular vector in the given time. // i.e., Complete the angular vector in the given time.
const float segment_length = cartesian_mm * inv_segments, const float segment_length = cartesian_mm * inv_segments,
inv_segment_length = 1.0 / segment_length, // 1/mm/segs inv_segment_length = 1.0f / segment_length, // 1/mm/segs
inverse_secs = inv_segment_length * _feedrate_mm_s; inverse_secs = inv_segment_length * _feedrate_mm_s;
float oldA = planner.position_float[A_AXIS], float oldA = planner.position_float[A_AXIS],
@ -756,7 +756,7 @@ float soft_endstop_min[XYZ] = { X_MIN_BED, Y_MIN_BED, Z_MIN_POS },
NOLESS(segments, 1U); NOLESS(segments, 1U);
// The approximate length of each segment // The approximate length of each segment
const float inv_segments = 1.0 / float(segments), const float inv_segments = 1.0f / float(segments),
cartesian_segment_mm = cartesian_mm * inv_segments, cartesian_segment_mm = cartesian_mm * inv_segments,
segment_distance[XYZE] = { segment_distance[XYZE] = {
xdiff * inv_segments, xdiff * inv_segments,
@ -1335,7 +1335,7 @@ void homeaxis(const AxisEnum axis) {
#if ENABLED(DEBUG_LEVELING_FEATURE) #if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("Home 1 Fast:"); if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("Home 1 Fast:");
#endif #endif
do_homing_move(axis, 1.5 * max_length(axis) * axis_home_dir); do_homing_move(axis, 1.5f * max_length(axis) * axis_home_dir);
// When homing Z with probe respect probe clearance // When homing Z with probe respect probe clearance
const float bump = axis_home_dir * ( const float bump = axis_home_dir * (

20
Marlin/src/module/motion.h
View file

@ -71,7 +71,7 @@ extern float feedrate_mm_s;
* Feedrate scaling and conversion * Feedrate scaling and conversion
*/ */
extern int16_t feedrate_percentage; extern int16_t feedrate_percentage;
#define MMS_SCALED(MM_S) ((MM_S)*feedrate_percentage*0.01) #define MMS_SCALED(MM_S) ((MM_S)*feedrate_percentage*0.01f)
extern uint8_t active_extruder; extern uint8_t active_extruder;
@ -141,7 +141,7 @@ void line_to_current_position();
void buffer_line_to_destination(const float fr_mm_s); void buffer_line_to_destination(const float fr_mm_s);
#if IS_KINEMATIC #if IS_KINEMATIC
void prepare_uninterpolated_move_to_destination(const float fr_mm_s=0.0); void prepare_uninterpolated_move_to_destination(const float fr_mm_s=0);
#endif #endif
void prepare_move_to_destination(); void prepare_move_to_destination();
@ -149,10 +149,10 @@ void prepare_move_to_destination();
/** /**
* Blocking movement and shorthand functions * Blocking movement and shorthand functions
*/ */
void do_blocking_move_to(const float rx, const float ry, const float rz, const float &fr_mm_s=0.0); void do_blocking_move_to(const float rx, const float ry, const float rz, const float &fr_mm_s=0);
void do_blocking_move_to_x(const float &rx, const float &fr_mm_s=0.0); void do_blocking_move_to_x(const float &rx, const float &fr_mm_s=0);
void do_blocking_move_to_z(const float &rz, const float &fr_mm_s=0.0); void do_blocking_move_to_z(const float &rz, const float &fr_mm_s=0);
void do_blocking_move_to_xy(const float &rx, const float &ry, const float &fr_mm_s=0.0); void do_blocking_move_to_xy(const float &rx, const float &ry, const float &fr_mm_s=0);
void setup_for_endstop_or_probe_move(); void setup_for_endstop_or_probe_move();
void clean_up_after_endstop_or_probe_move(); void clean_up_after_endstop_or_probe_move();
@ -268,8 +268,8 @@ void homeaxis(const AxisEnum axis);
// Return true if the given position is within the machine bounds. // Return true if the given position is within the machine bounds.
inline bool position_is_reachable(const float &rx, const float &ry) { inline bool position_is_reachable(const float &rx, const float &ry) {
// Add 0.001 margin to deal with float imprecision // Add 0.001 margin to deal with float imprecision
return WITHIN(rx, X_MIN_POS - 0.001, X_MAX_POS + 0.001) return WITHIN(rx, X_MIN_POS - 0.001f, X_MAX_POS + 0.001f)
&& WITHIN(ry, Y_MIN_POS - 0.001, Y_MAX_POS + 0.001); && WITHIN(ry, Y_MIN_POS - 0.001f, Y_MAX_POS + 0.001f);
} }
#if HAS_BED_PROBE #if HAS_BED_PROBE
@ -282,8 +282,8 @@ void homeaxis(const AxisEnum axis);
*/ */
inline bool position_is_reachable_by_probe(const float &rx, const float &ry) { inline bool position_is_reachable_by_probe(const float &rx, const float &ry) {
return position_is_reachable(rx - (X_PROBE_OFFSET_FROM_EXTRUDER), ry - (Y_PROBE_OFFSET_FROM_EXTRUDER)) return position_is_reachable(rx - (X_PROBE_OFFSET_FROM_EXTRUDER), ry - (Y_PROBE_OFFSET_FROM_EXTRUDER))
&& WITHIN(rx, MIN_PROBE_X - 0.001, MAX_PROBE_X + 0.001) && WITHIN(rx, MIN_PROBE_X - 0.001f, MAX_PROBE_X + 0.001f)
&& WITHIN(ry, MIN_PROBE_Y - 0.001, MAX_PROBE_Y + 0.001); && WITHIN(ry, MIN_PROBE_Y - 0.001f, MAX_PROBE_Y + 0.001f);
} }
#endif #endif

60
Marlin/src/module/planner.cpp
View file

@ -150,11 +150,11 @@ float Planner::max_feedrate_mm_s[XYZE_N], // (mm/s) M203 XYZE - Max speeds
int16_t Planner::flow_percentage[EXTRUDERS] = ARRAY_BY_EXTRUDERS1(100); // Extrusion factor for each extruder int16_t Planner::flow_percentage[EXTRUDERS] = ARRAY_BY_EXTRUDERS1(100); // Extrusion factor for each extruder
float Planner::e_factor[EXTRUDERS] = ARRAY_BY_EXTRUDERS1(1.0); // The flow percentage and volumetric multiplier combine to scale E movement float Planner::e_factor[EXTRUDERS] = ARRAY_BY_EXTRUDERS1(1.0f); // The flow percentage and volumetric multiplier combine to scale E movement
#if DISABLED(NO_VOLUMETRICS) #if DISABLED(NO_VOLUMETRICS)
float Planner::filament_size[EXTRUDERS], // diameter of filament (in millimeters), typically around 1.75 or 2.85, 0 disables the volumetric calculations for the extruder float Planner::filament_size[EXTRUDERS], // diameter of filament (in millimeters), typically around 1.75 or 2.85, 0 disables the volumetric calculations for the extruder
Planner::volumetric_area_nominal = CIRCLE_AREA((DEFAULT_NOMINAL_FILAMENT_DIA) * 0.5), // Nominal cross-sectional area Planner::volumetric_area_nominal = CIRCLE_AREA((float(DEFAULT_NOMINAL_FILAMENT_DIA)) * 0.5f), // Nominal cross-sectional area
Planner::volumetric_multiplier[EXTRUDERS]; // Reciprocal of cross-sectional area of filament (in mm^2). Pre-calculated to reduce computation in the planner Planner::volumetric_multiplier[EXTRUDERS]; // Reciprocal of cross-sectional area of filament (in mm^2). Pre-calculated to reduce computation in the planner
#endif #endif
@ -188,7 +188,7 @@ float Planner::e_factor[EXTRUDERS] = ARRAY_BY_EXTRUDERS1(1.0); // The flow perce
#if ENABLED(AUTOTEMP) #if ENABLED(AUTOTEMP)
float Planner::autotemp_max = 250, float Planner::autotemp_max = 250,
Planner::autotemp_min = 210, Planner::autotemp_min = 210,
Planner::autotemp_factor = 0.1; Planner::autotemp_factor = 0.1f;
bool Planner::autotemp_enabled = false; bool Planner::autotemp_enabled = false;
#endif #endif
@ -236,7 +236,7 @@ void Planner::init() {
ZERO(position_float); ZERO(position_float);
#endif #endif
ZERO(previous_speed); ZERO(previous_speed);
previous_nominal_speed_sqr = 0.0; previous_nominal_speed_sqr = 0;
#if ABL_PLANAR #if ABL_PLANAR
bed_level_matrix.set_to_identity(); bed_level_matrix.set_to_identity();
#endif #endif
@ -859,7 +859,7 @@ void Planner::reverse_pass_kernel(block_t* const current, const block_t * const
const float new_entry_speed_sqr = TEST(current->flag, BLOCK_BIT_NOMINAL_LENGTH) const float new_entry_speed_sqr = TEST(current->flag, BLOCK_BIT_NOMINAL_LENGTH)
? max_entry_speed_sqr ? max_entry_speed_sqr
: MIN(max_entry_speed_sqr, max_allowable_speed_sqr(-current->acceleration, next ? next->entry_speed_sqr : sq(MINIMUM_PLANNER_SPEED), current->millimeters)); : MIN(max_entry_speed_sqr, max_allowable_speed_sqr(-current->acceleration, next ? next->entry_speed_sqr : sq(float(MINIMUM_PLANNER_SPEED)), current->millimeters));
if (current->entry_speed_sqr != new_entry_speed_sqr) { if (current->entry_speed_sqr != new_entry_speed_sqr) {
// Need to recalculate the block speed - Mark it now, so the stepper // Need to recalculate the block speed - Mark it now, so the stepper
@ -1076,7 +1076,7 @@ void Planner::recalculate_trapezoids() {
// NOTE: Entry and exit factors always > 0 by all previous logic operations. // NOTE: Entry and exit factors always > 0 by all previous logic operations.
const float current_nominal_speed = SQRT(current->nominal_speed_sqr), const float current_nominal_speed = SQRT(current->nominal_speed_sqr),
nomr = 1.0 / current_nominal_speed; nomr = 1.0f / current_nominal_speed;
calculate_trapezoid_for_block(current, current_entry_speed * nomr, next_entry_speed * nomr); calculate_trapezoid_for_block(current, current_entry_speed * nomr, next_entry_speed * nomr);
#if ENABLED(LIN_ADVANCE) #if ENABLED(LIN_ADVANCE)
if (current->use_advance_lead) { if (current->use_advance_lead) {
@ -1115,8 +1115,8 @@ void Planner::recalculate_trapezoids() {
// Block is not BUSY, we won the race against the Stepper ISR: // Block is not BUSY, we won the race against the Stepper ISR:
const float next_nominal_speed = SQRT(next->nominal_speed_sqr), const float next_nominal_speed = SQRT(next->nominal_speed_sqr),
nomr = 1.0 / next_nominal_speed; nomr = 1.0f / next_nominal_speed;
calculate_trapezoid_for_block(next, next_entry_speed * nomr, (MINIMUM_PLANNER_SPEED) * nomr); calculate_trapezoid_for_block(next, next_entry_speed * nomr, float(MINIMUM_PLANNER_SPEED) * nomr);
#if ENABLED(LIN_ADVANCE) #if ENABLED(LIN_ADVANCE)
if (next->use_advance_lead) { if (next->use_advance_lead) {
const float comp = next->e_D_ratio * extruder_advance_K * axis_steps_per_mm[E_AXIS]; const float comp = next->e_D_ratio * extruder_advance_K * axis_steps_per_mm[E_AXIS];
@ -1162,7 +1162,7 @@ void Planner::recalculate() {
float t = autotemp_min + high * autotemp_factor; float t = autotemp_min + high * autotemp_factor;
t = constrain(t, autotemp_min, autotemp_max); t = constrain(t, autotemp_min, autotemp_max);
if (t < oldt) t = t * (1 - (AUTOTEMP_OLDWEIGHT)) + oldt * (AUTOTEMP_OLDWEIGHT); if (t < oldt) t = t * (1 - float(AUTOTEMP_OLDWEIGHT)) + oldt * float(AUTOTEMP_OLDWEIGHT);
oldt = t; oldt = t;
thermalManager.setTargetHotend(t, 0); thermalManager.setTargetHotend(t, 0);
} }
@ -1317,7 +1317,7 @@ void Planner::check_axes_activity() {
* Return 1.0 with volumetric off or a diameter of 0.0. * Return 1.0 with volumetric off or a diameter of 0.0.
*/ */
inline float calculate_volumetric_multiplier(const float &diameter) { inline float calculate_volumetric_multiplier(const float &diameter) {
return (parser.volumetric_enabled && diameter) ? 1.0 / CIRCLE_AREA(diameter * 0.5) : 1.0; return (parser.volumetric_enabled && diameter) ? RECIPROCAL(CIRCLE_AREA(diameter * 0.5f)) : 1;
} }
/** /**
@ -1341,11 +1341,11 @@ void Planner::check_axes_activity() {
*/ */
void Planner::calculate_volumetric_for_width_sensor(const int8_t encoded_ratio) { void Planner::calculate_volumetric_for_width_sensor(const int8_t encoded_ratio) {
// Reconstitute the nominal/measured ratio // Reconstitute the nominal/measured ratio
const float nom_meas_ratio = 1.0 + 0.01 * encoded_ratio, const float nom_meas_ratio = 1 + 0.01f * encoded_ratio,
ratio_2 = sq(nom_meas_ratio); ratio_2 = sq(nom_meas_ratio);
volumetric_multiplier[FILAMENT_SENSOR_EXTRUDER_NUM] = parser.volumetric_enabled volumetric_multiplier[FILAMENT_SENSOR_EXTRUDER_NUM] = parser.volumetric_enabled
? ratio_2 / CIRCLE_AREA(filament_width_nominal * 0.5) // Volumetric uses a true volumetric multiplier ? ratio_2 / CIRCLE_AREA(filament_width_nominal * 0.5f) // Volumetric uses a true volumetric multiplier
: ratio_2; // Linear squares the ratio, which scales the volume : ratio_2; // Linear squares the ratio, which scales the volume
refresh_e_factor(FILAMENT_SENSOR_EXTRUDER_NUM); refresh_e_factor(FILAMENT_SENSOR_EXTRUDER_NUM);
@ -1690,7 +1690,7 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
if (de < 0) SBI(dm, E_AXIS); if (de < 0) SBI(dm, E_AXIS);
const float esteps_float = de * e_factor[extruder]; const float esteps_float = de * e_factor[extruder];
const uint32_t esteps = ABS(esteps_float) + 0.5; const uint32_t esteps = ABS(esteps_float) + 0.5f;
// Clear all flags, including the "busy" bit // Clear all flags, including the "busy" bit
block->flag = 0x00; block->flag = 0x00;
@ -1957,7 +1957,7 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
// Slow down when the buffer starts to empty, rather than wait at the corner for a buffer refill // Slow down when the buffer starts to empty, rather than wait at the corner for a buffer refill
#if ENABLED(SLOWDOWN) || ENABLED(ULTRA_LCD) || defined(XY_FREQUENCY_LIMIT) #if ENABLED(SLOWDOWN) || ENABLED(ULTRA_LCD) || defined(XY_FREQUENCY_LIMIT)
// Segment time im micro seconds // Segment time im micro seconds
uint32_t segment_time_us = LROUND(1000000.0 / inverse_secs); uint32_t segment_time_us = LROUND(1000000.0f / inverse_secs);
#endif #endif
#if ENABLED(SLOWDOWN) #if ENABLED(SLOWDOWN)
@ -1965,7 +1965,7 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
if (segment_time_us < min_segment_time_us) { if (segment_time_us < min_segment_time_us) {
// buffer is draining, add extra time. The amount of time added increases if the buffer is still emptied more. // buffer is draining, add extra time. The amount of time added increases if the buffer is still emptied more.
const uint32_t nst = segment_time_us + LROUND(2 * (min_segment_time_us - segment_time_us) / moves_queued); const uint32_t nst = segment_time_us + LROUND(2 * (min_segment_time_us - segment_time_us) / moves_queued);
inverse_secs = 1000000.0 / nst; inverse_secs = 1000000.0f / nst;
#if defined(XY_FREQUENCY_LIMIT) || ENABLED(ULTRA_LCD) #if defined(XY_FREQUENCY_LIMIT) || ENABLED(ULTRA_LCD)
segment_time_us = nst; segment_time_us = nst;
#endif #endif
@ -2005,7 +2005,7 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
while (filwidth_delay_dist >= MMD_MM) filwidth_delay_dist -= MMD_MM; while (filwidth_delay_dist >= MMD_MM) filwidth_delay_dist -= MMD_MM;
// Convert into an index into the measurement array // Convert into an index into the measurement array
filwidth_delay_index[0] = int8_t(filwidth_delay_dist * 0.1); filwidth_delay_index[0] = int8_t(filwidth_delay_dist * 0.1f);
// If the index has changed (must have gone forward)... // If the index has changed (must have gone forward)...
if (filwidth_delay_index[0] != filwidth_delay_index[1]) { if (filwidth_delay_index[0] != filwidth_delay_index[1]) {
@ -2021,7 +2021,7 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
#endif #endif
// Calculate and limit speed in mm/sec for each axis // Calculate and limit speed in mm/sec for each axis
float current_speed[NUM_AXIS], speed_factor = 1.0; // factor <1 decreases speed float current_speed[NUM_AXIS], speed_factor = 1.0f; // factor <1 decreases speed
LOOP_XYZE(i) { LOOP_XYZE(i) {
const float cs = ABS((current_speed[i] = delta_mm[i] * inverse_secs)); const float cs = ABS((current_speed[i] = delta_mm[i] * inverse_secs));
#if ENABLED(DISTINCT_E_FACTORS) #if ENABLED(DISTINCT_E_FACTORS)
@ -2069,7 +2069,7 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
#endif // XY_FREQUENCY_LIMIT #endif // XY_FREQUENCY_LIMIT
// Correct the speed // Correct the speed
if (speed_factor < 1.0) { if (speed_factor < 1.0f) {
LOOP_XYZE(i) current_speed[i] *= speed_factor; LOOP_XYZE(i) current_speed[i] *= speed_factor;
block->nominal_rate *= speed_factor; block->nominal_rate *= speed_factor;
block->nominal_speed_sqr = block->nominal_speed_sqr * sq(speed_factor); block->nominal_speed_sqr = block->nominal_speed_sqr * sq(speed_factor);
@ -2142,7 +2142,7 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
// Check for unusual high e_D ratio to detect if a retract move was combined with the last print move due to min. steps per segment. Never execute this with advance! // Check for unusual high e_D ratio to detect if a retract move was combined with the last print move due to min. steps per segment. Never execute this with advance!
// This assumes no one will use a retract length of 0mm < retr_length < ~0.2mm and no one will print 100mm wide lines using 3mm filament or 35mm wide lines using 1.75mm filament. // This assumes no one will use a retract length of 0mm < retr_length < ~0.2mm and no one will print 100mm wide lines using 3mm filament or 35mm wide lines using 1.75mm filament.
if (block->e_D_ratio > 3.0) if (block->e_D_ratio > 3.0f)
block->use_advance_lead = false; block->use_advance_lead = false;
else { else {
const uint32_t max_accel_steps_per_s2 = MAX_E_JERK / (extruder_advance_K * block->e_D_ratio) * steps_per_mm; const uint32_t max_accel_steps_per_s2 = MAX_E_JERK / (extruder_advance_K * block->e_D_ratio) * steps_per_mm;
@ -2177,7 +2177,7 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
block->acceleration_steps_per_s2 = accel; block->acceleration_steps_per_s2 = accel;
block->acceleration = accel / steps_per_mm; block->acceleration = accel / steps_per_mm;
#if DISABLED(S_CURVE_ACCELERATION) #if DISABLED(S_CURVE_ACCELERATION)
block->acceleration_rate = (uint32_t)(accel * (4096.0 * 4096.0 / (STEPPER_TIMER_RATE))); block->acceleration_rate = (uint32_t)(accel * (4096.0f * 4096.0f / (STEPPER_TIMER_RATE)));
#endif #endif
#if ENABLED(LIN_ADVANCE) #if ENABLED(LIN_ADVANCE)
if (block->use_advance_lead) { if (block->use_advance_lead) {
@ -2250,12 +2250,12 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
; ;
// NOTE: Computed without any expensive trig, sin() or acos(), by trig half angle identity of cos(theta). // NOTE: Computed without any expensive trig, sin() or acos(), by trig half angle identity of cos(theta).
if (junction_cos_theta > 0.999999) { if (junction_cos_theta > 0.999999f) {
// For a 0 degree acute junction, just set minimum junction speed. // For a 0 degree acute junction, just set minimum junction speed.
vmax_junction_sqr = sq(MINIMUM_PLANNER_SPEED); vmax_junction_sqr = sq(float(MINIMUM_PLANNER_SPEED));
} }
else { else {
NOLESS(junction_cos_theta, -0.999999); // Check for numerical round-off to avoid divide by zero. NOLESS(junction_cos_theta, -0.999999f); // Check for numerical round-off to avoid divide by zero.
// Convert delta vector to unit vector // Convert delta vector to unit vector
float junction_unit_vec[XYZE] = { float junction_unit_vec[XYZE] = {
@ -2267,13 +2267,13 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
normalize_junction_vector(junction_unit_vec); normalize_junction_vector(junction_unit_vec);
const float junction_acceleration = limit_value_by_axis_maximum(block->acceleration, junction_unit_vec), const float junction_acceleration = limit_value_by_axis_maximum(block->acceleration, junction_unit_vec),
sin_theta_d2 = SQRT(0.5 * (1.0 - junction_cos_theta)); // Trig half angle identity. Always positive. sin_theta_d2 = SQRT(0.5f * (1.0f - junction_cos_theta)); // Trig half angle identity. Always positive.
vmax_junction_sqr = (junction_acceleration * junction_deviation_mm * sin_theta_d2) / (1.0 - sin_theta_d2); vmax_junction_sqr = (junction_acceleration * junction_deviation_mm * sin_theta_d2) / (1.0f - sin_theta_d2);
if (block->millimeters < 1.0) { if (block->millimeters < 1) {
// Fast acos approximation, minus the error bar to be safe // Fast acos approximation, minus the error bar to be safe
const float junction_theta = (RADIANS(-40) * sq(junction_cos_theta) - RADIANS(50)) * junction_cos_theta + RADIANS(90) - 0.18; const float junction_theta = (RADIANS(-40) * sq(junction_cos_theta) - RADIANS(50)) * junction_cos_theta + RADIANS(90) - 0.18f;
// If angle is greater than 135 degrees (octagon), find speed for approximate arc // If angle is greater than 135 degrees (octagon), find speed for approximate arc
if (junction_theta > RADIANS(135)) { if (junction_theta > RADIANS(135)) {
@ -2287,7 +2287,7 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
vmax_junction_sqr = MIN3(vmax_junction_sqr, block->nominal_speed_sqr, previous_nominal_speed_sqr); vmax_junction_sqr = MIN3(vmax_junction_sqr, block->nominal_speed_sqr, previous_nominal_speed_sqr);
} }
else // Init entry speed to zero. Assume it starts from rest. Planner will correct this later. else // Init entry speed to zero. Assume it starts from rest. Planner will correct this later.
vmax_junction_sqr = 0.0; vmax_junction_sqr = 0;
COPY(previous_unit_vec, unit_vec); COPY(previous_unit_vec, unit_vec);
@ -2378,11 +2378,11 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
block->max_entry_speed_sqr = vmax_junction_sqr; block->max_entry_speed_sqr = vmax_junction_sqr;
// Initialize block entry speed. Compute based on deceleration to user-defined MINIMUM_PLANNER_SPEED. // Initialize block entry speed. Compute based on deceleration to user-defined MINIMUM_PLANNER_SPEED.
const float v_allowable_sqr = max_allowable_speed_sqr(-block->acceleration, sq(MINIMUM_PLANNER_SPEED), block->millimeters); const float v_allowable_sqr = max_allowable_speed_sqr(-block->acceleration, sq(float(MINIMUM_PLANNER_SPEED)), block->millimeters);
// If we are trying to add a split block, start with the // If we are trying to add a split block, start with the
// max. allowed speed to avoid an interrupted first move. // max. allowed speed to avoid an interrupted first move.
block->entry_speed_sqr = !split_move ? sq(MINIMUM_PLANNER_SPEED) : MIN(vmax_junction_sqr, v_allowable_sqr); block->entry_speed_sqr = !split_move ? sq(float(MINIMUM_PLANNER_SPEED)) : MIN(vmax_junction_sqr, v_allowable_sqr);
// Initialize planner efficiency flags // Initialize planner efficiency flags
// Set flag if block will always reach maximum junction speed regardless of entry/exit speeds. // Set flag if block will always reach maximum junction speed regardless of entry/exit speeds.

18
Marlin/src/module/planner.h
View file

@ -324,7 +324,7 @@ class Planner {
static void refresh_positioning(); static void refresh_positioning();
FORCE_INLINE static void refresh_e_factor(const uint8_t e) { FORCE_INLINE static void refresh_e_factor(const uint8_t e) {
e_factor[e] = (flow_percentage[e] * 0.01 e_factor[e] = (flow_percentage[e] * 0.01f
#if DISABLED(NO_VOLUMETRICS) #if DISABLED(NO_VOLUMETRICS)
* volumetric_multiplier[e] * volumetric_multiplier[e]
#endif #endif
@ -362,19 +362,19 @@ class Planner {
* Returns 0.0 if Z is past the specified 'Fade Height'. * Returns 0.0 if Z is past the specified 'Fade Height'.
*/ */
inline static float fade_scaling_factor_for_z(const float &rz) { inline static float fade_scaling_factor_for_z(const float &rz) {
static float z_fade_factor = 1.0; static float z_fade_factor = 1;
if (z_fade_height) { if (z_fade_height) {
if (rz >= z_fade_height) return 0.0; if (rz >= z_fade_height) return 0;
if (last_fade_z != rz) { if (last_fade_z != rz) {
last_fade_z = rz; last_fade_z = rz;
z_fade_factor = 1.0 - rz * inverse_z_fade_height; z_fade_factor = 1 - rz * inverse_z_fade_height;
} }
return z_fade_factor; return z_fade_factor;
} }
return 1.0; return 1;
} }
FORCE_INLINE static void force_fade_recalc() { last_fade_z = -999.999; } FORCE_INLINE static void force_fade_recalc() { last_fade_z = -999.999f; }
FORCE_INLINE static void set_z_fade_height(const float &zfh) { FORCE_INLINE static void set_z_fade_height(const float &zfh) {
z_fade_height = zfh > 0 ? zfh : 0; z_fade_height = zfh > 0 ? zfh : 0;
@ -390,7 +390,7 @@ class Planner {
FORCE_INLINE static float fade_scaling_factor_for_z(const float &rz) { FORCE_INLINE static float fade_scaling_factor_for_z(const float &rz) {
UNUSED(rz); UNUSED(rz);
return 1.0; return 1;
} }
FORCE_INLINE static bool leveling_active_at_z(const float &rz) { UNUSED(rz); return true; } FORCE_INLINE static bool leveling_active_at_z(const float &rz) { UNUSED(rz); return true; }
@ -831,9 +831,9 @@ class Planner {
#if ENABLED(JUNCTION_DEVIATION) #if ENABLED(JUNCTION_DEVIATION)
FORCE_INLINE static void normalize_junction_vector(float (&vector)[XYZE]) { FORCE_INLINE static void normalize_junction_vector(float (&vector)[XYZE]) {
float magnitude_sq = 0.0; float magnitude_sq = 0;
LOOP_XYZE(idx) if (vector[idx]) magnitude_sq += sq(vector[idx]); LOOP_XYZE(idx) if (vector[idx]) magnitude_sq += sq(vector[idx]);
const float inv_magnitude = 1.0 / SQRT(magnitude_sq); const float inv_magnitude = RSQRT(magnitude_sq);
LOOP_XYZE(idx) vector[idx] *= inv_magnitude; LOOP_XYZE(idx) vector[idx] *= inv_magnitude;
} }

28
Marlin/src/module/planner_bezier.cpp
View file

@ -40,12 +40,12 @@
#include "../gcode/queue.h" #include "../gcode/queue.h"
// See the meaning in the documentation of cubic_b_spline(). // See the meaning in the documentation of cubic_b_spline().
#define MIN_STEP 0.002 #define MIN_STEP 0.002f
#define MAX_STEP 0.1 #define MAX_STEP 0.1f
#define SIGMA 0.1 #define SIGMA 0.1f
// Compute the linear interpolation between two real numbers. // Compute the linear interpolation between two real numbers.
inline static float interp(float a, float b, float t) { return (1.0 - t) * a + t * b; } inline static float interp(float a, float b, float t) { return (1 - t) * a + t * b; }
/** /**
* Compute a Bézier curve using the De Casteljau's algorithm (see * Compute a Bézier curve using the De Casteljau's algorithm (see
@ -114,7 +114,7 @@ void cubic_b_spline(const float position[NUM_AXIS], const float target[NUM_AXIS]
first1 = position[Y_AXIS] + offset[1], first1 = position[Y_AXIS] + offset[1],
second0 = target[X_AXIS] + offset[2], second0 = target[X_AXIS] + offset[2],
second1 = target[Y_AXIS] + offset[3]; second1 = target[Y_AXIS] + offset[3];
float t = 0.0; float t = 0;
float bez_target[4]; float bez_target[4];
bez_target[X_AXIS] = position[X_AXIS]; bez_target[X_AXIS] = position[X_AXIS];
@ -123,7 +123,7 @@ void cubic_b_spline(const float position[NUM_AXIS], const float target[NUM_AXIS]
millis_t next_idle_ms = millis() + 200UL; millis_t next_idle_ms = millis() + 200UL;
while (t < 1.0) { while (t < 1) {
thermalManager.manage_heater(); thermalManager.manage_heater();
millis_t now = millis(); millis_t now = millis();
@ -136,16 +136,16 @@ void cubic_b_spline(const float position[NUM_AXIS], const float target[NUM_AXIS]
// close to a linear interpolation. // close to a linear interpolation.
bool did_reduce = false; bool did_reduce = false;
float new_t = t + step; float new_t = t + step;
NOMORE(new_t, 1.0); NOMORE(new_t, 1);
float new_pos0 = eval_bezier(position[X_AXIS], first0, second0, target[X_AXIS], new_t), float new_pos0 = eval_bezier(position[X_AXIS], first0, second0, target[X_AXIS], new_t),
new_pos1 = eval_bezier(position[Y_AXIS], first1, second1, target[Y_AXIS], new_t); new_pos1 = eval_bezier(position[Y_AXIS], first1, second1, target[Y_AXIS], new_t);
for (;;) { for (;;) {
if (new_t - t < (MIN_STEP)) break; if (new_t - t < (MIN_STEP)) break;
const float candidate_t = 0.5 * (t + new_t), const float candidate_t = 0.5f * (t + new_t),
candidate_pos0 = eval_bezier(position[X_AXIS], first0, second0, target[X_AXIS], candidate_t), candidate_pos0 = eval_bezier(position[X_AXIS], first0, second0, target[X_AXIS], candidate_t),
candidate_pos1 = eval_bezier(position[Y_AXIS], first1, second1, target[Y_AXIS], candidate_t), candidate_pos1 = eval_bezier(position[Y_AXIS], first1, second1, target[Y_AXIS], candidate_t),
interp_pos0 = 0.5 * (bez_target[X_AXIS] + new_pos0), interp_pos0 = 0.5f * (bez_target[X_AXIS] + new_pos0),
interp_pos1 = 0.5 * (bez_target[Y_AXIS] + new_pos1); interp_pos1 = 0.5f * (bez_target[Y_AXIS] + new_pos1);
if (dist1(candidate_pos0, candidate_pos1, interp_pos0, interp_pos1) <= (SIGMA)) break; if (dist1(candidate_pos0, candidate_pos1, interp_pos0, interp_pos1) <= (SIGMA)) break;
new_t = candidate_t; new_t = candidate_t;
new_pos0 = candidate_pos0; new_pos0 = candidate_pos0;
@ -156,12 +156,12 @@ void cubic_b_spline(const float position[NUM_AXIS], const float target[NUM_AXIS]
// If we did not reduce the step, maybe we should enlarge it. // If we did not reduce the step, maybe we should enlarge it.
if (!did_reduce) for (;;) { if (!did_reduce) for (;;) {
if (new_t - t > MAX_STEP) break; if (new_t - t > MAX_STEP) break;
const float candidate_t = t + 2.0 * (new_t - t); const float candidate_t = t + 2 * (new_t - t);
if (candidate_t >= 1.0) break; if (candidate_t >= 1) break;
const float candidate_pos0 = eval_bezier(position[X_AXIS], first0, second0, target[X_AXIS], candidate_t), const float candidate_pos0 = eval_bezier(position[X_AXIS], first0, second0, target[X_AXIS], candidate_t),
candidate_pos1 = eval_bezier(position[Y_AXIS], first1, second1, target[Y_AXIS], candidate_t), candidate_pos1 = eval_bezier(position[Y_AXIS], first1, second1, target[Y_AXIS], candidate_t),
interp_pos0 = 0.5 * (bez_target[X_AXIS] + candidate_pos0), interp_pos0 = 0.5f * (bez_target[X_AXIS] + candidate_pos0),
interp_pos1 = 0.5 * (bez_target[Y_AXIS] + candidate_pos1); interp_pos1 = 0.5f * (bez_target[Y_AXIS] + candidate_pos1);
if (dist1(new_pos0, new_pos1, interp_pos0, interp_pos1) > (SIGMA)) break; if (dist1(new_pos0, new_pos1, interp_pos0, interp_pos1) > (SIGMA)) break;
new_t = candidate_t; new_t = candidate_t;
new_pos0 = candidate_pos0; new_pos0 = candidate_pos0;

2
Marlin/src/module/printcounter.cpp
View file

@ -53,7 +53,7 @@ millis_t PrintCounter::deltaDuration() {
return lastDuration - tmp; return lastDuration - tmp;
} }
void PrintCounter::incFilamentUsed(double const &amount) { void PrintCounter::incFilamentUsed(float const &amount) {
#if ENABLED(DEBUG_PRINTCOUNTER) #if ENABLED(DEBUG_PRINTCOUNTER)
debug(PSTR("incFilamentUsed")); debug(PSTR("incFilamentUsed"));
#endif #endif

6
Marlin/src/module/printcounter.h
View file

@ -37,13 +37,13 @@
#define STATS_EEPROM_ADDRESS 0x32 #define STATS_EEPROM_ADDRESS 0x32
#endif #endif
struct printStatistics { // 16 bytes (20 with real doubles) struct printStatistics { // 16 bytes
//const uint8_t magic; // Magic header, it will always be 0x16 //const uint8_t magic; // Magic header, it will always be 0x16
uint16_t totalPrints; // Number of prints uint16_t totalPrints; // Number of prints
uint16_t finishedPrints; // Number of complete prints uint16_t finishedPrints; // Number of complete prints
uint32_t printTime; // Accumulated printing time uint32_t printTime; // Accumulated printing time
uint32_t longestPrint; // Longest successful print job uint32_t longestPrint; // Longest successful print job
double filamentUsed; // Accumulated filament consumed in mm float filamentUsed; // Accumulated filament consumed in mm
}; };
class PrintCounter: public Stopwatch { class PrintCounter: public Stopwatch {
@ -128,7 +128,7 @@ class PrintCounter: public Stopwatch {
* *
* @param amount The amount of filament used in mm * @param amount The amount of filament used in mm
*/ */
static void incFilamentUsed(double const &amount); static void incFilamentUsed(float const &amount);
/** /**
* @brief Reset the Print Statistics * @brief Reset the Print Statistics

2
Marlin/src/module/probe.cpp
View file

@ -625,7 +625,7 @@ static float run_z_probe() {
#if MULTIPLE_PROBING > 2 #if MULTIPLE_PROBING > 2
// Return the average value of all probes // Return the average value of all probes
const float measured_z = probes_total * (1.0 / (MULTIPLE_PROBING)); const float measured_z = probes_total * (1.0f / (MULTIPLE_PROBING));
#elif MULTIPLE_PROBING == 2 #elif MULTIPLE_PROBING == 2

14
Marlin/src/module/temperature.cpp
View file

@ -393,13 +393,13 @@ uint8_t Temperature::soft_pwm_amount[HOTENDS];
SERIAL_PROTOCOLPAIR(MSG_T_MIN, min); SERIAL_PROTOCOLPAIR(MSG_T_MIN, min);
SERIAL_PROTOCOLPAIR(MSG_T_MAX, max); SERIAL_PROTOCOLPAIR(MSG_T_MAX, max);
if (cycles > 2) { if (cycles > 2) {
Ku = (4.0 * d) / (M_PI * (max - min) * 0.5); Ku = (4.0f * d) / (float(M_PI) * (max - min) * 0.5f);
Tu = ((float)(t_low + t_high) * 0.001); Tu = ((float)(t_low + t_high) * 0.001f);
SERIAL_PROTOCOLPAIR(MSG_KU, Ku); SERIAL_PROTOCOLPAIR(MSG_KU, Ku);
SERIAL_PROTOCOLPAIR(MSG_TU, Tu); SERIAL_PROTOCOLPAIR(MSG_TU, Tu);
workKp = 0.6 * Ku; workKp = 0.6f * Ku;
workKi = 2 * workKp / Tu; workKi = 2 * workKp / Tu;
workKd = workKp * Tu * 0.125; workKd = workKp * Tu * 0.125f;
SERIAL_PROTOCOLLNPGM("\n" MSG_CLASSIC_PID); SERIAL_PROTOCOLLNPGM("\n" MSG_CLASSIC_PID);
SERIAL_PROTOCOLPAIR(MSG_KP, workKp); SERIAL_PROTOCOLPAIR(MSG_KP, workKp);
SERIAL_PROTOCOLPAIR(MSG_KI, workKi); SERIAL_PROTOCOLPAIR(MSG_KI, workKi);
@ -644,7 +644,7 @@ float Temperature::get_pid_output(const int8_t e) {
#if ENABLED(PIDTEMP) #if ENABLED(PIDTEMP)
#if DISABLED(PID_OPENLOOP) #if DISABLED(PID_OPENLOOP)
pid_error[HOTEND_INDEX] = target_temperature[HOTEND_INDEX] - current_temperature[HOTEND_INDEX]; pid_error[HOTEND_INDEX] = target_temperature[HOTEND_INDEX] - current_temperature[HOTEND_INDEX];
dTerm[HOTEND_INDEX] = PID_K2 * PID_PARAM(Kd, HOTEND_INDEX) * (current_temperature[HOTEND_INDEX] - temp_dState[HOTEND_INDEX]) + PID_K1 * dTerm[HOTEND_INDEX]; dTerm[HOTEND_INDEX] = PID_K2 * PID_PARAM(Kd, HOTEND_INDEX) * (current_temperature[HOTEND_INDEX] - temp_dState[HOTEND_INDEX]) + float(PID_K1) * dTerm[HOTEND_INDEX];
temp_dState[HOTEND_INDEX] = current_temperature[HOTEND_INDEX]; temp_dState[HOTEND_INDEX] = current_temperature[HOTEND_INDEX];
#if HEATER_IDLE_HANDLER #if HEATER_IDLE_HANDLER
if (heater_idle_timeout_exceeded[HOTEND_INDEX]) { if (heater_idle_timeout_exceeded[HOTEND_INDEX]) {
@ -1098,7 +1098,7 @@ void Temperature::updateTemperaturesFromRawValues() {
// Convert raw Filament Width to millimeters // Convert raw Filament Width to millimeters
float Temperature::analog2widthFil() { float Temperature::analog2widthFil() {
return current_raw_filwidth * 5.0 * (1.0 / 16383.0); return current_raw_filwidth * 5.0f * (1.0f / 16383.0f);
} }
/** /**
@ -1111,7 +1111,7 @@ void Temperature::updateTemperaturesFromRawValues() {
*/ */
int8_t Temperature::widthFil_to_size_ratio() { int8_t Temperature::widthFil_to_size_ratio() {
if (ABS(filament_width_nominal - filament_width_meas) <= FILWIDTH_ERROR_MARGIN) if (ABS(filament_width_nominal - filament_width_meas) <= FILWIDTH_ERROR_MARGIN)
return int(100.0 * filament_width_nominal / filament_width_meas) - 100; return int(100.0f * filament_width_nominal / filament_width_meas) - 100;
return 0; return 0;
} }

10
Marlin/src/module/temperature.h
View file

@ -100,14 +100,14 @@ enum ADCSensorState : char {
#define ACTUAL_ADC_SAMPLES MAX(int(MIN_ADC_ISR_LOOPS), int(SensorsReady)) #define ACTUAL_ADC_SAMPLES MAX(int(MIN_ADC_ISR_LOOPS), int(SensorsReady))
#if HAS_PID_HEATING #if HAS_PID_HEATING
#define PID_K2 (1.0-PID_K1) #define PID_K2 (1-float(PID_K1))
#define PID_dT ((OVERSAMPLENR * float(ACTUAL_ADC_SAMPLES)) / TEMP_TIMER_FREQUENCY) #define PID_dT ((OVERSAMPLENR * float(ACTUAL_ADC_SAMPLES)) / TEMP_TIMER_FREQUENCY)
// Apply the scale factors to the PID values // Apply the scale factors to the PID values
#define scalePID_i(i) ( (i) * PID_dT ) #define scalePID_i(i) ( float(i) * PID_dT )
#define unscalePID_i(i) ( (i) / PID_dT ) #define unscalePID_i(i) ( float(i) / PID_dT )
#define scalePID_d(d) ( (d) / PID_dT ) #define scalePID_d(d) ( float(d) / PID_dT )
#define unscalePID_d(d) ( (d) * PID_dT ) #define unscalePID_d(d) ( float(d) * PID_dT )
#endif #endif
class Temperature { class Temperature {