From d3200653201c905760e80c79cf16e2d8a2ddc1ae Mon Sep 17 00:00:00 2001 From: Scott Lahteine Date: Sun, 7 Aug 2016 00:20:25 -0700 Subject: [PATCH] Within Marlin, maintain most feed rates in mm/s --- Marlin/Marlin.h | 12 ++- Marlin/Marlin_main.cpp | 168 ++++++++++++++++++++--------------------- 2 files changed, 89 insertions(+), 91 deletions(-) diff --git a/Marlin/Marlin.h b/Marlin/Marlin.h index d8dac96eb..c9242e783 100644 --- a/Marlin/Marlin.h +++ b/Marlin/Marlin.h @@ -261,9 +261,7 @@ extern int feedrate_percentage; #define MMM_TO_MMS(MM_M) ((MM_M)/60.0) #define MMS_TO_MMM(MM_S) ((MM_S)*60.0) -#define MMM_SCALED(MM_M) ((MM_M)*feedrate_percentage*0.01) -#define MMS_SCALED(MM_S) MMM_SCALED(MM_S) -#define MMM_TO_MMS_SCALED(MM_M) (MMS_SCALED(MMM_TO_MMS(MM_M))) +#define MMS_SCALED(MM_S) ((MM_S)*feedrate_percentage*0.01) extern bool axis_relative_modes[]; extern bool volumetric_enabled; @@ -391,9 +389,9 @@ void calculate_volumetric_multipliers(); /** * Blocking movement and shorthand functions */ -inline void do_blocking_move_to(float x, float y, float z, float fr_mm_m=0.0); -inline void do_blocking_move_to_x(float x, float fr_mm_m=0.0); -inline void do_blocking_move_to_z(float z, float fr_mm_m=0.0); -inline void do_blocking_move_to_xy(float x, float y, float fr_mm_m=0.0); +inline void do_blocking_move_to(float x, float y, float z, float fr_mm_s=0.0); +inline void do_blocking_move_to_x(float x, float fr_mm_s=0.0); +inline void do_blocking_move_to_z(float z, float fr_mm_s=0.0); +inline void do_blocking_move_to_xy(float x, float y, float fr_mm_s=0.0); #endif //MARLIN_H diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp index 4b100a0c2..cd45ba317 100644 --- a/Marlin/Marlin_main.cpp +++ b/Marlin/Marlin_main.cpp @@ -308,15 +308,15 @@ static uint8_t cmd_queue_index_r = 0, * Feed rates are often configured with mm/m * but the planner and stepper like mm/s units. */ -const float homing_feedrate_mm_m[] = { +const float homing_feedrate_mm_s[] = { #if ENABLED(DELTA) - HOMING_FEEDRATE_Z, HOMING_FEEDRATE_Z, + MMM_TO_MMS(HOMING_FEEDRATE_Z), MMM_TO_MMS(HOMING_FEEDRATE_Z), #else - HOMING_FEEDRATE_XY, HOMING_FEEDRATE_XY, + MMM_TO_MMS(HOMING_FEEDRATE_XY), MMM_TO_MMS(HOMING_FEEDRATE_XY), #endif - HOMING_FEEDRATE_Z, 0 + MMM_TO_MMS(HOMING_FEEDRATE_Z), 0 }; -static float feedrate_mm_m = 1500.0, saved_feedrate_mm_m; +static float feedrate_mm_s = MMM_TO_MMS(1500.0), saved_feedrate_mm_s; int feedrate_percentage = 100, saved_feedrate_percentage; bool axis_relative_modes[] = AXIS_RELATIVE_MODES; @@ -393,13 +393,13 @@ static uint8_t target_extruder; #define PLANNER_XY_FEEDRATE() (min(planner.max_feedrate_mm_s[X_AXIS], planner.max_feedrate_mm_s[Y_AXIS])) #if ENABLED(AUTO_BED_LEVELING_FEATURE) - int xy_probe_feedrate_mm_m = XY_PROBE_SPEED; + float xy_probe_feedrate_mm_s = MMM_TO_MMS(XY_PROBE_SPEED); bool bed_leveling_in_progress = false; - #define XY_PROBE_FEEDRATE_MM_M xy_probe_feedrate_mm_m + #define XY_PROBE_FEEDRATE_MM_S xy_probe_feedrate_mm_s #elif defined(XY_PROBE_SPEED) - #define XY_PROBE_FEEDRATE_MM_M XY_PROBE_SPEED + #define XY_PROBE_FEEDRATE_MM_S MMM_TO_MMS(XY_PROBE_SPEED) #else - #define XY_PROBE_FEEDRATE_MM_M MMS_TO_MMM(PLANNER_XY_FEEDRATE()) + #define XY_PROBE_FEEDRATE_MM_S PLANNER_XY_FEEDRATE() #endif #if ENABLED(Z_DUAL_ENDSTOPS) && DISABLED(DELTA) @@ -580,7 +580,7 @@ void serial_echopair_P(const char* s_P, float v) { serialprintPGM(s_P); void serial_echopair_P(const char* s_P, double v) { serialprintPGM(s_P); SERIAL_ECHO(v); } void serial_echopair_P(const char* s_P, unsigned long v) { serialprintPGM(s_P); SERIAL_ECHO(v); } -void tool_change(const uint8_t tmp_extruder, const float fr_mm_m=0.0, bool no_move=false); +void tool_change(const uint8_t tmp_extruder, const float fr_mm_s=0.0, bool no_move=false); static void report_current_position(); #if ENABLED(DEBUG_LEVELING_FEATURE) @@ -1606,7 +1606,7 @@ inline float get_homing_bump_feedrate(AxisEnum axis) { SERIAL_ECHO_START; SERIAL_ECHOLNPGM("Warning: Homing Bump Divisor < 1"); } - return homing_feedrate_mm_m[axis] / hbd; + return homing_feedrate_mm_s[axis] / hbd; } // // line_to_current_position @@ -1614,30 +1614,30 @@ inline float get_homing_bump_feedrate(AxisEnum axis) { // (or from wherever it has been told it is located). // inline void line_to_current_position() { - planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], MMM_TO_MMS(feedrate_mm_m), active_extruder); + planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate_mm_s, active_extruder); } inline void line_to_z(float zPosition) { - planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], MMM_TO_MMS(feedrate_mm_m), active_extruder); + planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], feedrate_mm_s, active_extruder); } -inline void line_to_axis_pos(AxisEnum axis, float where, float fr_mm_m = 0.0) { - float old_feedrate_mm_m = feedrate_mm_m; +inline void line_to_axis_pos(AxisEnum axis, float where, float fr_mm_s = 0.0) { + float old_feedrate_mm_s = feedrate_mm_s; current_position[axis] = where; - feedrate_mm_m = (fr_mm_m != 0.0) ? fr_mm_m : homing_feedrate_mm_m[axis]; - planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], MMM_TO_MMS(feedrate_mm_m), active_extruder); + feedrate_mm_s = (fr_mm_s != 0.0) ? fr_mm_s : homing_feedrate_mm_s[axis]; + planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate_mm_s, active_extruder); stepper.synchronize(); - feedrate_mm_m = old_feedrate_mm_m; + feedrate_mm_s = old_feedrate_mm_s; } // // line_to_destination // Move the planner, not necessarily synced with current_position // -inline void line_to_destination(float fr_mm_m) { - planner.buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], MMM_TO_MMS(fr_mm_m), active_extruder); +inline void line_to_destination(float fr_mm_s) { + planner.buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], fr_mm_s, active_extruder); } -inline void line_to_destination() { line_to_destination(feedrate_mm_m); } +inline void line_to_destination() { line_to_destination(feedrate_mm_s); } inline void set_current_to_destination() { memcpy(current_position, destination, sizeof(current_position)); } inline void set_destination_to_current() { memcpy(destination, current_position, sizeof(destination)); } @@ -1652,7 +1652,7 @@ inline void set_destination_to_current() { memcpy(destination, current_position, #endif refresh_cmd_timeout(); inverse_kinematics(destination); - planner.buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], destination[E_AXIS], MMM_TO_MMS_SCALED(feedrate_mm_m), active_extruder); + planner.buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], destination[E_AXIS], MMS_SCALED(feedrate_mm_s), active_extruder); set_current_to_destination(); } #endif @@ -1661,8 +1661,8 @@ inline void set_destination_to_current() { memcpy(destination, current_position, * Plan a move to (X, Y, Z) and set the current_position * The final current_position may not be the one that was requested */ -void do_blocking_move_to(float x, float y, float z, float fr_mm_m /*=0.0*/) { - float old_feedrate_mm_m = feedrate_mm_m; +void do_blocking_move_to(float x, float y, float z, float fr_mm_s /*=0.0*/) { + float old_feedrate_mm_s = feedrate_mm_s; #if ENABLED(DEBUG_LEVELING_FEATURE) if (DEBUGGING(LEVELING)) print_xyz(PSTR(">>> do_blocking_move_to"), NULL, x, y, z); @@ -1670,7 +1670,7 @@ void do_blocking_move_to(float x, float y, float z, float fr_mm_m /*=0.0*/) { #if ENABLED(DELTA) - feedrate_mm_m = (fr_mm_m != 0.0) ? fr_mm_m : XY_PROBE_FEEDRATE_MM_M; + feedrate_mm_s = (fr_mm_s != 0.0) ? fr_mm_s : XY_PROBE_FEEDRATE_MM_S; set_destination_to_current(); // sync destination at the start @@ -1730,19 +1730,19 @@ void do_blocking_move_to(float x, float y, float z, float fr_mm_m /*=0.0*/) { // If Z needs to raise, do it before moving XY if (current_position[Z_AXIS] < z) { - feedrate_mm_m = (fr_mm_m != 0.0) ? fr_mm_m : homing_feedrate_mm_m[Z_AXIS]; + feedrate_mm_s = (fr_mm_s != 0.0) ? fr_mm_s : homing_feedrate_mm_s[Z_AXIS]; current_position[Z_AXIS] = z; line_to_current_position(); } - feedrate_mm_m = (fr_mm_m != 0.0) ? fr_mm_m : XY_PROBE_FEEDRATE_MM_M; + feedrate_mm_s = (fr_mm_s != 0.0) ? fr_mm_s : XY_PROBE_FEEDRATE_MM_S; current_position[X_AXIS] = x; current_position[Y_AXIS] = y; line_to_current_position(); // If Z needs to lower, do it after moving XY if (current_position[Z_AXIS] > z) { - feedrate_mm_m = (fr_mm_m != 0.0) ? fr_mm_m : homing_feedrate_mm_m[Z_AXIS]; + feedrate_mm_s = (fr_mm_s != 0.0) ? fr_mm_s : homing_feedrate_mm_s[Z_AXIS]; current_position[Z_AXIS] = z; line_to_current_position(); } @@ -1751,16 +1751,16 @@ void do_blocking_move_to(float x, float y, float z, float fr_mm_m /*=0.0*/) { stepper.synchronize(); - feedrate_mm_m = old_feedrate_mm_m; + feedrate_mm_s = old_feedrate_mm_s; } -void do_blocking_move_to_x(float x, float fr_mm_m/*=0.0*/) { - do_blocking_move_to(x, current_position[Y_AXIS], current_position[Z_AXIS], fr_mm_m); +void do_blocking_move_to_x(float x, float fr_mm_s/*=0.0*/) { + do_blocking_move_to(x, current_position[Y_AXIS], current_position[Z_AXIS], fr_mm_s); } -void do_blocking_move_to_z(float z, float fr_mm_m/*=0.0*/) { - do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], z, fr_mm_m); +void do_blocking_move_to_z(float z, float fr_mm_s/*=0.0*/) { + do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], z, fr_mm_s); } -void do_blocking_move_to_xy(float x, float y, float fr_mm_m/*=0.0*/) { - do_blocking_move_to(x, y, current_position[Z_AXIS], fr_mm_m); +void do_blocking_move_to_xy(float x, float y, float fr_mm_s/*=0.0*/) { + do_blocking_move_to(x, y, current_position[Z_AXIS], fr_mm_s); } // @@ -1776,7 +1776,7 @@ static void setup_for_endstop_or_probe_move() { #if ENABLED(DEBUG_LEVELING_FEATURE) if (DEBUGGING(LEVELING)) DEBUG_POS("setup_for_endstop_or_probe_move", current_position); #endif - saved_feedrate_mm_m = feedrate_mm_m; + saved_feedrate_mm_s = feedrate_mm_s; saved_feedrate_percentage = feedrate_percentage; feedrate_percentage = 100; refresh_cmd_timeout(); @@ -1786,7 +1786,7 @@ static void clean_up_after_endstop_or_probe_move() { #if ENABLED(DEBUG_LEVELING_FEATURE) if (DEBUGGING(LEVELING)) DEBUG_POS("clean_up_after_endstop_or_probe_move", current_position); #endif - feedrate_mm_m = saved_feedrate_mm_m; + feedrate_mm_s = saved_feedrate_mm_s; feedrate_percentage = saved_feedrate_percentage; refresh_cmd_timeout(); } @@ -1881,7 +1881,7 @@ static void clean_up_after_endstop_or_probe_move() { #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE #define Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE 0.0 #endif - do_blocking_move_to(Z_PROBE_ALLEN_KEY_DEPLOY_1_X, Z_PROBE_ALLEN_KEY_DEPLOY_1_Y, Z_PROBE_ALLEN_KEY_DEPLOY_1_Z, Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE); + do_blocking_move_to(Z_PROBE_ALLEN_KEY_DEPLOY_1_X, Z_PROBE_ALLEN_KEY_DEPLOY_1_Y, Z_PROBE_ALLEN_KEY_DEPLOY_1_Z, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE)); #endif #if defined(Z_PROBE_ALLEN_KEY_DEPLOY_2_X) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_2_Y) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_2_Z) #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_2_X @@ -1896,7 +1896,7 @@ static void clean_up_after_endstop_or_probe_move() { #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE #define Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE 0.0 #endif - do_blocking_move_to(Z_PROBE_ALLEN_KEY_DEPLOY_2_X, Z_PROBE_ALLEN_KEY_DEPLOY_2_Y, Z_PROBE_ALLEN_KEY_DEPLOY_2_Z, Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE); + do_blocking_move_to(Z_PROBE_ALLEN_KEY_DEPLOY_2_X, Z_PROBE_ALLEN_KEY_DEPLOY_2_Y, Z_PROBE_ALLEN_KEY_DEPLOY_2_Z, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE)); #endif #if defined(Z_PROBE_ALLEN_KEY_DEPLOY_3_X) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_3_Y) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_3_Z) #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_3_X @@ -1911,7 +1911,7 @@ static void clean_up_after_endstop_or_probe_move() { #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE #define Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE 0.0 #endif - do_blocking_move_to(Z_PROBE_ALLEN_KEY_DEPLOY_3_X, Z_PROBE_ALLEN_KEY_DEPLOY_3_Y, Z_PROBE_ALLEN_KEY_DEPLOY_3_Z, Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE); + do_blocking_move_to(Z_PROBE_ALLEN_KEY_DEPLOY_3_X, Z_PROBE_ALLEN_KEY_DEPLOY_3_Y, Z_PROBE_ALLEN_KEY_DEPLOY_3_Z, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE)); #endif #if defined(Z_PROBE_ALLEN_KEY_DEPLOY_4_X) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_4_Y) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_4_Z) #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_4_X @@ -1926,7 +1926,7 @@ static void clean_up_after_endstop_or_probe_move() { #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_4_FEEDRATE #define Z_PROBE_ALLEN_KEY_DEPLOY_4_FEEDRATE 0.0 #endif - do_blocking_move_to(Z_PROBE_ALLEN_KEY_DEPLOY_4_X, Z_PROBE_ALLEN_KEY_DEPLOY_4_Y, Z_PROBE_ALLEN_KEY_DEPLOY_4_Z, Z_PROBE_ALLEN_KEY_DEPLOY_4_FEEDRATE); + do_blocking_move_to(Z_PROBE_ALLEN_KEY_DEPLOY_4_X, Z_PROBE_ALLEN_KEY_DEPLOY_4_Y, Z_PROBE_ALLEN_KEY_DEPLOY_4_Z, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_DEPLOY_4_FEEDRATE)); #endif #if defined(Z_PROBE_ALLEN_KEY_DEPLOY_5_X) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_5_Y) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_5_Z) #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_5_X @@ -1941,7 +1941,7 @@ static void clean_up_after_endstop_or_probe_move() { #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_5_FEEDRATE #define Z_PROBE_ALLEN_KEY_DEPLOY_5_FEEDRATE 0.0 #endif - do_blocking_move_to(Z_PROBE_ALLEN_KEY_DEPLOY_5_X, Z_PROBE_ALLEN_KEY_DEPLOY_5_Y, Z_PROBE_ALLEN_KEY_DEPLOY_5_Z, Z_PROBE_ALLEN_KEY_DEPLOY_5_FEEDRATE); + do_blocking_move_to(Z_PROBE_ALLEN_KEY_DEPLOY_5_X, Z_PROBE_ALLEN_KEY_DEPLOY_5_Y, Z_PROBE_ALLEN_KEY_DEPLOY_5_Z, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_DEPLOY_5_FEEDRATE)); #endif } void run_stow_moves_script() { @@ -1958,7 +1958,7 @@ static void clean_up_after_endstop_or_probe_move() { #ifndef Z_PROBE_ALLEN_KEY_STOW_1_FEEDRATE #define Z_PROBE_ALLEN_KEY_STOW_1_FEEDRATE 0.0 #endif - do_blocking_move_to(Z_PROBE_ALLEN_KEY_STOW_1_X, Z_PROBE_ALLEN_KEY_STOW_1_Y, Z_PROBE_ALLEN_KEY_STOW_1_Z, Z_PROBE_ALLEN_KEY_STOW_1_FEEDRATE); + do_blocking_move_to(Z_PROBE_ALLEN_KEY_STOW_1_X, Z_PROBE_ALLEN_KEY_STOW_1_Y, Z_PROBE_ALLEN_KEY_STOW_1_Z, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_STOW_1_FEEDRATE)); #endif #if defined(Z_PROBE_ALLEN_KEY_STOW_2_X) || defined(Z_PROBE_ALLEN_KEY_STOW_2_Y) || defined(Z_PROBE_ALLEN_KEY_STOW_2_Z) #ifndef Z_PROBE_ALLEN_KEY_STOW_2_X @@ -1973,7 +1973,7 @@ static void clean_up_after_endstop_or_probe_move() { #ifndef Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE #define Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE 0.0 #endif - do_blocking_move_to(Z_PROBE_ALLEN_KEY_STOW_2_X, Z_PROBE_ALLEN_KEY_STOW_2_Y, Z_PROBE_ALLEN_KEY_STOW_2_Z, Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE); + do_blocking_move_to(Z_PROBE_ALLEN_KEY_STOW_2_X, Z_PROBE_ALLEN_KEY_STOW_2_Y, Z_PROBE_ALLEN_KEY_STOW_2_Z, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE)); #endif #if defined(Z_PROBE_ALLEN_KEY_STOW_3_X) || defined(Z_PROBE_ALLEN_KEY_STOW_3_Y) || defined(Z_PROBE_ALLEN_KEY_STOW_3_Z) #ifndef Z_PROBE_ALLEN_KEY_STOW_3_X @@ -1988,7 +1988,7 @@ static void clean_up_after_endstop_or_probe_move() { #ifndef Z_PROBE_ALLEN_KEY_STOW_3_FEEDRATE #define Z_PROBE_ALLEN_KEY_STOW_3_FEEDRATE 0.0 #endif - do_blocking_move_to(Z_PROBE_ALLEN_KEY_STOW_3_X, Z_PROBE_ALLEN_KEY_STOW_3_Y, Z_PROBE_ALLEN_KEY_STOW_3_Z, Z_PROBE_ALLEN_KEY_STOW_3_FEEDRATE); + do_blocking_move_to(Z_PROBE_ALLEN_KEY_STOW_3_X, Z_PROBE_ALLEN_KEY_STOW_3_Y, Z_PROBE_ALLEN_KEY_STOW_3_Z, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_STOW_3_FEEDRATE)); #endif #if defined(Z_PROBE_ALLEN_KEY_STOW_4_X) || defined(Z_PROBE_ALLEN_KEY_STOW_4_Y) || defined(Z_PROBE_ALLEN_KEY_STOW_4_Z) #ifndef Z_PROBE_ALLEN_KEY_STOW_4_X @@ -2003,7 +2003,7 @@ static void clean_up_after_endstop_or_probe_move() { #ifndef Z_PROBE_ALLEN_KEY_STOW_4_FEEDRATE #define Z_PROBE_ALLEN_KEY_STOW_4_FEEDRATE 0.0 #endif - do_blocking_move_to(Z_PROBE_ALLEN_KEY_STOW_4_X, Z_PROBE_ALLEN_KEY_STOW_4_Y, Z_PROBE_ALLEN_KEY_STOW_4_Z, Z_PROBE_ALLEN_KEY_STOW_4_FEEDRATE); + do_blocking_move_to(Z_PROBE_ALLEN_KEY_STOW_4_X, Z_PROBE_ALLEN_KEY_STOW_4_Y, Z_PROBE_ALLEN_KEY_STOW_4_Z, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_STOW_4_FEEDRATE)); #endif #if defined(Z_PROBE_ALLEN_KEY_STOW_5_X) || defined(Z_PROBE_ALLEN_KEY_STOW_5_Y) || defined(Z_PROBE_ALLEN_KEY_STOW_5_Z) #ifndef Z_PROBE_ALLEN_KEY_STOW_5_X @@ -2018,7 +2018,7 @@ static void clean_up_after_endstop_or_probe_move() { #ifndef Z_PROBE_ALLEN_KEY_STOW_5_FEEDRATE #define Z_PROBE_ALLEN_KEY_STOW_5_FEEDRATE 0.0 #endif - do_blocking_move_to(Z_PROBE_ALLEN_KEY_STOW_5_X, Z_PROBE_ALLEN_KEY_STOW_5_Y, Z_PROBE_ALLEN_KEY_STOW_5_Z, Z_PROBE_ALLEN_KEY_STOW_5_FEEDRATE); + do_blocking_move_to(Z_PROBE_ALLEN_KEY_STOW_5_X, Z_PROBE_ALLEN_KEY_STOW_5_Y, Z_PROBE_ALLEN_KEY_STOW_5_Z, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_STOW_5_FEEDRATE)); #endif } #endif @@ -2122,20 +2122,20 @@ static void clean_up_after_endstop_or_probe_move() { #endif #if ENABLED(PROBE_DOUBLE_TOUCH) - do_blocking_move_to_z(-(Z_MAX_LENGTH + 10), Z_PROBE_SPEED_FAST); + do_blocking_move_to_z(-(Z_MAX_LENGTH + 10), MMM_TO_MMS(Z_PROBE_SPEED_FAST)); endstops.hit_on_purpose(); set_current_from_steppers_for_axis(Z_AXIS); SYNC_PLAN_POSITION_KINEMATIC(); // move up the retract distance - do_blocking_move_to_z(current_position[Z_AXIS] + home_bump_mm(Z_AXIS), Z_PROBE_SPEED_FAST); + do_blocking_move_to_z(current_position[Z_AXIS] + home_bump_mm(Z_AXIS), MMM_TO_MMS(Z_PROBE_SPEED_FAST)); #else // move fast, close to the bed - do_blocking_move_to_z(home_bump_mm(Z_AXIS), Z_PROBE_SPEED_FAST); + do_blocking_move_to_z(home_bump_mm(Z_AXIS), MMM_TO_MMS(Z_PROBE_SPEED_FAST)); #endif // move down slowly to find bed - do_blocking_move_to_z(current_position[Z_AXIS] -2.0*home_bump_mm(Z_AXIS), Z_PROBE_SPEED_SLOW); + do_blocking_move_to_z(current_position[Z_AXIS] -2.0*home_bump_mm(Z_AXIS), MMM_TO_MMS(Z_PROBE_SPEED_SLOW)); endstops.hit_on_purpose(); set_current_from_steppers_for_axis(Z_AXIS); SYNC_PLAN_POSITION_KINEMATIC(); @@ -2167,7 +2167,7 @@ static void clean_up_after_endstop_or_probe_move() { } #endif - float old_feedrate_mm_m = feedrate_mm_m; + float old_feedrate_mm_s = feedrate_mm_s; // Ensure a minimum height before moving the probe do_probe_raise(Z_PROBE_TRAVEL_HEIGHT); @@ -2180,7 +2180,7 @@ static void clean_up_after_endstop_or_probe_move() { SERIAL_ECHOLNPGM(")"); } #endif - feedrate_mm_m = XY_PROBE_FEEDRATE_MM_M; + feedrate_mm_s = XY_PROBE_FEEDRATE_MM_S; do_blocking_move_to_xy(x - (X_PROBE_OFFSET_FROM_EXTRUDER), y - (Y_PROBE_OFFSET_FROM_EXTRUDER)); #if ENABLED(DEBUG_LEVELING_FEATURE) @@ -2217,7 +2217,7 @@ static void clean_up_after_endstop_or_probe_move() { if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< probe_pt"); #endif - feedrate_mm_m = old_feedrate_mm_m; + feedrate_mm_s = old_feedrate_mm_s; return measured_z; } @@ -2509,13 +2509,13 @@ static void homeaxis(AxisEnum axis) { if (retracting == retracted[active_extruder]) return; - float old_feedrate_mm_m = feedrate_mm_m; + float old_feedrate_mm_s = feedrate_mm_s; set_destination_to_current(); if (retracting) { - feedrate_mm_m = MMS_TO_MMM(retract_feedrate_mm_s); + feedrate_mm_s = retract_feedrate_mm_s; current_position[E_AXIS] += (swapping ? retract_length_swap : retract_length) / volumetric_multiplier[active_extruder]; sync_plan_position_e(); prepare_move_to_destination(); @@ -2533,14 +2533,14 @@ static void homeaxis(AxisEnum axis) { SYNC_PLAN_POSITION_KINEMATIC(); } - feedrate_mm_m = MMS_TO_MMM(retract_recover_feedrate_mm_s); + feedrate_mm_s = retract_recover_feedrate_mm_s; float move_e = swapping ? retract_length_swap + retract_recover_length_swap : retract_length + retract_recover_length; current_position[E_AXIS] -= move_e / volumetric_multiplier[active_extruder]; sync_plan_position_e(); prepare_move_to_destination(); } - feedrate_mm_m = old_feedrate_mm_m; + feedrate_mm_s = old_feedrate_mm_s; retracted[active_extruder] = retracting; } // retract() @@ -2602,7 +2602,7 @@ void gcode_get_destination() { } if (code_seen('F') && code_value_linear_units() > 0.0) - feedrate_mm_m = code_value_linear_units(); + feedrate_mm_s = MMM_TO_MMS(code_value_linear_units()); #if ENABLED(PRINTCOUNTER) if (!DEBUGGING(DRYRUN)) @@ -2846,9 +2846,9 @@ inline void gcode_G4() { float mlx = max_length(X_AXIS), mly = max_length(Y_AXIS), mlratio = mlx > mly ? mly / mlx : mlx / mly, - fr_mm_m = min(homing_feedrate_mm_m[X_AXIS], homing_feedrate_mm_m[Y_AXIS]) * sqrt(sq(mlratio) + 1.0); + fr_mm_s = min(homing_feedrate_mm_s[X_AXIS], homing_feedrate_mm_s[Y_AXIS]) * sqrt(sq(mlratio) + 1.0); - do_blocking_move_to_xy(1.5 * mlx * x_axis_home_dir, 1.5 * mly * home_dir(Y_AXIS), fr_mm_m); + do_blocking_move_to_xy(1.5 * mlx * x_axis_home_dir, 1.5 * mly * home_dir(Y_AXIS), fr_mm_s); endstops.hit_on_purpose(); // clear endstop hit flags current_position[X_AXIS] = current_position[Y_AXIS] = 0.0; @@ -2940,7 +2940,7 @@ inline void gcode_G28() { // Move all carriages up together until the first endstop is hit. current_position[X_AXIS] = current_position[Y_AXIS] = current_position[Z_AXIS] = 3.0 * (Z_MAX_LENGTH); - feedrate_mm_m = 1.732 * homing_feedrate_mm_m[X_AXIS]; + feedrate_mm_s = 1.732 * homing_feedrate_mm_s[X_AXIS]; line_to_current_position(); stepper.synchronize(); endstops.hit_on_purpose(); // clear endstop hit flags @@ -3157,7 +3157,7 @@ inline void gcode_G28() { #if ENABLED(MESH_G28_REST_ORIGIN) current_position[Z_AXIS] = 0.0; set_destination_to_current(); - feedrate_mm_m = homing_feedrate_mm_m[Z_AXIS]; + feedrate_mm_s = homing_feedrate_mm_s[Z_AXIS]; line_to_destination(); stepper.synchronize(); #if ENABLED(DEBUG_LEVELING_FEATURE) @@ -3219,8 +3219,8 @@ inline void gcode_G28() { #if ENABLED(MESH_BED_LEVELING) inline void _mbl_goto_xy(float x, float y) { - float old_feedrate_mm_m = feedrate_mm_m; - feedrate_mm_m = homing_feedrate_mm_m[X_AXIS]; + float old_feedrate_mm_s = feedrate_mm_s; + feedrate_mm_s = homing_feedrate_mm_s[X_AXIS]; current_position[Z_AXIS] = MESH_HOME_SEARCH_Z #if Z_PROBE_TRAVEL_HEIGHT > Z_HOMING_HEIGHT @@ -3240,7 +3240,7 @@ inline void gcode_G28() { line_to_current_position(); #endif - feedrate_mm_m = old_feedrate_mm_m; + feedrate_mm_s = old_feedrate_mm_s; stepper.synchronize(); } @@ -3487,7 +3487,7 @@ inline void gcode_G28() { } #endif - xy_probe_feedrate_mm_m = code_seen('S') ? (int)code_value_linear_units() : XY_PROBE_SPEED; + xy_probe_feedrate_mm_s = MMM_TO_MMS(code_seen('S') ? code_value_linear_units() : XY_PROBE_SPEED); int left_probe_bed_position = code_seen('L') ? (int)code_value_axis_units(X_AXIS) : LOGICAL_X_POSITION(LEFT_PROBE_BED_POSITION), right_probe_bed_position = code_seen('R') ? (int)code_value_axis_units(X_AXIS) : LOGICAL_X_POSITION(RIGHT_PROBE_BED_POSITION), @@ -6265,7 +6265,7 @@ inline void gcode_M503() { #define RUNPLAN(RATE_MM_S) inverse_kinematics(destination); \ planner.buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], destination[E_AXIS], RATE_MM_S, active_extruder); #else - #define RUNPLAN(RATE_MM_S) line_to_destination(MMS_TO_MMM(RATE_MM_S)); + #define RUNPLAN(RATE_MM_S) line_to_destination(RATE_MM_S); #endif KEEPALIVE_STATE(IN_HANDLER); @@ -6655,7 +6655,7 @@ inline void invalid_extruder_error(const uint8_t &e) { SERIAL_ECHOLN(MSG_INVALID_EXTRUDER); } -void tool_change(const uint8_t tmp_extruder, const float fr_mm_m/*=0.0*/, bool no_move/*=false*/) { +void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool no_move/*=false*/) { #if ENABLED(MIXING_EXTRUDER) && MIXING_VIRTUAL_TOOLS > 1 if (tmp_extruder >= MIXING_VIRTUAL_TOOLS) { @@ -6676,9 +6676,9 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_m/*=0.0*/, bool n return; } - float old_feedrate_mm_m = feedrate_mm_m; + float old_feedrate_mm_s = feedrate_mm_s; - feedrate_mm_m = fr_mm_m > 0.0 ? (old_feedrate_mm_m = fr_mm_m) : XY_PROBE_FEEDRATE_MM_M; + feedrate_mm_s = fr_mm_s > 0.0 ? (old_feedrate_mm_s = fr_mm_s) : XY_PROBE_FEEDRATE_MM_S; if (tmp_extruder != active_extruder) { if (!no_move && axis_unhomed_error(true, true, true)) { @@ -6928,14 +6928,14 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_m/*=0.0*/, bool n enable_solenoid_on_active_extruder(); #endif // EXT_SOLENOID - feedrate_mm_m = old_feedrate_mm_m; + feedrate_mm_s = old_feedrate_mm_s; #else // HOTENDS <= 1 // Set the new active extruder active_extruder = tmp_extruder; - UNUSED(fr_mm_m); + UNUSED(fr_mm_s); UNUSED(no_move); #endif // HOTENDS <= 1 @@ -6971,7 +6971,7 @@ inline void gcode_T(uint8_t tmp_extruder) { tool_change( tmp_extruder, - code_seen('F') ? code_value_axis_units(X_AXIS) : 0.0, + code_seen('F') ? MMM_TO_MMS(code_value_axis_units(X_AXIS)) : 0.0, (tmp_extruder == active_extruder) || (code_seen('S') && code_value_bool()) ); @@ -7916,7 +7916,7 @@ void set_current_from_steppers_for_axis(AxisEnum axis) { #if ENABLED(MESH_BED_LEVELING) // This function is used to split lines on mesh borders so each segment is only part of one mesh area -void mesh_line_to_destination(float fr_mm_m, uint8_t x_splits = 0xff, uint8_t y_splits = 0xff) { +void mesh_line_to_destination(float fr_mm_s, uint8_t x_splits = 0xff, uint8_t y_splits = 0xff) { int cx1 = mbl.cell_index_x(RAW_CURRENT_POSITION(X_AXIS)), cy1 = mbl.cell_index_y(RAW_CURRENT_POSITION(Y_AXIS)), cx2 = mbl.cell_index_x(RAW_X_POSITION(destination[X_AXIS])), @@ -7928,7 +7928,7 @@ void mesh_line_to_destination(float fr_mm_m, uint8_t x_splits = 0xff, uint8_t y_ if (cx1 == cx2 && cy1 == cy2) { // Start and end on same mesh square - line_to_destination(fr_mm_m); + line_to_destination(fr_mm_s); set_current_to_destination(); return; } @@ -7955,7 +7955,7 @@ void mesh_line_to_destination(float fr_mm_m, uint8_t x_splits = 0xff, uint8_t y_ } else { // Already split on a border - line_to_destination(fr_mm_m); + line_to_destination(fr_mm_s); set_current_to_destination(); return; } @@ -7964,11 +7964,11 @@ void mesh_line_to_destination(float fr_mm_m, uint8_t x_splits = 0xff, uint8_t y_ destination[E_AXIS] = MBL_SEGMENT_END(E); // Do the split and look for more borders - mesh_line_to_destination(fr_mm_m, x_splits, y_splits); + mesh_line_to_destination(fr_mm_s, x_splits, y_splits); // Restore destination from stack memcpy(destination, end, sizeof(end)); - mesh_line_to_destination(fr_mm_m, x_splits, y_splits); + mesh_line_to_destination(fr_mm_s, x_splits, y_splits); } #endif // MESH_BED_LEVELING @@ -7981,7 +7981,7 @@ void mesh_line_to_destination(float fr_mm_m, uint8_t x_splits = 0xff, uint8_t y_ float cartesian_mm = sqrt(sq(difference[X_AXIS]) + sq(difference[Y_AXIS]) + sq(difference[Z_AXIS])); if (cartesian_mm < 0.000001) cartesian_mm = abs(difference[E_AXIS]); if (cartesian_mm < 0.000001) return false; - float _feedrate_mm_s = MMM_TO_MMS_SCALED(feedrate_mm_m); + float _feedrate_mm_s = MMS_SCALED(feedrate_mm_s); float seconds = cartesian_mm / _feedrate_mm_s; int steps = max(1, int(delta_segments_per_second * seconds)); float inv_steps = 1.0/steps; @@ -8067,12 +8067,12 @@ void mesh_line_to_destination(float fr_mm_m, uint8_t x_splits = 0xff, uint8_t y_ else { #if ENABLED(MESH_BED_LEVELING) if (mbl.active()) { - mesh_line_to_destination(MMM_SCALED(feedrate_mm_m)); + mesh_line_to_destination(MMS_SCALED(feedrate_mm_s)); return false; } else #endif - line_to_destination(MMM_SCALED(feedrate_mm_m)); + line_to_destination(MMS_SCALED(feedrate_mm_s)); } return true; } @@ -8213,7 +8213,7 @@ void prepare_move_to_destination() { // Initialize the extruder axis arc_target[E_AXIS] = current_position[E_AXIS]; - float fr_mm_s = MMM_TO_MMS_SCALED(feedrate_mm_m); + float fr_mm_s = MMS_SCALED(feedrate_mm_s); millis_t next_idle_ms = millis() + 200UL; @@ -8284,7 +8284,7 @@ void prepare_move_to_destination() { #if ENABLED(BEZIER_CURVE_SUPPORT) void plan_cubic_move(const float offset[4]) { - cubic_b_spline(current_position, destination, offset, MMM_TO_MMS_SCALED(feedrate_mm_m), active_extruder); + cubic_b_spline(current_position, destination, offset, MMS_SCALED(feedrate_mm_s), active_extruder); // As far as the parser is concerned, the position is now == target. In reality the // motion control system might still be processing the action and the real tool position