From dd3ce408261cb44fa698ea648d6d258bc9f49f40 Mon Sep 17 00:00:00 2001 From: Scott Lahteine Date: Thu, 30 Nov 2017 16:38:35 -0600 Subject: [PATCH] Drop Planner::position_float, use int types --- Marlin/src/module/planner.cpp | 112 +++++++++------------------------- Marlin/src/module/planner.h | 8 +-- 2 files changed, 31 insertions(+), 89 deletions(-) diff --git a/Marlin/src/module/planner.cpp b/Marlin/src/module/planner.cpp index 4d2ee993b..a7e211aa3 100644 --- a/Marlin/src/module/planner.cpp +++ b/Marlin/src/module/planner.cpp @@ -144,7 +144,7 @@ float Planner::min_feedrate_mm_s, // private: -long Planner::position[NUM_AXIS] = { 0 }; +int32_t Planner::position[NUM_AXIS] = { 0 }; uint32_t Planner::cutoff_long; @@ -164,8 +164,7 @@ float Planner::previous_speed[NUM_AXIS], #if ENABLED(LIN_ADVANCE) float Planner::extruder_advance_k, // Initialized by settings.load() - Planner::advance_ed_ratio, // Initialized by settings.load() - Planner::position_float[NUM_AXIS] = { 0 }; + Planner::advance_ed_ratio; // Initialized by settings.load() #endif #if ENABLED(ULTRA_LCD) @@ -181,9 +180,6 @@ Planner::Planner() { init(); } void Planner::init() { block_buffer_head = block_buffer_tail = 0; ZERO(position); - #if ENABLED(LIN_ADVANCE) - ZERO(position_float); - #endif ZERO(previous_speed); previous_nominal_speed = 0.0; #if ABL_PLANAR @@ -690,13 +686,9 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const } #endif - #if ENABLED(LIN_ADVANCE) - const float mm_D_float = SQRT(sq(a - position_float[X_AXIS]) + sq(b - position_float[Y_AXIS])); - #endif - - const long da = target[X_AXIS] - position[X_AXIS], - db = target[Y_AXIS] - position[Y_AXIS], - dc = target[Z_AXIS] - position[Z_AXIS]; + const int32_t da = target[X_AXIS] - position[X_AXIS], + db = target[Y_AXIS] - position[Y_AXIS], + dc = target[Z_AXIS] - position[Z_AXIS]; /* SERIAL_ECHOPAIR(" Planner FR:", fr_mm_s); @@ -721,19 +713,7 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const SERIAL_EOL(); //*/ - // DRYRUN ignores all temperature constraints and assures that the extruder is instantly satisfied - if (DEBUGGING(DRYRUN)) { - position[E_AXIS] = target[E_AXIS]; - #if ENABLED(LIN_ADVANCE) - position_float[E_AXIS] = e; - #endif - } - - long de = target[E_AXIS] - position[E_AXIS]; - - #if ENABLED(LIN_ADVANCE) - float de_float = e - position_float[E_AXIS]; // Should this include e_factor? - #endif + int32_t de = target[E_AXIS] - position[E_AXIS]; #if ENABLED(PREVENT_COLD_EXTRUSION) || ENABLED(PREVENT_LENGTHY_EXTRUDE) if (de) { @@ -741,10 +721,6 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const if (thermalManager.tooColdToExtrude(extruder)) { position[E_AXIS] = target[E_AXIS]; // Behave as if the move really took place, but ignore E part de = 0; // no difference - #if ENABLED(LIN_ADVANCE) - position_float[E_AXIS] = e; - de_float = 0; - #endif SERIAL_ECHO_START(); SERIAL_ECHOLNPGM(MSG_ERR_COLD_EXTRUDE_STOP); } @@ -753,10 +729,6 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const if (labs(de * e_factor[extruder]) > (int32_t)axis_steps_per_mm[E_AXIS_N] * (EXTRUDE_MAXLENGTH)) { // It's not important to get max. extrusion length in a precision < 1mm, so save some cycles and cast to int position[E_AXIS] = target[E_AXIS]; // Behave as if the move really took place, but ignore E part de = 0; // no difference - #if ENABLED(LIN_ADVANCE) - position_float[E_AXIS] = e; - de_float = 0; - #endif SERIAL_ECHO_START(); SERIAL_ECHOLNPGM(MSG_ERR_LONG_EXTRUDE_STOP); } @@ -1036,7 +1008,7 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const #endif ); } - const float inverse_millimeters = 1.0 / block->millimeters; // Inverse millimeters to remove multiple divides + float inverse_millimeters = 1.0 / block->millimeters; // Inverse millimeters to remove multiple divides // Calculate moves/second for this move. No divide by zero due to previous checks. float inverse_mm_s = fr_mm_s * inverse_millimeters; @@ -1360,31 +1332,28 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const previous_safe_speed = safe_speed; #if ENABLED(LIN_ADVANCE) - - // - // Use LIN_ADVANCE for blocks if all these are true: - // - // esteps : We have E steps todo (a printing move) - // - // block->steps[X_AXIS] || block->steps[Y_AXIS] : We have a movement in XY direction (i.e., not retract / prime). - // - // extruder_advance_k : There is an advance factor set. - // - // block->steps[E_AXIS] != block->step_event_count : A problem occurs if the move before a retract is too small. - // In that case, the retract and move will be executed together. - // This leads to too many advance steps due to a huge e_acceleration. - // The math is good, but we must avoid retract moves with advance! - // de_float > 0.0 : Extruder is running forward (e.g., for "Wipe while retracting" (Slic3r) or "Combing" (Cura) moves) - // - block->use_advance_lead = esteps - && (block->steps[X_AXIS] || block->steps[Y_AXIS]) + /** + * + * Use LIN_ADVANCE for blocks if all these are true: + * + * esteps && (block->steps[X_AXIS] || block->steps[Y_AXIS]) : This is a print move + * + * extruder_advance_k : There is an advance factor set. + * + * esteps != block->step_event_count : A problem occurs if the move before a retract is too small. + * In that case, the retract and move will be executed together. + * This leads to too many advance steps due to a huge e_acceleration. + * The math is good, but we must avoid retract moves with advance! + * de > 0 : Extruder is running forward (e.g., for "Wipe while retracting" (Slic3r) or "Combing" (Cura) moves) + */ + block->use_advance_lead = esteps && (block->steps[X_AXIS] || block->steps[Y_AXIS]) && extruder_advance_k && (uint32_t)esteps != block->step_event_count - && de_float > 0.0; + && de > 0; if (block->use_advance_lead) block->abs_adv_steps_multiplier8 = LROUND( extruder_advance_k - * (UNEAR_ZERO(advance_ed_ratio) ? de_float / mm_D_float : advance_ed_ratio) // Use the fixed ratio, if set + * (UNEAR_ZERO(advance_ed_ratio) ? de * steps_to_mm[E_AXIS_N] / HYPOT(da * steps_to_mm[X_AXIS], db * steps_to_mm[Y_AXIS]) : advance_ed_ratio) // Use the fixed ratio, if set * (block->nominal_speed / (float)block->nominal_rate) * axis_steps_per_mm[E_AXIS_N] * 256.0 ); @@ -1398,12 +1367,6 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const // Update the position (only when a move was queued) COPY(position, target); - #if ENABLED(LIN_ADVANCE) - position_float[X_AXIS] = a; - position_float[Y_AXIS] = b; - position_float[Z_AXIS] = c; - position_float[E_AXIS] = e; - #endif recalculate(); @@ -1425,16 +1388,10 @@ void Planner::_set_position_mm(const float &a, const float &b, const float &c, c #else #define _EINDEX E_AXIS #endif - const long na = position[X_AXIS] = LROUND(a * axis_steps_per_mm[X_AXIS]), - nb = position[Y_AXIS] = LROUND(b * axis_steps_per_mm[Y_AXIS]), - nc = position[Z_AXIS] = LROUND(c * axis_steps_per_mm[Z_AXIS]), - ne = position[E_AXIS] = LROUND(e * axis_steps_per_mm[_EINDEX]); - #if ENABLED(LIN_ADVANCE) - position_float[X_AXIS] = a; - position_float[Y_AXIS] = b; - position_float[Z_AXIS] = c; - position_float[E_AXIS] = e; - #endif + const int32_t na = position[X_AXIS] = LROUND(a * axis_steps_per_mm[X_AXIS]), + nb = position[Y_AXIS] = LROUND(b * axis_steps_per_mm[Y_AXIS]), + nc = position[Z_AXIS] = LROUND(c * axis_steps_per_mm[Z_AXIS]), + ne = position[E_AXIS] = LROUND(e * axis_steps_per_mm[_EINDEX]); stepper.set_position(na, nb, nc, ne); previous_nominal_speed = 0.0; // Resets planner junction speeds. Assumes start from rest. ZERO(previous_speed); @@ -1459,16 +1416,8 @@ void Planner::set_position_mm_kinematic(const float position[NUM_AXIS]) { * Sync from the stepper positions. (e.g., after an interrupted move) */ void Planner::sync_from_steppers() { - LOOP_XYZE(i) { + LOOP_XYZE(i) position[i] = stepper.position((AxisEnum)i); - #if ENABLED(LIN_ADVANCE) - position_float[i] = position[i] * steps_to_mm[i - #if ENABLED(DISTINCT_E_FACTORS) - + (i == E_AXIS ? active_extruder : 0) - #endif - ]; - #endif - } } /** @@ -1482,9 +1431,6 @@ void Planner::set_position_mm(const AxisEnum axis, const float &v) { const uint8_t axis_index = axis; #endif position[axis] = LROUND(v * axis_steps_per_mm[axis_index]); - #if ENABLED(LIN_ADVANCE) - position_float[axis] = v; - #endif stepper.set_position(axis, v); previous_speed[axis] = 0.0; } diff --git a/Marlin/src/module/planner.h b/Marlin/src/module/planner.h index db9d8efc5..b89655d3c 100644 --- a/Marlin/src/module/planner.h +++ b/Marlin/src/module/planner.h @@ -186,7 +186,7 @@ class Planner { * The current position of the tool in absolute steps * Recalculated if any axis_steps_per_mm are changed by gcode */ - static long position[NUM_AXIS]; + static int32_t position[NUM_AXIS]; /** * Speed of previous path line segment @@ -220,11 +220,7 @@ class Planner { // Old direction bits. Used for speed calculations static unsigned char old_direction_bits; // Segment times (in µs). Used for speed calculations - static long axis_segment_time_us[2][3]; - #endif - - #if ENABLED(LIN_ADVANCE) - static float position_float[NUM_AXIS]; + static uint32_t axis_segment_time_us[2][3]; #endif #if ENABLED(ULTRA_LCD)