Drop Planner::position_float, use int types
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ec6ca37ed3
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dd3ce40826
2 changed files with 31 additions and 89 deletions
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@ -144,7 +144,7 @@ float Planner::min_feedrate_mm_s,
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// private:
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// private:
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long Planner::position[NUM_AXIS] = { 0 };
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int32_t Planner::position[NUM_AXIS] = { 0 };
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uint32_t Planner::cutoff_long;
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uint32_t Planner::cutoff_long;
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@ -164,8 +164,7 @@ float Planner::previous_speed[NUM_AXIS],
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#if ENABLED(LIN_ADVANCE)
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#if ENABLED(LIN_ADVANCE)
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float Planner::extruder_advance_k, // Initialized by settings.load()
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float Planner::extruder_advance_k, // Initialized by settings.load()
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Planner::advance_ed_ratio, // Initialized by settings.load()
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Planner::advance_ed_ratio; // Initialized by settings.load()
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Planner::position_float[NUM_AXIS] = { 0 };
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#endif
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#endif
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#if ENABLED(ULTRA_LCD)
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#if ENABLED(ULTRA_LCD)
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@ -181,9 +180,6 @@ Planner::Planner() { init(); }
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void Planner::init() {
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void Planner::init() {
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block_buffer_head = block_buffer_tail = 0;
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block_buffer_head = block_buffer_tail = 0;
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ZERO(position);
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ZERO(position);
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#if ENABLED(LIN_ADVANCE)
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ZERO(position_float);
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#endif
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ZERO(previous_speed);
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ZERO(previous_speed);
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previous_nominal_speed = 0.0;
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previous_nominal_speed = 0.0;
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#if ABL_PLANAR
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#if ABL_PLANAR
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@ -690,11 +686,7 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const
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}
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}
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#endif
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#endif
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#if ENABLED(LIN_ADVANCE)
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const int32_t da = target[X_AXIS] - position[X_AXIS],
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const float mm_D_float = SQRT(sq(a - position_float[X_AXIS]) + sq(b - position_float[Y_AXIS]));
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#endif
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const long da = target[X_AXIS] - position[X_AXIS],
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db = target[Y_AXIS] - position[Y_AXIS],
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db = target[Y_AXIS] - position[Y_AXIS],
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dc = target[Z_AXIS] - position[Z_AXIS];
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dc = target[Z_AXIS] - position[Z_AXIS];
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@ -721,19 +713,7 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const
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SERIAL_EOL();
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SERIAL_EOL();
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//*/
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//*/
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// DRYRUN ignores all temperature constraints and assures that the extruder is instantly satisfied
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int32_t de = target[E_AXIS] - position[E_AXIS];
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if (DEBUGGING(DRYRUN)) {
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position[E_AXIS] = target[E_AXIS];
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#if ENABLED(LIN_ADVANCE)
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position_float[E_AXIS] = e;
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#endif
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}
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long de = target[E_AXIS] - position[E_AXIS];
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#if ENABLED(LIN_ADVANCE)
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float de_float = e - position_float[E_AXIS]; // Should this include e_factor?
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#endif
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#if ENABLED(PREVENT_COLD_EXTRUSION) || ENABLED(PREVENT_LENGTHY_EXTRUDE)
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#if ENABLED(PREVENT_COLD_EXTRUSION) || ENABLED(PREVENT_LENGTHY_EXTRUDE)
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if (de) {
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if (de) {
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@ -741,10 +721,6 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const
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if (thermalManager.tooColdToExtrude(extruder)) {
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if (thermalManager.tooColdToExtrude(extruder)) {
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position[E_AXIS] = target[E_AXIS]; // Behave as if the move really took place, but ignore E part
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position[E_AXIS] = target[E_AXIS]; // Behave as if the move really took place, but ignore E part
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de = 0; // no difference
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de = 0; // no difference
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#if ENABLED(LIN_ADVANCE)
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position_float[E_AXIS] = e;
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de_float = 0;
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#endif
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SERIAL_ECHO_START();
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SERIAL_ECHO_START();
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SERIAL_ECHOLNPGM(MSG_ERR_COLD_EXTRUDE_STOP);
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SERIAL_ECHOLNPGM(MSG_ERR_COLD_EXTRUDE_STOP);
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}
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}
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@ -753,10 +729,6 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const
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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
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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
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position[E_AXIS] = target[E_AXIS]; // Behave as if the move really took place, but ignore E part
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position[E_AXIS] = target[E_AXIS]; // Behave as if the move really took place, but ignore E part
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de = 0; // no difference
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de = 0; // no difference
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#if ENABLED(LIN_ADVANCE)
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position_float[E_AXIS] = e;
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de_float = 0;
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#endif
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SERIAL_ECHO_START();
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SERIAL_ECHO_START();
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SERIAL_ECHOLNPGM(MSG_ERR_LONG_EXTRUDE_STOP);
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SERIAL_ECHOLNPGM(MSG_ERR_LONG_EXTRUDE_STOP);
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}
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}
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@ -1036,7 +1008,7 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const
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#endif
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#endif
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);
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);
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}
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}
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const float inverse_millimeters = 1.0 / block->millimeters; // Inverse millimeters to remove multiple divides
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float inverse_millimeters = 1.0 / block->millimeters; // Inverse millimeters to remove multiple divides
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// Calculate moves/second for this move. No divide by zero due to previous checks.
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// Calculate moves/second for this move. No divide by zero due to previous checks.
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float inverse_mm_s = fr_mm_s * inverse_millimeters;
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float inverse_mm_s = fr_mm_s * inverse_millimeters;
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@ -1360,31 +1332,28 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const
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previous_safe_speed = safe_speed;
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previous_safe_speed = safe_speed;
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#if ENABLED(LIN_ADVANCE)
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#if ENABLED(LIN_ADVANCE)
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/**
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//
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*
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// Use LIN_ADVANCE for blocks if all these are true:
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* Use LIN_ADVANCE for blocks if all these are true:
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//
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*
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// esteps : We have E steps todo (a printing move)
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* esteps && (block->steps[X_AXIS] || block->steps[Y_AXIS]) : This is a print move
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//
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*
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// block->steps[X_AXIS] || block->steps[Y_AXIS] : We have a movement in XY direction (i.e., not retract / prime).
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* extruder_advance_k : There is an advance factor set.
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//
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*
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// extruder_advance_k : There is an advance factor set.
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* esteps != block->step_event_count : A problem occurs if the move before a retract is too small.
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//
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* In that case, the retract and move will be executed together.
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// block->steps[E_AXIS] != block->step_event_count : A problem occurs if the move before a retract is too small.
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* This leads to too many advance steps due to a huge e_acceleration.
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// In that case, the retract and move will be executed together.
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* The math is good, but we must avoid retract moves with advance!
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// This leads to too many advance steps due to a huge e_acceleration.
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* de > 0 : Extruder is running forward (e.g., for "Wipe while retracting" (Slic3r) or "Combing" (Cura) moves)
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// The math is good, but we must avoid retract moves with advance!
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*/
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// de_float > 0.0 : Extruder is running forward (e.g., for "Wipe while retracting" (Slic3r) or "Combing" (Cura) moves)
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block->use_advance_lead = esteps && (block->steps[X_AXIS] || block->steps[Y_AXIS])
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//
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block->use_advance_lead = esteps
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&& (block->steps[X_AXIS] || block->steps[Y_AXIS])
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&& extruder_advance_k
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&& extruder_advance_k
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&& (uint32_t)esteps != block->step_event_count
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&& (uint32_t)esteps != block->step_event_count
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&& de_float > 0.0;
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&& de > 0;
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if (block->use_advance_lead)
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if (block->use_advance_lead)
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block->abs_adv_steps_multiplier8 = LROUND(
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block->abs_adv_steps_multiplier8 = LROUND(
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extruder_advance_k
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extruder_advance_k
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* (UNEAR_ZERO(advance_ed_ratio) ? de_float / mm_D_float : advance_ed_ratio) // Use the fixed ratio, if set
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* (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
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* (block->nominal_speed / (float)block->nominal_rate)
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* (block->nominal_speed / (float)block->nominal_rate)
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* axis_steps_per_mm[E_AXIS_N] * 256.0
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* axis_steps_per_mm[E_AXIS_N] * 256.0
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);
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);
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@ -1398,12 +1367,6 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const
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// Update the position (only when a move was queued)
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// Update the position (only when a move was queued)
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COPY(position, target);
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COPY(position, target);
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#if ENABLED(LIN_ADVANCE)
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position_float[X_AXIS] = a;
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position_float[Y_AXIS] = b;
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position_float[Z_AXIS] = c;
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position_float[E_AXIS] = e;
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#endif
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recalculate();
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recalculate();
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@ -1425,16 +1388,10 @@ void Planner::_set_position_mm(const float &a, const float &b, const float &c, c
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#else
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#else
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#define _EINDEX E_AXIS
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#define _EINDEX E_AXIS
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#endif
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#endif
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const long na = position[X_AXIS] = LROUND(a * axis_steps_per_mm[X_AXIS]),
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const int32_t na = position[X_AXIS] = LROUND(a * axis_steps_per_mm[X_AXIS]),
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nb = position[Y_AXIS] = LROUND(b * axis_steps_per_mm[Y_AXIS]),
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nb = position[Y_AXIS] = LROUND(b * axis_steps_per_mm[Y_AXIS]),
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nc = position[Z_AXIS] = LROUND(c * axis_steps_per_mm[Z_AXIS]),
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nc = position[Z_AXIS] = LROUND(c * axis_steps_per_mm[Z_AXIS]),
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ne = position[E_AXIS] = LROUND(e * axis_steps_per_mm[_EINDEX]);
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ne = position[E_AXIS] = LROUND(e * axis_steps_per_mm[_EINDEX]);
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#if ENABLED(LIN_ADVANCE)
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position_float[X_AXIS] = a;
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position_float[Y_AXIS] = b;
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position_float[Z_AXIS] = c;
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position_float[E_AXIS] = e;
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#endif
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stepper.set_position(na, nb, nc, ne);
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stepper.set_position(na, nb, nc, ne);
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previous_nominal_speed = 0.0; // Resets planner junction speeds. Assumes start from rest.
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previous_nominal_speed = 0.0; // Resets planner junction speeds. Assumes start from rest.
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ZERO(previous_speed);
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ZERO(previous_speed);
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@ -1459,16 +1416,8 @@ void Planner::set_position_mm_kinematic(const float position[NUM_AXIS]) {
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* Sync from the stepper positions. (e.g., after an interrupted move)
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* Sync from the stepper positions. (e.g., after an interrupted move)
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*/
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*/
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void Planner::sync_from_steppers() {
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void Planner::sync_from_steppers() {
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LOOP_XYZE(i) {
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LOOP_XYZE(i)
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position[i] = stepper.position((AxisEnum)i);
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position[i] = stepper.position((AxisEnum)i);
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#if ENABLED(LIN_ADVANCE)
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position_float[i] = position[i] * steps_to_mm[i
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#if ENABLED(DISTINCT_E_FACTORS)
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+ (i == E_AXIS ? active_extruder : 0)
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#endif
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];
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#endif
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}
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}
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}
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/**
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/**
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@ -1482,9 +1431,6 @@ void Planner::set_position_mm(const AxisEnum axis, const float &v) {
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const uint8_t axis_index = axis;
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const uint8_t axis_index = axis;
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#endif
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#endif
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position[axis] = LROUND(v * axis_steps_per_mm[axis_index]);
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position[axis] = LROUND(v * axis_steps_per_mm[axis_index]);
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#if ENABLED(LIN_ADVANCE)
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position_float[axis] = v;
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#endif
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stepper.set_position(axis, v);
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stepper.set_position(axis, v);
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previous_speed[axis] = 0.0;
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previous_speed[axis] = 0.0;
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}
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}
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@ -186,7 +186,7 @@ class Planner {
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* The current position of the tool in absolute steps
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* The current position of the tool in absolute steps
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* Recalculated if any axis_steps_per_mm are changed by gcode
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* Recalculated if any axis_steps_per_mm are changed by gcode
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*/
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*/
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static long position[NUM_AXIS];
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static int32_t position[NUM_AXIS];
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/**
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/**
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* Speed of previous path line segment
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* Speed of previous path line segment
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@ -220,11 +220,7 @@ class Planner {
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// Old direction bits. Used for speed calculations
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// Old direction bits. Used for speed calculations
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static unsigned char old_direction_bits;
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static unsigned char old_direction_bits;
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// Segment times (in µs). Used for speed calculations
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// Segment times (in µs). Used for speed calculations
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static long axis_segment_time_us[2][3];
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static uint32_t axis_segment_time_us[2][3];
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#endif
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#if ENABLED(LIN_ADVANCE)
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static float position_float[NUM_AXIS];
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#endif
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#endif
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#if ENABLED(ULTRA_LCD)
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#if ENABLED(ULTRA_LCD)
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