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Replace double with float, optimize calculation

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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
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2
Marlin/src/feature/I2CPositionEncoder.cpp
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@ -181,7 +181,7 @@ void I2CPositionEncoder::update() {
if (errPrstIdx >= I2CPE_ERR_PRST_ARRAY_SIZE) {
float sumP = 0;
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_ECHOPAIR(" - err detected: ", errorP * planner.steps_to_mm[encoderAxis]);
SERIAL_ECHOLNPGM("mm; correcting!");

4
Marlin/src/feature/I2CPositionEncoder.h
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@ -133,16 +133,12 @@ class I2CPositionEncoder {
nextErrorCountTime = 0,
lastErrorTime;
//double positionMm; //calculate
#if ENABLED(I2CPE_ERR_ROLLING_AVERAGE)
uint8_t errIdx = 0, errPrstIdx = 0;
int err[I2CPE_ERR_ARRAY_SIZE] = { 0 },
errPrst[I2CPE_ERR_PRST_ARRAY_SIZE] = { 0 };
#endif
//float positionMm; //calculate
public:
void init(const uint8_t address, const AxisEnum axis);
void reset();

8
Marlin/src/feature/bedlevel/mbl/mesh_bed_leveling.h
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@ -72,22 +72,22 @@ public:
}
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);
}
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);
}
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;
}
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;
}

12
Marlin/src/feature/bedlevel/ubl/ubl.h
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@ -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; }
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
} // position. But with this defined this way, it is possible
// to extrapolate off of this point even further out. Probably
// that is OK because something else should be keeping that from
// happening and should not be worried about at this level.
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
} // position. But with this defined this way, it is possible
// 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.
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;
}
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;
}
@ -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];
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];
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
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@ -874,8 +874,8 @@
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 = 1.0 / planner.axis_steps_per_mm[Z_AXIS]; // approx one step each click
const float z_step = 0.01; // existing behavior: 0.01mm per click, occasionally step
//const float z_step = planner.steps_to_mm[Z_AXIS]; // approx one step each click
move_z_with_encoder(z_step);
@ -1252,7 +1252,7 @@
// last half of the mesh (when every unprobed mesh point is one index
// 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)
d2 = d1; // found a closer location with

22
Marlin/src/feature/bedlevel/ubl/ubl_motion.cpp
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@ -102,7 +102,7 @@
FINAL_MOVE:
// 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 *
(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;
// 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;
// Undefined parts of the Mesh in z_values[][] are NAN.
@ -440,14 +440,14 @@
#if IS_KINEMATIC
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
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)
#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
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
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
// for mesh inset area.
int8_t cell_xi = (raw[X_AXIS] - (MESH_MIN_X)) * (1.0 / (MESH_X_DIST)),
cell_yi = (raw[Y_AXIS] - (MESH_MIN_Y)) * (1.0 / (MESH_Y_DIST));
int8_t cell_xi = (raw[X_AXIS] - (MESH_MIN_X)) * (1.0f / (MESH_X_DIST)),
cell_yi = (raw[Y_AXIS] - (MESH_MIN_Y)) * (1.0f / (MESH_Y_DIST));
cell_xi = constrain(cell_xi, 0, (GRID_MAX_POINTS_X) - 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
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)
z_xmy1 = (z_x1y1 - z_x0y1) * (1.0 / (MESH_X_DIST)); // z slope per x along y1 (upper left to upper 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) * (1.0f / (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)
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
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)
@ -539,7 +539,7 @@
// each change by a constant for fixed segment lengths.
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

4
Marlin/src/feature/dac/stepper_dac.cpp
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@ -91,8 +91,8 @@ void dac_current_raw(uint8_t channel, uint16_t val) {
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_amps(int8_t n) { return mcp4728_getDrvPct(dac_order[n]) * (DAC_STEPPER_MAX) * 0.125 * (1.0 / (DAC_STEPPER_SENSE)); }
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 * (1.0f / (DAC_STEPPER_SENSE)); }
uint8_t dac_current_get_percent(AxisEnum axis) { return mcp4728_getDrvPct(dac_order[axis]); }
void dac_current_set_percents(const uint8_t pct[XYZE]) {

2
Marlin/src/feature/digipot/digipot_mcp4018.cpp
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@ -87,7 +87,7 @@ static void i2c_send(const uint8_t channel, const byte v) {
// This is for the MCP4018 I2C based digipot
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() {

2
Marlin/src/feature/digipot/digipot_mcp4451.cpp
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@ -69,7 +69,7 @@ void digipot_i2c_set_current(const uint8_t channel, const float current) {
// Set actual wiper value
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() {