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Add a feedRate_t data type (#15349)

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This commit is contained in:
Scott Lahteine
2019-09-26 01:28:09 -05:00
committed by GitHub
parent ee7558a622
commit 455dabb183
42 changed files with 384 additions and 377 deletions
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37
Marlin/src/module/planner.h
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@ -170,15 +170,15 @@ typedef struct block_t {
#define BLOCK_MOD(n) ((n)&(BLOCK_BUFFER_SIZE-1))
typedef struct {
uint32_t max_acceleration_mm_per_s2[XYZE_N], // (mm/s^2) M201 XYZE
min_segment_time_us; // (µs) M205 B
float axis_steps_per_mm[XYZE_N], // (steps) M92 XYZE - Steps per millimeter
max_feedrate_mm_s[XYZE_N], // (mm/s) M203 XYZE - Max speeds
acceleration, // (mm/s^2) M204 S - Normal acceleration. DEFAULT ACCELERATION for all printing moves.
retract_acceleration, // (mm/s^2) M204 R - Retract acceleration. Filament pull-back and push-forward while standing still in the other axes
travel_acceleration, // (mm/s^2) M204 T - Travel acceleration. DEFAULT ACCELERATION for all NON printing moves.
min_feedrate_mm_s, // (mm/s) M205 S - Minimum linear feedrate
min_travel_feedrate_mm_s; // (mm/s) M205 T - Minimum travel feedrate
uint32_t max_acceleration_mm_per_s2[XYZE_N], // (mm/s^2) M201 XYZE
min_segment_time_us; // (µs) M205 B
float axis_steps_per_mm[XYZE_N]; // (steps) M92 XYZE - Steps per millimeter
feedRate_t max_feedrate_mm_s[XYZE_N]; // (mm/s) M203 XYZE - Max speeds
float acceleration, // (mm/s^2) M204 S - Normal acceleration. DEFAULT ACCELERATION for all printing moves.
retract_acceleration, // (mm/s^2) M204 R - Retract acceleration. Filament pull-back and push-forward while standing still in the other axes
travel_acceleration; // (mm/s^2) M204 T - Travel acceleration. DEFAULT ACCELERATION for all NON printing moves.
feedRate_t min_feedrate_mm_s, // (mm/s) M205 S - Minimum linear feedrate
min_travel_feedrate_mm_s; // (mm/s) M205 T - Minimum travel feedrate
} planner_settings_t;
#if DISABLED(SKEW_CORRECTION)
@ -585,7 +585,7 @@ class Planner {
#if IS_KINEMATIC && ENABLED(JUNCTION_DEVIATION)
, const float (&delta_mm_cart)[XYZE]
#endif
, float fr_mm_s, const uint8_t extruder, const float &millimeters=0.0
, feedRate_t fr_mm_s, const uint8_t extruder, const float &millimeters=0.0
);
/**
@ -608,7 +608,7 @@ class Planner {
#if IS_KINEMATIC && ENABLED(JUNCTION_DEVIATION)
, const float (&delta_mm_cart)[XYZE]
#endif
, float fr_mm_s, const uint8_t extruder, const float &millimeters=0.0
, feedRate_t fr_mm_s, const uint8_t extruder, const float &millimeters=0.0
);
/**
@ -621,7 +621,7 @@ class Planner {
private:
// Allow do_homing_move to access internal functions, such as buffer_segment.
friend void do_homing_move(const AxisEnum, const float, const float);
friend void do_homing_move(const AxisEnum, const float, const feedRate_t);
#endif
/**
@ -640,14 +640,14 @@ class Planner {
#if IS_KINEMATIC && ENABLED(JUNCTION_DEVIATION)
, const float (&delta_mm_cart)[XYZE]
#endif
, const float &fr_mm_s, const uint8_t extruder, const float &millimeters=0.0
, const feedRate_t &fr_mm_s, const uint8_t extruder, const float &millimeters=0.0
);
FORCE_INLINE static bool buffer_segment(const float (&abce)[ABCE]
#if IS_KINEMATIC && ENABLED(JUNCTION_DEVIATION)
, const float (&delta_mm_cart)[XYZE]
#endif
, const float &fr_mm_s, const uint8_t extruder, const float &millimeters=0.0
, const feedRate_t &fr_mm_s, const uint8_t extruder, const float &millimeters=0.0
) {
return buffer_segment(abce[A_AXIS], abce[B_AXIS], abce[C_AXIS], abce[E_AXIS]
#if IS_KINEMATIC && ENABLED(JUNCTION_DEVIATION)
@ -660,9 +660,8 @@ class Planner {
/**
* Add a new linear movement to the buffer.
* The target is cartesian, it's translated to delta/scara if
* needed.
*
* The target is cartesian. It's translated to
* delta/scara if needed.
*
* rx,ry,rz,e - target position in mm or degrees
* fr_mm_s - (target) speed of the move (mm/s)
@ -670,13 +669,13 @@ class Planner {
* millimeters - the length of the movement, if known
* inv_duration - the reciprocal if the duration of the movement, if known (kinematic only if feeedrate scaling is enabled)
*/
static bool buffer_line(const float &rx, const float &ry, const float &rz, const float &e, const float &fr_mm_s, const uint8_t extruder, const float millimeters=0.0
static bool buffer_line(const float &rx, const float &ry, const float &rz, const float &e, const feedRate_t &fr_mm_s, const uint8_t extruder, const float millimeters=0.0
#if ENABLED(SCARA_FEEDRATE_SCALING)
, const float &inv_duration=0.0
#endif
);
FORCE_INLINE static bool buffer_line(const float (&cart)[XYZE], const float &fr_mm_s, const uint8_t extruder, const float millimeters=0.0
FORCE_INLINE static bool buffer_line(const float (&cart)[XYZE], const feedRate_t &fr_mm_s, const uint8_t extruder, const float millimeters=0.0
#if ENABLED(SCARA_FEEDRATE_SCALING)
, const float &inv_duration=0.0
#endif