From 63f4c9bdb923d8ec4d11f9b261ebed88d192274a Mon Sep 17 00:00:00 2001 From: Scott Lahteine Date: Fri, 6 Jul 2018 20:41:08 -0500 Subject: [PATCH] Followup to float maths patch --- .../feature/bedlevel/mbl/mesh_bed_leveling.h | 4 +- Marlin/src/feature/bedlevel/ubl/ubl_G29.cpp | 74 +++++++++---------- Marlin/src/module/configuration_store.cpp | 22 +++--- Marlin/src/module/delta.cpp | 20 ++--- Marlin/src/module/planner.cpp | 2 +- 5 files changed, 61 insertions(+), 61 deletions(-) diff --git a/Marlin/src/feature/bedlevel/mbl/mesh_bed_leveling.h b/Marlin/src/feature/bedlevel/mbl/mesh_bed_leveling.h index 1c6c7c3c26..5b68edefe5 100644 --- a/Marlin/src/feature/bedlevel/mbl/mesh_bed_leveling.h +++ b/Marlin/src/feature/bedlevel/mbl/mesh_bed_leveling.h @@ -82,12 +82,12 @@ public: } static int8_t probe_index_x(const float &x) { - int8_t px = (x - (MESH_MIN_X) + 0.5 * (MESH_X_DIST)) * (1.0f / (MESH_X_DIST)); + int8_t px = (x - (MESH_MIN_X) + 0.5f * (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)) * (1.0f / (MESH_Y_DIST)); + int8_t py = (y - (MESH_MIN_Y) + 0.5f * (MESH_Y_DIST)) * (1.0f / (MESH_Y_DIST)); return WITHIN(py, 0, GRID_MAX_POINTS_Y - 1) ? py : -1; } diff --git a/Marlin/src/feature/bedlevel/ubl/ubl_G29.cpp b/Marlin/src/feature/bedlevel/ubl/ubl_G29.cpp index 956238ba50..a0e1a810bc 100644 --- a/Marlin/src/feature/bedlevel/ubl/ubl_G29.cpp +++ b/Marlin/src/feature/bedlevel/ubl/ubl_G29.cpp @@ -65,8 +65,8 @@ unified_bed_leveling::g29_y_flag; float unified_bed_leveling::g29_x_pos, unified_bed_leveling::g29_y_pos, - unified_bed_leveling::g29_card_thickness = 0.0, - unified_bed_leveling::g29_constant = 0.0; + unified_bed_leveling::g29_card_thickness = 0, + unified_bed_leveling::g29_constant = 0; #if HAS_BED_PROBE int unified_bed_leveling::g29_grid_size; @@ -346,23 +346,23 @@ case 0: for (uint8_t x = 0; x < GRID_MAX_POINTS_X; x++) { // Create a bowl shape - similar to for (uint8_t y = 0; y < GRID_MAX_POINTS_Y; y++) { // a poorly calibrated Delta. - const float p1 = 0.5 * (GRID_MAX_POINTS_X) - x, - p2 = 0.5 * (GRID_MAX_POINTS_Y) - y; - z_values[x][y] += 2.0 * HYPOT(p1, p2); + const float p1 = 0.5f * (GRID_MAX_POINTS_X) - x, + p2 = 0.5f * (GRID_MAX_POINTS_Y) - y; + z_values[x][y] += 2.0f * HYPOT(p1, p2); } } break; case 1: for (uint8_t x = 0; x < GRID_MAX_POINTS_X; x++) { // Create a diagonal line several Mesh cells thick that is raised - z_values[x][x] += 9.999; - z_values[x][x + (x < GRID_MAX_POINTS_Y - 1) ? 1 : -1] += 9.999; // We want the altered line several mesh points thick + z_values[x][x] += 9.999f; + z_values[x][x + (x < GRID_MAX_POINTS_Y - 1) ? 1 : -1] += 9.999f; // We want the altered line several mesh points thick } break; case 2: // Allow the user to specify the height because 10mm is a little extreme in some cases. for (uint8_t x = (GRID_MAX_POINTS_X) / 3; x < 2 * (GRID_MAX_POINTS_X) / 3; x++) // Create a rectangular raised area in for (uint8_t y = (GRID_MAX_POINTS_Y) / 3; y < 2 * (GRID_MAX_POINTS_Y) / 3; y++) // the center of the bed - z_values[x][y] += parser.seen('C') ? g29_constant : 9.99; + z_values[x][y] += parser.seen('C') ? g29_constant : 9.99f; break; } } @@ -381,7 +381,7 @@ tilt_mesh_based_on_probed_grid(true /* true says to do 3-Point leveling */ ); restore_ubl_active_state_and_leave(); } - do_blocking_move_to_xy(0.5 * (MESH_MAX_X - (MESH_MIN_X)), 0.5 * (MESH_MAX_Y - (MESH_MIN_Y))); + do_blocking_move_to_xy(0.5f * (MESH_MAX_X - (MESH_MIN_X)), 0.5f * (MESH_MAX_Y - (MESH_MIN_Y))); report_current_position(); } @@ -453,7 +453,7 @@ if (parser.seen('B')) { g29_card_thickness = parser.has_value() ? parser.value_float() : measure_business_card_thickness((float) Z_CLEARANCE_BETWEEN_PROBES); - if (ABS(g29_card_thickness) > 1.5) { + if (ABS(g29_card_thickness) > 1.5f) { SERIAL_PROTOCOLLNPGM("?Error in Business Card measurement."); return; } @@ -509,7 +509,7 @@ } else { const float cvf = parser.value_float(); - switch ((int)truncf(cvf * 10.0) - 30) { // 3.1 -> 1 + switch ((int)truncf(cvf * 10.0f) - 30) { // 3.1 -> 1 #if ENABLED(UBL_G29_P31) case 1: { @@ -519,8 +519,8 @@ // P3.12 100X distance weighting // P3.13 1000X distance weighting, approaches simple average of nearest points - const float weight_power = (cvf - 3.10) * 100.0, // 3.12345 -> 2.345 - weight_factor = weight_power ? POW(10.0, weight_power) : 0; + const float weight_power = (cvf - 3.10f) * 100.0f, // 3.12345 -> 2.345 + weight_factor = weight_power ? POW(10.0f, weight_power) : 0; smart_fill_wlsf(weight_factor); } break; @@ -634,7 +634,7 @@ } void unified_bed_leveling::adjust_mesh_to_mean(const bool cflag, const float value) { - float sum = 0.0; + float sum = 0; int n = 0; for (uint8_t x = 0; x < GRID_MAX_POINTS_X; x++) for (uint8_t y = 0; y < GRID_MAX_POINTS_Y; y++) @@ -648,7 +648,7 @@ // // Sum the squares of difference from mean // - float sum_of_diff_squared = 0.0; + float sum_of_diff_squared = 0; for (uint8_t x = 0; x < GRID_MAX_POINTS_X; x++) for (uint8_t y = 0; y < GRID_MAX_POINTS_Y; y++) if (!isnan(z_values[x][y])) @@ -786,7 +786,7 @@ float unified_bed_leveling::measure_point_with_encoder() { KEEPALIVE_STATE(PAUSED_FOR_USER); - move_z_with_encoder(0.01); + move_z_with_encoder(0.01f); KEEPALIVE_STATE(IN_HANDLER); return current_position[Z_AXIS]; } @@ -797,8 +797,8 @@ lcd_external_control = true; save_ubl_active_state_and_disable(); // Disable bed level correction for probing - do_blocking_move_to(0.5 * (MESH_MAX_X - (MESH_MIN_X)), 0.5 * (MESH_MAX_Y - (MESH_MIN_Y)), in_height); - //, MIN(planner.max_feedrate_mm_s[X_AXIS], planner.max_feedrate_mm_s[Y_AXIS]) / 2.0); + do_blocking_move_to(0.5f * (MESH_MAX_X - (MESH_MIN_X)), 0.5f * (MESH_MAX_Y - (MESH_MIN_Y)), in_height); + //, MIN(planner.max_feedrate_mm_s[X_AXIS], planner.max_feedrate_mm_s[Y_AXIS]) * 0.5f); planner.synchronize(); SERIAL_PROTOCOLPGM("Place shim under nozzle"); @@ -874,7 +874,7 @@ 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 = 0.01f; // 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); @@ -913,7 +913,7 @@ lcd_quick_feedback(true); #endif - g29_constant = 0.0; + g29_constant = 0; g29_repetition_cnt = 0; g29_x_flag = parser.seenval('X'); @@ -1004,7 +1004,7 @@ #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT) if (parser.seenval('F')) { const float fh = parser.value_float(); - if (!WITHIN(fh, 0.0, 100.0)) { + if (!WITHIN(fh, 0, 100)) { SERIAL_PROTOCOLLNPGM("?(F)ade height for Bed Level Correction not plausible.\n"); return UBL_ERR; } @@ -1226,7 +1226,7 @@ mesh_index_pair out_mesh; out_mesh.x_index = out_mesh.y_index = -1; - out_mesh.distance = -99999.99; + out_mesh.distance = -99999.99f; for (int8_t i = 0; i < GRID_MAX_POINTS_X; i++) { for (int8_t j = 0; j < GRID_MAX_POINTS_Y; j++) { @@ -1242,7 +1242,7 @@ found_a_NAN = true; int8_t closest_x = -1, closest_y = -1; - float d1, d2 = 99999.9; + float d1, d2 = 99999.9f; for (int8_t k = 0; k < GRID_MAX_POINTS_X; k++) { for (int8_t l = 0; l < GRID_MAX_POINTS_Y; l++) { if (!isnan(z_values[k][l])) { @@ -1279,7 +1279,7 @@ if (!found_a_real && found_a_NAN) { // if the mesh is totally unpopulated, start the probing out_mesh.x_index = GRID_MAX_POINTS_X / 2; out_mesh.y_index = GRID_MAX_POINTS_Y / 2; - out_mesh.distance = 1.0; + out_mesh.distance = 1; } return out_mesh; } @@ -1287,13 +1287,13 @@ mesh_index_pair unified_bed_leveling::find_closest_mesh_point_of_type(const MeshPointType type, const float &rx, const float &ry, const bool probe_as_reference, uint16_t bits[16]) { mesh_index_pair out_mesh; out_mesh.x_index = out_mesh.y_index = -1; - out_mesh.distance = -99999.9; + out_mesh.distance = -99999.9f; // Get our reference position. Either the nozzle or probe location. const float px = rx - (probe_as_reference == USE_PROBE_AS_REFERENCE ? X_PROBE_OFFSET_FROM_EXTRUDER : 0), py = ry - (probe_as_reference == USE_PROBE_AS_REFERENCE ? Y_PROBE_OFFSET_FROM_EXTRUDER : 0); - float best_so_far = 99999.99; + float best_so_far = 99999.99f; for (int8_t i = 0; i < GRID_MAX_POINTS_X; i++) { for (int8_t j = 0; j < GRID_MAX_POINTS_Y; j++) { @@ -1320,7 +1320,7 @@ // factor in the distance from the current location for the normal case // so the nozzle isn't running all over the bed. - distance += HYPOT(current_position[X_AXIS] - mx, current_position[Y_AXIS] - my) * 0.1; + distance += HYPOT(current_position[X_AXIS] - mx, current_position[Y_AXIS] - my) * 0.1f; if (distance < best_so_far) { best_so_far = distance; // We found a closer location with out_mesh.x_index = i; // the specified type of mesh value. @@ -1401,8 +1401,8 @@ lcd_refresh(); float new_z = z_values[location.x_index][location.y_index]; - if (isnan(new_z)) new_z = 0.0; // Invalid points begin at 0 - new_z = FLOOR(new_z * 1000.0) * 0.001; // Chop off digits after the 1000ths place + if (isnan(new_z)) new_z = 0; // Invalid points begin at 0 + new_z = FLOOR(new_z * 1000) * 0.001f; // Chop off digits after the 1000ths place lcd_mesh_edit_setup(new_z); @@ -1461,7 +1461,7 @@ if (z_values[x1][y1] < z_values[x2][y2]) // Angled downward? z_values[x][y] = z_values[x1][y1]; // Use nearest (maybe a little too high.) else - z_values[x][y] = 2.0 * z_values[x1][y1] - z_values[x2][y2]; // Angled upward... + z_values[x][y] = 2.0f * z_values[x1][y1] - z_values[x2][y2]; // Angled upward... return true; } return false; @@ -1510,8 +1510,8 @@ float measured_z; - const float dx = float(x_max - x_min) / (g29_grid_size - 1.0), - dy = float(y_max - y_min) / (g29_grid_size - 1.0); + const float dx = float(x_max - x_min) / (g29_grid_size - 1), + dy = float(y_max - y_min) / (g29_grid_size - 1); struct linear_fit_data lsf_results; @@ -1634,7 +1634,7 @@ return; } - vector_3 normal = vector_3(lsf_results.A, lsf_results.B, 1.0000).get_normal(); + vector_3 normal = vector_3(lsf_results.A, lsf_results.B, 1).get_normal(); if (g29_verbose_level > 2) { SERIAL_ECHOPGM("bed plane normal = ["); @@ -1713,7 +1713,7 @@ * The only difference is just 3 points are used in the calculations. That fact guarantees * each probed point should have an exact match when a get_z_correction() for that location * is calculated. The Z error between the probed point locations and the get_z_correction() - * numbers for those locations should be 0.000 + * numbers for those locations should be 0. */ #if 0 float t, t1, d; @@ -1743,13 +1743,13 @@ SERIAL_EOL(); t = normal.x * (Z_SAFE_HOMING_X_POINT) + normal.y * (Z_SAFE_HOMING_Y_POINT); - d = t + normal.z * 0.000; + d = t + normal.z * 0; SERIAL_ECHOPGM("D from home location with Z=0 : "); SERIAL_ECHO_F(d, 6); SERIAL_EOL(); t = normal.x * (Z_SAFE_HOMING_X_POINT) + normal.y * (Z_SAFE_HOMING_Y_POINT); - d = t + get_z_correction(Z_SAFE_HOMING_X_POINT, Z_SAFE_HOMING_Y_POINT); // normal.z * 0.000; + d = t + get_z_correction(Z_SAFE_HOMING_X_POINT, Z_SAFE_HOMING_Y_POINT); // normal.z * 0; SERIAL_ECHOPGM("D from home location using mesh value for Z: "); SERIAL_ECHO_F(d, 6); @@ -1800,7 +1800,7 @@ if (TEST(bitmap[jx], jy)) { const float ry = mesh_index_to_ypos(jy), rz = z_values[jx][jy], - w = 1.0 + weight_scaled / HYPOT((rx - px), (ry - py)); + w = 1 + weight_scaled / HYPOT((rx - px), (ry - py)); incremental_WLSF(&lsf_results, rx, ry, rz, w); } } diff --git a/Marlin/src/module/configuration_store.cpp b/Marlin/src/module/configuration_store.cpp index 14bfafa802..52c64330c6 100644 --- a/Marlin/src/module/configuration_store.cpp +++ b/Marlin/src/module/configuration_store.cpp @@ -384,7 +384,7 @@ void MarlinSettings::postprocess() { * M500 - Store Configuration */ bool MarlinSettings::save(PORTARG_SOLO) { - float dummy = 0.0f; + float dummy = 0; char ver[4] = "ERR"; uint16_t working_crc = 0; @@ -466,7 +466,7 @@ void MarlinSettings::postprocess() { EEPROM_WRITE(mesh_num_y); EEPROM_WRITE(mbl.z_values); #else // For disabled MBL write a default mesh - dummy = 0.0f; + dummy = 0; const uint8_t mesh_num_x = 3, mesh_num_y = 3; EEPROM_WRITE(dummy); // z_offset EEPROM_WRITE(mesh_num_x); @@ -488,7 +488,7 @@ void MarlinSettings::postprocess() { #if ABL_PLANAR EEPROM_WRITE(planner.bed_level_matrix); #else - dummy = 0.0f; + dummy = 0; for (uint8_t q = 9; q--;) EEPROM_WRITE(dummy); #endif @@ -512,7 +512,7 @@ void MarlinSettings::postprocess() { // For disabled Bilinear Grid write an empty 3x3 grid const uint8_t grid_max_x = 3, grid_max_y = 3; const int bilinear_start[2] = { 0 }, bilinear_grid_spacing[2] = { 0 }; - dummy = 0.0f; + dummy = 0; EEPROM_WRITE(grid_max_x); EEPROM_WRITE(grid_max_y); EEPROM_WRITE(bilinear_grid_spacing); @@ -550,7 +550,7 @@ void MarlinSettings::postprocess() { _FIELD_TEST(x_endstop_adj); // Write dual endstops in X, Y, Z order. Unused = 0.0 - dummy = 0.0f; + dummy = 0; #if ENABLED(X_DUAL_ENDSTOPS) EEPROM_WRITE(endstops.x_endstop_adj); // 1 float #else @@ -602,7 +602,7 @@ void MarlinSettings::postprocess() { { dummy = DUMMY_PID_VALUE; // When read, will not change the existing value EEPROM_WRITE(dummy); // Kp - dummy = 0.0f; + dummy = 0; for (uint8_t q = 3; q--;) EEPROM_WRITE(dummy); // Ki, Kd, Kc } @@ -848,7 +848,7 @@ void MarlinSettings::postprocess() { #if ENABLED(LIN_ADVANCE) EEPROM_WRITE(planner.extruder_advance_K); #else - dummy = 0.0f; + dummy = 0; EEPROM_WRITE(dummy); #endif @@ -870,7 +870,7 @@ void MarlinSettings::postprocess() { #if ENABLED(CNC_COORDINATE_SYSTEMS) EEPROM_WRITE(gcode.coordinate_system); // 27 floats #else - dummy = 0.0f; + dummy = 0; for (uint8_t q = MAX_COORDINATE_SYSTEMS * XYZ; q--;) EEPROM_WRITE(dummy); #endif @@ -885,7 +885,7 @@ void MarlinSettings::postprocess() { EEPROM_WRITE(planner.xz_skew_factor); EEPROM_WRITE(planner.yz_skew_factor); #else - dummy = 0.0f; + dummy = 0; for (uint8_t q = 3; q--;) EEPROM_WRITE(dummy); #endif @@ -905,7 +905,7 @@ void MarlinSettings::postprocess() { EEPROM_WRITE(dummy); } #else - dummy = 0.0f; + dummy = 0; for (uint8_t q = MAX_EXTRUDERS * 2; q--;) EEPROM_WRITE(dummy); #endif @@ -974,7 +974,7 @@ void MarlinSettings::postprocess() { eeprom_error = true; } else { - float dummy = 0.0f; + float dummy = 0; #if DISABLED(AUTO_BED_LEVELING_UBL) || DISABLED(FWRETRACT) || ENABLED(NO_VOLUMETRICS) bool dummyb; #endif diff --git a/Marlin/src/module/delta.cpp b/Marlin/src/module/delta.cpp index f005d6298a..308eed106f 100644 --- a/Marlin/src/module/delta.cpp +++ b/Marlin/src/module/delta.cpp @@ -157,22 +157,22 @@ float delta_safe_distance_from_top() { */ void forward_kinematics_DELTA(const float &z1, const float &z2, const float &z3) { // Create a vector in old coordinates along x axis of new coordinate - const float p12[3] = { delta_tower[B_AXIS][X_AXIS] - delta_tower[A_AXIS][X_AXIS], delta_tower[B_AXIS][Y_AXIS] - delta_tower[A_AXIS][Y_AXIS], z2 - z1 }; + const float p12[3] = { delta_tower[B_AXIS][X_AXIS] - delta_tower[A_AXIS][X_AXIS], delta_tower[B_AXIS][Y_AXIS] - delta_tower[A_AXIS][Y_AXIS], z2 - z1 }, // Get the reciprocal of Magnitude of vector. - const float d2 = sq(p12[0]) + sq(p12[1]) + sq(p12[2]), inv_d = RSQRT(d2); + d2 = sq(p12[0]) + sq(p12[1]) + sq(p12[2]), inv_d = RSQRT(d2), // Create unit vector by multiplying by the inverse of the magnitude. - const float ex[3] = { p12[0] * inv_d, p12[1] * inv_d, p12[2] * inv_d }; + ex[3] = { p12[0] * inv_d, p12[1] * inv_d, p12[2] * inv_d }, // Get the vector from the origin of the new system to the third point. - const float p13[3] = { delta_tower[C_AXIS][X_AXIS] - delta_tower[A_AXIS][X_AXIS], delta_tower[C_AXIS][Y_AXIS] - delta_tower[A_AXIS][Y_AXIS], z3 - z1 }; + p13[3] = { delta_tower[C_AXIS][X_AXIS] - delta_tower[A_AXIS][X_AXIS], delta_tower[C_AXIS][Y_AXIS] - delta_tower[A_AXIS][Y_AXIS], z3 - z1 }, // Use the dot product to find the component of this vector on the X axis. - const float i = ex[0] * p13[0] + ex[1] * p13[1] + ex[2] * p13[2]; + i = ex[0] * p13[0] + ex[1] * p13[1] + ex[2] * p13[2], // Create a vector along the x axis that represents the x component of p13. - const float iex[3] = { ex[0] * i, ex[1] * i, ex[2] * i }; + iex[3] = { ex[0] * i, ex[1] * i, ex[2] * i }; // Subtract the X component from the original vector leaving only Y. We use the // variable that will be the unit vector after we scale it. @@ -190,13 +190,13 @@ void forward_kinematics_DELTA(const float &z1, const float &z2, const float &z3) ex[1] * ey[2] - ex[2] * ey[1], ex[2] * ey[0] - ex[0] * ey[2], ex[0] * ey[1] - ex[1] * ey[0] - }; + }, // We now have the d, i and j values defined in Wikipedia. // Plug them into the equations defined in Wikipedia for Xnew, Ynew and Znew - const float Xnew = (delta_diagonal_rod_2_tower[A_AXIS] - delta_diagonal_rod_2_tower[B_AXIS] + d2) * inv_d * 0.5, - Ynew = ((delta_diagonal_rod_2_tower[A_AXIS] - delta_diagonal_rod_2_tower[C_AXIS] + sq(i) + j2) * 0.5 - i * Xnew) * inv_j, - Znew = SQRT(delta_diagonal_rod_2_tower[A_AXIS] - HYPOT2(Xnew, Ynew)); + Xnew = (delta_diagonal_rod_2_tower[A_AXIS] - delta_diagonal_rod_2_tower[B_AXIS] + d2) * inv_d * 0.5, + Ynew = ((delta_diagonal_rod_2_tower[A_AXIS] - delta_diagonal_rod_2_tower[C_AXIS] + sq(i) + j2) * 0.5 - i * Xnew) * inv_j, + Znew = SQRT(delta_diagonal_rod_2_tower[A_AXIS] - HYPOT2(Xnew, Ynew)); // Start from the origin of the old coordinates and add vectors in the // old coords that represent the Xnew, Ynew and Znew to find the point diff --git a/Marlin/src/module/planner.cpp b/Marlin/src/module/planner.cpp index ccac328e4e..ed69d729fa 100644 --- a/Marlin/src/module/planner.cpp +++ b/Marlin/src/module/planner.cpp @@ -1317,7 +1317,7 @@ void Planner::check_axes_activity() { * Return 1.0 with volumetric off or a diameter of 0.0. */ inline float calculate_volumetric_multiplier(const float &diameter) { - return (parser.volumetric_enabled && diameter) ? RECIPROCAL(CIRCLE_AREA(diameter * 0.5f)) : 1; + return (parser.volumetric_enabled && diameter) ? 1.0f / CIRCLE_AREA(diameter * 0.5f) : 1; } /**