bissen21/Marlin_Firmware
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Apply maths macros and type changes ahead of HAL

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This commit is contained in:
Scott Lahteine
2017-06-19 22:39:23 -05:00
parent 0c616700f3
commit 6c45d0fd81
26 changed files with 181 additions and 166 deletions
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41
Marlin/I2CPositionEncoder.cpp
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@ -126,16 +126,16 @@
}
lastPosition = position;
unsigned long positionTime = millis();
millis_t positionTime = millis();
//only do error correction if setup and enabled
if (ec && ecMethod != I2CPE_ECM_NONE) {
#if defined(I2CPE_EC_THRESH_PROPORTIONAL)
millis_t deltaTime = positionTime - lastPositionTime;
unsigned long distance = abs(position - lastPosition);
unsigned long deltaTime = positionTime - lastPositionTime;
unsigned long speed = distance / deltaTime;
float threshold = constrain((speed / 50), 1, 50) * ecThreshold;
float threshold = constrain(speed / 50, 1, 50) * ecThreshold;
#else
float threshold = get_error_correct_threshold();
#endif
@ -162,7 +162,7 @@
//SERIAL_ECHOLN(error);
#if defined(I2CPE_ERR_THRESH_ABORT)
if (abs(error) > I2CPE_ERR_THRESH_ABORT * planner.axis_steps_per_mm[encoderAxis]) {
if (labs(error) > I2CPE_ERR_THRESH_ABORT * planner.axis_steps_per_mm[encoderAxis]) {
//kill("Significant Error");
SERIAL_ECHOPGM("Axis error greater than set threshold, aborting!");
SERIAL_ECHOLN(error);
@ -174,29 +174,32 @@
if (errIdx == 0) {
// in order to correct for "error" but avoid correcting for noise and non skips
// it must be > threshold and have a difference average of < 10 and be < 2000 steps
if (abs(error) > threshold * planner.axis_steps_per_mm[encoderAxis] &&
diffSum < 10*(I2CPE_ERR_ARRAY_SIZE-1) && abs(error) < 2000) { //Check for persistent error (skip)
if (labs(error) > threshold * planner.axis_steps_per_mm[encoderAxis] &&
diffSum < 10 * (I2CPE_ERR_ARRAY_SIZE - 1) && labs(error) < 2000) { //Check for persistent error (skip)
SERIAL_ECHO(axis_codes[encoderAxis]);
SERIAL_ECHOPAIR(" diffSum: ", diffSum/(I2CPE_ERR_ARRAY_SIZE-1));
SERIAL_ECHOPAIR(" diffSum: ", diffSum / (I2CPE_ERR_ARRAY_SIZE - 1));
SERIAL_ECHOPAIR(" - err detected: ", error / planner.axis_steps_per_mm[encoderAxis]);
SERIAL_ECHOLNPGM("mm; correcting!");
thermalManager.babystepsTodo[encoderAxis] = -lround(error);
thermalManager.babystepsTodo[encoderAxis] = -LROUND(error);
}
}
#else
if (abs(error) > threshold * planner.axis_steps_per_mm[encoderAxis]) {
if (labs(error) > threshold * planner.axis_steps_per_mm[encoderAxis]) {
//SERIAL_ECHOLN(error);
//SERIAL_ECHOLN(position);
thermalManager.babystepsTodo[encoderAxis] = -lround(error/2);
thermalManager.babystepsTodo[encoderAxis] = -LROUND(error/2);
}
#endif
if (abs(error) > (I2CPE_ERR_CNT_THRESH * planner.axis_steps_per_mm[encoderAxis]) && millis() - lastErrorCountTime > I2CPE_ERR_CNT_DEBOUNCE_MS) {
SERIAL_ECHOPAIR("Large error on ", axis_codes[encoderAxis]);
SERIAL_ECHOPAIR(" axis. error: ", (int)error);
SERIAL_ECHOLNPAIR("; diffSum: ", diffSum);
errorCount++;
lastErrorCountTime = millis();
if (labs(error) > I2CPE_ERR_CNT_THRESH * planner.axis_steps_per_mm[encoderAxis]) {
const millis_t ms = millis();
if (ELAPSED(ms, nextErrorCountTime)) {
SERIAL_ECHOPAIR("Large error on ", axis_codes[encoderAxis]);
SERIAL_ECHOPAIR(" axis. error: ", (int)error);
SERIAL_ECHOLNPAIR("; diffSum: ", diffSum);
errorCount++;
nextErrorCountTime = ms + I2CPE_ERR_CNT_DEBOUNCE_MS;
}
}
}
@ -255,7 +258,7 @@
actual = mm_from_count(position);
error = actual - target;
if (abs(error) > 10000) error = 0; // ?
if (labs(error) > 10000) error = 0; // ?
if (report) {
SERIAL_ECHO(axis_codes[encoderAxis]);
@ -284,13 +287,13 @@
stepperTicksPerUnit = (type == I2CPE_ENC_TYPE_ROTARY) ? stepperTicks : planner.axis_steps_per_mm[encoderAxis];
//convert both 'ticks' into same units / base
encoderCountInStepperTicksScaled = lround((stepperTicksPerUnit * encoderTicks) / encoderTicksPerUnit);
encoderCountInStepperTicksScaled = LROUND((stepperTicksPerUnit * encoderTicks) / encoderTicksPerUnit);
long target = stepper.position(encoderAxis),
error = (encoderCountInStepperTicksScaled - target);
//suppress discontinuities (might be caused by bad I2C readings...?)
bool suppressOutput = (abs(error - errorPrev) > 100);
bool suppressOutput = (labs(error - errorPrev) > 100);
if (report) {
SERIAL_ECHO(axis_codes[encoderAxis]);