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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62
Marlin/Marlin_main.cpp
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@ -421,7 +421,7 @@ FORCE_INLINE float homing_feedrate(const AxisEnum a) { return pgm_read_float(&ho
float feedrate_mm_s = MMM_TO_MMS(1500.0);
static float saved_feedrate_mm_s;
int feedrate_percentage = 100, saved_feedrate_percentage,
int16_t feedrate_percentage = 100, saved_feedrate_percentage,
flow_percentage[EXTRUDERS] = ARRAY_BY_EXTRUDERS1(100);
bool axis_relative_modes[] = AXIS_RELATIVE_MODES,
@ -2968,7 +2968,7 @@ static void homeaxis(const AxisEnum axis) {
#if ENABLED(Z_DUAL_ENDSTOPS)
if (axis == Z_AXIS) {
float adj = fabs(z_endstop_adj);
float adj = FABS(z_endstop_adj);
bool lockZ1;
if (axis_home_dir > 0) {
adj = -adj;
@ -3293,7 +3293,7 @@ inline void gcode_G0_G1(
const float e = clockwise ^ (r < 0) ? -1 : 1, // clockwise -1/1, counterclockwise 1/-1
dx = x2 - x1, dy = y2 - y1, // X and Y differences
d = HYPOT(dx, dy), // Linear distance between the points
h = sqrt(sq(r) - sq(d * 0.5)), // Distance to the arc pivot-point
h = SQRT(sq(r) - sq(d * 0.5)), // Distance to the arc pivot-point
mx = (x1 + x2) * 0.5, my = (y1 + y2) * 0.5, // Point between the two points
sx = -dy / d, sy = dx / d, // Slope of the perpendicular bisector
cx = mx + e * h * sx, cy = my + e * h * sy; // Pivot-point of the arc
@ -3448,7 +3448,7 @@ inline void gcode_G4() {
const float mlx = max_length(X_AXIS),
mly = max_length(Y_AXIS),
mlratio = mlx > mly ? mly / mlx : mlx / mly,
fr_mm_s = min(homing_feedrate(X_AXIS), homing_feedrate(Y_AXIS)) * sqrt(sq(mlratio) + 1.0);
fr_mm_s = min(homing_feedrate(X_AXIS), homing_feedrate(Y_AXIS)) * SQRT(sq(mlratio) + 1.0);
do_blocking_move_to_xy(1.5 * mlx * x_axis_home_dir, 1.5 * mly * home_dir(Y_AXIS), fr_mm_s);
endstops.hit_on_purpose(); // clear endstop hit flags
@ -4605,8 +4605,8 @@ void home_all_axes() { gcode_G28(true); }
const float xBase = xCount * xGridSpacing + left_probe_bed_position,
yBase = yCount * yGridSpacing + front_probe_bed_position;
xProbe = floor(xBase + (xBase < 0 ? 0 : 0.5));
yProbe = floor(yBase + (yBase < 0 ? 0 : 0.5));
xProbe = FLOOR(xBase + (xBase < 0 ? 0 : 0.5));
yProbe = FLOOR(yBase + (yBase < 0 ? 0 : 0.5));
#if ENABLED(AUTO_BED_LEVELING_LINEAR)
indexIntoAB[xCount][yCount] = abl_probe_index;
@ -4710,8 +4710,8 @@ void home_all_axes() { gcode_G28(true); }
float xBase = left_probe_bed_position + xGridSpacing * xCount,
yBase = front_probe_bed_position + yGridSpacing * yCount;
xProbe = floor(xBase + (xBase < 0 ? 0 : 0.5));
yProbe = floor(yBase + (yBase < 0 ? 0 : 0.5));
xProbe = FLOOR(xBase + (xBase < 0 ? 0 : 0.5));
yProbe = FLOOR(yBase + (yBase < 0 ? 0 : 0.5));
#if ENABLED(AUTO_BED_LEVELING_LINEAR)
indexIntoAB[xCount][yCount] = ++abl_probe_index; // 0...
@ -5263,7 +5263,7 @@ void home_all_axes() { gcode_G28(true); }
N++;
}
zero_std_dev_old = zero_std_dev;
zero_std_dev = round(sqrt(S2 / N) * 1000.0) / 1000.0 + 0.00001;
zero_std_dev = round(SQRT(S2 / N) * 1000.0) / 1000.0 + 0.00001;
if (iterations == 1) home_offset[Z_AXIS] = zh_old; // reset height after 1st probe change
@ -5464,7 +5464,7 @@ void home_all_axes() { gcode_G28(true); }
float retract_mm[XYZ];
LOOP_XYZ(i) {
float dist = destination[i] - current_position[i];
retract_mm[i] = fabs(dist) < G38_MINIMUM_MOVE ? 0 : home_bump_mm((AxisEnum)i) * (dist > 0 ? -1 : 1);
retract_mm[i] = FABS(dist) < G38_MINIMUM_MOVE ? 0 : home_bump_mm((AxisEnum)i) * (dist > 0 ? -1 : 1);
}
stepper.synchronize(); // wait until the machine is idle
@ -5528,7 +5528,7 @@ void home_all_axes() { gcode_G28(true); }
// If any axis has enough movement, do the move
LOOP_XYZ(i)
if (fabs(destination[i] - current_position[i]) >= G38_MINIMUM_MOVE) {
if (FABS(destination[i] - current_position[i]) >= G38_MINIMUM_MOVE) {
if (!parser.seen('F')) feedrate_mm_s = homing_feedrate(i);
// If G38.2 fails throw an error
if (!G38_run_probe() && is_38_2) {
@ -6851,7 +6851,7 @@ inline void gcode_M42() {
for (uint8_t j = 0; j <= n; j++)
sum += sq(sample_set[j] - mean);
sigma = sqrt(sum / (n + 1));
sigma = SQRT(sum / (n + 1));
if (verbose_level > 0) {
if (verbose_level > 1) {
SERIAL_PROTOCOL(n + 1);
@ -7266,7 +7266,7 @@ inline void gcode_M109() {
#if TEMP_RESIDENCY_TIME > 0
const float temp_diff = fabs(target_temp - temp);
const float temp_diff = FABS(target_temp - temp);
if (!residency_start_ms) {
// Start the TEMP_RESIDENCY_TIME timer when we reach target temp for the first time.
@ -7395,7 +7395,7 @@ inline void gcode_M109() {
#if TEMP_BED_RESIDENCY_TIME > 0
const float temp_diff = fabs(target_temp - temp);
const float temp_diff = FABS(target_temp - temp);
if (!residency_start_ms) {
// Start the TEMP_BED_RESIDENCY_TIME timer when we reach target temp for the first time.
@ -9252,7 +9252,7 @@ inline void gcode_M503() {
#if ENABLED(BABYSTEP_ZPROBE_OFFSET)
if (!no_babystep && leveling_is_active())
thermalManager.babystep_axis(Z_AXIS, -lround(diff * planner.axis_steps_per_mm[Z_AXIS]));
thermalManager.babystep_axis(Z_AXIS, -LROUND(diff * planner.axis_steps_per_mm[Z_AXIS]));
#else
UNUSED(no_babystep);
#endif
@ -11171,7 +11171,7 @@ void ok_to_send() {
if (last_x != x) {
last_x = x;
ratio_x = x * ABL_BG_FACTOR(X_AXIS);
const float gx = constrain(floor(ratio_x), 0, ABL_BG_POINTS_X - FAR_EDGE_OR_BOX);
const float gx = constrain(FLOOR(ratio_x), 0, ABL_BG_POINTS_X - FAR_EDGE_OR_BOX);
ratio_x -= gx; // Subtract whole to get the ratio within the grid box
#if DISABLED(EXTRAPOLATE_BEYOND_GRID)
@ -11188,7 +11188,7 @@ void ok_to_send() {
if (last_y != y) {
last_y = y;
ratio_y = y * ABL_BG_FACTOR(Y_AXIS);
const float gy = constrain(floor(ratio_y), 0, ABL_BG_POINTS_Y - FAR_EDGE_OR_BOX);
const float gy = constrain(FLOOR(ratio_y), 0, ABL_BG_POINTS_Y - FAR_EDGE_OR_BOX);
ratio_y -= gy;
#if DISABLED(EXTRAPOLATE_BEYOND_GRID)
@ -11221,7 +11221,7 @@ void ok_to_send() {
/*
static float last_offset = 0;
if (fabs(last_offset - offset) > 0.2) {
if (FABS(last_offset - offset) > 0.2) {
SERIAL_ECHOPGM("Sudden Shift at ");
SERIAL_ECHOPAIR("x=", x);
SERIAL_ECHOPAIR(" / ", bilinear_grid_spacing[X_AXIS]);
@ -11290,7 +11290,7 @@ void ok_to_send() {
#else
#define _SQRT(n) sqrt(n)
#define _SQRT(n) SQRT(n)
#endif
@ -11364,7 +11364,7 @@ void ok_to_send() {
float distance = delta[A_AXIS];
cartesian[Y_AXIS] = LOGICAL_Y_POSITION(DELTA_PRINTABLE_RADIUS);
inverse_kinematics(cartesian);
return abs(distance - delta[A_AXIS]);
return FABS(distance - delta[A_AXIS]);
}
/**
@ -11397,7 +11397,7 @@ void ok_to_send() {
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 Magnitude of vector.
float d = sqrt( sq(p12[0]) + sq(p12[1]) + sq(p12[2]) );
float d = SQRT( sq(p12[0]) + sq(p12[1]) + sq(p12[2]) );
// Create unit vector by dividing by magnitude.
float ex[3] = { p12[0] / d, p12[1] / d, p12[2] / d };
@ -11416,7 +11416,7 @@ void ok_to_send() {
float ey[3] = { p13[0] - iex[0], p13[1] - iex[1], p13[2] - iex[2] };
// The magnitude of Y component
float j = sqrt( sq(ey[0]) + sq(ey[1]) + sq(ey[2]) );
float j = SQRT( sq(ey[0]) + sq(ey[1]) + sq(ey[2]) );
// Convert to a unit vector
ey[0] /= j; ey[1] /= j; ey[2] /= j;
@ -11433,7 +11433,7 @@ void ok_to_send() {
// Plug them into the equations defined in Wikipedia for Xnew, Ynew and Znew
float Xnew = (delta_diagonal_rod_2_tower[A_AXIS] - delta_diagonal_rod_2_tower[B_AXIS] + sq(d)) / (d * 2),
Ynew = ((delta_diagonal_rod_2_tower[A_AXIS] - delta_diagonal_rod_2_tower[C_AXIS] + HYPOT2(i, j)) / 2 - i * Xnew) / j,
Znew = sqrt(delta_diagonal_rod_2_tower[A_AXIS] - HYPOT2(Xnew, Ynew));
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
@ -11656,10 +11656,10 @@ void set_current_from_steppers_for_axis(const AxisEnum axis) {
};
// Get the linear distance in XYZ
float cartesian_mm = sqrt(sq(difference[X_AXIS]) + sq(difference[Y_AXIS]) + sq(difference[Z_AXIS]));
float cartesian_mm = SQRT(sq(difference[X_AXIS]) + sq(difference[Y_AXIS]) + sq(difference[Z_AXIS]));
// If the move is very short, check the E move distance
if (UNEAR_ZERO(cartesian_mm)) cartesian_mm = abs(difference[E_AXIS]);
if (UNEAR_ZERO(cartesian_mm)) cartesian_mm = FABS(difference[E_AXIS]);
// No E move either? Game over.
if (UNEAR_ZERO(cartesian_mm)) return true;
@ -11947,7 +11947,7 @@ void prepare_move_to_destination() {
extruder_travel = logical[E_AXIS] - current_position[E_AXIS];
// CCW angle of rotation between position and target from the circle center. Only one atan2() trig computation required.
float angular_travel = atan2(r_X * rt_Y - r_Y * rt_X, r_X * rt_X + r_Y * rt_Y);
float angular_travel = ATAN2(r_X * rt_Y - r_Y * rt_X, r_X * rt_X + r_Y * rt_Y);
if (angular_travel < 0) angular_travel += RADIANS(360);
if (clockwise) angular_travel -= RADIANS(360);
@ -11955,10 +11955,10 @@ void prepare_move_to_destination() {
if (angular_travel == 0 && current_position[X_AXIS] == logical[X_AXIS] && current_position[Y_AXIS] == logical[Y_AXIS])
angular_travel += RADIANS(360);
const float mm_of_travel = HYPOT(angular_travel * radius, fabs(linear_travel));
const float mm_of_travel = HYPOT(angular_travel * radius, FABS(linear_travel));
if (mm_of_travel < 0.001) return;
uint16_t segments = floor(mm_of_travel / (MM_PER_ARC_SEGMENT));
uint16_t segments = FLOOR(mm_of_travel / (MM_PER_ARC_SEGMENT));
if (segments == 0) segments = 1;
/**
@ -12155,7 +12155,7 @@ void prepare_move_to_destination() {
else
C2 = (HYPOT2(sx, sy) - (L1_2 + L2_2)) / (2.0 * L1 * L2);
S2 = sqrt(1 - sq(C2));
S2 = SQRT(1 - sq(C2));
// Unrotated Arm1 plus rotated Arm2 gives the distance from Center to End
SK1 = L1 + L2 * C2;
@ -12164,10 +12164,10 @@ void prepare_move_to_destination() {
SK2 = L2 * S2;
// Angle of Arm1 is the difference between Center-to-End angle and the Center-to-Elbow
THETA = atan2(SK1, SK2) - atan2(sx, sy);
THETA = ATAN2(SK1, SK2) - ATAN2(sx, sy);
// Angle of Arm2
PSI = atan2(S2, C2);
PSI = ATAN2(S2, C2);
delta[A_AXIS] = DEGREES(THETA); // theta is support arm angle
delta[B_AXIS] = DEGREES(THETA + PSI); // equal to sub arm angle (inverted motor)