From 72c6f2923f6495ca59d3c4431838200b038042f2 Mon Sep 17 00:00:00 2001 From: Scott Lahteine Date: Thu, 9 Jun 2016 16:53:21 -0700 Subject: [PATCH] axis_steps_per_unit => axis_steps_per_mm --- Marlin/Conditionals.h | 2 +- Marlin/Marlin_main.cpp | 20 +++++------ Marlin/configuration_store.cpp | 16 ++++----- Marlin/planner.cpp | 62 +++++++++++++++++----------------- Marlin/planner.h | 6 ++-- Marlin/stepper.cpp | 2 +- Marlin/stepper.h | 2 +- Marlin/temperature.cpp | 2 +- Marlin/ultralcd.cpp | 10 +++--- 9 files changed, 61 insertions(+), 61 deletions(-) diff --git a/Marlin/Conditionals.h b/Marlin/Conditionals.h index 54b111bb65..fa780f2982 100644 --- a/Marlin/Conditionals.h +++ b/Marlin/Conditionals.h @@ -426,7 +426,7 @@ */ #if ENABLED(ADVANCE) #define EXTRUSION_AREA (0.25 * (D_FILAMENT) * (D_FILAMENT) * M_PI) - #define STEPS_PER_CUBIC_MM_E (axis_steps_per_unit[E_AXIS] / (EXTRUSION_AREA)) + #define STEPS_PER_CUBIC_MM_E (axis_steps_per_mm[E_AXIS] / (EXTRUSION_AREA)) #endif #if ENABLED(ULTIPANEL) && DISABLED(ELB_FULL_GRAPHIC_CONTROLLER) diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp index 2a2a4ef07d..ccfe67250a 100644 --- a/Marlin/Marlin_main.cpp +++ b/Marlin/Marlin_main.cpp @@ -156,7 +156,7 @@ * M84 - Disable steppers until next move, * or use S to specify an inactivity timeout, after which the steppers will be disabled. S0 to disable the timeout. * M85 - Set inactivity shutdown timer with parameter S. To disable set zero (default) - * M92 - Set planner.axis_steps_per_unit - same syntax as G92 + * M92 - Set planner.axis_steps_per_mm - same syntax as G92 * M104 - Set extruder target temp * M105 - Read current temp * M106 - Fan on @@ -1675,7 +1675,7 @@ static void setup_for_endstop_move() { * is not where we said to go. */ long stop_steps = stepper.position(Z_AXIS); - float mm = start_z - float(start_steps - stop_steps) / planner.axis_steps_per_unit[Z_AXIS]; + float mm = start_z - float(start_steps - stop_steps) / planner.axis_steps_per_mm[Z_AXIS]; current_position[Z_AXIS] = mm; #if ENABLED(DEBUG_LEVELING_FEATURE) @@ -5147,15 +5147,15 @@ inline void gcode_M92() { if (i == E_AXIS) { float value = code_value_per_axis_unit(i); if (value < 20.0) { - float factor = planner.axis_steps_per_unit[i] / value; // increase e constants if M92 E14 is given for netfab. + float factor = planner.axis_steps_per_mm[i] / value; // increase e constants if M92 E14 is given for netfab. planner.max_e_jerk *= factor; planner.max_feedrate[i] *= factor; planner.max_acceleration_steps_per_s2[i] *= factor; } - planner.axis_steps_per_unit[i] = value; + planner.axis_steps_per_mm[i] = value; } else { - planner.axis_steps_per_unit[i] = code_value_per_axis_unit(i); + planner.axis_steps_per_mm[i] = code_value_per_axis_unit(i); } } } @@ -5190,9 +5190,9 @@ static void report_current_position() { SERIAL_EOL; SERIAL_PROTOCOLPGM("SCARA step Cal - Theta:"); - SERIAL_PROTOCOL(delta[X_AXIS] / 90 * planner.axis_steps_per_unit[X_AXIS]); + SERIAL_PROTOCOL(delta[X_AXIS] / 90 * planner.axis_steps_per_mm[X_AXIS]); SERIAL_PROTOCOLPGM(" Psi+Theta:"); - SERIAL_PROTOCOL((delta[Y_AXIS] - delta[X_AXIS]) / 90 * planner.axis_steps_per_unit[Y_AXIS]); + SERIAL_PROTOCOL((delta[Y_AXIS] - delta[X_AXIS]) / 90 * planner.axis_steps_per_mm[Y_AXIS]); SERIAL_EOL; SERIAL_EOL; #endif } @@ -5347,7 +5347,7 @@ inline void gcode_M201() { #if 0 // Not used for Sprinter/grbl gen6 inline void gcode_M202() { for (int8_t i = 0; i < NUM_AXIS; i++) { - if (code_seen(axis_codes[i])) axis_travel_steps_per_sqr_second[i] = code_value_axis_units(i) * planner.axis_steps_per_unit[i]; + if (code_seen(axis_codes[i])) axis_travel_steps_per_sqr_second[i] = code_value_axis_units(i) * planner.axis_steps_per_mm[i]; } } #endif @@ -8209,8 +8209,8 @@ void manage_inactivity(bool ignore_stepper_queue/*=false*/) { } float oldepos = current_position[E_AXIS], oldedes = destination[E_AXIS]; planner.buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], - destination[E_AXIS] + (EXTRUDER_RUNOUT_EXTRUDE) * (EXTRUDER_RUNOUT_ESTEPS) / planner.axis_steps_per_unit[E_AXIS], - (EXTRUDER_RUNOUT_SPEED) / 60. * (EXTRUDER_RUNOUT_ESTEPS) / planner.axis_steps_per_unit[E_AXIS], active_extruder); + destination[E_AXIS] + (EXTRUDER_RUNOUT_EXTRUDE) * (EXTRUDER_RUNOUT_ESTEPS) / planner.axis_steps_per_mm[E_AXIS], + (EXTRUDER_RUNOUT_SPEED) / 60. * (EXTRUDER_RUNOUT_ESTEPS) / planner.axis_steps_per_mm[E_AXIS], active_extruder); current_position[E_AXIS] = oldepos; destination[E_AXIS] = oldedes; planner.set_e_position_mm(oldepos); diff --git a/Marlin/configuration_store.cpp b/Marlin/configuration_store.cpp index 579c9868ec..130763123d 100644 --- a/Marlin/configuration_store.cpp +++ b/Marlin/configuration_store.cpp @@ -43,7 +43,7 @@ * * 100 Version (char x4) * - * 104 M92 XYZE planner.axis_steps_per_unit (float x4) + * 104 M92 XYZE planner.axis_steps_per_mm (float x4) * 120 M203 XYZE planner.max_feedrate (float x4) * 136 M201 XYZE planner.max_acceleration_mm_per_s2 (uint32_t x4) * 152 M204 P planner.acceleration (float) @@ -173,7 +173,7 @@ void Config_StoreSettings() { char ver[4] = "000"; int i = EEPROM_OFFSET; EEPROM_WRITE_VAR(i, ver); // invalidate data first - EEPROM_WRITE_VAR(i, planner.axis_steps_per_unit); + EEPROM_WRITE_VAR(i, planner.axis_steps_per_mm); EEPROM_WRITE_VAR(i, planner.max_feedrate); EEPROM_WRITE_VAR(i, planner.max_acceleration_mm_per_s2); EEPROM_WRITE_VAR(i, planner.acceleration); @@ -353,7 +353,7 @@ void Config_RetrieveSettings() { float dummy = 0; // version number match - EEPROM_READ_VAR(i, planner.axis_steps_per_unit); + EEPROM_READ_VAR(i, planner.axis_steps_per_mm); EEPROM_READ_VAR(i, planner.max_feedrate); EEPROM_READ_VAR(i, planner.max_acceleration_mm_per_s2); @@ -527,7 +527,7 @@ void Config_ResetDefault() { float tmp2[] = DEFAULT_MAX_FEEDRATE; long tmp3[] = DEFAULT_MAX_ACCELERATION; for (uint8_t i = 0; i < NUM_AXIS; i++) { - planner.axis_steps_per_unit[i] = tmp1[i]; + planner.axis_steps_per_mm[i] = tmp1[i]; planner.max_feedrate[i] = tmp2[i]; planner.max_acceleration_mm_per_s2[i] = tmp3[i]; #if ENABLED(SCARA) @@ -652,10 +652,10 @@ void Config_PrintSettings(bool forReplay) { SERIAL_ECHOLNPGM("Steps per unit:"); CONFIG_ECHO_START; } - SERIAL_ECHOPAIR(" M92 X", planner.axis_steps_per_unit[X_AXIS]); - SERIAL_ECHOPAIR(" Y", planner.axis_steps_per_unit[Y_AXIS]); - SERIAL_ECHOPAIR(" Z", planner.axis_steps_per_unit[Z_AXIS]); - SERIAL_ECHOPAIR(" E", planner.axis_steps_per_unit[E_AXIS]); + SERIAL_ECHOPAIR(" M92 X", planner.axis_steps_per_mm[X_AXIS]); + SERIAL_ECHOPAIR(" Y", planner.axis_steps_per_mm[Y_AXIS]); + SERIAL_ECHOPAIR(" Z", planner.axis_steps_per_mm[Z_AXIS]); + SERIAL_ECHOPAIR(" E", planner.axis_steps_per_mm[E_AXIS]); SERIAL_EOL; CONFIG_ECHO_START; diff --git a/Marlin/planner.cpp b/Marlin/planner.cpp index 29d3838ad0..bd60d75a1f 100644 --- a/Marlin/planner.cpp +++ b/Marlin/planner.cpp @@ -81,7 +81,7 @@ volatile uint8_t Planner::block_buffer_head = 0; // Index of the next volatile uint8_t Planner::block_buffer_tail = 0; float Planner::max_feedrate[NUM_AXIS]; // Max speeds in mm per minute -float Planner::axis_steps_per_unit[NUM_AXIS]; +float Planner::axis_steps_per_mm[NUM_AXIS]; unsigned long Planner::max_acceleration_steps_per_s2[NUM_AXIS]; unsigned long Planner::max_acceleration_mm_per_s2[NUM_AXIS]; // Use M201 to override by software @@ -549,10 +549,10 @@ void Planner::check_axes_activity() { // Calculate target position in absolute steps //this should be done after the wait, because otherwise a M92 code within the gcode disrupts this calculation somehow long target[NUM_AXIS] = { - lround(x * axis_steps_per_unit[X_AXIS]), - lround(y * axis_steps_per_unit[Y_AXIS]), - lround(z * axis_steps_per_unit[Z_AXIS]), - lround(e * axis_steps_per_unit[E_AXIS]) + lround(x * axis_steps_per_mm[X_AXIS]), + lround(y * axis_steps_per_mm[Y_AXIS]), + lround(z * axis_steps_per_mm[Z_AXIS]), + lround(e * axis_steps_per_mm[E_AXIS]) }; long dx = target[X_AXIS] - position[X_AXIS], @@ -574,7 +574,7 @@ void Planner::check_axes_activity() { SERIAL_ECHOLNPGM(MSG_ERR_COLD_EXTRUDE_STOP); } #if ENABLED(PREVENT_LENGTHY_EXTRUDE) - if (labs(de) > axis_steps_per_unit[E_AXIS] * (EXTRUDE_MAXLENGTH)) { + if (labs(de) > axis_steps_per_mm[E_AXIS] * (EXTRUDE_MAXLENGTH)) { position[E_AXIS] = target[E_AXIS]; // Behave as if the move really took place, but ignore E part de = 0; // no difference SERIAL_ECHO_START; @@ -771,31 +771,31 @@ void Planner::check_axes_activity() { #if ENABLED(COREXY) || ENABLED(COREXZ) || ENABLED(COREYZ) float delta_mm[6]; #if ENABLED(COREXY) - delta_mm[X_HEAD] = dx / axis_steps_per_unit[A_AXIS]; - delta_mm[Y_HEAD] = dy / axis_steps_per_unit[B_AXIS]; - delta_mm[Z_AXIS] = dz / axis_steps_per_unit[Z_AXIS]; - delta_mm[A_AXIS] = (dx + dy) / axis_steps_per_unit[A_AXIS]; - delta_mm[B_AXIS] = (dx - dy) / axis_steps_per_unit[B_AXIS]; + delta_mm[X_HEAD] = dx / axis_steps_per_mm[A_AXIS]; + delta_mm[Y_HEAD] = dy / axis_steps_per_mm[B_AXIS]; + delta_mm[Z_AXIS] = dz / axis_steps_per_mm[Z_AXIS]; + delta_mm[A_AXIS] = (dx + dy) / axis_steps_per_mm[A_AXIS]; + delta_mm[B_AXIS] = (dx - dy) / axis_steps_per_mm[B_AXIS]; #elif ENABLED(COREXZ) - delta_mm[X_HEAD] = dx / axis_steps_per_unit[A_AXIS]; - delta_mm[Y_AXIS] = dy / axis_steps_per_unit[Y_AXIS]; - delta_mm[Z_HEAD] = dz / axis_steps_per_unit[C_AXIS]; - delta_mm[A_AXIS] = (dx + dz) / axis_steps_per_unit[A_AXIS]; - delta_mm[C_AXIS] = (dx - dz) / axis_steps_per_unit[C_AXIS]; + delta_mm[X_HEAD] = dx / axis_steps_per_mm[A_AXIS]; + delta_mm[Y_AXIS] = dy / axis_steps_per_mm[Y_AXIS]; + delta_mm[Z_HEAD] = dz / axis_steps_per_mm[C_AXIS]; + delta_mm[A_AXIS] = (dx + dz) / axis_steps_per_mm[A_AXIS]; + delta_mm[C_AXIS] = (dx - dz) / axis_steps_per_mm[C_AXIS]; #elif ENABLED(COREYZ) - delta_mm[X_AXIS] = dx / axis_steps_per_unit[A_AXIS]; - delta_mm[Y_HEAD] = dy / axis_steps_per_unit[Y_AXIS]; - delta_mm[Z_HEAD] = dz / axis_steps_per_unit[C_AXIS]; - delta_mm[B_AXIS] = (dy + dz) / axis_steps_per_unit[B_AXIS]; - delta_mm[C_AXIS] = (dy - dz) / axis_steps_per_unit[C_AXIS]; + delta_mm[X_AXIS] = dx / axis_steps_per_mm[A_AXIS]; + delta_mm[Y_HEAD] = dy / axis_steps_per_mm[Y_AXIS]; + delta_mm[Z_HEAD] = dz / axis_steps_per_mm[C_AXIS]; + delta_mm[B_AXIS] = (dy + dz) / axis_steps_per_mm[B_AXIS]; + delta_mm[C_AXIS] = (dy - dz) / axis_steps_per_mm[C_AXIS]; #endif #else float delta_mm[4]; - delta_mm[X_AXIS] = dx / axis_steps_per_unit[X_AXIS]; - delta_mm[Y_AXIS] = dy / axis_steps_per_unit[Y_AXIS]; - delta_mm[Z_AXIS] = dz / axis_steps_per_unit[Z_AXIS]; + delta_mm[X_AXIS] = dx / axis_steps_per_mm[X_AXIS]; + delta_mm[Y_AXIS] = dy / axis_steps_per_mm[Y_AXIS]; + delta_mm[Z_AXIS] = dz / axis_steps_per_mm[Z_AXIS]; #endif - delta_mm[E_AXIS] = (de / axis_steps_per_unit[E_AXIS]) * volumetric_multiplier[extruder] * extruder_multiplier[extruder] / 100.0; + delta_mm[E_AXIS] = (de / axis_steps_per_mm[E_AXIS]) * volumetric_multiplier[extruder] * extruder_multiplier[extruder] / 100.0; if (block->steps[X_AXIS] <= dropsegments && block->steps[Y_AXIS] <= dropsegments && block->steps[Z_AXIS] <= dropsegments) { block->millimeters = fabs(delta_mm[E_AXIS]); @@ -1127,10 +1127,10 @@ void Planner::check_axes_activity() { apply_rotation_xyz(bed_level_matrix, x, y, z); #endif - long nx = position[X_AXIS] = lround(x * axis_steps_per_unit[X_AXIS]), - ny = position[Y_AXIS] = lround(y * axis_steps_per_unit[Y_AXIS]), - nz = position[Z_AXIS] = lround(z * axis_steps_per_unit[Z_AXIS]), - ne = position[E_AXIS] = lround(e * axis_steps_per_unit[E_AXIS]); + long nx = position[X_AXIS] = lround(x * axis_steps_per_mm[X_AXIS]), + ny = position[Y_AXIS] = lround(y * axis_steps_per_mm[Y_AXIS]), + nz = position[Z_AXIS] = lround(z * axis_steps_per_mm[Z_AXIS]), + ne = position[E_AXIS] = lround(e * axis_steps_per_mm[E_AXIS]); stepper.set_position(nx, ny, nz, ne); previous_nominal_speed = 0.0; // Resets planner junction speeds. Assumes start from rest. @@ -1141,14 +1141,14 @@ void Planner::check_axes_activity() { * Directly set the planner E position (hence the stepper E position). */ void Planner::set_e_position_mm(const float& e) { - position[E_AXIS] = lround(e * axis_steps_per_unit[E_AXIS]); + position[E_AXIS] = lround(e * axis_steps_per_mm[E_AXIS]); stepper.set_e_position(position[E_AXIS]); } // Recalculate the steps/s^2 acceleration rates, based on the mm/s^2 void Planner::reset_acceleration_rates() { for (int i = 0; i < NUM_AXIS; i++) - max_acceleration_steps_per_s2[i] = max_acceleration_mm_per_s2[i] * axis_steps_per_unit[i]; + max_acceleration_steps_per_s2[i] = max_acceleration_mm_per_s2[i] * axis_steps_per_mm[i]; } #if ENABLED(AUTOTEMP) diff --git a/Marlin/planner.h b/Marlin/planner.h index ee8c4ed27d..07de37134e 100644 --- a/Marlin/planner.h +++ b/Marlin/planner.h @@ -112,7 +112,7 @@ class Planner { static volatile uint8_t block_buffer_tail; static float max_feedrate[NUM_AXIS]; // Max speeds in mm per minute - static float axis_steps_per_unit[NUM_AXIS]; + static float axis_steps_per_mm[NUM_AXIS]; static unsigned long max_acceleration_steps_per_s2[NUM_AXIS]; static unsigned long max_acceleration_mm_per_s2[NUM_AXIS]; // Use M201 to override by software @@ -134,7 +134,7 @@ class Planner { /** * The current position of the tool in absolute steps - * Reclculated if any axis_steps_per_unit are changed by gcode + * Reclculated if any axis_steps_per_mm are changed by gcode */ static long position[NUM_AXIS]; @@ -212,7 +212,7 @@ class Planner { * Set the planner.position and individual stepper positions. * Used by G92, G28, G29, and other procedures. * - * Multiplies by axis_steps_per_unit[] and does necessary conversion + * Multiplies by axis_steps_per_mm[] and does necessary conversion * for COREXY / COREXZ / COREYZ to set the corresponding stepper positions. * * Clears previous speed values. diff --git a/Marlin/stepper.cpp b/Marlin/stepper.cpp index 7695e3c57f..f8e8a853c9 100644 --- a/Marlin/stepper.cpp +++ b/Marlin/stepper.cpp @@ -754,7 +754,7 @@ float Stepper::get_axis_position_mm(AxisEnum axis) { #else axis_steps = position(axis); #endif - return axis_steps / planner.axis_steps_per_unit[axis]; + return axis_steps / planner.axis_steps_per_mm[axis]; } void Stepper::finish_and_disable() { diff --git a/Marlin/stepper.h b/Marlin/stepper.h index 13c753fbca..1aebe366c0 100644 --- a/Marlin/stepper.h +++ b/Marlin/stepper.h @@ -243,7 +243,7 @@ class Stepper { // Triggered position of an axis in mm (not core-savvy) // static FORCE_INLINE float triggered_position_mm(AxisEnum axis) { - return endstops_trigsteps[axis] / planner.axis_steps_per_unit[axis]; + return endstops_trigsteps[axis] / planner.axis_steps_per_mm[axis]; } private: diff --git a/Marlin/temperature.cpp b/Marlin/temperature.cpp index 61d9fe2e2f..c923535046 100644 --- a/Marlin/temperature.cpp +++ b/Marlin/temperature.cpp @@ -556,7 +556,7 @@ float Temperature::get_pid_output(int e) { lpq[lpq_ptr++] = 0; } if (lpq_ptr >= lpq_len) lpq_ptr = 0; - cTerm[_CTERM_INDEX] = (lpq[lpq_ptr] / planner.axis_steps_per_unit[E_AXIS]) * PID_PARAM(Kc, e); + cTerm[_CTERM_INDEX] = (lpq[lpq_ptr] / planner.axis_steps_per_mm[E_AXIS]) * PID_PARAM(Kc, e); pid_output += cTerm[e]; } #endif //PID_ADD_EXTRUSION_RATE diff --git a/Marlin/ultralcd.cpp b/Marlin/ultralcd.cpp index 804fce37c0..a891f907dd 100644 --- a/Marlin/ultralcd.cpp +++ b/Marlin/ultralcd.cpp @@ -1692,14 +1692,14 @@ static void lcd_control_motion_menu() { MENU_ITEM_EDIT_CALLBACK(long5, MSG_AMAX MSG_E, &planner.max_acceleration_mm_per_s2[E_AXIS], 100, 99000, _reset_acceleration_rates); MENU_ITEM_EDIT(float5, MSG_A_RETRACT, &planner.retract_acceleration, 100, 99000); MENU_ITEM_EDIT(float5, MSG_A_TRAVEL, &planner.travel_acceleration, 100, 99000); - MENU_ITEM_EDIT(float52, MSG_XSTEPS, &planner.axis_steps_per_unit[X_AXIS], 5, 9999); - MENU_ITEM_EDIT(float52, MSG_YSTEPS, &planner.axis_steps_per_unit[Y_AXIS], 5, 9999); + MENU_ITEM_EDIT(float52, MSG_XSTEPS, &planner.axis_steps_per_mm[X_AXIS], 5, 9999); + MENU_ITEM_EDIT(float52, MSG_YSTEPS, &planner.axis_steps_per_mm[Y_AXIS], 5, 9999); #if ENABLED(DELTA) - MENU_ITEM_EDIT(float52, MSG_ZSTEPS, &planner.axis_steps_per_unit[Z_AXIS], 5, 9999); + MENU_ITEM_EDIT(float52, MSG_ZSTEPS, &planner.axis_steps_per_mm[Z_AXIS], 5, 9999); #else - MENU_ITEM_EDIT(float51, MSG_ZSTEPS, &planner.axis_steps_per_unit[Z_AXIS], 5, 9999); + MENU_ITEM_EDIT(float51, MSG_ZSTEPS, &planner.axis_steps_per_mm[Z_AXIS], 5, 9999); #endif - MENU_ITEM_EDIT(float51, MSG_ESTEPS, &planner.axis_steps_per_unit[E_AXIS], 5, 9999); + MENU_ITEM_EDIT(float51, MSG_ESTEPS, &planner.axis_steps_per_mm[E_AXIS], 5, 9999); #if ENABLED(ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED) MENU_ITEM_EDIT(bool, MSG_ENDSTOP_ABORT, &stepper.abort_on_endstop_hit); #endif