From dd3ce408261cb44fa698ea648d6d258bc9f49f40 Mon Sep 17 00:00:00 2001
From: Scott Lahteine <github@thinkyhead.com>
Date: Thu, 30 Nov 2017 16:38:35 -0600
Subject: [PATCH] Drop Planner::position_float, use int types
---
Marlin/src/module/planner.cpp | 112 +++++++++-------------------------
Marlin/src/module/planner.h | 8 +--
2 files changed, 31 insertions(+), 89 deletions(-)
diff --git a/Marlin/src/module/planner.cpp b/Marlin/src/module/planner.cpp
index 4d2ee993b0..a7e211aa3e 100644
--- a/Marlin/src/module/planner.cpp
+++ b/Marlin/src/module/planner.cpp
@@ -144,7 +144,7 @@ float Planner::min_feedrate_mm_s,
// private:
-long Planner::position[NUM_AXIS] = { 0 };
+int32_t Planner::position[NUM_AXIS] = { 0 };
uint32_t Planner::cutoff_long;
@@ -164,8 +164,7 @@ float Planner::previous_speed[NUM_AXIS],
#if ENABLED(LIN_ADVANCE)
float Planner::extruder_advance_k, // Initialized by settings.load()
- Planner::advance_ed_ratio, // Initialized by settings.load()
- Planner::position_float[NUM_AXIS] = { 0 };
+ Planner::advance_ed_ratio; // Initialized by settings.load()
#endif
#if ENABLED(ULTRA_LCD)
@@ -181,9 +180,6 @@ Planner::Planner() { init(); }
void Planner::init() {
block_buffer_head = block_buffer_tail = 0;
ZERO(position);
- #if ENABLED(LIN_ADVANCE)
- ZERO(position_float);
- #endif
ZERO(previous_speed);
previous_nominal_speed = 0.0;
#if ABL_PLANAR
@@ -690,13 +686,9 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const
}
#endif
- #if ENABLED(LIN_ADVANCE)
- const float mm_D_float = SQRT(sq(a - position_float[X_AXIS]) + sq(b - position_float[Y_AXIS]));
- #endif
-
- const long da = target[X_AXIS] - position[X_AXIS],
- db = target[Y_AXIS] - position[Y_AXIS],
- dc = target[Z_AXIS] - position[Z_AXIS];
+ const int32_t da = target[X_AXIS] - position[X_AXIS],
+ db = target[Y_AXIS] - position[Y_AXIS],
+ dc = target[Z_AXIS] - position[Z_AXIS];
/*
SERIAL_ECHOPAIR(" Planner FR:", fr_mm_s);
@@ -721,19 +713,7 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const
SERIAL_EOL();
//*/
- // DRYRUN ignores all temperature constraints and assures that the extruder is instantly satisfied
- if (DEBUGGING(DRYRUN)) {
- position[E_AXIS] = target[E_AXIS];
- #if ENABLED(LIN_ADVANCE)
- position_float[E_AXIS] = e;
- #endif
- }
-
- long de = target[E_AXIS] - position[E_AXIS];
-
- #if ENABLED(LIN_ADVANCE)
- float de_float = e - position_float[E_AXIS]; // Should this include e_factor?
- #endif
+ int32_t de = target[E_AXIS] - position[E_AXIS];
#if ENABLED(PREVENT_COLD_EXTRUSION) || ENABLED(PREVENT_LENGTHY_EXTRUDE)
if (de) {
@@ -741,10 +721,6 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const
if (thermalManager.tooColdToExtrude(extruder)) {
position[E_AXIS] = target[E_AXIS]; // Behave as if the move really took place, but ignore E part
de = 0; // no difference
- #if ENABLED(LIN_ADVANCE)
- position_float[E_AXIS] = e;
- de_float = 0;
- #endif
SERIAL_ECHO_START();
SERIAL_ECHOLNPGM(MSG_ERR_COLD_EXTRUDE_STOP);
}
@@ -753,10 +729,6 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const
if (labs(de * e_factor[extruder]) > (int32_t)axis_steps_per_mm[E_AXIS_N] * (EXTRUDE_MAXLENGTH)) { // It's not important to get max. extrusion length in a precision < 1mm, so save some cycles and cast to int
position[E_AXIS] = target[E_AXIS]; // Behave as if the move really took place, but ignore E part
de = 0; // no difference
- #if ENABLED(LIN_ADVANCE)
- position_float[E_AXIS] = e;
- de_float = 0;
- #endif
SERIAL_ECHO_START();
SERIAL_ECHOLNPGM(MSG_ERR_LONG_EXTRUDE_STOP);
}
@@ -1036,7 +1008,7 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const
#endif
);
}
- const float inverse_millimeters = 1.0 / block->millimeters; // Inverse millimeters to remove multiple divides
+ float inverse_millimeters = 1.0 / block->millimeters; // Inverse millimeters to remove multiple divides
// Calculate moves/second for this move. No divide by zero due to previous checks.
float inverse_mm_s = fr_mm_s * inverse_millimeters;
@@ -1360,31 +1332,28 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const
previous_safe_speed = safe_speed;
#if ENABLED(LIN_ADVANCE)
-
- //
- // Use LIN_ADVANCE for blocks if all these are true:
- //
- // esteps : We have E steps todo (a printing move)
- //
- // block->steps[X_AXIS] || block->steps[Y_AXIS] : We have a movement in XY direction (i.e., not retract / prime).
- //
- // extruder_advance_k : There is an advance factor set.
- //
- // block->steps[E_AXIS] != block->step_event_count : A problem occurs if the move before a retract is too small.
- // In that case, the retract and move will be executed together.
- // This leads to too many advance steps due to a huge e_acceleration.
- // The math is good, but we must avoid retract moves with advance!
- // de_float > 0.0 : Extruder is running forward (e.g., for "Wipe while retracting" (Slic3r) or "Combing" (Cura) moves)
- //
- block->use_advance_lead = esteps
- && (block->steps[X_AXIS] || block->steps[Y_AXIS])
+ /**
+ *
+ * Use LIN_ADVANCE for blocks if all these are true:
+ *
+ * esteps && (block->steps[X_AXIS] || block->steps[Y_AXIS]) : This is a print move
+ *
+ * extruder_advance_k : There is an advance factor set.
+ *
+ * esteps != block->step_event_count : A problem occurs if the move before a retract is too small.
+ * In that case, the retract and move will be executed together.
+ * This leads to too many advance steps due to a huge e_acceleration.
+ * The math is good, but we must avoid retract moves with advance!
+ * de > 0 : Extruder is running forward (e.g., for "Wipe while retracting" (Slic3r) or "Combing" (Cura) moves)
+ */
+ block->use_advance_lead = esteps && (block->steps[X_AXIS] || block->steps[Y_AXIS])
&& extruder_advance_k
&& (uint32_t)esteps != block->step_event_count
- && de_float > 0.0;
+ && de > 0;
if (block->use_advance_lead)
block->abs_adv_steps_multiplier8 = LROUND(
extruder_advance_k
- * (UNEAR_ZERO(advance_ed_ratio) ? de_float / mm_D_float : advance_ed_ratio) // Use the fixed ratio, if set
+ * (UNEAR_ZERO(advance_ed_ratio) ? de * steps_to_mm[E_AXIS_N] / HYPOT(da * steps_to_mm[X_AXIS], db * steps_to_mm[Y_AXIS]) : advance_ed_ratio) // Use the fixed ratio, if set
* (block->nominal_speed / (float)block->nominal_rate)
* axis_steps_per_mm[E_AXIS_N] * 256.0
);
@@ -1398,12 +1367,6 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const
// Update the position (only when a move was queued)
COPY(position, target);
- #if ENABLED(LIN_ADVANCE)
- position_float[X_AXIS] = a;
- position_float[Y_AXIS] = b;
- position_float[Z_AXIS] = c;
- position_float[E_AXIS] = e;
- #endif
recalculate();
@@ -1425,16 +1388,10 @@ void Planner::_set_position_mm(const float &a, const float &b, const float &c, c
#else
#define _EINDEX E_AXIS
#endif
- const long na = position[X_AXIS] = LROUND(a * axis_steps_per_mm[X_AXIS]),
- nb = position[Y_AXIS] = LROUND(b * axis_steps_per_mm[Y_AXIS]),
- nc = position[Z_AXIS] = LROUND(c * axis_steps_per_mm[Z_AXIS]),
- ne = position[E_AXIS] = LROUND(e * axis_steps_per_mm[_EINDEX]);
- #if ENABLED(LIN_ADVANCE)
- position_float[X_AXIS] = a;
- position_float[Y_AXIS] = b;
- position_float[Z_AXIS] = c;
- position_float[E_AXIS] = e;
- #endif
+ const int32_t na = position[X_AXIS] = LROUND(a * axis_steps_per_mm[X_AXIS]),
+ nb = position[Y_AXIS] = LROUND(b * axis_steps_per_mm[Y_AXIS]),
+ nc = position[Z_AXIS] = LROUND(c * axis_steps_per_mm[Z_AXIS]),
+ ne = position[E_AXIS] = LROUND(e * axis_steps_per_mm[_EINDEX]);
stepper.set_position(na, nb, nc, ne);
previous_nominal_speed = 0.0; // Resets planner junction speeds. Assumes start from rest.
ZERO(previous_speed);
@@ -1459,16 +1416,8 @@ void Planner::set_position_mm_kinematic(const float position[NUM_AXIS]) {
* Sync from the stepper positions. (e.g., after an interrupted move)
*/
void Planner::sync_from_steppers() {
- LOOP_XYZE(i) {
+ LOOP_XYZE(i)
position[i] = stepper.position((AxisEnum)i);
- #if ENABLED(LIN_ADVANCE)
- position_float[i] = position[i] * steps_to_mm[i
- #if ENABLED(DISTINCT_E_FACTORS)
- + (i == E_AXIS ? active_extruder : 0)
- #endif
- ];
- #endif
- }
}
/**
@@ -1482,9 +1431,6 @@ void Planner::set_position_mm(const AxisEnum axis, const float &v) {
const uint8_t axis_index = axis;
#endif
position[axis] = LROUND(v * axis_steps_per_mm[axis_index]);
- #if ENABLED(LIN_ADVANCE)
- position_float[axis] = v;
- #endif
stepper.set_position(axis, v);
previous_speed[axis] = 0.0;
}
diff --git a/Marlin/src/module/planner.h b/Marlin/src/module/planner.h
index db9d8efc52..b89655d3c5 100644
--- a/Marlin/src/module/planner.h
+++ b/Marlin/src/module/planner.h
@@ -186,7 +186,7 @@ class Planner {
* The current position of the tool in absolute steps
* Recalculated if any axis_steps_per_mm are changed by gcode
*/
- static long position[NUM_AXIS];
+ static int32_t position[NUM_AXIS];
/**
* Speed of previous path line segment
@@ -220,11 +220,7 @@ class Planner {
// Old direction bits. Used for speed calculations
static unsigned char old_direction_bits;
// Segment times (in µs). Used for speed calculations
- static long axis_segment_time_us[2][3];
- #endif
-
- #if ENABLED(LIN_ADVANCE)
- static float position_float[NUM_AXIS];
+ static uint32_t axis_segment_time_us[2][3];
#endif
#if ENABLED(ULTRA_LCD)