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Merge pull request #4319 from thinkyhead/rc_feedrates_to_mess_with_you

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Wrangle feed rate variables
This commit is contained in:
Scott Lahteine
2016-07-17 14:07:52 -07:00
committed by GitHub
parent 0342661b3f f38553b482
commit f242aea032
11 changed files with 213 additions and 199 deletions
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221
Marlin/Marlin_main.cpp
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@ -280,7 +280,6 @@ bool Running = true;
uint8_t marlin_debug_flags = DEBUG_NONE;
static float feedrate = 1500.0, saved_feedrate;
float current_position[NUM_AXIS] = { 0.0 };
static float destination[NUM_AXIS] = { 0.0 };
bool axis_known_position[3] = { false };
@ -302,11 +301,15 @@ static uint8_t cmd_queue_index_r = 0,
TempUnit input_temp_units = TEMPUNIT_C;
#endif
const float homing_feedrate[] = HOMING_FEEDRATE;
/**
* Feed rates are often configured with mm/m
* but the planner and stepper like mm/s units.
*/
const float homing_feedrate_mm_m[] = HOMING_FEEDRATE;
static float feedrate_mm_m = 1500.0, saved_feedrate_mm_m;
int feedrate_percentage = 100, saved_feedrate_percentage;
bool axis_relative_modes[] = AXIS_RELATIVE_MODES;
int feedrate_multiplier = 100; //100->1 200->2
int saved_feedrate_multiplier;
int extruder_multiplier[EXTRUDERS] = ARRAY_BY_EXTRUDERS1(100);
bool volumetric_enabled = false;
float filament_size[EXTRUDERS] = ARRAY_BY_EXTRUDERS1(DEFAULT_NOMINAL_FILAMENT_DIA);
@ -382,16 +385,16 @@ static uint8_t target_extruder;
float zprobe_zoffset = Z_PROBE_OFFSET_FROM_EXTRUDER;
#endif
#define PLANNER_XY_FEEDRATE() (min(planner.max_feedrate[X_AXIS], planner.max_feedrate[Y_AXIS]))
#define PLANNER_XY_FEEDRATE() (min(planner.max_feedrate_mm_s[X_AXIS], planner.max_feedrate_mm_s[Y_AXIS]))
#if ENABLED(AUTO_BED_LEVELING_FEATURE)
int xy_probe_speed = XY_PROBE_SPEED;
int xy_probe_feedrate_mm_m = XY_PROBE_SPEED;
bool bed_leveling_in_progress = false;
#define XY_PROBE_FEEDRATE xy_probe_speed
#define XY_PROBE_FEEDRATE_MM_M xy_probe_feedrate_mm_m
#elif defined(XY_PROBE_SPEED)
#define XY_PROBE_FEEDRATE XY_PROBE_SPEED
#define XY_PROBE_FEEDRATE_MM_M XY_PROBE_SPEED
#else
#define XY_PROBE_FEEDRATE (PLANNER_XY_FEEDRATE() * 60)
#define XY_PROBE_FEEDRATE_MM_M MMS_TO_MMM(PLANNER_XY_FEEDRATE())
#endif
#if ENABLED(Z_DUAL_ENDSTOPS) && DISABLED(DELTA)
@ -430,7 +433,7 @@ static uint8_t target_extruder;
float retract_zlift = RETRACT_ZLIFT;
float retract_recover_length = RETRACT_RECOVER_LENGTH;
float retract_recover_length_swap = RETRACT_RECOVER_LENGTH_SWAP;
float retract_recover_feedrate = RETRACT_RECOVER_FEEDRATE;
float retract_recover_feedrate_mm_s = RETRACT_RECOVER_FEEDRATE;
#endif // FWRETRACT
@ -1599,7 +1602,7 @@ inline void set_homing_bump_feedrate(AxisEnum axis) {
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM("Warning: Homing Bump Divisor < 1");
}
feedrate = homing_feedrate[axis] / hbd;
feedrate_mm_m = homing_feedrate_mm_m[axis] / hbd;
}
//
// line_to_current_position
@ -1607,19 +1610,19 @@ inline void set_homing_bump_feedrate(AxisEnum axis) {
// (or from wherever it has been told it is located).
//
inline void line_to_current_position() {
planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate / 60, active_extruder);
planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], MMM_TO_MMS(feedrate_mm_m), active_extruder);
}
inline void line_to_z(float zPosition) {
planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], feedrate / 60, active_extruder);
planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], MMM_TO_MMS(feedrate_mm_m), active_extruder);
}
//
// line_to_destination
// Move the planner, not necessarily synced with current_position
//
inline void line_to_destination(float mm_m) {
planner.buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], mm_m / 60, active_extruder);
inline void line_to_destination(float fr_mm_m) {
planner.buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], MMM_TO_MMS(fr_mm_m), active_extruder);
}
inline void line_to_destination() { line_to_destination(feedrate); }
inline void line_to_destination() { line_to_destination(feedrate_mm_m); }
/**
* sync_plan_position
@ -1647,7 +1650,7 @@ inline void set_destination_to_current() { memcpy(destination, current_position,
#endif
refresh_cmd_timeout();
calculate_delta(destination);
planner.buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], destination[E_AXIS], (feedrate / 60) * (feedrate_multiplier / 100.0), active_extruder);
planner.buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], destination[E_AXIS], MMM_TO_MMS_SCALED(feedrate_mm_m), active_extruder);
set_current_to_destination();
}
#endif
@ -1656,8 +1659,8 @@ inline void set_destination_to_current() { memcpy(destination, current_position,
* Plan a move to (X, Y, Z) and set the current_position
* The final current_position may not be the one that was requested
*/
static void do_blocking_move_to(float x, float y, float z, float feed_rate = 0.0) {
float old_feedrate = feedrate;
static void do_blocking_move_to(float x, float y, float z, float fr_mm_m = 0.0) {
float old_feedrate_mm_m = feedrate_mm_m;
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) print_xyz(PSTR("do_blocking_move_to"), NULL, x, y, z);
@ -1665,7 +1668,7 @@ static void do_blocking_move_to(float x, float y, float z, float feed_rate = 0.0
#if ENABLED(DELTA)
feedrate = (feed_rate != 0.0) ? feed_rate : XY_PROBE_FEEDRATE;
feedrate_mm_m = (fr_mm_m != 0.0) ? fr_mm_m : XY_PROBE_FEEDRATE_MM_M;
destination[X_AXIS] = x;
destination[Y_AXIS] = y;
@ -1680,19 +1683,19 @@ static void do_blocking_move_to(float x, float y, float z, float feed_rate = 0.0
// If Z needs to raise, do it before moving XY
if (current_position[Z_AXIS] < z) {
feedrate = (feed_rate != 0.0) ? feed_rate : homing_feedrate[Z_AXIS];
feedrate_mm_m = (fr_mm_m != 0.0) ? fr_mm_m : homing_feedrate_mm_m[Z_AXIS];
current_position[Z_AXIS] = z;
line_to_current_position();
}
feedrate = (feed_rate != 0.0) ? feed_rate : XY_PROBE_FEEDRATE;
feedrate_mm_m = (fr_mm_m != 0.0) ? fr_mm_m : XY_PROBE_FEEDRATE_MM_M;
current_position[X_AXIS] = x;
current_position[Y_AXIS] = y;
line_to_current_position();
// If Z needs to lower, do it after moving XY
if (current_position[Z_AXIS] > z) {
feedrate = (feed_rate != 0.0) ? feed_rate : homing_feedrate[Z_AXIS];
feedrate_mm_m = (fr_mm_m != 0.0) ? fr_mm_m : homing_feedrate_mm_m[Z_AXIS];
current_position[Z_AXIS] = z;
line_to_current_position();
}
@ -1701,23 +1704,23 @@ static void do_blocking_move_to(float x, float y, float z, float feed_rate = 0.0
stepper.synchronize();
feedrate = old_feedrate;
feedrate_mm_m = old_feedrate_mm_m;
}
inline void do_blocking_move_to_x(float x, float feed_rate = 0.0) {
do_blocking_move_to(x, current_position[Y_AXIS], current_position[Z_AXIS], feed_rate);
inline void do_blocking_move_to_x(float x, float fr_mm_m = 0.0) {
do_blocking_move_to(x, current_position[Y_AXIS], current_position[Z_AXIS], fr_mm_m);
}
inline void do_blocking_move_to_y(float y) {
do_blocking_move_to(current_position[X_AXIS], y, current_position[Z_AXIS]);
}
inline void do_blocking_move_to_xy(float x, float y, float feed_rate = 0.0) {
do_blocking_move_to(x, y, current_position[Z_AXIS], feed_rate);
inline void do_blocking_move_to_xy(float x, float y, float fr_mm_m = 0.0) {
do_blocking_move_to(x, y, current_position[Z_AXIS], fr_mm_m);
}
inline void do_blocking_move_to_z(float z, float feed_rate = 0.0) {
do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], z, feed_rate);
inline void do_blocking_move_to_z(float z, float fr_mm_m = 0.0) {
do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], z, fr_mm_m);
}
//
@ -1733,9 +1736,9 @@ static void setup_for_endstop_or_probe_move() {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("setup_for_endstop_or_probe_move", current_position);
#endif
saved_feedrate = feedrate;
saved_feedrate_multiplier = feedrate_multiplier;
feedrate_multiplier = 100;
saved_feedrate_mm_m = feedrate_mm_m;
saved_feedrate_percentage = feedrate_percentage;
feedrate_percentage = 100;
refresh_cmd_timeout();
}
@ -1743,8 +1746,8 @@ static void clean_up_after_endstop_or_probe_move() {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("clean_up_after_endstop_or_probe_move", current_position);
#endif
feedrate = saved_feedrate;
feedrate_multiplier = saved_feedrate_multiplier;
feedrate_mm_m = saved_feedrate_mm_m;
feedrate_percentage = saved_feedrate_percentage;
refresh_cmd_timeout();
}
@ -2003,6 +2006,7 @@ static void clean_up_after_endstop_or_probe_move() {
if (DEBUGGING(LEVELING)) {
DEBUG_POS("set_probe_deployed", current_position);
SERIAL_ECHOPAIR("deploy: ", deploy);
SERIAL_EOL;
}
#endif
@ -2062,7 +2066,7 @@ static void clean_up_after_endstop_or_probe_move() {
// at the height where the probe triggered.
static float run_z_probe() {
float old_feedrate = feedrate;
float old_feedrate_mm_m = feedrate_mm_m;
// Prevent stepper_inactive_time from running out and EXTRUDER_RUNOUT_PREVENT from extruding
refresh_cmd_timeout();
@ -2077,7 +2081,7 @@ static void clean_up_after_endstop_or_probe_move() {
#endif
// move down slowly until you find the bed
feedrate = homing_feedrate[Z_AXIS] / 4;
feedrate_mm_m = homing_feedrate_mm_m[Z_AXIS] / 4;
destination[Z_AXIS] = -10;
prepare_move_to_destination_raw(); // this will also set_current_to_destination
stepper.synchronize();
@ -2101,7 +2105,7 @@ static void clean_up_after_endstop_or_probe_move() {
planner.bed_level_matrix.set_to_identity();
#endif
feedrate = homing_feedrate[Z_AXIS];
feedrate_mm_m = homing_feedrate_mm_m[Z_AXIS];
// Move down until the Z probe (or endstop?) is triggered
float zPosition = -(Z_MAX_LENGTH + 10);
@ -2140,7 +2144,7 @@ static void clean_up_after_endstop_or_probe_move() {
SYNC_PLAN_POSITION_KINEMATIC();
feedrate = old_feedrate;
feedrate_mm_m = old_feedrate_mm_m;
return current_position[Z_AXIS];
}
@ -2165,7 +2169,7 @@ static void clean_up_after_endstop_or_probe_move() {
}
#endif
float old_feedrate = feedrate;
float old_feedrate_mm_m = feedrate_mm_m;
// Ensure a minimum height before moving the probe
do_probe_raise(Z_RAISE_BETWEEN_PROBINGS);
@ -2178,7 +2182,7 @@ static void clean_up_after_endstop_or_probe_move() {
SERIAL_ECHOLNPGM(")");
}
#endif
feedrate = XY_PROBE_FEEDRATE;
feedrate_mm_m = XY_PROBE_FEEDRATE_MM_M;
do_blocking_move_to_xy(x - (X_PROBE_OFFSET_FROM_EXTRUDER), y - (Y_PROBE_OFFSET_FROM_EXTRUDER));
#if ENABLED(DEBUG_LEVELING_FEATURE)
@ -2215,7 +2219,7 @@ static void clean_up_after_endstop_or_probe_move() {
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< probe_pt");
#endif
feedrate = old_feedrate;
feedrate_mm_m = old_feedrate_mm_m;
return measured_z;
}
@ -2416,7 +2420,7 @@ static void homeaxis(AxisEnum axis) {
// Move towards the endstop until an endstop is triggered
destination[axis] = 1.5 * max_length(axis) * axis_home_dir;
feedrate = homing_feedrate[axis];
feedrate_mm_m = homing_feedrate_mm_m[axis];
line_to_destination();
stepper.synchronize();
@ -2456,7 +2460,7 @@ static void homeaxis(AxisEnum axis) {
sync_plan_position();
// Move to the adjusted endstop height
feedrate = homing_feedrate[axis];
feedrate_mm_m = homing_feedrate_mm_m[axis];
destination[Z_AXIS] = adj;
line_to_destination();
stepper.synchronize();
@ -2520,13 +2524,13 @@ static void homeaxis(AxisEnum axis) {
if (retracting == retracted[active_extruder]) return;
float old_feedrate = feedrate;
float old_feedrate_mm_m = feedrate_mm_m;
set_destination_to_current();
if (retracting) {
feedrate = retract_feedrate_mm_s * 60;
feedrate_mm_m = MMS_TO_MMM(retract_feedrate_mm_s);
current_position[E_AXIS] += (swapping ? retract_length_swap : retract_length) / volumetric_multiplier[active_extruder];
sync_plan_position_e();
prepare_move_to_destination();
@ -2544,14 +2548,14 @@ static void homeaxis(AxisEnum axis) {
SYNC_PLAN_POSITION_KINEMATIC();
}
feedrate = retract_recover_feedrate * 60;
feedrate_mm_m = MMM_TO_MMS(retract_recover_feedrate_mm_s);
float move_e = swapping ? retract_length_swap + retract_recover_length_swap : retract_length + retract_recover_length;
current_position[E_AXIS] -= move_e / volumetric_multiplier[active_extruder];
sync_plan_position_e();
prepare_move_to_destination();
}
feedrate = old_feedrate;
feedrate_mm_m = old_feedrate_mm_m;
retracted[active_extruder] = retracting;
} // retract()
@ -2613,10 +2617,10 @@ void gcode_get_destination() {
}
if (code_seen('F') && code_value_linear_units() > 0.0)
feedrate = code_value_linear_units();
feedrate_mm_m = code_value_linear_units();
#if ENABLED(PRINTCOUNTER)
if(!DEBUGGING(DRYRUN))
if (!DEBUGGING(DRYRUN))
print_job_timer.incFilamentUsed(destination[E_AXIS] - current_position[E_AXIS]);
#endif
@ -2846,7 +2850,7 @@ inline void gcode_G4() {
destination[X_AXIS] = 1.5 * mlx * x_axis_home_dir;
destination[Y_AXIS] = 1.5 * mly * home_dir(Y_AXIS);
feedrate = min(homing_feedrate[X_AXIS], homing_feedrate[Y_AXIS]) * sqrt(mlratio * mlratio + 1);
feedrate_mm_m = min(homing_feedrate_mm_m[X_AXIS], homing_feedrate_mm_m[Y_AXIS]) * sqrt(sq(mlratio) + 1);
line_to_destination();
stepper.synchronize();
endstops.hit_on_purpose(); // clear endstop hit flags
@ -2943,7 +2947,7 @@ inline void gcode_G28() {
// Move all carriages up together until the first endstop is hit.
for (int i = X_AXIS; i <= Z_AXIS; i++) destination[i] = 3 * (Z_MAX_LENGTH);
feedrate = 1.732 * homing_feedrate[X_AXIS];
feedrate_mm_m = 1.732 * homing_feedrate_mm_m[X_AXIS];
line_to_destination();
stepper.synchronize();
endstops.hit_on_purpose(); // clear endstop hit flags
@ -3164,7 +3168,7 @@ inline void gcode_G28() {
#if ENABLED(MESH_G28_REST_ORIGIN)
current_position[Z_AXIS] = 0.0;
set_destination_to_current();
feedrate = homing_feedrate[Z_AXIS];
feedrate_mm_m = homing_feedrate_mm_m[Z_AXIS];
line_to_destination();
stepper.synchronize();
#if ENABLED(DEBUG_LEVELING_FEATURE)
@ -3224,8 +3228,8 @@ inline void gcode_G28() {
enum MeshLevelingState { MeshReport, MeshStart, MeshNext, MeshSet, MeshSetZOffset, MeshReset };
inline void _mbl_goto_xy(float x, float y) {
float old_feedrate = feedrate;
feedrate = homing_feedrate[X_AXIS];
float old_feedrate_mm_m = feedrate_mm_m;
feedrate_mm_m = homing_feedrate_mm_m[X_AXIS];
current_position[Z_AXIS] = MESH_HOME_SEARCH_Z
#if Z_RAISE_BETWEEN_PROBINGS > MIN_Z_HEIGHT_FOR_HOMING
@ -3245,7 +3249,7 @@ inline void gcode_G28() {
line_to_current_position();
#endif
feedrate = old_feedrate;
feedrate_mm_m = old_feedrate_mm_m;
stepper.synchronize();
}
@ -3492,7 +3496,7 @@ inline void gcode_G28() {
}
#endif
xy_probe_speed = code_seen('S') ? (int)code_value_linear_units() : XY_PROBE_SPEED;
xy_probe_feedrate_mm_m = code_seen('S') ? (int)code_value_linear_units() : XY_PROBE_SPEED;
int left_probe_bed_position = code_seen('L') ? (int)code_value_axis_units(X_AXIS) : LEFT_PROBE_BED_POSITION,
right_probe_bed_position = code_seen('R') ? (int)code_value_axis_units(X_AXIS) : RIGHT_PROBE_BED_POSITION,
@ -3594,7 +3598,7 @@ inline void gcode_G28() {
* so Vx = -a Vy = -b Vz = 1 (we want the vector facing towards positive Z
*/
int abl2 = auto_bed_leveling_grid_points * auto_bed_leveling_grid_points;
int abl2 = sq(auto_bed_leveling_grid_points);
double eqnAMatrix[abl2 * 3], // "A" matrix of the linear system of equations
eqnBVector[abl2], // "B" vector of Z points
@ -3627,7 +3631,7 @@ inline void gcode_G28() {
#if ENABLED(DELTA)
// Avoid probing the corners (outside the round or hexagon print surface) on a delta printer.
float distance_from_center = sqrt(xProbe * xProbe + yProbe * yProbe);
float distance_from_center = HYPOT(xProbe, yProbe);
if (distance_from_center > DELTA_PROBEABLE_RADIUS) continue;
#endif //DELTA
@ -4250,7 +4254,7 @@ inline void gcode_M42() {
return;
}
#else
if (sqrt(X_probe_location * X_probe_location + Y_probe_location * Y_probe_location) > DELTA_PROBEABLE_RADIUS) {
if (HYPOT(X_probe_location, Y_probe_location) > DELTA_PROBEABLE_RADIUS) {
SERIAL_PROTOCOLLNPGM("? (X,Y) location outside of probeable radius.");
return;
}
@ -4340,7 +4344,7 @@ inline void gcode_M42() {
#else
// If we have gone out too far, we can do a simple fix and scale the numbers
// back in closer to the origin.
while (sqrt(X_current * X_current + Y_current * Y_current) > DELTA_PROBEABLE_RADIUS) {
while (HYPOT(X_current, Y_current) > DELTA_PROBEABLE_RADIUS) {
X_current /= 1.25;
Y_current /= 1.25;
if (verbose_level > 3) {
@ -4376,10 +4380,9 @@ inline void gcode_M42() {
* data points we have so far
*/
sum = 0.0;
for (uint8_t j = 0; j <= n; j++) {
float ss = sample_set[j] - mean;
sum += ss * ss;
}
for (uint8_t j = 0; j <= n; j++)
sum += sq(sample_set[j] - mean);
sigma = sqrt(sum / (n + 1));
if (verbose_level > 0) {
if (verbose_level > 1) {
@ -5163,7 +5166,7 @@ inline void gcode_M92() {
if (value < 20.0) {
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_feedrate_mm_s[i] *= factor;
planner.max_acceleration_steps_per_s2[i] *= factor;
}
planner.axis_steps_per_mm[i] = value;
@ -5372,7 +5375,7 @@ inline void gcode_M201() {
inline void gcode_M203() {
for (int8_t i = 0; i < NUM_AXIS; i++)
if (code_seen(axis_codes[i]))
planner.max_feedrate[i] = code_value_axis_units(i);
planner.max_feedrate_mm_s[i] = code_value_axis_units(i);
}
/**
@ -5418,8 +5421,8 @@ inline void gcode_M204() {
* E = Max E Jerk (units/sec^2)
*/
inline void gcode_M205() {
if (code_seen('S')) planner.min_feedrate = code_value_linear_units();
if (code_seen('T')) planner.min_travel_feedrate = code_value_linear_units();
if (code_seen('S')) planner.min_feedrate_mm_s = code_value_linear_units();
if (code_seen('T')) planner.min_travel_feedrate_mm_s = code_value_linear_units();
if (code_seen('B')) planner.min_segment_time = code_value_millis();
if (code_seen('X')) planner.max_xy_jerk = code_value_linear_units();
if (code_seen('Z')) planner.max_z_jerk = code_value_axis_units(Z_AXIS);
@ -5517,7 +5520,7 @@ inline void gcode_M206() {
*/
inline void gcode_M207() {
if (code_seen('S')) retract_length = code_value_axis_units(E_AXIS);
if (code_seen('F')) retract_feedrate_mm_s = code_value_axis_units(E_AXIS) / 60;
if (code_seen('F')) retract_feedrate_mm_s = MMM_TO_MMS(code_value_axis_units(E_AXIS));
if (code_seen('Z')) retract_zlift = code_value_axis_units(Z_AXIS);
#if EXTRUDERS > 1
if (code_seen('W')) retract_length_swap = code_value_axis_units(E_AXIS);
@ -5529,11 +5532,11 @@ inline void gcode_M206() {
*
* S[+units] retract_recover_length (in addition to M207 S*)
* W[+units] retract_recover_length_swap (multi-extruder)
* F[units/min] retract_recover_feedrate
* F[units/min] retract_recover_feedrate_mm_s
*/
inline void gcode_M208() {
if (code_seen('S')) retract_recover_length = code_value_axis_units(E_AXIS);
if (code_seen('F')) retract_recover_feedrate = code_value_axis_units(E_AXIS) / 60;
if (code_seen('F')) retract_recover_feedrate_mm_s = MMM_TO_MMS(code_value_axis_units(E_AXIS));
#if EXTRUDERS > 1
if (code_seen('W')) retract_recover_length_swap = code_value_axis_units(E_AXIS);
#endif
@ -5604,7 +5607,7 @@ inline void gcode_M206() {
* M220: Set speed percentage factor, aka "Feed Rate" (M220 S95)
*/
inline void gcode_M220() {
if (code_seen('S')) feedrate_multiplier = code_value_int();
if (code_seen('S')) feedrate_percentage = code_value_int();
}
/**
@ -6308,10 +6311,10 @@ inline void gcode_M503() {
// Define runplan for move axes
#if ENABLED(DELTA)
#define RUNPLAN(RATE) calculate_delta(destination); \
planner.buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], destination[E_AXIS], RATE, active_extruder);
#define RUNPLAN(RATE_MM_S) calculate_delta(destination); \
planner.buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], destination[E_AXIS], RATE_MM_S, active_extruder);
#else
#define RUNPLAN(RATE) line_to_destination(RATE * 60);
#define RUNPLAN(RATE_MM_S) line_to_destination(MMS_TO_MMM(RATE_MM_S));
#endif
KEEPALIVE_STATE(IN_HANDLER);
@ -6726,14 +6729,14 @@ inline void gcode_T(uint8_t tmp_extruder) {
return;
}
float old_feedrate = feedrate;
float old_feedrate_mm_m = feedrate_mm_m;
if (code_seen('F')) {
float next_feedrate = code_value_axis_units(X_AXIS);
if (next_feedrate > 0.0) old_feedrate = feedrate = next_feedrate;
float next_feedrate_mm_m = code_value_axis_units(X_AXIS);
if (next_feedrate_mm_m > 0.0) old_feedrate_mm_m = feedrate_mm_m = next_feedrate_mm_m;
}
else
feedrate = XY_PROBE_FEEDRATE;
feedrate_mm_m = XY_PROBE_FEEDRATE_MM_M;
if (tmp_extruder != active_extruder) {
bool no_move = code_seen('S') && code_value_bool();
@ -6776,7 +6779,7 @@ inline void gcode_T(uint8_t tmp_extruder) {
current_position[Y_AXIS],
current_position[Z_AXIS] + (i == 2 ? 0 : TOOLCHANGE_PARK_ZLIFT),
current_position[E_AXIS],
planner.max_feedrate[i == 1 ? X_AXIS : Z_AXIS],
planner.max_feedrate_mm_s[i == 1 ? X_AXIS : Z_AXIS],
active_extruder
);
stepper.synchronize();
@ -6839,7 +6842,7 @@ inline void gcode_T(uint8_t tmp_extruder) {
current_position[Y_AXIS],
current_position[Z_AXIS] + z_raise,
current_position[E_AXIS],
planner.max_feedrate[Z_AXIS],
planner.max_feedrate_mm_s[Z_AXIS],
active_extruder
);
stepper.synchronize();
@ -6854,7 +6857,7 @@ inline void gcode_T(uint8_t tmp_extruder) {
current_position[Y_AXIS],
current_position[Z_AXIS] + z_diff,
current_position[E_AXIS],
planner.max_feedrate[Z_AXIS],
planner.max_feedrate_mm_s[Z_AXIS],
active_extruder
);
stepper.synchronize();
@ -6985,7 +6988,7 @@ inline void gcode_T(uint8_t tmp_extruder) {
enable_solenoid_on_active_extruder();
#endif // EXT_SOLENOID
feedrate = old_feedrate;
feedrate_mm_m = old_feedrate_mm_m;
#else // HOTENDS <= 1
@ -7838,9 +7841,9 @@ void clamp_to_software_endstops(float target[3]) {
#if ENABLED(MESH_BED_LEVELING)
// This function is used to split lines on mesh borders so each segment is only part of one mesh area
void mesh_buffer_line(float x, float y, float z, const float e, float feed_rate, const uint8_t& extruder, uint8_t x_splits = 0xff, uint8_t y_splits = 0xff) {
void mesh_buffer_line(float x, float y, float z, const float e, float fr_mm_s, const uint8_t& extruder, uint8_t x_splits = 0xff, uint8_t y_splits = 0xff) {
if (!mbl.active()) {
planner.buffer_line(x, y, z, e, feed_rate, extruder);
planner.buffer_line(x, y, z, e, fr_mm_s, extruder);
set_current_to_destination();
return;
}
@ -7854,7 +7857,7 @@ void mesh_buffer_line(float x, float y, float z, const float e, float feed_rate,
NOMORE(cy, MESH_NUM_Y_POINTS - 2);
if (pcx == cx && pcy == cy) {
// Start and end on same mesh square
planner.buffer_line(x, y, z, e, feed_rate, extruder);
planner.buffer_line(x, y, z, e, fr_mm_s, extruder);
set_current_to_destination();
return;
}
@ -7893,7 +7896,7 @@ void mesh_buffer_line(float x, float y, float z, const float e, float feed_rate,
}
else {
// Already split on a border
planner.buffer_line(x, y, z, e, feed_rate, extruder);
planner.buffer_line(x, y, z, e, fr_mm_s, extruder);
set_current_to_destination();
return;
}
@ -7902,12 +7905,12 @@ void mesh_buffer_line(float x, float y, float z, const float e, float feed_rate,
destination[Y_AXIS] = ny;
destination[Z_AXIS] = nz;
destination[E_AXIS] = ne;
mesh_buffer_line(nx, ny, nz, ne, feed_rate, extruder, x_splits, y_splits);
mesh_buffer_line(nx, ny, nz, ne, fr_mm_s, extruder, x_splits, y_splits);
destination[X_AXIS] = x;
destination[Y_AXIS] = y;
destination[Z_AXIS] = z;
destination[E_AXIS] = e;
mesh_buffer_line(x, y, z, e, feed_rate, extruder, x_splits, y_splits);
mesh_buffer_line(x, y, z, e, fr_mm_s, extruder, x_splits, y_splits);
}
#endif // MESH_BED_LEVELING
@ -7920,8 +7923,8 @@ void mesh_buffer_line(float x, float y, float z, const float e, float feed_rate,
float cartesian_mm = sqrt(sq(difference[X_AXIS]) + sq(difference[Y_AXIS]) + sq(difference[Z_AXIS]));
if (cartesian_mm < 0.000001) cartesian_mm = abs(difference[E_AXIS]);
if (cartesian_mm < 0.000001) return false;
float _feedrate = feedrate * feedrate_multiplier / 6000.0;
float seconds = cartesian_mm / _feedrate;
float _feedrate_mm_s = MMM_TO_MMS_SCALED(feedrate_mm_m);
float seconds = cartesian_mm / _feedrate_mm_s;
int steps = max(1, int(delta_segments_per_second * seconds));
float inv_steps = 1.0/steps;
@ -7945,7 +7948,7 @@ void mesh_buffer_line(float x, float y, float z, const float e, float feed_rate,
//DEBUG_POS("prepare_delta_move_to", target);
//DEBUG_POS("prepare_delta_move_to", delta);
planner.buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], target[E_AXIS], _feedrate, active_extruder);
planner.buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], target[E_AXIS], _feedrate_mm_s, active_extruder);
}
return true;
}
@ -7964,7 +7967,7 @@ void mesh_buffer_line(float x, float y, float z, const float e, float feed_rate,
// move duplicate extruder into correct duplication position.
planner.set_position_mm(inactive_extruder_x_pos, current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
planner.buffer_line(current_position[X_AXIS] + duplicate_extruder_x_offset,
current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], planner.max_feedrate[X_AXIS], 1);
current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], planner.max_feedrate_mm_s[X_AXIS], 1);
SYNC_PLAN_POSITION_KINEMATIC();
stepper.synchronize();
extruder_duplication_enabled = true;
@ -7984,9 +7987,9 @@ void mesh_buffer_line(float x, float y, float z, const float e, float feed_rate,
}
delayed_move_time = 0;
// unpark extruder: 1) raise, 2) move into starting XY position, 3) lower
planner.buffer_line(raised_parked_position[X_AXIS], raised_parked_position[Y_AXIS], raised_parked_position[Z_AXIS], current_position[E_AXIS], planner.max_feedrate[Z_AXIS], active_extruder);
planner.buffer_line(raised_parked_position[X_AXIS], raised_parked_position[Y_AXIS], raised_parked_position[Z_AXIS], current_position[E_AXIS], planner.max_feedrate_mm_s[Z_AXIS], active_extruder);
planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], raised_parked_position[Z_AXIS], current_position[E_AXIS], PLANNER_XY_FEEDRATE(), active_extruder);
planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], planner.max_feedrate[Z_AXIS], active_extruder);
planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], planner.max_feedrate_mm_s[Z_AXIS], active_extruder);
active_extruder_parked = false;
}
}
@ -7998,16 +8001,16 @@ void mesh_buffer_line(float x, float y, float z, const float e, float feed_rate,
#if DISABLED(DELTA) && DISABLED(SCARA)
inline bool prepare_move_to_destination_cartesian() {
// Do not use feedrate_multiplier for E or Z only moves
// Do not use feedrate_percentage for E or Z only moves
if (current_position[X_AXIS] == destination[X_AXIS] && current_position[Y_AXIS] == destination[Y_AXIS]) {
line_to_destination();
}
else {
#if ENABLED(MESH_BED_LEVELING)
mesh_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], (feedrate / 60) * (feedrate_multiplier / 100.0), active_extruder);
mesh_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], MMM_TO_MMS_SCALED(feedrate_mm_m), active_extruder);
return false;
#else
line_to_destination(feedrate * feedrate_multiplier / 100.0);
line_to_destination(MMM_SCALED(feedrate_mm_m));
#endif
}
return true;
@ -8082,7 +8085,7 @@ void prepare_move_to_destination() {
uint8_t clockwise // Clockwise?
) {
float radius = hypot(offset[X_AXIS], offset[Y_AXIS]),
float radius = HYPOT(offset[X_AXIS], offset[Y_AXIS]),
center_X = current_position[X_AXIS] + offset[X_AXIS],
center_Y = current_position[Y_AXIS] + offset[Y_AXIS],
linear_travel = target[Z_AXIS] - current_position[Z_AXIS],
@ -8101,7 +8104,7 @@ void prepare_move_to_destination() {
if (angular_travel == 0 && current_position[X_AXIS] == target[X_AXIS] && current_position[Y_AXIS] == target[Y_AXIS])
angular_travel += RADIANS(360);
float mm_of_travel = hypot(angular_travel * radius, fabs(linear_travel));
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));
if (segments == 0) segments = 1;
@ -8137,7 +8140,7 @@ void prepare_move_to_destination() {
* This is important when there are successive arc motions.
*/
// Vector rotation matrix values
float cos_T = 1 - 0.5 * theta_per_segment * theta_per_segment; // Small angle approximation
float cos_T = 1 - 0.5 * sq(theta_per_segment); // Small angle approximation
float sin_T = theta_per_segment;
float arc_target[NUM_AXIS];
@ -8151,7 +8154,7 @@ void prepare_move_to_destination() {
// Initialize the extruder axis
arc_target[E_AXIS] = current_position[E_AXIS];
float feed_rate = feedrate * feedrate_multiplier / 60 / 100.0;
float fr_mm_s = MMM_TO_MMS_SCALED(feedrate_mm_m);
millis_t next_idle_ms = millis() + 200UL;
@ -8195,9 +8198,9 @@ void prepare_move_to_destination() {
#if ENABLED(AUTO_BED_LEVELING_FEATURE)
adjust_delta(arc_target);
#endif
planner.buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], arc_target[E_AXIS], feed_rate, active_extruder);
planner.buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], arc_target[E_AXIS], fr_mm_s, active_extruder);
#else
planner.buffer_line(arc_target[X_AXIS], arc_target[Y_AXIS], arc_target[Z_AXIS], arc_target[E_AXIS], feed_rate, active_extruder);
planner.buffer_line(arc_target[X_AXIS], arc_target[Y_AXIS], arc_target[Z_AXIS], arc_target[E_AXIS], fr_mm_s, active_extruder);
#endif
}
@ -8207,9 +8210,9 @@ void prepare_move_to_destination() {
#if ENABLED(AUTO_BED_LEVELING_FEATURE)
adjust_delta(target);
#endif
planner.buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], target[E_AXIS], feed_rate, active_extruder);
planner.buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], target[E_AXIS], fr_mm_s, active_extruder);
#else
planner.buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], feed_rate, active_extruder);
planner.buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], fr_mm_s, active_extruder);
#endif
// As far as the parser is concerned, the position is now == target. In reality the
@ -8222,7 +8225,7 @@ void prepare_move_to_destination() {
#if ENABLED(BEZIER_CURVE_SUPPORT)
void plan_cubic_move(const float offset[4]) {
cubic_b_spline(current_position, destination, offset, feedrate * feedrate_multiplier / 60 / 100.0, active_extruder);
cubic_b_spline(current_position, destination, offset, MMM_TO_MMS_SCALED(feedrate_mm_m), active_extruder);
// As far as the parser is concerned, the position is now == target. In reality the
// motion control system might still be processing the action and the real tool position
@ -8548,7 +8551,7 @@ 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_mm[E_AXIS],
(EXTRUDER_RUNOUT_SPEED) / 60. * (EXTRUDER_RUNOUT_ESTEPS) / planner.axis_steps_per_mm[E_AXIS], active_extruder);
MMM_TO_MMS(EXTRUDER_RUNOUT_SPEED) * (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);