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[1.1.x] Float maths updates for 2.0.x parity #11213

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Merged
thinkyhead merged 1 commit into from
Jul 7, 2018
Merged

[1.1.x] Float maths updates for 2.0.x parity #11213

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2 changes: 1 addition & 1 deletion Marlin/I2CPositionEncoder.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -181,7 +181,7 @@
if (errPrstIdx >= I2CPE_ERR_PRST_ARRAY_SIZE) {
float sumP = 0;
LOOP_L_N(i, I2CPE_ERR_PRST_ARRAY_SIZE) sumP += errPrst[i];
const int32_t errorP = int32_t(sumP * (1.0 / (I2CPE_ERR_PRST_ARRAY_SIZE)));
const int32_t errorP = int32_t(sumP * (1.0f / (I2CPE_ERR_PRST_ARRAY_SIZE)));
SERIAL_ECHO(axis_codes[encoderAxis]);
SERIAL_ECHOPAIR(" - err detected: ", errorP * planner.steps_to_mm[encoderAxis]);
SERIAL_ECHOLNPGM("mm; correcting!");
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4 changes: 0 additions & 4 deletions Marlin/I2CPositionEncoder.h
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Expand Up @@ -134,16 +134,12 @@
nextErrorCountTime = 0,
lastErrorTime;

//double positionMm; //calculate

#if ENABLED(I2CPE_ERR_ROLLING_AVERAGE)
uint8_t errIdx = 0, errPrstIdx = 0;
int err[I2CPE_ERR_ARRAY_SIZE] = { 0 },
errPrst[I2CPE_ERR_PRST_ARRAY_SIZE] = { 0 };
#endif

//float positionMm; //calculate

public:
void init(const uint8_t address, const AxisEnum axis);
void reset();
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34 changes: 11 additions & 23 deletions Marlin/Marlin.h
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Original file line number Diff line number Diff line change
Expand Up @@ -220,7 +220,7 @@ inline void reset_stepper_timeout() { previous_move_ms = millis(); }
extern float feedrate_mm_s;
extern int16_t feedrate_percentage;

#define MMS_SCALED(MM_S) ((MM_S)*feedrate_percentage*0.01)
#define MMS_SCALED(MM_S) ((MM_S)*feedrate_percentage*0.01f)

extern bool axis_relative_modes[XYZE];

Expand Down Expand Up @@ -321,22 +321,15 @@ void report_current_position();
void recalc_delta_settings();
float delta_safe_distance_from_top();

#if ENABLED(DELTA_FAST_SQRT)
float Q_rsqrt(const float number);
#define _SQRT(n) (1.0f / Q_rsqrt(n))
#else
#define _SQRT(n) SQRT(n)
#endif

// Macro to obtain the Z position of an individual tower
#define DELTA_Z(V,T) V[Z_AXIS] + _SQRT( \
#define DELTA_Z(V,T) V[Z_AXIS] + SQRT( \
delta_diagonal_rod_2_tower[T] - HYPOT2( \
delta_tower[T][X_AXIS] - V[X_AXIS], \
delta_tower[T][Y_AXIS] - V[Y_AXIS] \
) \
)

#define DELTA_IK(V) do { \
#define DELTA_IK(V) do { \
delta[A_AXIS] = DELTA_Z(V, A_AXIS); \
delta[B_AXIS] = DELTA_Z(V, B_AXIS); \
delta[C_AXIS] = DELTA_Z(V, C_AXIS); \
Expand Down Expand Up @@ -375,11 +368,6 @@ void report_current_position();
void print_2d_array(const uint8_t sx, const uint8_t sy, const uint8_t precision, const element_2d_fn fn);
#endif

#if ENABLED(AUTO_BED_LEVELING_UBL)
typedef struct { double A, B, D; } linear_fit;
linear_fit* lsf_linear_fit(double x[], double y[], double z[], const int);
#endif

#if HAS_LEVELING
bool leveling_is_valid();
void set_bed_leveling_enabled(const bool enable=true);
Expand Down Expand Up @@ -473,10 +461,10 @@ void prepare_move_to_destination();
/**
* Blocking movement and shorthand functions
*/
void do_blocking_move_to(const float rx, const float ry, const float rz, const float &fr_mm_s=0.0);
void do_blocking_move_to_x(const float &rx, const float &fr_mm_s=0.0);
void do_blocking_move_to_z(const float &rz, const float &fr_mm_s=0.0);
void do_blocking_move_to_xy(const float &rx, const float &ry, const float &fr_mm_s=0.0);
void do_blocking_move_to(const float rx, const float ry, const float rz, const float &fr_mm_s=0);
void do_blocking_move_to_x(const float &rx, const float &fr_mm_s=0);
void do_blocking_move_to_z(const float &rz, const float &fr_mm_s=0);
void do_blocking_move_to_xy(const float &rx, const float &ry, const float &fr_mm_s=0);

#if ENABLED(ARC_SUPPORT)
void plan_arc(const float(&cart)[XYZE], const float(&offset)[2], const bool clockwise);
Expand Down Expand Up @@ -536,8 +524,8 @@ void do_blocking_move_to_xy(const float &rx, const float &ry, const float &fr_mm
// Return true if the given position is within the machine bounds.
inline bool position_is_reachable(const float &rx, const float &ry) {
// Add 0.001 margin to deal with float imprecision
return WITHIN(rx, X_MIN_POS - 0.001, X_MAX_POS + 0.001)
&& WITHIN(ry, Y_MIN_POS - 0.001, Y_MAX_POS + 0.001);
return WITHIN(rx, X_MIN_POS - 0.001f, X_MAX_POS + 0.001f)
&& WITHIN(ry, Y_MIN_POS - 0.001f, Y_MAX_POS + 0.001f);
}

#if HAS_BED_PROBE
Expand All @@ -550,8 +538,8 @@ void do_blocking_move_to_xy(const float &rx, const float &ry, const float &fr_mm
*/
inline bool position_is_reachable_by_probe(const float &rx, const float &ry) {
return position_is_reachable(rx - (X_PROBE_OFFSET_FROM_EXTRUDER), ry - (Y_PROBE_OFFSET_FROM_EXTRUDER))
&& WITHIN(rx, MIN_PROBE_X - 0.001, MAX_PROBE_X + 0.001)
&& WITHIN(ry, MIN_PROBE_Y - 0.001, MAX_PROBE_Y + 0.001);
&& WITHIN(rx, MIN_PROBE_X - 0.001f, MAX_PROBE_X + 0.001f)
&& WITHIN(ry, MIN_PROBE_Y - 0.001f, MAX_PROBE_Y + 0.001f);
}
#endif

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