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@ -138,7 +138,7 @@ planner_settings_t Planner::settings; // Initialized by settings.load( |
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uint32_t Planner::max_acceleration_steps_per_s2[DISTINCT_AXES]; // (steps/s^2) Derived from mm_per_s2
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float Planner::steps_to_mm[DISTINCT_AXES]; // (mm) Millimeters per step
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float Planner::mm_per_step[DISTINCT_AXES]; // (mm) Millimeters per step
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#if HAS_JUNCTION_DEVIATION |
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float Planner::junction_deviation_mm; // (mm) M205 J
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@ -1702,7 +1702,7 @@ void Planner::endstop_triggered(const AxisEnum axis) { |
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} |
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float Planner::triggered_position_mm(const AxisEnum axis) { |
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return stepper.triggered_position(axis) * steps_to_mm[axis]; |
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return stepper.triggered_position(axis) * mm_per_step[axis]; |
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} |
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void Planner::finish_and_disable() { |
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@ -1759,7 +1759,7 @@ float Planner::get_axis_position_mm(const AxisEnum axis) { |
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#endif |
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return axis_steps * steps_to_mm[axis]; |
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return axis_steps * mm_per_step[axis]; |
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} |
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/**
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@ -2015,51 +2015,51 @@ bool Planner::_populate_block(block_t * const block, bool split_move, |
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} steps_dist_mm; |
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#if IS_CORE |
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#if CORE_IS_XY |
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steps_dist_mm.head.x = da * steps_to_mm[A_AXIS]; |
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steps_dist_mm.head.y = db * steps_to_mm[B_AXIS]; |
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steps_dist_mm.z = dc * steps_to_mm[Z_AXIS]; |
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steps_dist_mm.a = (da + db) * steps_to_mm[A_AXIS]; |
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steps_dist_mm.b = CORESIGN(da - db) * steps_to_mm[B_AXIS]; |
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steps_dist_mm.head.x = da * mm_per_step[A_AXIS]; |
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steps_dist_mm.head.y = db * mm_per_step[B_AXIS]; |
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steps_dist_mm.z = dc * mm_per_step[Z_AXIS]; |
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steps_dist_mm.a = (da + db) * mm_per_step[A_AXIS]; |
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steps_dist_mm.b = CORESIGN(da - db) * mm_per_step[B_AXIS]; |
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#elif CORE_IS_XZ |
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steps_dist_mm.head.x = da * steps_to_mm[A_AXIS]; |
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steps_dist_mm.y = db * steps_to_mm[Y_AXIS]; |
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steps_dist_mm.head.z = dc * steps_to_mm[C_AXIS]; |
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steps_dist_mm.a = (da + dc) * steps_to_mm[A_AXIS]; |
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steps_dist_mm.c = CORESIGN(da - dc) * steps_to_mm[C_AXIS]; |
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steps_dist_mm.head.x = da * mm_per_step[A_AXIS]; |
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steps_dist_mm.y = db * mm_per_step[Y_AXIS]; |
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steps_dist_mm.head.z = dc * mm_per_step[C_AXIS]; |
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steps_dist_mm.a = (da + dc) * mm_per_step[A_AXIS]; |
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steps_dist_mm.c = CORESIGN(da - dc) * mm_per_step[C_AXIS]; |
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#elif CORE_IS_YZ |
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steps_dist_mm.x = da * steps_to_mm[X_AXIS]; |
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steps_dist_mm.head.y = db * steps_to_mm[B_AXIS]; |
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steps_dist_mm.head.z = dc * steps_to_mm[C_AXIS]; |
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steps_dist_mm.b = (db + dc) * steps_to_mm[B_AXIS]; |
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steps_dist_mm.c = CORESIGN(db - dc) * steps_to_mm[C_AXIS]; |
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steps_dist_mm.x = da * mm_per_step[X_AXIS]; |
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steps_dist_mm.head.y = db * mm_per_step[B_AXIS]; |
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steps_dist_mm.head.z = dc * mm_per_step[C_AXIS]; |
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steps_dist_mm.b = (db + dc) * mm_per_step[B_AXIS]; |
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steps_dist_mm.c = CORESIGN(db - dc) * mm_per_step[C_AXIS]; |
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#endif |
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#if LINEAR_AXES >= 4 |
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steps_dist_mm.i = di * steps_to_mm[I_AXIS]; |
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steps_dist_mm.i = di * mm_per_step[I_AXIS]; |
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#endif |
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#if LINEAR_AXES >= 5 |
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steps_dist_mm.j = dj * steps_to_mm[J_AXIS]; |
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steps_dist_mm.j = dj * mm_per_step[J_AXIS]; |
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#endif |
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#if LINEAR_AXES >= 6 |
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steps_dist_mm.k = dk * steps_to_mm[K_AXIS]; |
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steps_dist_mm.k = dk * mm_per_step[K_AXIS]; |
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#endif |
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#elif ENABLED(MARKFORGED_XY) |
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steps_dist_mm.head.x = da * steps_to_mm[A_AXIS]; |
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steps_dist_mm.head.y = db * steps_to_mm[B_AXIS]; |
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steps_dist_mm.z = dc * steps_to_mm[Z_AXIS]; |
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steps_dist_mm.a = (da - db) * steps_to_mm[A_AXIS]; |
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steps_dist_mm.b = db * steps_to_mm[B_AXIS]; |
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steps_dist_mm.head.x = da * mm_per_step[A_AXIS]; |
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steps_dist_mm.head.y = db * mm_per_step[B_AXIS]; |
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steps_dist_mm.z = dc * mm_per_step[Z_AXIS]; |
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steps_dist_mm.a = (da - db) * mm_per_step[A_AXIS]; |
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steps_dist_mm.b = db * mm_per_step[B_AXIS]; |
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#else |
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LINEAR_AXIS_CODE( |
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steps_dist_mm.a = da * steps_to_mm[A_AXIS], |
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steps_dist_mm.b = db * steps_to_mm[B_AXIS], |
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steps_dist_mm.c = dc * steps_to_mm[C_AXIS], |
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steps_dist_mm.i = di * steps_to_mm[I_AXIS], |
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steps_dist_mm.j = dj * steps_to_mm[J_AXIS], |
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steps_dist_mm.k = dk * steps_to_mm[K_AXIS] |
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steps_dist_mm.a = da * mm_per_step[A_AXIS], |
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steps_dist_mm.b = db * mm_per_step[B_AXIS], |
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steps_dist_mm.c = dc * mm_per_step[C_AXIS], |
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steps_dist_mm.i = di * mm_per_step[I_AXIS], |
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steps_dist_mm.j = dj * mm_per_step[J_AXIS], |
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steps_dist_mm.k = dk * mm_per_step[K_AXIS] |
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); |
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#endif |
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TERN_(HAS_EXTRUDERS, steps_dist_mm.e = esteps_float * steps_to_mm[E_AXIS_N(extruder)]); |
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TERN_(HAS_EXTRUDERS, steps_dist_mm.e = esteps_float * mm_per_step[E_AXIS_N(extruder)]); |
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TERN_(LCD_SHOW_E_TOTAL, e_move_accumulator += steps_dist_mm.e); |
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@ -2889,7 +2889,7 @@ bool Planner::buffer_segment(const abce_pos_t &abce |
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// When changing extruders recalculate steps corresponding to the E position
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#if ENABLED(DISTINCT_E_FACTORS) |
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if (last_extruder != extruder && settings.axis_steps_per_mm[E_AXIS_N(extruder)] != settings.axis_steps_per_mm[E_AXIS_N(last_extruder)]) { |
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position.e = LROUND(position.e * settings.axis_steps_per_mm[E_AXIS_N(extruder)] * steps_to_mm[E_AXIS_N(last_extruder)]); |
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position.e = LROUND(position.e * settings.axis_steps_per_mm[E_AXIS_N(extruder)] * mm_per_step[E_AXIS_N(last_extruder)]); |
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last_extruder = extruder; |
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} |
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#endif |
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@ -3168,11 +3168,11 @@ void Planner::reset_acceleration_rates() { |
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} |
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/**
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* Recalculate 'position' and 'steps_to_mm'. |
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* Recalculate 'position' and 'mm_per_step'. |
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* Must be called whenever settings.axis_steps_per_mm changes! |
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*/ |
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void Planner::refresh_positioning() { |
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LOOP_DISTINCT_AXES(i) steps_to_mm[i] = 1.0f / settings.axis_steps_per_mm[i]; |
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LOOP_DISTINCT_AXES(i) mm_per_step[i] = 1.0f / settings.axis_steps_per_mm[i]; |
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set_position_mm(current_position); |
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reset_acceleration_rates(); |
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} |
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espr14
3 years ago
Scott Lahteine