MPCNC/Firmware2
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Add const to some variables

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This commit is contained in:
Scott Lahteine 2016-12-08 22:51:56 -08:00
parent 2da4d22520
commit 1929502e15
1 changed files with 24 additions and 24 deletions
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48
Marlin/planner.cpp
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@ -141,8 +141,8 @@ float Planner::previous_speed[NUM_AXIS],
#endif
#if ENABLED(LIN_ADVANCE)
float Planner::extruder_advance_k = LIN_ADVANCE_K;
float Planner::position_float[NUM_AXIS] = { 0 };
float Planner::extruder_advance_k = LIN_ADVANCE_K,
Planner::position_float[NUM_AXIS] = { 0 };
#endif
#if ENABLED(ENSURE_SMOOTH_MOVES)
@ -654,7 +654,7 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const
// The target position of the tool in absolute steps
// 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[XYZE] = {
const long target[XYZE] = {
lround(a * axis_steps_per_mm[X_AXIS]),
lround(b * axis_steps_per_mm[Y_AXIS]),
lround(c * axis_steps_per_mm[Z_AXIS]),
@ -670,16 +670,16 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const
#endif
#if ENABLED(LIN_ADVANCE)
float target_float[XYZE] = {a, b, c, e};
float de_float = target_float[E_AXIS] - position_float[E_AXIS];
float mm_D_float = sqrt(sq(target_float[X_AXIS] - position_float[X_AXIS]) + sq(target_float[Y_AXIS] - position_float[Y_AXIS]));
const float target_float[XYZE] = { a, b, c, e },
de_float = target_float[E_AXIS] - position_float[E_AXIS],
mm_D_float = sqrt(sq(target_float[X_AXIS] - position_float[X_AXIS]) + sq(target_float[Y_AXIS] - position_float[Y_AXIS]));
memcpy(position_float, target_float, sizeof(position_float));
#endif
long da = target[X_AXIS] - position[X_AXIS],
db = target[Y_AXIS] - position[Y_AXIS],
dc = target[Z_AXIS] - position[Z_AXIS];
const long 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);
@ -755,11 +755,11 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const
#endif
if (de < 0) SBI(dm, E_AXIS);
float esteps_float = de * volumetric_multiplier[extruder] * flow_percentage[extruder] * 0.01;
int32_t esteps = abs(esteps_float) + 0.5;
const float esteps_float = de * volumetric_multiplier[extruder] * flow_percentage[extruder] * 0.01;
const int32_t esteps = abs(esteps_float) + 0.5;
// Calculate the buffer head after we push this byte
int8_t next_buffer_head = next_block_index(block_buffer_head);
const uint8_t next_buffer_head = next_block_index(block_buffer_head);
// If the buffer is full: good! That means we are well ahead of the robot.
// Rest here until there is room in the buffer.
@ -852,7 +852,7 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const
#if ENABLED(DISABLE_INACTIVE_EXTRUDER) // Enable only the selected extruder
for (int8_t i = 0; i < EXTRUDERS; i++)
for (uint8_t i = 0; i < EXTRUDERS; i++)
if (g_uc_extruder_last_move[i] > 0) g_uc_extruder_last_move[i]--;
switch(extruder) {
@ -980,7 +980,7 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const
// Calculate moves/second for this move. No divide by zero due to previous checks.
float inverse_mm_s = fr_mm_s * inverse_millimeters;
int moves_queued = movesplanned();
const uint8_t moves_queued = movesplanned();
// Slow down when the buffer starts to empty, rather than wait at the corner for a buffer refill
#if ENABLED(SLOWDOWN)
@ -1037,7 +1037,7 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const
// If the index has changed (must have gone forward)...
if (filwidth_delay_index[0] != filwidth_delay_index[1]) {
filwidth_e_count = 0; // Reset the E movement counter
int8_t meas_sample = thermalManager.widthFil_to_size_ratio() - 100; // Subtract 100 to reduce magnitude - to store in a signed char
const int8_t meas_sample = thermalManager.widthFil_to_size_ratio() - 100; // Subtract 100 to reduce magnitude - to store in a signed char
do {
filwidth_delay_index[1] = (filwidth_delay_index[1] + 1) % MMD_CM; // The next unused slot
measurement_delay[filwidth_delay_index[1]] = meas_sample; // Store the measurement
@ -1050,7 +1050,7 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const
// Calculate and limit speed in mm/sec for each axis
float current_speed[NUM_AXIS], speed_factor = 1.0; // factor <1 decreases speed
LOOP_XYZE(i) {
float cs = fabs(current_speed[i] = delta_mm[i] * inverse_mm_s);
const float cs = fabs(current_speed[i] = delta_mm[i] * inverse_mm_s);
if (cs > max_feedrate_mm_s[i]) NOMORE(speed_factor, max_feedrate_mm_s[i] / cs);
}
@ -1058,7 +1058,7 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const
#ifdef XY_FREQUENCY_LIMIT
// Check and limit the xy direction change frequency
unsigned char direction_change = block->direction_bits ^ old_direction_bits;
const unsigned char direction_change = block->direction_bits ^ old_direction_bits;
old_direction_bits = block->direction_bits;
segment_time = lround((float)segment_time / speed_factor);
@ -1083,11 +1083,11 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const
}
ys0 = axis_segment_time[Y_AXIS][0] = ys0 + segment_time;
long max_x_segment_time = MAX3(xs0, xs1, xs2),
max_y_segment_time = MAX3(ys0, ys1, ys2),
min_xy_segment_time = min(max_x_segment_time, max_y_segment_time);
const long max_x_segment_time = MAX3(xs0, xs1, xs2),
max_y_segment_time = MAX3(ys0, ys1, ys2),
min_xy_segment_time = min(max_x_segment_time, max_y_segment_time);
if (min_xy_segment_time < MAX_FREQ_TIME) {
float low_sf = speed_factor * min_xy_segment_time / (MAX_FREQ_TIME);
const float low_sf = speed_factor * min_xy_segment_time / (MAX_FREQ_TIME);
NOMORE(speed_factor, low_sf);
}
#endif // XY_FREQUENCY_LIMIT
@ -1100,7 +1100,7 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const
}
// Compute and limit the acceleration rate for the trapezoid generator.
float steps_per_mm = block->step_event_count * inverse_millimeters;
const float steps_per_mm = block->step_event_count * inverse_millimeters;
uint32_t accel;
if (!block->steps[X_AXIS] && !block->steps[Y_AXIS] && !block->steps[Z_AXIS]) {
// convert to: acceleration steps/sec^2
@ -1256,7 +1256,7 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const
if (limited) vmax_junction *= v_factor;
// Now the transition velocity is known, which maximizes the shared exit / entry velocity while
// respecting the jerk factors, it may be possible, that applying separate safe exit / entry velocities will achieve faster prints.
float vmax_junction_threshold = vmax_junction * 0.99f;
const float vmax_junction_threshold = vmax_junction * 0.99f;
if (previous_safe_speed > vmax_junction_threshold && safe_speed > vmax_junction_threshold) {
// Not coasting. The machine will stop and start the movements anyway,
// better to start the segment from start.
@ -1273,7 +1273,7 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const
block->max_entry_speed = vmax_junction;
// Initialize block entry speed. Compute based on deceleration to user-defined MINIMUM_PLANNER_SPEED.
float v_allowable = max_allowable_speed(-block->acceleration, MINIMUM_PLANNER_SPEED, block->millimeters);
const float v_allowable = max_allowable_speed(-block->acceleration, MINIMUM_PLANNER_SPEED, block->millimeters);
block->entry_speed = min(vmax_junction, v_allowable);
// Initialize planner efficiency flags