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Cleanup position_float

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Hopefully fixes Marlin #5481
This commit is contained in:
Sebastianv650 2017-02-12 13:09:06 +01:00
parent a950c31e2d
commit 1b59766fcb
1 changed files with 32 additions and 4 deletions
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36
Marlin/planner.cpp
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@ -673,10 +673,7 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const
#if ENABLED(LIN_ADVANCE)
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
const long da = target[X_AXIS] - position[X_AXIS],
@ -707,15 +704,27 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const
//*/
// DRYRUN ignores all temperature constraints and assures that the extruder is instantly satisfied
if (DEBUGGING(DRYRUN)) position[E_AXIS] = target[E_AXIS];
if (DEBUGGING(DRYRUN)) {
position[E_AXIS] = target[E_AXIS];
#if ENABLED(LIN_ADVANCE)
position_float[E_AXIS] = target_float[E_AXIS];
#endif
}
long de = target[E_AXIS] - position[E_AXIS];
#if ENABLED(LIN_ADVANCE)
float de_float = target_float[E_AXIS] - position_float[E_AXIS];
#endif
#if ENABLED(PREVENT_COLD_EXTRUSION)
if (de) {
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] = target_float[E_AXIS];
de_float = 0;
#endif
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM(MSG_ERR_COLD_EXTRUDE_STOP);
}
@ -723,6 +732,10 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const
if (labs(de) > (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] = target_float[E_AXIS];
de_float = 0;
#endif
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM(MSG_ERR_LONG_EXTRUDE_STOP);
}
@ -1342,6 +1355,9 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const
// Update the position (only when a move was queued)
memcpy(position, target, sizeof(position));
#if ENABLED(LIN_ADVANCE)
memcpy(position_float, target_float, sizeof(position_float));
#endif
recalculate();
@ -1367,6 +1383,12 @@ void Planner::_set_position_mm(const float &a, const float &b, const float &c, c
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
stepper.set_position(na, nb, nc, ne);
previous_nominal_speed = 0.0; // Resets planner junction speeds. Assumes start from rest.
ZERO(previous_speed);
@ -1392,6 +1414,9 @@ void Planner::set_position_mm_kinematic(const float position[NUM_AXIS]) {
*/
void Planner::sync_from_steppers() {
LOOP_XYZE(i) position[i] = stepper.position((AxisEnum)i);
#if ENABLED(LIN_ADVANCE)
LOOP_XYZE(i) position_float[i] = stepper.position((AxisEnum)i) * steps_to_mm[i];
#endif
}
/**
@ -1405,6 +1430,9 @@ 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;
}