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Add custom types for position (#15204)

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This commit is contained in:
Scott Lahteine
2019-09-29 04:25:39 -05:00
committed by GitHub
parent 43d6e9fa43
commit 50e4545255
227 changed files with 3147 additions and 3264 deletions
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147
Marlin/src/module/configuration_store.cpp
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@@ -52,7 +52,7 @@
#include "temperature.h"
#include "../lcd/ultralcd.h"
#include "../core/language.h"
#include "../libs/vector_3.h"
#include "../libs/vector_3.h" // for matrix_3x3
#include "../gcode/gcode.h"
#include "../Marlin.h"
@@ -146,13 +146,13 @@ typedef struct SettingsDataStruct {
planner_settings_t planner_settings;
float planner_max_jerk[XYZE], // M205 XYZE planner.max_jerk[XYZE]
planner_junction_deviation_mm; // M205 J planner.junction_deviation_mm
xyze_float_t planner_max_jerk; // M205 XYZE planner.max_jerk
float planner_junction_deviation_mm; // M205 J planner.junction_deviation_mm
float home_offset[XYZ]; // M206 XYZ / M665 TPZ
xyz_pos_t home_offset; // M206 XYZ / M665 TPZ
#if HAS_HOTEND_OFFSET
float hotend_offset[XYZ][HOTENDS - 1]; // M218 XYZ
xyz_pos_t hotend_offset[HOTENDS - 1]; // M218 XYZ
#endif
//
@@ -181,7 +181,7 @@ typedef struct SettingsDataStruct {
// HAS_BED_PROBE
//
float probe_offset[XYZ];
xyz_pos_t probe_offset;
//
// ABL_PLANAR
@@ -192,10 +192,9 @@ typedef struct SettingsDataStruct {
// AUTO_BED_LEVELING_BILINEAR
//
uint8_t grid_max_x, grid_max_y; // GRID_MAX_POINTS_X, GRID_MAX_POINTS_Y
int bilinear_grid_spacing[2],
bilinear_start[2]; // G29 L F
xy_int_t bilinear_grid_spacing, bilinear_start; // G29 L F
#if ENABLED(AUTO_BED_LEVELING_BILINEAR)
float z_values[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y]; // G29
bed_mesh_t z_values; // G29
#else
float z_values[3][3];
#endif
@@ -220,13 +219,13 @@ typedef struct SettingsDataStruct {
// DELTA / [XYZ]_DUAL_ENDSTOPS
//
#if ENABLED(DELTA)
float delta_height, // M666 H
delta_endstop_adj[ABC], // M666 XYZ
delta_radius, // M665 R
float delta_height; // M666 H
abc_float_t delta_endstop_adj; // M666 XYZ
float delta_radius, // M665 R
delta_diagonal_rod, // M665 L
delta_segments_per_second, // M665 S
delta_calibration_radius, // M665 B
delta_tower_angle_trim[ABC]; // M665 XYZ
delta_calibration_radius; // M665 B
abc_float_t delta_tower_angle_trim; // M665 XYZ
#elif EITHER(X_DUAL_ENDSTOPS, Y_DUAL_ENDSTOPS) || Z_MULTI_ENDSTOPS
float x2_endstop_adj, // M666 X
y2_endstop_adj, // M666 Y
@@ -302,7 +301,7 @@ typedef struct SettingsDataStruct {
//
// CNC_COORDINATE_SYSTEMS
//
float coordinate_system[MAX_COORDINATE_SYSTEMS][XYZ]; // G54-G59.3
xyz_pos_t coordinate_system[MAX_COORDINATE_SYSTEMS]; // G54-G59.3
//
// SKEW_CORRECTION
@@ -326,7 +325,7 @@ typedef struct SettingsDataStruct {
//
// BACKLASH_COMPENSATION
//
float backlash_distance_mm[XYZ]; // M425 X Y Z
xyz_float_t backlash_distance_mm; // M425 X Y Z
uint8_t backlash_correction; // M425 F
float backlash_smoothing_mm; // M425 S
@@ -355,7 +354,7 @@ uint16_t MarlinSettings::datasize() { return sizeof(SettingsData); }
#endif
void MarlinSettings::postprocess() {
const float oldpos[XYZE] = { current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS] };
xyze_pos_t oldpos = current_position;
// steps per s2 needs to be updated to agree with units per s2
planner.reset_acceleration_rates();
@@ -408,7 +407,7 @@ void MarlinSettings::postprocess() {
planner.refresh_positioning();
// Various factors can change the current position
if (memcmp(oldpos, current_position, sizeof(oldpos)))
if (oldpos != current_position)
report_current_position();
}
@@ -522,7 +521,7 @@ void MarlinSettings::postprocess() {
EEPROM_WRITE(dummy);
#endif
#else
const float planner_max_jerk[XYZE] = { float(DEFAULT_EJERK) };
const xyze_pos_t planner_max_jerk = { 10, 10, 0.4, float(DEFAULT_EJERK) };
EEPROM_WRITE(planner_max_jerk);
#endif
@@ -544,7 +543,7 @@ void MarlinSettings::postprocess() {
EEPROM_WRITE(scara_home_offset);
#else
#if !HAS_HOME_OFFSET
const float home_offset[XYZ] = { 0 };
const xyz_pos_t home_offset{0};
#endif
EEPROM_WRITE(home_offset);
#endif
@@ -552,7 +551,7 @@ void MarlinSettings::postprocess() {
#if HAS_HOTEND_OFFSET
// Skip hotend 0 which must be 0
for (uint8_t e = 1; e < HOTENDS; e++)
LOOP_XYZ(i) EEPROM_WRITE(hotend_offset[i][e]);
EEPROM_WRITE(hotend_offset[e]);
#endif
}
@@ -618,7 +617,7 @@ void MarlinSettings::postprocess() {
// Probe Z Offset
//
{
_FIELD_TEST(probe_offset[Z_AXIS]);
_FIELD_TEST(probe_offset.z);
EEPROM_WRITE(probe_offset);
}
@@ -653,7 +652,7 @@ void MarlinSettings::postprocess() {
#else
// For disabled Bilinear Grid write an empty 3x3 grid
const uint8_t grid_max_x = 3, grid_max_y = 3;
const int bilinear_start[2] = { 0 }, bilinear_grid_spacing[2] = { 0 };
const xy_int_t bilinear_start{0}, bilinear_grid_spacing{0};
dummy = 0;
EEPROM_WRITE(grid_max_x);
EEPROM_WRITE(grid_max_y);
@@ -1033,7 +1032,7 @@ void MarlinSettings::postprocess() {
// TMC StallGuard threshold
//
{
tmc_sgt_t tmc_sgt = { 0 };
tmc_sgt_t tmc_sgt{0};
#if USE_SENSORLESS
#if X_SENSORLESS
tmc_sgt.X = stepperX.homing_threshold();
@@ -1138,8 +1137,8 @@ void MarlinSettings::postprocess() {
#if HAS_MOTOR_CURRENT_PWM
EEPROM_WRITE(stepper.motor_current_setting);
#else
const uint32_t dummyui32[XYZ] = { 0 };
EEPROM_WRITE(dummyui32);
const xyz_ulong_t no_current{0};
EEPROM_WRITE(no_current);
#endif
}
@@ -1152,7 +1151,7 @@ void MarlinSettings::postprocess() {
#if ENABLED(CNC_COORDINATE_SYSTEMS)
EEPROM_WRITE(gcode.coordinate_system);
#else
const float coordinate_system[MAX_COORDINATE_SYSTEMS][XYZ] = { { 0 } };
const xyz_pos_t coordinate_system[MAX_COORDINATE_SYSTEMS] = { { 0 } };
EEPROM_WRITE(coordinate_system);
#endif
@@ -1189,10 +1188,10 @@ void MarlinSettings::postprocess() {
//
{
#if ENABLED(BACKLASH_GCODE)
const float (&backlash_distance_mm)[XYZ] = backlash.distance_mm;
const xyz_float_t &backlash_distance_mm = backlash.distance_mm;
const uint8_t &backlash_correction = backlash.correction;
#else
const float backlash_distance_mm[XYZ] = { 0 };
const xyz_float_t backlash_distance_mm{0};
const uint8_t backlash_correction = 0;
#endif
#if ENABLED(BACKLASH_GCODE) && defined(BACKLASH_SMOOTHING_MM)
@@ -1341,7 +1340,7 @@ void MarlinSettings::postprocess() {
EEPROM_READ(scara_home_offset);
#else
#if !HAS_HOME_OFFSET
float home_offset[XYZ];
xyz_pos_t home_offset;
#endif
EEPROM_READ(home_offset);
#endif
@@ -1354,7 +1353,7 @@ void MarlinSettings::postprocess() {
#if HAS_HOTEND_OFFSET
// Skip hotend 0 which must be 0
for (uint8_t e = 1; e < HOTENDS; e++)
LOOP_XYZ(i) EEPROM_READ(hotend_offset[i][e]);
EEPROM_READ(hotend_offset[e]);
#endif
}
@@ -1418,12 +1417,11 @@ void MarlinSettings::postprocess() {
// Probe Z Offset
//
{
_FIELD_TEST(probe_offset[Z_AXIS]);
_FIELD_TEST(probe_offset);
#if HAS_BED_PROBE
float (&zpo)[XYZ] = probe_offset;
xyz_pos_t &zpo = probe_offset;
#else
float zpo[XYZ];
xyz_pos_t zpo;
#endif
EEPROM_READ(zpo);
}
@@ -1457,7 +1455,7 @@ void MarlinSettings::postprocess() {
#endif // AUTO_BED_LEVELING_BILINEAR
{
// Skip past disabled (or stale) Bilinear Grid data
int bgs[2], bs[2];
xy_int_t bgs, bs;
EEPROM_READ(bgs);
EEPROM_READ(bs);
for (uint16_t q = grid_max_x * grid_max_y; q--;) EEPROM_READ(dummy);
@@ -1940,7 +1938,7 @@ void MarlinSettings::postprocess() {
if (!validating) (void)gcode.select_coordinate_system(-1); // Go back to machine space
EEPROM_READ(gcode.coordinate_system);
#else
float coordinate_system[MAX_COORDINATE_SYSTEMS][XYZ];
xyz_pos_t coordinate_system[MAX_COORDINATE_SYSTEMS];
EEPROM_READ(coordinate_system);
#endif
}
@@ -1989,7 +1987,7 @@ void MarlinSettings::postprocess() {
//
{
#if ENABLED(BACKLASH_GCODE)
float (&backlash_distance_mm)[XYZ] = backlash.distance_mm;
xyz_float_t &backlash_distance_mm = backlash.distance_mm;
uint8_t &backlash_correction = backlash.correction;
#else
float backlash_distance_mm[XYZ];
@@ -2231,11 +2229,9 @@ void MarlinSettings::reset() {
#ifndef DEFAULT_ZJERK
#define DEFAULT_ZJERK 0
#endif
planner.max_jerk[X_AXIS] = DEFAULT_XJERK;
planner.max_jerk[Y_AXIS] = DEFAULT_YJERK;
planner.max_jerk[Z_AXIS] = DEFAULT_ZJERK;
planner.max_jerk.set(DEFAULT_XJERK, DEFAULT_YJERK, DEFAULT_ZJERK);
#if !BOTH(JUNCTION_DEVIATION, LIN_ADVANCE)
planner.max_jerk[E_AXIS] = DEFAULT_EJERK;
planner.max_jerk.e = DEFAULT_EJERK;
#endif
#endif
@@ -2244,9 +2240,9 @@ void MarlinSettings::reset() {
#endif
#if HAS_SCARA_OFFSET
ZERO(scara_home_offset);
scara_home_offset.reset();
#elif HAS_HOME_OFFSET
ZERO(home_offset);
home_offset.reset();
#endif
#if HAS_HOTEND_OFFSET
@@ -2277,17 +2273,16 @@ void MarlinSettings::reset() {
toolchange_settings.retract_speed = TOOLCHANGE_FIL_SWAP_RETRACT_SPEED;
#endif
#if ENABLED(TOOLCHANGE_PARK)
toolchange_settings.change_point = TOOLCHANGE_PARK_XY;
constexpr xyz_pos_t tpxy = TOOLCHANGE_PARK_XY;
toolchange_settings.change_point = tpxy;
#endif
toolchange_settings.z_raise = TOOLCHANGE_ZRAISE;
#endif
#if ENABLED(BACKLASH_GCODE)
backlash.correction = (BACKLASH_CORRECTION) * 255;
constexpr float tmp[XYZ] = BACKLASH_DISTANCE_MM;
backlash.distance_mm[X_AXIS] = tmp[X_AXIS];
backlash.distance_mm[Y_AXIS] = tmp[Y_AXIS];
backlash.distance_mm[Z_AXIS] = tmp[Z_AXIS];
constexpr xyz_float_t tmp = BACKLASH_DISTANCE_MM;
backlash.distance_mm = tmp;
#ifdef BACKLASH_SMOOTHING_MM
backlash.smoothing_mm = BACKLASH_SMOOTHING_MM;
#endif
@@ -2346,14 +2341,14 @@ void MarlinSettings::reset() {
//
#if ENABLED(DELTA)
const float adj[ABC] = DELTA_ENDSTOP_ADJ, dta[ABC] = DELTA_TOWER_ANGLE_TRIM;
const abc_float_t adj = DELTA_ENDSTOP_ADJ, dta = DELTA_TOWER_ANGLE_TRIM;
delta_height = DELTA_HEIGHT;
COPY(delta_endstop_adj, adj);
delta_endstop_adj = adj;
delta_radius = DELTA_RADIUS;
delta_diagonal_rod = DELTA_DIAGONAL_ROD;
delta_segments_per_second = DELTA_SEGMENTS_PER_SECOND;
delta_calibration_radius = DELTA_CALIBRATION_RADIUS;
COPY(delta_tower_angle_trim, dta);
delta_tower_angle_trim = dta;
#elif EITHER(X_DUAL_ENDSTOPS, Y_DUAL_ENDSTOPS) || Z_MULTI_ENDSTOPS
@@ -2769,11 +2764,11 @@ void MarlinSettings::reset() {
, " J", LINEAR_UNIT(planner.junction_deviation_mm)
#endif
#if HAS_CLASSIC_JERK
, " X", LINEAR_UNIT(planner.max_jerk[X_AXIS])
, " Y", LINEAR_UNIT(planner.max_jerk[Y_AXIS])
, " Z", LINEAR_UNIT(planner.max_jerk[Z_AXIS])
, " X", LINEAR_UNIT(planner.max_jerk.x)
, " Y", LINEAR_UNIT(planner.max_jerk.y)
, " Z", LINEAR_UNIT(planner.max_jerk.z)
#if !BOTH(JUNCTION_DEVIATION, LIN_ADVANCE)
, " E", LINEAR_UNIT(planner.max_jerk[E_AXIS])
, " E", LINEAR_UNIT(planner.max_jerk.e)
#endif
#endif
);
@@ -2783,10 +2778,10 @@ void MarlinSettings::reset() {
CONFIG_ECHO_START();
SERIAL_ECHOLNPAIR(" M206"
#if IS_CARTESIAN
" X", LINEAR_UNIT(home_offset[X_AXIS]),
" Y", LINEAR_UNIT(home_offset[Y_AXIS]),
" X", LINEAR_UNIT(home_offset.x),
" Y", LINEAR_UNIT(home_offset.y),
#endif
" Z", LINEAR_UNIT(home_offset[Z_AXIS])
" Z", LINEAR_UNIT(home_offset.z)
);
#endif
@@ -2796,9 +2791,9 @@ void MarlinSettings::reset() {
for (uint8_t e = 1; e < HOTENDS; e++) {
SERIAL_ECHOPAIR(
" M218 T", (int)e,
" X", LINEAR_UNIT(hotend_offset[X_AXIS][e]), " Y", LINEAR_UNIT(hotend_offset[Y_AXIS][e])
" X", LINEAR_UNIT(hotend_offset[e].x), " Y", LINEAR_UNIT(hotend_offset[e].y)
);
SERIAL_ECHOLNPAIR_F(" Z", LINEAR_UNIT(hotend_offset[Z_AXIS][e]), 3);
SERIAL_ECHOLNPAIR_F(" Z", LINEAR_UNIT(hotend_offset[e].z), 3);
}
#endif
@@ -2901,9 +2896,9 @@ void MarlinSettings::reset() {
CONFIG_ECHO_START();
SERIAL_ECHOLNPAIR(
" M665 S", delta_segments_per_second
, " P", scara_home_offset[A_AXIS]
, " T", scara_home_offset[B_AXIS]
, " Z", LINEAR_UNIT(scara_home_offset[Z_AXIS])
, " P", scara_home_offset.a
, " T", scara_home_offset.b
, " Z", LINEAR_UNIT(scara_home_offset.z)
);
#elif ENABLED(DELTA)
@@ -2911,9 +2906,9 @@ void MarlinSettings::reset() {
CONFIG_ECHO_HEADING("Endstop adjustment:");
CONFIG_ECHO_START();
SERIAL_ECHOLNPAIR(
" M666 X", LINEAR_UNIT(delta_endstop_adj[A_AXIS])
, " Y", LINEAR_UNIT(delta_endstop_adj[B_AXIS])
, " Z", LINEAR_UNIT(delta_endstop_adj[C_AXIS])
" M666 X", LINEAR_UNIT(delta_endstop_adj.a)
, " Y", LINEAR_UNIT(delta_endstop_adj.b)
, " Z", LINEAR_UNIT(delta_endstop_adj.c)
);
CONFIG_ECHO_HEADING("Delta settings: L<diagonal_rod> R<radius> H<height> S<segments_per_s> B<calibration radius> XYZ<tower angle corrections>");
@@ -2924,9 +2919,9 @@ void MarlinSettings::reset() {
, " H", LINEAR_UNIT(delta_height)
, " S", delta_segments_per_second
, " B", LINEAR_UNIT(delta_calibration_radius)
, " X", LINEAR_UNIT(delta_tower_angle_trim[A_AXIS])
, " Y", LINEAR_UNIT(delta_tower_angle_trim[B_AXIS])
, " Z", LINEAR_UNIT(delta_tower_angle_trim[C_AXIS])
, " X", LINEAR_UNIT(delta_tower_angle_trim.a)
, " Y", LINEAR_UNIT(delta_tower_angle_trim.b)
, " Z", LINEAR_UNIT(delta_tower_angle_trim.c)
);
#elif EITHER(X_DUAL_ENDSTOPS, Y_DUAL_ENDSTOPS) || Z_MULTI_ENDSTOPS
@@ -3072,9 +3067,9 @@ void MarlinSettings::reset() {
say_units(true);
}
CONFIG_ECHO_START();
SERIAL_ECHOLNPAIR(" M851 X", LINEAR_UNIT(probe_offset[X_AXIS]),
" Y", LINEAR_UNIT(probe_offset[Y_AXIS]),
" Z", LINEAR_UNIT(probe_offset[Z_AXIS]));
SERIAL_ECHOLNPAIR(" M851 X", LINEAR_UNIT(probe_offset.x),
" Y", LINEAR_UNIT(probe_offset.y),
" Z", LINEAR_UNIT(probe_offset.z));
#endif
/**
@@ -3421,9 +3416,9 @@ void MarlinSettings::reset() {
CONFIG_ECHO_START();
SERIAL_ECHOLNPAIR(
" M425 F", backlash.get_correction(),
" X", LINEAR_UNIT(backlash.distance_mm[X_AXIS]),
" Y", LINEAR_UNIT(backlash.distance_mm[Y_AXIS]),
" Z", LINEAR_UNIT(backlash.distance_mm[Z_AXIS])
" X", LINEAR_UNIT(backlash.distance_mm.x),
" Y", LINEAR_UNIT(backlash.distance_mm.y),
" Z", LINEAR_UNIT(backlash.distance_mm.z)
#ifdef BACKLASH_SMOOTHING_MM
, " S", LINEAR_UNIT(backlash.smoothing_mm)
#endif