From b71a755a30ae658bfc9209693f0a19fc1695133d Mon Sep 17 00:00:00 2001 From: Scott Lahteine Date: Tue, 17 Sep 2019 23:10:19 -0500 Subject: [PATCH] Add float suffix in G33 --- Marlin/src/gcode/calibrate/G33.cpp | 100 ++++++++++++++--------------- 1 file changed, 50 insertions(+), 50 deletions(-) diff --git a/Marlin/src/gcode/calibrate/G33.cpp b/Marlin/src/gcode/calibrate/G33.cpp index 08045d8cb8e..8bbdba9bb79 100644 --- a/Marlin/src/gcode/calibrate/G33.cpp +++ b/Marlin/src/gcode/calibrate/G33.cpp @@ -179,10 +179,10 @@ static float std_dev_points(float z_pt[NPP + 1], const bool _0p_cal, const bool S2 += sq(z_pt[rad]); N++; } - return LROUND(SQRT(S2 / N) * 1000.0) / 1000.0 + 0.00001; + return LROUND(SQRT(S2 / N) * 1000.0f) / 1000.0f + 0.00001f; } } - return 0.00001; + return 0.00001f; } /** @@ -218,7 +218,7 @@ static bool probe_calibration_points(float z_pt[NPP + 1], const int8_t probe_poi _7p_6_center = probe_points >= 5 && probe_points <= 7, _7p_9_center = probe_points >= 8; - LOOP_CAL_ALL(rad) z_pt[rad] = 0.0; + LOOP_CAL_ALL(rad) z_pt[rad] = 0.0f; if (!_0p_calibration) { @@ -228,8 +228,8 @@ static bool probe_calibration_points(float z_pt[NPP + 1], const int8_t probe_poi } if (_7p_calibration) { // probe extra center points - const float start = _7p_9_center ? float(_CA) + _7P_STEP / 3.0 : _7p_6_center ? float(_CA) : float(__C), - steps = _7p_9_center ? _4P_STEP / 3.0 : _7p_6_center ? _7P_STEP : _4P_STEP; + const float start = _7p_9_center ? float(_CA) + _7P_STEP / 3.0f : _7p_6_center ? float(_CA) : float(__C), + steps = _7p_9_center ? _4P_STEP / 3.0f : _7p_6_center ? _7P_STEP : _4P_STEP; I_LOOP_CAL_PT(rad, start, steps) { const float a = RADIANS(210 + (360 / NPP) * (rad - 1)), r = delta_calibration_radius * 0.1; @@ -241,13 +241,13 @@ static bool probe_calibration_points(float z_pt[NPP + 1], const int8_t probe_poi if (!_1p_calibration) { // probe the radius const CalEnum start = _4p_opposite_points ? _AB : __A; - const float steps = _7p_14_intermediates ? _7P_STEP / 15.0 : // 15r * 6 + 10c = 100 - _7p_11_intermediates ? _7P_STEP / 12.0 : // 12r * 6 + 9c = 81 - _7p_8_intermediates ? _7P_STEP / 9.0 : // 9r * 6 + 10c = 64 - _7p_6_intermediates ? _7P_STEP / 7.0 : // 7r * 6 + 7c = 49 - _7p_4_intermediates ? _7P_STEP / 5.0 : // 5r * 6 + 6c = 36 - _7p_2_intermediates ? _7P_STEP / 3.0 : // 3r * 6 + 7c = 25 - _7p_1_intermediates ? _7P_STEP / 2.0 : // 2r * 6 + 4c = 16 + const float steps = _7p_14_intermediates ? _7P_STEP / 15.0f : // 15r * 6 + 10c = 100 + _7p_11_intermediates ? _7P_STEP / 12.0f : // 12r * 6 + 9c = 81 + _7p_8_intermediates ? _7P_STEP / 9.0f : // 9r * 6 + 10c = 64 + _7p_6_intermediates ? _7P_STEP / 7.0f : // 7r * 6 + 7c = 49 + _7p_4_intermediates ? _7P_STEP / 5.0f : // 5r * 6 + 6c = 36 + _7p_2_intermediates ? _7P_STEP / 3.0f : // 3r * 6 + 7c = 25 + _7p_1_intermediates ? _7P_STEP / 2.0f : // 2r * 6 + 4c = 16 _7p_no_intermediates ? _7P_STEP : // 1r * 6 + 3c = 9 _4P_STEP; // .5r * 6 + 1c = 4 bool zig_zag = true; @@ -269,7 +269,7 @@ static bool probe_calibration_points(float z_pt[NPP + 1], const int8_t probe_poi LOOP_CAL_RAD(rad) z_pt[rad] /= _7P_STEP / steps; - do_blocking_move_to_xy(0.0, 0.0); + do_blocking_move_to_xy(0.0f, 0.0f); } } return true; @@ -286,7 +286,7 @@ static void reverse_kinematics_probe_points(float z_pt[NPP + 1], float mm_at_pt_ LOOP_CAL_ALL(rad) { const float a = RADIANS(210 + (360 / NPP) * (rad - 1)), - r = (rad == CEN ? 0.0 : delta_calibration_radius); + r = (rad == CEN ? 0.0f : delta_calibration_radius); pos[X_AXIS] = cos(a) * r; pos[Y_AXIS] = sin(a) * r; pos[Z_AXIS] = z_pt[rad]; @@ -298,7 +298,7 @@ static void reverse_kinematics_probe_points(float z_pt[NPP + 1], float mm_at_pt_ static void forward_kinematics_probe_points(float mm_at_pt_axis[NPP + 1][ABC], float z_pt[NPP + 1]) { const float r_quot = delta_calibration_radius / delta_radius; - #define ZPP(N,I,A) ((1 / 3.0 + r_quot * (N) / 3.0 ) * mm_at_pt_axis[I][A]) + #define ZPP(N,I,A) ((1 / 3.0f + r_quot * (N) / 3.0f ) * mm_at_pt_axis[I][A]) #define Z00(I, A) ZPP( 0, I, A) #define Zp1(I, A) ZPP(+1, I, A) #define Zm1(I, A) ZPP(-1, I, A) @@ -339,45 +339,45 @@ static void calc_kinematics_diff_probe_points(float z_pt[NPP + 1], float delta_e static float auto_tune_h() { const float r_quot = delta_calibration_radius / delta_radius; - float h_fac = 0.0; + float h_fac = 0.0f; - h_fac = r_quot / (2.0 / 3.0); + h_fac = r_quot / (2.0f / 3.0f); h_fac = 1.0f / h_fac; // (2/3)/CR return h_fac; } static float auto_tune_r() { - const float diff = 0.01; - float r_fac = 0.0, - z_pt[NPP + 1] = { 0.0 }, - delta_e[ABC] = {0.0}, - delta_r = {0.0}, - delta_t[ABC] = {0.0}; + const float diff = 0.01f; + float r_fac = 0.0f, + z_pt[NPP + 1] = { 0.0f }, + delta_e[ABC] = { 0.0f }, + delta_r = { 0.0f }, + delta_t[ABC] = { 0.0f }; delta_r = diff; calc_kinematics_diff_probe_points(z_pt, delta_e, delta_r, delta_t); - r_fac = -(z_pt[__A] + z_pt[__B] + z_pt[__C] + z_pt[_BC] + z_pt[_CA] + z_pt[_AB]) / 6.0; - r_fac = diff / r_fac / 3.0; // 1/(3*delta_Z) + r_fac = -(z_pt[__A] + z_pt[__B] + z_pt[__C] + z_pt[_BC] + z_pt[_CA] + z_pt[_AB]) / 6.0f; + r_fac = diff / r_fac / 3.0f; // 1/(3*delta_Z) return r_fac; } static float auto_tune_a() { - const float diff = 0.01; - float a_fac = 0.0, - z_pt[NPP + 1] = { 0.0 }, - delta_e[ABC] = {0.0}, - delta_r = {0.0}, - delta_t[ABC] = {0.0}; + const float diff = 0.01f; + float a_fac = 0.0f, + z_pt[NPP + 1] = { 0.0f }, + delta_e[ABC] = { 0.0f }, + delta_r = { 0.0f }, + delta_t[ABC] = { 0.0f }; ZERO(delta_t); LOOP_XYZ(axis) { delta_t[axis] = diff; calc_kinematics_diff_probe_points(z_pt, delta_e, delta_r, delta_t); delta_t[axis] = 0; - a_fac += z_pt[uint8_t((axis * _4P_STEP) - _7P_STEP + NPP) % NPP + 1] / 6.0; - a_fac -= z_pt[uint8_t((axis * _4P_STEP) + 1 + _7P_STEP)] / 6.0; + a_fac += z_pt[uint8_t((axis * _4P_STEP) - _7P_STEP + NPP) % NPP + 1] / 6.0f; + a_fac -= z_pt[uint8_t((axis * _4P_STEP) + 1 + _7P_STEP)] / 6.0f; } - a_fac = diff / a_fac / 3.0; // 1/(3*delta_Z) + a_fac = diff / a_fac / 3.0f; // 1/(3*delta_Z) return a_fac; } @@ -418,7 +418,7 @@ void GcodeSuite::G33() { const bool towers_set = !parser.seen('T'); - const float calibration_precision = parser.floatval('C', 0.0); + const float calibration_precision = parser.floatval('C', 0.0f); if (calibration_precision < 0) { SERIAL_ECHOLNPGM("?(C)alibration precision implausible (>=0)."); return; @@ -450,7 +450,7 @@ void GcodeSuite::G33() { static const char save_message[] PROGMEM = "Save with M500 and/or copy to Configuration.h"; int8_t iterations = 0; float test_precision, - zero_std_dev = (verbose_level ? 999.0 : 0.0), // 0.0 in dry-run mode : forced end + zero_std_dev = (verbose_level ? 999.0f : 0.0f), // 0.0 in dry-run mode : forced end zero_std_dev_min = zero_std_dev, zero_std_dev_old = zero_std_dev, h_factor, @@ -497,9 +497,9 @@ void GcodeSuite::G33() { do { // start iterations - float z_at_pt[NPP + 1] = { 0.0 }; + float z_at_pt[NPP + 1] = { 0.0f }; - test_precision = zero_std_dev_old != 999.0 ? (zero_std_dev + zero_std_dev_old) / 2 : zero_std_dev; + test_precision = zero_std_dev_old != 999.0f ? (zero_std_dev + zero_std_dev_old) / 2.0f : zero_std_dev; iterations++; // Probe the points @@ -515,7 +515,7 @@ void GcodeSuite::G33() { if ((zero_std_dev < test_precision || iterations <= force_iterations) && zero_std_dev > calibration_precision) { #if !HAS_BED_PROBE - test_precision = 0.00; // forced end + test_precision = 0.0f; // forced end #endif if (zero_std_dev < zero_std_dev_min) { @@ -526,9 +526,9 @@ void GcodeSuite::G33() { COPY(a_old, delta_tower_angle_trim); } - float e_delta[ABC] = { 0.0 }, - r_delta = 0.0, - t_delta[ABC] = { 0.0 }; + float e_delta[ABC] = { 0.0f }, + r_delta = 0.0f, + t_delta[ABC] = { 0.0f }; /** * convergence matrices: @@ -536,7 +536,7 @@ void GcodeSuite::G33() { * - definition of the matrix scaling parameters * - matrices for 4 and 7 point calibration */ - #define ZP(N,I) ((N) * z_at_pt[I] / 4.0) // 4.0 = divider to normalize to integers + #define ZP(N,I) ((N) * z_at_pt[I] / 4.0f) // 4.0 = divider to normalize to integers #define Z12(I) ZP(12, I) #define Z4(I) ZP(4, I) #define Z2(I) ZP(2, I) @@ -545,7 +545,7 @@ void GcodeSuite::G33() { // calculate factors const float cr_old = delta_calibration_radius; - if (_7p_9_center) delta_calibration_radius *= 0.9; + if (_7p_9_center) delta_calibration_radius *= 0.9f; h_factor = auto_tune_h(); r_factor = auto_tune_r(); a_factor = auto_tune_a(); @@ -553,11 +553,11 @@ void GcodeSuite::G33() { switch (probe_points) { case 0: - test_precision = 0.00; // forced end + test_precision = 0.0f; // forced end break; case 1: - test_precision = 0.00; // forced end + test_precision = 0.0f; // forced end LOOP_XYZ(axis) e_delta[axis] = +Z4(CEN); break; @@ -605,9 +605,9 @@ void GcodeSuite::G33() { // Normalize angles to least-squares if (_angle_results) { - float a_sum = 0.0; + float a_sum = 0.0f; LOOP_XYZ(axis) a_sum += delta_tower_angle_trim[axis]; - LOOP_XYZ(axis) delta_tower_angle_trim[axis] -= a_sum / 3.0; + LOOP_XYZ(axis) delta_tower_angle_trim[axis] -= a_sum / 3.0f; } // adjust delta_height and endstops by the max amount @@ -639,7 +639,7 @@ void GcodeSuite::G33() { char mess[21]; strcpy_P(mess, PSTR("Calibration sd:")); if (zero_std_dev_min < 1) - sprintf_P(&mess[15], PSTR("0.%03i"), (int)LROUND(zero_std_dev_min * 1000.0)); + sprintf_P(&mess[15], PSTR("0.%03i"), (int)LROUND(zero_std_dev_min * 1000.0f)); else sprintf_P(&mess[15], PSTR("%03i.x"), (int)LROUND(zero_std_dev_min)); ui.set_status(mess); @@ -671,7 +671,7 @@ void GcodeSuite::G33() { strcpy_P(mess, enddryrun); strcpy_P(&mess[11], PSTR(" sd:")); if (zero_std_dev < 1) - sprintf_P(&mess[15], PSTR("0.%03i"), (int)LROUND(zero_std_dev * 1000.0)); + sprintf_P(&mess[15], PSTR("0.%03i"), (int)LROUND(zero_std_dev * 1000.0f)); else sprintf_P(&mess[15], PSTR("%03i.x"), (int)LROUND(zero_std_dev)); ui.set_status(mess);