From 21faa52aabd959f512e5fec9b2e1e34edd16078d Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Gu=C3=B0ni=20M=C3=A1r=20Gilbert?= Date: Tue, 23 May 2023 18:37:06 +0000 Subject: [PATCH] Rename axis_steps_per_unit to axis_steps_per_mm --- Firmware/ConfigurationStore.cpp | 6 +-- Firmware/ConfigurationStore.h | 2 +- Firmware/Dcodes.cpp | 8 ++-- Firmware/Filament_sensor.cpp | 2 +- Firmware/Marlin_main.cpp | 44 +++++++++++----------- Firmware/mesh_bed_calibration.cpp | 6 +-- Firmware/planner.cpp | 62 +++++++++++++++---------------- Firmware/power_panic.cpp | 6 +-- Firmware/stepper.cpp | 8 ++-- Firmware/ultralcd.cpp | 6 +-- 10 files changed, 75 insertions(+), 75 deletions(-) diff --git a/Firmware/ConfigurationStore.cpp b/Firmware/ConfigurationStore.cpp index 2b3971a8c..3c439df68 100644 --- a/Firmware/ConfigurationStore.cpp +++ b/Firmware/ConfigurationStore.cpp @@ -30,7 +30,7 @@ void Config_PrintSettings(uint8_t level) "%SAdvanced variables: S=Min feedrate (mm/s), T=Min travel feedrate (mm/s), B=minimum segment time (ms), X=maximum XY jerk (mm/s), Z=maximum Z jerk (mm/s), E=maximum E jerk (mm/s)\n%S M205 S%.2f T%.2f B%.2f X%.2f Y%.2f Z%.2f E%.2f\n" "%SHome offset (mm):\n%S M206 X%.2f Y%.2f Z%.2f\n" ), - echomagic, echomagic, cs.axis_steps_per_unit[X_AXIS], cs.axis_steps_per_unit[Y_AXIS], cs.axis_steps_per_unit[Z_AXIS], cs.axis_steps_per_unit[E_AXIS], + echomagic, echomagic, cs.axis_steps_per_mm[X_AXIS], cs.axis_steps_per_mm[Y_AXIS], cs.axis_steps_per_mm[Z_AXIS], cs.axis_steps_per_mm[E_AXIS], echomagic, echomagic, cs.axis_ustep_resolution[X_AXIS], cs.axis_ustep_resolution[Y_AXIS], cs.axis_ustep_resolution[Z_AXIS], cs.axis_ustep_resolution[E_AXIS], echomagic, echomagic, cs.max_feedrate_normal[X_AXIS], cs.max_feedrate_normal[Y_AXIS], cs.max_feedrate_normal[Z_AXIS], cs.max_feedrate_normal[E_AXIS], echomagic, echomagic, cs.max_feedrate_silent[X_AXIS], cs.max_feedrate_silent[Y_AXIS], cs.max_feedrate_silent[Z_AXIS], cs.max_feedrate_silent[E_AXIS], @@ -48,7 +48,7 @@ void Config_PrintSettings(uint8_t level) "%SAdvanced variables: S=Min feedrate (mm/s), T=Min travel feedrate (mm/s), B=minimum segment time (ms), X=maximum XY jerk (mm/s), Z=maximum Z jerk (mm/s), E=maximum E jerk (mm/s)\n%S M205 S%.2f T%.2f B%.2f X%.2f Y%.2f Z%.2f E%.2f\n" "%SHome offset (mm):\n%S M206 X%.2f Y%.2f Z%.2f\n" ), - echomagic, echomagic, cs.axis_steps_per_unit[X_AXIS], cs.axis_steps_per_unit[Y_AXIS], cs.axis_steps_per_unit[Z_AXIS], cs.axis_steps_per_unit[E_AXIS], + echomagic, echomagic, cs.axis_steps_per_mm[X_AXIS], cs.axis_steps_per_mm[Y_AXIS], cs.axis_steps_per_mm[Z_AXIS], cs.axis_steps_per_mm[E_AXIS], echomagic, echomagic, max_feedrate[X_AXIS], max_feedrate[Y_AXIS], max_feedrate[Z_AXIS], max_feedrate[E_AXIS], echomagic, echomagic, max_acceleration_units_per_sq_second[X_AXIS], max_acceleration_units_per_sq_second[Y_AXIS], max_acceleration_units_per_sq_second[Z_AXIS], max_acceleration_units_per_sq_second[E_AXIS], echomagic, echomagic, cs.acceleration, cs.retract_acceleration, cs.travel_acceleration, @@ -114,7 +114,7 @@ void Config_PrintSettings(uint8_t level) static_assert (EXTRUDERS == 1, "ConfigurationStore M500_conf not implemented for more extruders, fix filament_size array size."); static_assert (NUM_AXIS == 4, "ConfigurationStore M500_conf not implemented for more axis." - "Fix axis_steps_per_unit max_feedrate_normal max_acceleration_units_per_sq_second_normal max_jerk max_feedrate_silent" + "Fix axis_steps_per_mm max_feedrate_normal max_acceleration_units_per_sq_second_normal max_jerk max_feedrate_silent" " max_acceleration_units_per_sq_second_silent array size."); #ifdef ENABLE_AUTO_BED_LEVELING static_assert (false, "zprobe_zoffset was not initialized in printers in field to -(Z_PROBE_OFFSET_FROM_EXTRUDER), so it contains" diff --git a/Firmware/ConfigurationStore.h b/Firmware/ConfigurationStore.h index f3c61ce8c..de6bc0645 100644 --- a/Firmware/ConfigurationStore.h +++ b/Firmware/ConfigurationStore.h @@ -9,7 +9,7 @@ typedef struct { char version[4]; - float axis_steps_per_unit[4]; + float axis_steps_per_mm[4]; float max_feedrate_normal[4]; unsigned long max_acceleration_units_per_sq_second_normal[4]; float acceleration; //!< Normal acceleration mm/s^2 THIS IS THE DEFAULT ACCELERATION for all moves. M204 SXXXX diff --git a/Firmware/Dcodes.cpp b/Firmware/Dcodes.cpp index 695dc437b..755a9a212 100644 --- a/Firmware/Dcodes.cpp +++ b/Firmware/Dcodes.cpp @@ -193,7 +193,7 @@ void dcode_3() #if 0 extern float current_temperature_pinda; -extern float axis_steps_per_unit[NUM_AXIS]; +extern float axis_steps_per_mm[NUM_AXIS]; #define LOG(args...) printf(args) @@ -479,7 +479,7 @@ void dcode_8() { uint16_t offs = 0; if (i > 0) offs = eeprom_read_word(((uint16_t*)EEPROM_PROBE_TEMP_SHIFT) + (i - 1)); - float foffs = ((float)offs) / cs.axis_steps_per_unit[Z_AXIS]; + float foffs = ((float)offs) / cs.axis_steps_per_mm[Z_AXIS]; offs = 1000 * foffs; printf_P(PSTR("temp_pinda=%dC temp_shift=%dum\n"), 35 + i * 5, offs); } @@ -844,9 +844,9 @@ void dcode_2130() uint16_t res_new = tmc2130_mres2usteps(mres); tmc2130_set_res(axis, res_new); if (res_new > res) - cs.axis_steps_per_unit[axis] *= (res_new / res); + cs.axis_steps_per_mm[axis] *= (res_new / res); else - cs.axis_steps_per_unit[axis] /= (res / res_new); + cs.axis_steps_per_mm[axis] /= (res / res_new); } } else if (strncmp(strchr_pointer + 7, "wave", 4) == 0) diff --git a/Firmware/Filament_sensor.cpp b/Firmware/Filament_sensor.cpp index 9736d6343..02a82cf56 100644 --- a/Firmware/Filament_sensor.cpp +++ b/Firmware/Filament_sensor.cpp @@ -379,7 +379,7 @@ void PAT9125_sensor::init() { settings_init(); // also sets the state to State::initializing - calcChunkSteps(cs.axis_steps_per_unit[E_AXIS]); // for jam detection + calcChunkSteps(cs.axis_steps_per_mm[E_AXIS]); // for jam detection if (!pat9125_init()) { deinit(); diff --git a/Firmware/Marlin_main.cpp b/Firmware/Marlin_main.cpp index f29fbeeac..35ff46d80 100644 --- a/Firmware/Marlin_main.cpp +++ b/Firmware/Marlin_main.cpp @@ -3386,13 +3386,13 @@ void gcode_M114() SERIAL_PROTOCOL(current_position[E_AXIS]); SERIAL_PROTOCOLRPGM(_n(" Count X: "));////MSG_COUNT_X - SERIAL_PROTOCOL(float(st_get_position(X_AXIS)) / cs.axis_steps_per_unit[X_AXIS]); + SERIAL_PROTOCOL(float(st_get_position(X_AXIS)) / cs.axis_steps_per_mm[X_AXIS]); SERIAL_PROTOCOLPGM(" Y:"); - SERIAL_PROTOCOL(float(st_get_position(Y_AXIS)) / cs.axis_steps_per_unit[Y_AXIS]); + SERIAL_PROTOCOL(float(st_get_position(Y_AXIS)) / cs.axis_steps_per_mm[Y_AXIS]); SERIAL_PROTOCOLPGM(" Z:"); - SERIAL_PROTOCOL(float(st_get_position(Z_AXIS)) / cs.axis_steps_per_unit[Z_AXIS]); + SERIAL_PROTOCOL(float(st_get_position(Z_AXIS)) / cs.axis_steps_per_mm[Z_AXIS]); SERIAL_PROTOCOLPGM(" E:"); - SERIAL_PROTOCOLLN(float(st_get_position(E_AXIS)) / cs.axis_steps_per_unit[E_AXIS]); + SERIAL_PROTOCOLLN(float(st_get_position(E_AXIS)) / cs.axis_steps_per_mm[E_AXIS]); } #if (defined(FANCHECK) && (((defined(TACH_0) && (TACH_0 >-1)) || (defined(TACH_1) && (TACH_1 > -1))))) @@ -3777,7 +3777,7 @@ static void gcode_M861_print_pinda_cal_eeprom() { for (uint8_t i = 0; i < 6; i++) { if(i > 0) { usteps = eeprom_read_word((uint16_t*) EEPROM_PROBE_TEMP_SHIFT + (i - 1)); - mm = ((float)usteps) / cs.axis_steps_per_unit[Z_AXIS]; + mm = ((float)usteps) / cs.axis_steps_per_mm[Z_AXIS]; SERIAL_PROTOCOL(i - 1); } else { SERIAL_PROTOCOLRPGM(MSG_NA); @@ -3885,7 +3885,7 @@ extern uint8_t st_backlash_y; //! or use S to specify an inactivity timeout, after which the steppers will be disabled. S0 to disable the timeout. //!@n M85 - Set inactivity shutdown timer with parameter S. To disable set zero (default) //!@n M86 - Set safety timer expiration time with parameter S; M86 S0 will disable safety timer -//!@n M92 - Set axis_steps_per_unit - same syntax as G92 +//!@n M92 - Set axis_steps_per_mm - same syntax as G92 //!@n M104 - Set extruder target temp //!@n M105 - Read current temp //!@n M106 - Fan on @@ -4566,7 +4566,7 @@ void process_commands() // The following code correct the Z height difference from z-probe position and hotend tip position. // The Z height on homing is measured by Z-Probe, but the probe is quite far from the hotend. // When the bed is uneven, this height must be corrected. - real_z = float(st_get_position(Z_AXIS))/cs.axis_steps_per_unit[Z_AXIS]; //get the real Z (since the auto bed leveling is already correcting the plane) + real_z = float(st_get_position(Z_AXIS))/cs.axis_steps_per_mm[Z_AXIS]; //get the real Z (since the auto bed leveling is already correcting the plane) x_tmp = current_position[X_AXIS] + X_PROBE_OFFSET_FROM_EXTRUDER; y_tmp = current_position[Y_AXIS] + Y_PROBE_OFFSET_FROM_EXTRUDER; z_tmp = current_position[Z_AXIS]; @@ -4829,7 +4829,7 @@ void process_commands() lcd_temp_cal_show_result(find_z_result); break; } - z_shift = (int)((current_position[Z_AXIS] - zero_z)*cs.axis_steps_per_unit[Z_AXIS]); + z_shift = (int)((current_position[Z_AXIS] - zero_z)*cs.axis_steps_per_mm[Z_AXIS]); printf_P(_N("\nPINDA temperature: %.1f Z shift (mm): %.3f"), current_temperature_pinda, current_position[Z_AXIS] - zero_z); @@ -4914,7 +4914,7 @@ void process_commands() plan_buffer_line_curposXYZE(3000 / 60); st_synchronize(); find_bed_induction_sensor_point_z(-1.f); - z_shift = (int)((current_position[Z_AXIS] - zero_z)*cs.axis_steps_per_unit[Z_AXIS]); + z_shift = (int)((current_position[Z_AXIS] - zero_z)*cs.axis_steps_per_mm[Z_AXIS]); printf_P(_N("\nTemperature: %d Z shift (mm): %.3f\n"), t_c, current_position[Z_AXIS] - zero_z); @@ -6331,18 +6331,18 @@ Sigma_Exit: if(i == E_AXIS) { // E float value = code_value(); if(value < 20.0) { - float factor = cs.axis_steps_per_unit[i] / value; // increase e constants if M92 E14 is given for netfab. + float factor = cs.axis_steps_per_mm[i] / value; // increase e constants if M92 E14 is given for netfab. cs.max_jerk[E_AXIS] *= factor; max_feedrate[i] *= factor; max_acceleration_steps_per_s2[i] *= factor; } - cs.axis_steps_per_unit[i] = value; + cs.axis_steps_per_mm[i] = value; #if defined(FILAMENT_SENSOR) && (FILAMENT_SENSOR_TYPE == FSENSOR_PAT9125) fsensor.init(); #endif //defined(FILAMENT_SENSOR) && (FILAMENT_SENSOR_TYPE == FSENSOR_PAT9125) } else { - cs.axis_steps_per_unit[i] = code_value(); + cs.axis_steps_per_mm[i] = code_value(); } } } @@ -6708,7 +6708,7 @@ Sigma_Exit: #if 0 // Not used for Sprinter/grbl gen6 case 202: // M202 for(int8_t i=0; i < NUM_AXIS; i++) { - if(code_seen(axis_codes[i])) axis_travel_steps_per_sqr_second[i] = code_value() * cs.axis_steps_per_unit[i]; + if(code_seen(axis_codes[i])) axis_travel_steps_per_sqr_second[i] = code_value() * cs.axis_steps_per_mm[i]; } break; #endif @@ -7720,7 +7720,7 @@ Sigma_Exit: } if (code_seen('Z')){ z_val = code_value(); - zraw = z_val*cs.axis_steps_per_unit[Z_AXIS]; + zraw = z_val*cs.axis_steps_per_mm[Z_AXIS]; if ((zraw < Z_BABYSTEP_MIN) || (zraw > Z_BABYSTEP_MAX)) { SERIAL_PROTOCOLLNPGM(" Z VALUE OUT OF RANGE"); @@ -7731,7 +7731,7 @@ Sigma_Exit: else { zraw = eeprom_read_word(reinterpret_cast(&(EEPROM_Sheets_base->s[iSel].z_offset))); - z_val = ((float)zraw/cs.axis_steps_per_unit[Z_AXIS]); + z_val = ((float)zraw/cs.axis_steps_per_mm[Z_AXIS]); } if (code_seen('L')) @@ -8321,13 +8321,13 @@ Sigma_Exit: if (res_new > res) { uint16_t fac = (res_new / res); - cs.axis_steps_per_unit[i] *= fac; + cs.axis_steps_per_mm[i] *= fac; position[i] *= fac; } else { uint16_t fac = (res / res_new); - cs.axis_steps_per_unit[i] /= fac; + cs.axis_steps_per_mm[i] /= fac; position[i] /= fac; } #if defined(FILAMENT_SENSOR) && (FILAMENT_SENSOR_TYPE == FSENSOR_PAT9125) @@ -9387,8 +9387,8 @@ void manage_inactivity(bool ignore_stepper_queue/*=false*/) //default argument s float oldepos=current_position[E_AXIS]; float oldedes=destination[E_AXIS]; plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], - destination[E_AXIS]+EXTRUDER_RUNOUT_EXTRUDE*EXTRUDER_RUNOUT_ESTEPS/cs.axis_steps_per_unit[E_AXIS], - EXTRUDER_RUNOUT_SPEED/60.*EXTRUDER_RUNOUT_ESTEPS/cs.axis_steps_per_unit[E_AXIS]); + destination[E_AXIS]+EXTRUDER_RUNOUT_EXTRUDE*EXTRUDER_RUNOUT_ESTEPS/cs.axis_steps_per_mm[E_AXIS], + EXTRUDER_RUNOUT_SPEED/60.*EXTRUDER_RUNOUT_ESTEPS/cs.axis_steps_per_mm[E_AXIS]); current_position[E_AXIS]=oldepos; destination[E_AXIS]=oldedes; plan_set_e_position(oldepos); @@ -10209,10 +10209,10 @@ static void temp_compensation_apply() { if (target_temperature_bed % 10 == 0 && target_temperature_bed >= 60 && target_temperature_bed <= 100) { i_add = (target_temperature_bed - 60) / 10; z_shift = eeprom_read_word((uint16_t*)EEPROM_PROBE_TEMP_SHIFT + i_add); - z_shift_mm = z_shift / cs.axis_steps_per_unit[Z_AXIS]; + z_shift_mm = z_shift / cs.axis_steps_per_mm[Z_AXIS]; }else { //interpolation - z_shift_mm = temp_comp_interpolation(target_temperature_bed) / cs.axis_steps_per_unit[Z_AXIS]; + z_shift_mm = temp_comp_interpolation(target_temperature_bed) / cs.axis_steps_per_mm[Z_AXIS]; } printf_P(_N("\nZ shift applied:%.3f\n"), z_shift_mm); plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS] - z_shift_mm, current_position[E_AXIS], homing_feedrate[Z_AXIS] / 40); @@ -10303,7 +10303,7 @@ float temp_compensation_pinda_thermistor_offset(float temperature_pinda) { if (!eeprom_read_byte((unsigned char *)EEPROM_TEMP_CAL_ACTIVE)) return 0; if (!calibration_status_pinda()) return 0; - return temp_comp_interpolation(temperature_pinda) / cs.axis_steps_per_unit[Z_AXIS]; + return temp_comp_interpolation(temperature_pinda) / cs.axis_steps_per_mm[Z_AXIS]; } #endif //PINDA_THERMISTOR diff --git a/Firmware/mesh_bed_calibration.cpp b/Firmware/mesh_bed_calibration.cpp index 8c82acc91..39dbc5c06 100644 --- a/Firmware/mesh_bed_calibration.cpp +++ b/Firmware/mesh_bed_calibration.cpp @@ -3055,7 +3055,7 @@ void babystep_load() SERIAL_ECHO(", current Z: "); SERIAL_ECHO(current_position[Z_AXIS]); SERIAL_ECHO("correction: "); - SERIAL_ECHO(float(babystepLoadZ) / float(axis_steps_per_unit[Z_AXIS])); + SERIAL_ECHO(float(babystepLoadZ) / float(axis_steps_per_mm[Z_AXIS])); SERIAL_ECHOLN(""); #endif } @@ -3064,12 +3064,12 @@ void babystep_load() void babystep_apply() { babystep_load(); - shift_z(- float(babystepLoadZ) / float(cs.axis_steps_per_unit[Z_AXIS])); + shift_z(- float(babystepLoadZ) / float(cs.axis_steps_per_mm[Z_AXIS])); } void babystep_undo() { - shift_z(float(babystepLoadZ) / float(cs.axis_steps_per_unit[Z_AXIS])); + shift_z(float(babystepLoadZ) / float(cs.axis_steps_per_mm[Z_AXIS])); babystepLoadZ = 0; } diff --git a/Firmware/planner.cpp b/Firmware/planner.cpp index f9b804725..766d383bc 100644 --- a/Firmware/planner.cpp +++ b/Firmware/planner.cpp @@ -94,7 +94,7 @@ matrix_3x3 plan_bed_level_matrix = { #endif // #ifdef ENABLE_AUTO_BED_LEVELING // The current position of the tool in absolute steps -long position[NUM_AXIS]; //rescaled from extern when axis_steps_per_unit are changed by gcode +long position[NUM_AXIS]; //rescaled from extern when axis_steps_per_mm are changed by gcode static float previous_speed[NUM_AXIS]; // Speed of previous path line segment static float previous_nominal_speed; // Nominal speed of previous path line segment static float previous_safe_speed; // Exit speed limited by a jerk to full halt of a previous last segment. @@ -628,9 +628,9 @@ void planner_reset_position() else { float t = float(step_events_completed) / float(current_block->step_event_count); float vec[3] = { - current_block->steps_x / cs.axis_steps_per_unit[X_AXIS], - current_block->steps_y / cs.axis_steps_per_unit[Y_AXIS], - current_block->steps_z / cs.axis_steps_per_unit[Z_AXIS] + current_block->steps_x / cs.axis_steps_per_mm[X_AXIS], + current_block->steps_y / cs.axis_steps_per_mm[Y_AXIS], + current_block->steps_z / cs.axis_steps_per_mm[Z_AXIS] }; float pos1[3], pos2[3]; for (int8_t i = 0; i < 3; ++ i) { @@ -809,18 +809,18 @@ void plan_buffer_line(float x, float y, float z, const float &e, float feed_rate // 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[4]; - target[X_AXIS] = lround(x*cs.axis_steps_per_unit[X_AXIS]); - target[Y_AXIS] = lround(y*cs.axis_steps_per_unit[Y_AXIS]); + target[X_AXIS] = lround(x*cs.axis_steps_per_mm[X_AXIS]); + target[Y_AXIS] = lround(y*cs.axis_steps_per_mm[Y_AXIS]); #ifdef MESH_BED_LEVELING if (mbl.active){ - target[Z_AXIS] = lround((z+mbl.get_z(x, y))*cs.axis_steps_per_unit[Z_AXIS]); + target[Z_AXIS] = lround((z+mbl.get_z(x, y))*cs.axis_steps_per_mm[Z_AXIS]); }else{ - target[Z_AXIS] = lround(z*cs.axis_steps_per_unit[Z_AXIS]); + target[Z_AXIS] = lround(z*cs.axis_steps_per_mm[Z_AXIS]); } #else - target[Z_AXIS] = lround(z*cs.axis_steps_per_unit[Z_AXIS]); + target[Z_AXIS] = lround(z*cs.axis_steps_per_mm[Z_AXIS]); #endif // ENABLE_MESH_BED_LEVELING - target[E_AXIS] = lround(e*cs.axis_steps_per_unit[E_AXIS]); + target[E_AXIS] = lround(e*cs.axis_steps_per_mm[E_AXIS]); // Calculate subtraction to re-use result in many places // This saves memory and speeds up calculations @@ -844,7 +844,7 @@ void plan_buffer_line(float x, float y, float z, const float &e, float feed_rate } #ifdef PREVENT_LENGTHY_EXTRUDE - if(labs(de) > cs.axis_steps_per_unit[E_AXIS]*EXTRUDE_MAXLENGTH) + if(labs(de) > cs.axis_steps_per_mm[E_AXIS]*EXTRUDE_MAXLENGTH) { position[E_AXIS]=target[E_AXIS]; //behave as if the move really took place, but ignore E part #ifdef LIN_ADVANCE @@ -928,17 +928,17 @@ Having the real displacement of the head, we can calculate the total movement le */ #ifndef COREXY float delta_mm[4]; - delta_mm[X_AXIS] = dx / cs.axis_steps_per_unit[X_AXIS]; - delta_mm[Y_AXIS] = dy / cs.axis_steps_per_unit[Y_AXIS]; + delta_mm[X_AXIS] = dx / cs.axis_steps_per_mm[X_AXIS]; + delta_mm[Y_AXIS] = dy / cs.axis_steps_per_mm[Y_AXIS]; #else float delta_mm[6]; - delta_mm[X_HEAD] = dx / cs.axis_steps_per_unit[X_AXIS]; - delta_mm[Y_HEAD] = dy / cs.axis_steps_per_unit[Y_AXIS]; - delta_mm[X_AXIS] = (dx + dy) / cs.axis_steps_per_unit[X_AXIS]; - delta_mm[Y_AXIS] = (dx - dy) / cs.axis_steps_per_unit[Y_AXIS]; + delta_mm[X_HEAD] = dx / cs.axis_steps_per_mm[X_AXIS]; + delta_mm[Y_HEAD] = dy / cs.axis_steps_per_mm[Y_AXIS]; + delta_mm[X_AXIS] = (dx + dy) / cs.axis_steps_per_mm[X_AXIS]; + delta_mm[Y_AXIS] = (dx - dy) / cs.axis_steps_per_mm[Y_AXIS]; #endif - delta_mm[Z_AXIS] = dz / cs.axis_steps_per_unit[Z_AXIS]; - delta_mm[E_AXIS] = de / cs.axis_steps_per_unit[E_AXIS]; + delta_mm[Z_AXIS] = dz / cs.axis_steps_per_mm[Z_AXIS]; + delta_mm[E_AXIS] = de / cs.axis_steps_per_mm[E_AXIS]; if ( block->steps[X_AXIS].wide <=dropsegments && block->steps[Y_AXIS].wide <=dropsegments && block->steps[Z_AXIS].wide <=dropsegments ) { block->millimeters = fabs(delta_mm[E_AXIS]); @@ -1206,14 +1206,14 @@ Having the real displacement of the head, we can calculate the total movement le if (block->use_advance_lead) { // calculate the compression ratio for the segment (the required advance steps are computed // during trapezoid planning) - float adv_comp = extruder_advance_K * e_D_ratio * cs.axis_steps_per_unit[E_AXIS]; // (step/(mm/s)) + float adv_comp = extruder_advance_K * e_D_ratio * cs.axis_steps_per_mm[E_AXIS]; // (step/(mm/s)) block->adv_comp = adv_comp / block->speed_factor; // step/(step/min) float advance_speed; if (e_D_ratio > 0) - advance_speed = (extruder_advance_K * e_D_ratio * block->acceleration * cs.axis_steps_per_unit[E_AXIS]); + advance_speed = (extruder_advance_K * e_D_ratio * block->acceleration * cs.axis_steps_per_mm[E_AXIS]); else - advance_speed = cs.max_jerk[E_AXIS] * cs.axis_steps_per_unit[E_AXIS]; + advance_speed = cs.max_jerk[E_AXIS] * cs.axis_steps_per_mm[E_AXIS]; // to save more space we avoid another copy of calc_timer and go through slow division, but we // still need to replicate the *exact* same step grouping policy (see below) @@ -1314,16 +1314,16 @@ void plan_set_position(float x, float y, float z, const float &e) world2machine(x, y); - position[X_AXIS] = lround(x*cs.axis_steps_per_unit[X_AXIS]); - position[Y_AXIS] = lround(y*cs.axis_steps_per_unit[Y_AXIS]); + position[X_AXIS] = lround(x*cs.axis_steps_per_mm[X_AXIS]); + position[Y_AXIS] = lround(y*cs.axis_steps_per_mm[Y_AXIS]); #ifdef MESH_BED_LEVELING position[Z_AXIS] = mbl.active ? - lround((z+mbl.get_z(x, y))*cs.axis_steps_per_unit[Z_AXIS]) : - lround(z*cs.axis_steps_per_unit[Z_AXIS]); + lround((z+mbl.get_z(x, y))*cs.axis_steps_per_mm[Z_AXIS]) : + lround(z*cs.axis_steps_per_mm[Z_AXIS]); #else - position[Z_AXIS] = lround(z*cs.axis_steps_per_unit[Z_AXIS]); + position[Z_AXIS] = lround(z*cs.axis_steps_per_mm[Z_AXIS]); #endif // ENABLE_MESH_BED_LEVELING - position[E_AXIS] = lround(e*cs.axis_steps_per_unit[E_AXIS]); + position[E_AXIS] = lround(e*cs.axis_steps_per_mm[E_AXIS]); #ifdef LIN_ADVANCE position_float[X_AXIS] = x; position_float[Y_AXIS] = y; @@ -1341,7 +1341,7 @@ void plan_set_z_position(const float &z) #ifdef LIN_ADVANCE position_float[Z_AXIS] = z; #endif - position[Z_AXIS] = lround(z*cs.axis_steps_per_unit[Z_AXIS]); + position[Z_AXIS] = lround(z*cs.axis_steps_per_mm[Z_AXIS]); st_set_position(position); } @@ -1350,7 +1350,7 @@ void plan_set_e_position(const float &e) #ifdef LIN_ADVANCE position_float[E_AXIS] = e; #endif - position[E_AXIS] = lround(e*cs.axis_steps_per_unit[E_AXIS]); + position[E_AXIS] = lround(e*cs.axis_steps_per_mm[E_AXIS]); st_set_e_position(position[E_AXIS]); } @@ -1370,7 +1370,7 @@ void set_extrude_min_temp(int temp) void reset_acceleration_rates() { for(int8_t i=0; i < NUM_AXIS; i++) - max_acceleration_steps_per_s2[i] = max_acceleration_units_per_sq_second[i] * cs.axis_steps_per_unit[i]; + max_acceleration_steps_per_s2[i] = max_acceleration_units_per_sq_second[i] * cs.axis_steps_per_mm[i]; } #ifdef TMC2130 diff --git a/Firmware/power_panic.cpp b/Firmware/power_panic.cpp index 935915355..8e0897e4b 100644 --- a/Firmware/power_panic.cpp +++ b/Firmware/power_panic.cpp @@ -146,7 +146,7 @@ void uvlo_() { uint16_t z_res = tmc2130_get_res(Z_AXIS); uint16_t z_microsteps = tmc2130_rd_MSCNT(Z_AXIS); current_position[Z_AXIS] += float(1024 - z_microsteps) - / (z_res * cs.axis_steps_per_unit[Z_AXIS]) + / (z_res * cs.axis_steps_per_mm[Z_AXIS]) + UVLO_Z_AXIS_SHIFT; plan_buffer_line_curposXYZE(homing_feedrate[Z_AXIS]/60); st_synchronize(); @@ -244,7 +244,7 @@ static void uvlo_tiny() { planner_abort_hard(); // Allow for small roundoffs to be ignored - if(fabs(current_position[Z_AXIS] - eeprom_read_float((float*)(EEPROM_UVLO_TINY_CURRENT_POSITION_Z))) >= 1.f/cs.axis_steps_per_unit[Z_AXIS]) + if(fabs(current_position[Z_AXIS] - eeprom_read_float((float*)(EEPROM_UVLO_TINY_CURRENT_POSITION_Z))) >= 1.f/cs.axis_steps_per_mm[Z_AXIS]) { // Clean the input command queue, inhibit serial processing using saved_printing cmdqueue_reset(); @@ -260,7 +260,7 @@ static void uvlo_tiny() { uint16_t z_res = tmc2130_get_res(Z_AXIS); uint16_t z_microsteps = tmc2130_rd_MSCNT(Z_AXIS); current_position[Z_AXIS] += float(1024 - z_microsteps) - / (z_res * cs.axis_steps_per_unit[Z_AXIS]) + / (z_res * cs.axis_steps_per_mm[Z_AXIS]) + UVLO_TINY_Z_AXIS_SHIFT; plan_buffer_line_curposXYZE(homing_feedrate[Z_AXIS]/60); st_synchronize(); diff --git a/Firmware/stepper.cpp b/Firmware/stepper.cpp index 1d1658d0e..002372743 100644 --- a/Firmware/stepper.cpp +++ b/Firmware/stepper.cpp @@ -192,15 +192,15 @@ void checkHitEndstops() SERIAL_ECHO_START; SERIAL_ECHORPGM(MSG_ENDSTOPS_HIT); if(endstop_hit & _BV(X_AXIS)) { - SERIAL_ECHOPAIR(" X:",(float)endstops_trigsteps[X_AXIS]/cs.axis_steps_per_unit[X_AXIS]); + SERIAL_ECHOPAIR(" X:",(float)endstops_trigsteps[X_AXIS]/cs.axis_steps_per_mm[X_AXIS]); // LCD_MESSAGERPGM(CAT2((MSG_ENDSTOPS_HIT), PSTR("X"))); } if(endstop_hit & _BV(Y_AXIS)) { - SERIAL_ECHOPAIR(" Y:",(float)endstops_trigsteps[Y_AXIS]/cs.axis_steps_per_unit[Y_AXIS]); + SERIAL_ECHOPAIR(" Y:",(float)endstops_trigsteps[Y_AXIS]/cs.axis_steps_per_mm[Y_AXIS]); // LCD_MESSAGERPGM(CAT2((MSG_ENDSTOPS_HIT), PSTR("Y"))); } if(endstop_hit & _BV(Z_AXIS)) { - SERIAL_ECHOPAIR(" Z:",(float)endstops_trigsteps[Z_AXIS]/cs.axis_steps_per_unit[Z_AXIS]); + SERIAL_ECHOPAIR(" Z:",(float)endstops_trigsteps[Z_AXIS]/cs.axis_steps_per_mm[Z_AXIS]); // LCD_MESSAGERPGM(CAT2((MSG_ENDSTOPS_HIT),PSTR("Z"))); } SERIAL_ECHOLN(""); @@ -1348,7 +1348,7 @@ void st_get_position_xy(long &x, long &y) float st_get_position_mm(uint8_t axis) { float steper_position_in_steps = st_get_position(axis); - return steper_position_in_steps / cs.axis_steps_per_unit[axis]; + return steper_position_in_steps / cs.axis_steps_per_mm[axis]; } diff --git a/Firmware/ultralcd.cpp b/Firmware/ultralcd.cpp index f14674737..720cd9714 100644 --- a/Firmware/ultralcd.cpp +++ b/Firmware/ultralcd.cpp @@ -2562,7 +2562,7 @@ static void lcd_babystep_z() if (!calibration_status_get(CALIBRATION_STATUS_LIVE_ADJUST)) _md->babystepMemZ = 0; - _md->babystepMemMMZ = _md->babystepMemZ/cs.axis_steps_per_unit[Z_AXIS]; + _md->babystepMemMMZ = _md->babystepMemZ/cs.axis_steps_per_mm[Z_AXIS]; lcd_draw_update = 1; //SERIAL_ECHO("Z baby step: "); //SERIAL_ECHO(_md->babystepMem[2]); @@ -2576,7 +2576,7 @@ static void lcd_babystep_z() else if (_md->babystepMemZ > Z_BABYSTEP_MAX) _md->babystepMemZ = Z_BABYSTEP_MAX; //0 else babystepsTodoZadd(lcd_encoder); - _md->babystepMemMMZ = _md->babystepMemZ/cs.axis_steps_per_unit[Z_AXIS]; + _md->babystepMemMMZ = _md->babystepMemZ/cs.axis_steps_per_mm[Z_AXIS]; _delay(50); lcd_encoder = 0; lcd_draw_update = 1; @@ -3572,7 +3572,7 @@ void lcd_first_layer_calibration_reset() char sheet_name[sizeof(Sheet::name)]; eeprom_read_block(sheet_name, &EEPROM_Sheets_base->s[(eeprom_read_byte(&(EEPROM_Sheets_base->active_sheet)))].name, sizeof(Sheet::name)); lcd_set_cursor(0, 0); - float offset = static_cast(eeprom_read_word(reinterpret_cast(&EEPROM_Sheets_base->s[(eeprom_read_byte(&(EEPROM_Sheets_base->active_sheet)))].z_offset)))/cs.axis_steps_per_unit[Z_AXIS]; + float offset = static_cast(eeprom_read_word(reinterpret_cast(&EEPROM_Sheets_base->s[(eeprom_read_byte(&(EEPROM_Sheets_base->active_sheet)))].z_offset)))/cs.axis_steps_per_mm[Z_AXIS]; lcd_printf_P(_i("Sheet %.7s\nZ offset: %+1.3fmm\n%cContinue\n%cReset"),////MSG_SHEET_OFFSET c=20 r=4 sheet_name, offset, menuData->reset ? ' ' : '>', menuData->reset ? '>' : ' ');// \n denotes line break, %.7s is replaced by 7 character long sheet name, %+1.3f is replaced by 6 character long floating point number, %c is replaced by > or white space (one character) based on whether first or second option is selected. % denoted place holders can not be reordered.