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Some code cleanup around homing_feedrate

This commit is contained in:
Alex Voinea 2023-05-05 11:10:37 +02:00
parent 83879fd10c
commit 6af5f5e2a2
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GPG Key ID: 37EDFD565CB33BAD
3 changed files with 16 additions and 14 deletions
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2
Firmware/Marlin.h
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@ -236,7 +236,7 @@ enum class HeatingStatus : uint8_t
extern HeatingStatus heating_status;
extern bool fans_check_enabled;
extern float homing_feedrate[];
constexpr float homing_feedrate[] = HOMING_FEEDRATE;
extern uint8_t axis_relative_modes;
extern float feedrate;
extern int feedmultiply;

11
Firmware/Marlin_main.cpp
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@ -157,8 +157,6 @@ uint8_t mbl_z_probe_nr = 3; //numer of Z measurements for each point in mesh bed
float default_retraction = DEFAULT_RETRACTION;
float homing_feedrate[] = HOMING_FEEDRATE;
//Although this flag and many others like this could be represented with a struct/bitfield for each axis (more readable and efficient code), the implementation
//would not be standard across all platforms. That being said, the code will continue to use bitmasks for independent axis.
//Moreover, according to C/C++ standard, the ordering of bits is platform/compiler dependent and the compiler is allowed to align the bits arbitrarily,
@ -2791,6 +2789,8 @@ static void gcode_G28(bool home_x_axis, bool home_y_axis, bool home_z_axis)
// G80 - Automatic mesh bed leveling
static void gcode_G80()
{
constexpr float XY_AXIS_FEEDRATE = (homing_feedrate[X_AXIS] * 3) / 60;
constexpr float Z_LIFT_FEEDRATE = homing_feedrate[Z_AXIS] / 60;
st_synchronize();
if (planner_aborted)
return;
@ -2864,14 +2864,14 @@ static void gcode_G80()
// Cycle through all points and probe them
// First move up. During this first movement, the babystepping will be reverted.
current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
plan_buffer_line_curposXYZE(homing_feedrate[Z_AXIS] / 60);
plan_buffer_line_curposXYZE(Z_LIFT_FEEDRATE);
// The move to the first calibration point.
current_position[X_AXIS] = BED_X0;
current_position[Y_AXIS] = BED_Y0;
world2machine_clamp(current_position[X_AXIS], current_position[Y_AXIS]);
int XY_AXIS_FEEDRATE = homing_feedrate[X_AXIS] / 20;
plan_buffer_line_curposXYZE(XY_AXIS_FEEDRATE);
// Wait until the move is finished.
st_synchronize();
@ -2883,7 +2883,6 @@ static void gcode_G80()
}
uint8_t mesh_point = 0; //index number of calibration point
int Z_LIFT_FEEDRATE = homing_feedrate[Z_AXIS] / 40;
bool has_z = is_bed_z_jitter_data_valid(); //checks if we have data from Z calibration (offsets of the Z heiths of the 8 calibration points from the first point)
int l_feedmultiply = setup_for_endstop_move(false); //save feedrate and feedmultiply, sets feedmultiply to 100
while (mesh_point != MESH_NUM_X_POINTS * MESH_NUM_Y_POINTS) {
@ -2995,7 +2994,7 @@ static void gcode_G80()
tmc2130_home_enter(Z_AXIS_MASK);
#endif // TMC2130
current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
plan_buffer_line_curposXYZE(homing_feedrate[Z_AXIS] / 40);
plan_buffer_line_curposXYZE(Z_LIFT_FEEDRATE);
st_synchronize();
#ifdef TMC2130
tmc2130_home_exit();

17
Firmware/mesh_bed_calibration.cpp
View File

@ -2814,16 +2814,16 @@ void go_home_with_z_lift()
// Go home.
// First move up to a safe height.
current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
go_to_current(homing_feedrate[Z_AXIS]/60);
go_to_current(homing_feedrate[Z_AXIS] / 60);
// Second move to XY [0, 0].
current_position[X_AXIS] = X_MIN_POS+0.2;
current_position[Y_AXIS] = Y_MIN_POS+0.2;
current_position[X_AXIS] = X_MIN_POS + 0.2;
current_position[Y_AXIS] = Y_MIN_POS + 0.2;
// Clamp to the physical coordinates.
world2machine_clamp(current_position[X_AXIS], current_position[Y_AXIS]);
go_to_current(homing_feedrate[X_AXIS]/20);
go_to_current((3 * homing_feedrate[X_AXIS]) / 60);
// Third move up to a safe height.
current_position[Z_AXIS] = Z_MIN_POS;
go_to_current(homing_feedrate[Z_AXIS]/60);
go_to_current(homing_feedrate[Z_AXIS] / 60);
}
// Sample the 9 points of the bed and store them into the EEPROM as a reference.
@ -3033,9 +3033,12 @@ bool scan_bed_induction_points(int8_t verbosity_level)
// To replace loading of the babystep correction.
static void shift_z(float delta)
{
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS] - delta, current_position[E_AXIS], homing_feedrate[Z_AXIS]/40);
const float curpos_z = current_position[Z_AXIS];
current_position[Z_AXIS] -= delta;
plan_buffer_line_curposXYZE(homing_feedrate[Z_AXIS] / 60);
st_synchronize();
plan_set_z_position(current_position[Z_AXIS]);
current_position[Z_AXIS] = curpos_z;
plan_set_z_position(curpos_z);
}
// Number of baby steps applied