Merge pull request #4389 from thinkyhead/rc_optimize_planner

Optimize planner with precalculation, etc.

Marlin/Marlin_main.cpp

     print_xyz(PSTR(STRINGIFY(VAR) "="), PSTR(" : " SUFFIX "\n"), VAR); } while(0)
 #endif
 
+/**
+ * sync_plan_position
+ * Set planner / stepper positions to the cartesian current_position.
+ * The stepper code translates these coordinates into step units.
+ * Allows translation between steps and millimeters for cartesian & core robots
+ */
+inline void sync_plan_position() {
+  #if ENABLED(DEBUG_LEVELING_FEATURE)
+    if (DEBUGGING(LEVELING)) DEBUG_POS("sync_plan_position", current_position);
+  #endif
+  planner.set_position_mm(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
+}
+inline void sync_plan_position_e() { planner.set_e_position_mm(current_position[E_AXIS]); }
+
 #if ENABLED(DELTA) || ENABLED(SCARA)
   inline void sync_plan_position_delta() {
     #if ENABLED(DEBUG_LEVELING_FEATURE)
   // Send "ok" after commands by default
   for (int8_t i = 0; i < BUFSIZE; i++) send_ok[i] = true;
 
-  // loads data from EEPROM if available else uses defaults (and resets step acceleration rate)
+  // Load data from EEPROM if available (or use defaults)
+  // This also updates variables in the planner, elsewhere
   Config_RetrieveSettings();
 
   // Initialize current position based on home_offset
   memcpy(current_position, home_offset, sizeof(home_offset));
 
-  #if ENABLED(DELTA) || ENABLED(SCARA)
-    // Vital to init kinematic equivalent for X0 Y0 Z0
-    SYNC_PLAN_POSITION_KINEMATIC();
-  #endif
+  // Vital to init stepper/planner equivalent for current_position
+  SYNC_PLAN_POSITION_KINEMATIC();
 
   thermalManager.init();    // Initialize temperature loop
 
       case TEMPUNIT_C:
         return code_value_float();
       case TEMPUNIT_F:
-        return (code_value_float() - 32) / 1.8;
+        return (code_value_float() - 32) * 0.5555555556;
       case TEMPUNIT_K:
         return code_value_float() - 272.15;
       default:
       case TEMPUNIT_K:
         return code_value_float();
       case TEMPUNIT_F:
-        return code_value_float() / 1.8;
+        return code_value_float() * 0.5555555556;
       default:
         return code_value_float();
     }
 }
 inline void line_to_destination() { line_to_destination(feedrate_mm_m); }
 
-/**
- * sync_plan_position
- * Set planner / stepper positions to the cartesian current_position.
- * The stepper code translates these coordinates into step units.
- * Allows translation between steps and millimeters for cartesian & core robots
- */
-inline void sync_plan_position() {
-  #if ENABLED(DEBUG_LEVELING_FEATURE)
-    if (DEBUGGING(LEVELING)) DEBUG_POS("sync_plan_position", current_position);
-  #endif
-  planner.set_position_mm(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
-}
-inline void sync_plan_position_e() { planner.set_e_position_mm(current_position[E_AXIS]); }
 inline void set_current_to_destination() { memcpy(current_position, destination, sizeof(current_position)); }
 inline void set_destination_to_current() { memcpy(destination, current_position, sizeof(destination)); }
 
       }
     }
   }
+  planner.refresh_positioning();
 }
 
 /**
   bool err = false;
   LOOP_XYZ(i) {
     if (axis_homed[i]) {
-      float base = (current_position[i] > (sw_endstop_min[i] + sw_endstop_max[i]) / 2) ? base_home_pos(i) : 0,
+      float base = (current_position[i] > (sw_endstop_min[i] + sw_endstop_max[i]) * 0.5) ? base_home_pos(i) : 0,
             diff = current_position[i] - LOGICAL_POSITION(base, i);
       if (diff > -20 && diff < 20) {
         set_home_offset((AxisEnum)i, home_offset[i] - diff);

Marlin/configuration_store.cpp

   // steps per s2 needs to be updated to agree with units per s2
   planner.reset_acceleration_rates();
 
+  // Make sure delta kinematics are updated before refreshing the
+  // planner position so the stepper counts will be set correctly.
   #if ENABLED(DELTA)
     recalc_delta_settings(delta_radius, delta_diagonal_rod);
   #endif
 
+  // Refresh steps_to_mm with the reciprocal of axis_steps_per_mm
+  // and init stepper.count[], planner.position[] with current_position
+  planner.refresh_positioning();
+
   #if ENABLED(PIDTEMP)
     thermalManager.updatePID();
   #endif

Marlin/planner.cpp

 volatile uint8_t Planner::block_buffer_head = 0;           // Index of the next block to be pushed
 volatile uint8_t Planner::block_buffer_tail = 0;
 
-float Planner::max_feedrate_mm_s[NUM_AXIS]; // Max speeds in mm per second
-float Planner::axis_steps_per_mm[NUM_AXIS];
-unsigned long Planner::max_acceleration_steps_per_s2[NUM_AXIS];
-unsigned long Planner::max_acceleration_mm_per_s2[NUM_AXIS]; // Use M201 to override by software
+float Planner::max_feedrate_mm_s[NUM_AXIS], // Max speeds in mm per second
+      Planner::axis_steps_per_mm[NUM_AXIS],
+      Planner::steps_to_mm[NUM_AXIS];
+
+unsigned long Planner::max_acceleration_steps_per_s2[NUM_AXIS],
+              Planner::max_acceleration_mm_per_s2[NUM_AXIS]; // Use M201 to override by software
 
 millis_t Planner::min_segment_time;
-float Planner::min_feedrate_mm_s;
-float Planner::acceleration;         // Normal acceleration mm/s^2  DEFAULT ACCELERATION for all printing moves. M204 SXXXX
-float Planner::retract_acceleration; // Retract acceleration mm/s^2 filament pull-back and push-forward while standing still in the other axes M204 TXXXX
-float Planner::travel_acceleration;  // Travel acceleration mm/s^2  DEFAULT ACCELERATION for all NON printing moves. M204 MXXXX
-float Planner::max_xy_jerk;          // The largest speed change requiring no acceleration
-float Planner::max_z_jerk;
-float Planner::max_e_jerk;
-float Planner::min_travel_feedrate_mm_s;
+float Planner::min_feedrate_mm_s,
+      Planner::acceleration,         // Normal acceleration mm/s^2  DEFAULT ACCELERATION for all printing moves. M204 SXXXX
+      Planner::retract_acceleration, // Retract acceleration mm/s^2 filament pull-back and push-forward while standing still in the other axes M204 TXXXX
+      Planner::travel_acceleration,  // Travel acceleration mm/s^2  DEFAULT ACCELERATION for all NON printing moves. M204 MXXXX
+      Planner::max_xy_jerk,          // The largest speed change requiring no acceleration
+      Planner::max_z_jerk,
+      Planner::max_e_jerk,
+      Planner::min_travel_feedrate_mm_s;
 
 #if ENABLED(AUTO_BED_LEVELING_FEATURE)
   matrix_3x3 Planner::bed_level_matrix; // Transform to compensate for bed level
 #endif
 
 #if ENABLED(AUTOTEMP)
-  float Planner::autotemp_max = 250;
-  float Planner::autotemp_min = 210;
-  float Planner::autotemp_factor = 0.1;
+  float Planner::autotemp_max = 250,
+        Planner::autotemp_min = 210,
+        Planner::autotemp_factor = 0.1;
   bool Planner::autotemp_enabled = false;
 #endif
 
 
 long Planner::position[NUM_AXIS] = { 0 };
 
-float Planner::previous_speed[NUM_AXIS];
-
-float Planner::previous_nominal_speed;
+float Planner::previous_speed[NUM_AXIS],
+      Planner::previous_nominal_speed;
 
 #if ENABLED(DISABLE_INACTIVE_EXTRUDER)
   uint8_t Planner::g_uc_extruder_last_move[EXTRUDERS] = { 0 };
   #if ENABLED(COREXY) || ENABLED(COREXZ) || ENABLED(COREYZ)
     float delta_mm[6];
     #if ENABLED(COREXY)
-      delta_mm[X_HEAD] = dx / axis_steps_per_mm[A_AXIS];
-      delta_mm[Y_HEAD] = dy / axis_steps_per_mm[B_AXIS];
-      delta_mm[Z_AXIS] = dz / axis_steps_per_mm[Z_AXIS];
-      delta_mm[A_AXIS] = (dx + dy) / axis_steps_per_mm[A_AXIS];
-      delta_mm[B_AXIS] = (dx - dy) / axis_steps_per_mm[B_AXIS];
+      delta_mm[X_HEAD] = dx * steps_to_mm[A_AXIS];
+      delta_mm[Y_HEAD] = dy * steps_to_mm[B_AXIS];
+      delta_mm[Z_AXIS] = dz * steps_to_mm[Z_AXIS];
+      delta_mm[A_AXIS] = (dx + dy) * steps_to_mm[A_AXIS];
+      delta_mm[B_AXIS] = (dx - dy) * steps_to_mm[B_AXIS];
     #elif ENABLED(COREXZ)
-      delta_mm[X_HEAD] = dx / axis_steps_per_mm[A_AXIS];
-      delta_mm[Y_AXIS] = dy / axis_steps_per_mm[Y_AXIS];
-      delta_mm[Z_HEAD] = dz / axis_steps_per_mm[C_AXIS];
-      delta_mm[A_AXIS] = (dx + dz) / axis_steps_per_mm[A_AXIS];
-      delta_mm[C_AXIS] = (dx - dz) / axis_steps_per_mm[C_AXIS];
+      delta_mm[X_HEAD] = dx * steps_to_mm[A_AXIS];
+      delta_mm[Y_AXIS] = dy * steps_to_mm[Y_AXIS];
+      delta_mm[Z_HEAD] = dz * steps_to_mm[C_AXIS];
+      delta_mm[A_AXIS] = (dx + dz) * steps_to_mm[A_AXIS];
+      delta_mm[C_AXIS] = (dx - dz) * steps_to_mm[C_AXIS];
     #elif ENABLED(COREYZ)
-      delta_mm[X_AXIS] = dx / axis_steps_per_mm[A_AXIS];
-      delta_mm[Y_HEAD] = dy / axis_steps_per_mm[Y_AXIS];
-      delta_mm[Z_HEAD] = dz / axis_steps_per_mm[C_AXIS];
-      delta_mm[B_AXIS] = (dy + dz) / axis_steps_per_mm[B_AXIS];
-      delta_mm[C_AXIS] = (dy - dz) / axis_steps_per_mm[C_AXIS];
+      delta_mm[X_AXIS] = dx * steps_to_mm[X_AXIS];
+      delta_mm[Y_HEAD] = dy * steps_to_mm[B_AXIS];
+      delta_mm[Z_HEAD] = dz * steps_to_mm[C_AXIS];
+      delta_mm[B_AXIS] = (dy + dz) * steps_to_mm[B_AXIS];
+      delta_mm[C_AXIS] = (dy - dz) * steps_to_mm[C_AXIS];
     #endif
   #else
     float delta_mm[4];
-    delta_mm[X_AXIS] = dx / axis_steps_per_mm[X_AXIS];
-    delta_mm[Y_AXIS] = dy / axis_steps_per_mm[Y_AXIS];
-    delta_mm[Z_AXIS] = dz / axis_steps_per_mm[Z_AXIS];
+    #if ENABLED(DELTA)
+      // On delta all axes (should!) have the same steps-per-mm
+      // so calculate distance in steps first, then do one division
+      // at the end to get millimeters
+    #else
+      delta_mm[X_AXIS] = dx * steps_to_mm[X_AXIS];
+      delta_mm[Y_AXIS] = dy * steps_to_mm[Y_AXIS];
+      delta_mm[Z_AXIS] = dz * steps_to_mm[Z_AXIS];
+    #endif
   #endif
-  delta_mm[E_AXIS] = (de / axis_steps_per_mm[E_AXIS]) * volumetric_multiplier[extruder] * extruder_multiplier[extruder] / 100.0;
+  delta_mm[E_AXIS] = 0.01 * (de * steps_to_mm[E_AXIS]) * volumetric_multiplier[extruder] * extruder_multiplier[extruder];
 
   if (block->steps[X_AXIS] <= dropsegments && block->steps[Y_AXIS] <= dropsegments && block->steps[Z_AXIS] <= dropsegments) {
     block->millimeters = fabs(delta_mm[E_AXIS]);
         sq(delta_mm[X_HEAD]) + sq(delta_mm[Y_AXIS]) + sq(delta_mm[Z_HEAD])
       #elif ENABLED(COREYZ)
         sq(delta_mm[X_AXIS]) + sq(delta_mm[Y_HEAD]) + sq(delta_mm[Z_HEAD])
+      #elif ENABLED(DELTA)
+        sq(dx) + sq(dy) + sq(dz)
       #else
         sq(delta_mm[X_AXIS]) + sq(delta_mm[Y_AXIS]) + sq(delta_mm[Z_AXIS])
       #endif
-    );
+    )
+      #if ENABLED(DELTA)
+        * steps_to_mm[X_AXIS]
+      #endif
+    ;
   }
   float inverse_millimeters = 1.0 / block->millimeters;  // Inverse millimeters to remove multiple divides
 
         while (filwidth_delay_dist >= MMD_MM) filwidth_delay_dist -= MMD_MM;
 
         // Convert into an index into the measurement array
-        filwidth_delay_index1 = (int)(filwidth_delay_dist / 10.0 + 0.0001);
+        filwidth_delay_index1 = (int)(filwidth_delay_dist * 0.1 + 0.0001);
 
         // If the index has changed (must have gone forward)...
         if (filwidth_delay_index1 != filwidth_delay_index2) {
       block->acceleration_steps_per_s2 = (max_acceleration_steps_per_s2[E_AXIS] * block->step_event_count) / block->steps[E_AXIS];
   }
   block->acceleration = block->acceleration_steps_per_s2 / steps_per_mm;
-  block->acceleration_rate = (long)(block->acceleration_steps_per_s2 * 16777216.0 / ((F_CPU) / 8.0));
+  block->acceleration_rate = (long)(block->acceleration_steps_per_s2 * 16777216.0 / ((F_CPU) * 0.125));
 
   #if 0  // Use old jerk for now
 
   #endif
 
   // Start with a safe speed
-  float vmax_junction = max_xy_jerk / 2;
-  float vmax_junction_factor = 1.0;
-  float mz2 = max_z_jerk / 2, me2 = max_e_jerk / 2;
-  float csz = current_speed[Z_AXIS], cse = current_speed[E_AXIS];
+  float vmax_junction = max_xy_jerk * 0.5,
+        vmax_junction_factor = 1.0,
+        mz2 = max_z_jerk * 0.5,
+        me2 = max_e_jerk * 0.5,
+        csz = current_speed[Z_AXIS],
+        cse = current_speed[E_AXIS];
   if (fabs(csz) > mz2) vmax_junction = min(vmax_junction, mz2);
   if (fabs(cse) > me2) vmax_junction = min(vmax_junction, me2);
   vmax_junction = min(vmax_junction, block->nominal_speed);
 void Planner::set_e_position_mm(const float& e) {
   position[E_AXIS] = lround(e * axis_steps_per_mm[E_AXIS]);
   stepper.set_e_position(position[E_AXIS]);
+  previous_speed[E_AXIS] = 0.0;
 }
 
 // Recalculate the steps/s^2 acceleration rates, based on the mm/s^2
     max_acceleration_steps_per_s2[i] = max_acceleration_mm_per_s2[i] * axis_steps_per_mm[i];
 }
 
+// Recalculate position, steps_to_mm if axis_steps_per_mm changes!
+void Planner::refresh_positioning() {
+  LOOP_XYZE(i) planner.steps_to_mm[i] = 1.0 / planner.axis_steps_per_mm[i];
+  set_position_mm(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
+  reset_acceleration_rates();
+}
+
 #if ENABLED(AUTOTEMP)
 
   void Planner::autotemp_M109() {

Marlin/planner.h

 
     static float max_feedrate_mm_s[NUM_AXIS]; // Max speeds in mm per second
     static float axis_steps_per_mm[NUM_AXIS];
+    static float steps_to_mm[NUM_AXIS];
     static unsigned long max_acceleration_steps_per_s2[NUM_AXIS];
     static unsigned long max_acceleration_mm_per_s2[NUM_AXIS]; // Use M201 to override by software
 
 
     /**
      * The current position of the tool in absolute steps
-     * Reclculated if any axis_steps_per_mm are changed by gcode
+     * Recalculated if any axis_steps_per_mm are changed by gcode
      */
     static long position[NUM_AXIS];
 
      */
 
     static void reset_acceleration_rates();
+    static void refresh_positioning();
 
     // Manage fans, paste pressure, etc.
     static void check_axes_activity();

Marlin/stepper.cpp

       CRITICAL_SECTION_END;
       // ((a1+a2)+(a1-a2))/2 -> (a1+a2+a1-a2)/2 -> (a1+a1)/2 -> a1
       // ((a1+a2)-(a1-a2))/2 -> (a1+a2-a1+a2)/2 -> (a2+a2)/2 -> a2
-      axis_steps = (pos1 + ((axis == CORE_AXIS_1) ? pos2 : -pos2)) / 2.0f;
+      axis_steps = (pos1 + ((axis == CORE_AXIS_1) ? pos2 : -pos2)) * 0.5f;
     }
     else
       axis_steps = position(axis);
   #else
     axis_steps = position(axis);
   #endif
-  return axis_steps / planner.axis_steps_per_mm[axis];
+  return axis_steps * planner.steps_to_mm[axis];
 }
 
 void Stepper::finish_and_disable() {
 
     float axis_pos = count_position[axis];
     if (axis == CORE_AXIS_1)
-      axis_pos = (axis_pos + count_position[CORE_AXIS_2]) / 2;
+      axis_pos = (axis_pos + count_position[CORE_AXIS_2]) * 0.5;
     else if (axis == CORE_AXIS_2)
-      axis_pos = (count_position[CORE_AXIS_1] - axis_pos) / 2;
+      axis_pos = (count_position[CORE_AXIS_1] - axis_pos) * 0.5;
     endstops_trigsteps[axis] = axis_pos;
 
   #else // !COREXY && !COREXZ && !COREYZ

Marlin/stepper.h

     // Triggered position of an axis in mm (not core-savvy)
     //
     static FORCE_INLINE float triggered_position_mm(AxisEnum axis) {
-      return endstops_trigsteps[axis] / planner.axis_steps_per_mm[axis];
+      return endstops_trigsteps[axis] * planner.steps_to_mm[axis];
     }
 
     #if ENABLED(LIN_ADVANCE)

Marlin/temperature.cpp

               SERIAL_PROTOCOLPAIR(MSG_T_MIN, min);
               SERIAL_PROTOCOLPAIR(MSG_T_MAX, max);
               if (cycles > 2) {
-                Ku = (4.0 * d) / (3.14159265 * (max - min) / 2.0);
-                Tu = ((float)(t_low + t_high) / 1000.0);
+                Ku = (4.0 * d) / (3.14159265 * (max - min) * 0.5);
+                Tu = ((float)(t_low + t_high) * 0.001);
                 SERIAL_PROTOCOLPAIR(MSG_KU, Ku);
                 SERIAL_PROTOCOLPAIR(MSG_TU, Tu);
                 workKp = 0.6 * Ku;
                 workKi = 2 * workKp / Tu;
-                workKd = workKp * Tu / 8;
+                workKd = workKp * Tu * 0.125;
                 SERIAL_PROTOCOLLNPGM(MSG_CLASSIC_PID);
                 SERIAL_PROTOCOLPAIR(MSG_KP, workKp);
                 SERIAL_PROTOCOLPAIR(MSG_KI, workKi);
               lpq[lpq_ptr] = 0;
             }
             if (++lpq_ptr >= lpq_len) lpq_ptr = 0;
-            cTerm[HOTEND_INDEX] = (lpq[lpq_ptr] / planner.axis_steps_per_mm[E_AXIS]) * PID_PARAM(Kc, HOTEND_INDEX);
+            cTerm[HOTEND_INDEX] = (lpq[lpq_ptr] * planner.steps_to_mm[E_AXIS]) * PID_PARAM(Kc, HOTEND_INDEX);
             pid_output += cTerm[HOTEND_INDEX];
           }
         #endif //PID_ADD_EXTRUSION_RATE
       // Get the delayed info and add 100 to reconstitute to a percent of
       // the nominal filament diameter then square it to get an area
       meas_shift_index = constrain(meas_shift_index, 0, MAX_MEASUREMENT_DELAY);
-      float vm = pow((measurement_delay[meas_shift_index] + 100.0) / 100.0, 2);
+      float vm = pow((measurement_delay[meas_shift_index] + 100.0) * 0.01, 2);
       NOLESS(vm, 0.01);
       volumetric_multiplier[FILAMENT_SENSOR_EXTRUDER_NUM] = vm;
     }

Marlin/ultralcd.cpp

       }
       if (lcdDrawUpdate)
         lcd_implementation_drawedit(msg, ftostr43sign(
-          ((1000 * babysteps_done) / planner.axis_steps_per_mm[axis]) * 0.001f
+          ((1000 * babysteps_done) * planner.steps_to_mm[axis]) * 0.001f
         ));
     }
 
   }
 
   static void _reset_acceleration_rates() { planner.reset_acceleration_rates(); }
+  static void _planner_refresh_positioning() { planner.refresh_positioning(); }
 
   /**
    *
     MENU_ITEM_EDIT_CALLBACK(long5, MSG_AMAX MSG_E, &planner.max_acceleration_mm_per_s2[E_AXIS], 100, 99000, _reset_acceleration_rates);
     MENU_ITEM_EDIT(float5, MSG_A_RETRACT, &planner.retract_acceleration, 100, 99000);
     MENU_ITEM_EDIT(float5, MSG_A_TRAVEL, &planner.travel_acceleration, 100, 99000);
-    MENU_ITEM_EDIT(float52, MSG_XSTEPS, &planner.axis_steps_per_mm[X_AXIS], 5, 9999);
-    MENU_ITEM_EDIT(float52, MSG_YSTEPS, &planner.axis_steps_per_mm[Y_AXIS], 5, 9999);
+    MENU_ITEM_EDIT_CALLBACK(float52, MSG_XSTEPS, &planner.axis_steps_per_mm[X_AXIS], 5, 9999, _planner_refresh_positioning);
+    MENU_ITEM_EDIT_CALLBACK(float52, MSG_YSTEPS, &planner.axis_steps_per_mm[Y_AXIS], 5, 9999, _planner_refresh_positioning);
     #if ENABLED(DELTA)
-      MENU_ITEM_EDIT(float52, MSG_ZSTEPS, &planner.axis_steps_per_mm[Z_AXIS], 5, 9999);
+      MENU_ITEM_EDIT_CALLBACK(float52, MSG_ZSTEPS, &planner.axis_steps_per_mm[Z_AXIS], 5, 9999, _planner_refresh_positioning);
     #else
-      MENU_ITEM_EDIT(float51, MSG_ZSTEPS, &planner.axis_steps_per_mm[Z_AXIS], 5, 9999);
+      MENU_ITEM_EDIT_CALLBACK(float51, MSG_ZSTEPS, &planner.axis_steps_per_mm[Z_AXIS], 5, 9999, _planner_refresh_positioning);
     #endif
-    MENU_ITEM_EDIT(float51, MSG_ESTEPS, &planner.axis_steps_per_mm[E_AXIS], 5, 9999);
+    MENU_ITEM_EDIT_CALLBACK(float51, MSG_ESTEPS, &planner.axis_steps_per_mm[E_AXIS], 5, 9999, _planner_refresh_positioning);
     #if ENABLED(ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
       MENU_ITEM_EDIT(bool, MSG_ENDSTOP_ABORT, &stepper.abort_on_endstop_hit);
     #endif

Marlin/ultralcd_impl_DOGM.h

     // SD Card Progress bar and clock
     if (IS_SD_PRINTING) {
       // Progress bar solid part
-      u8g.drawBox(55, 50, (unsigned int)(71.f * card.percentDone() / 100.f), 2 - (TALL_FONT_CORRECTION));
+      u8g.drawBox(55, 50, (unsigned int)(71 * card.percentDone() * 0.01), 2 - (TALL_FONT_CORRECTION));
     }
 
     u8g.setPrintPos(80,48);