diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp index 5315772cd..73990e71e 100644 --- a/Marlin/Marlin_main.cpp +++ b/Marlin/Marlin_main.cpp @@ -389,7 +389,7 @@ static const char *injected_commands_P = NULL; * Feed rates are often configured with mm/m * but the planner and stepper like mm/s units. */ -float constexpr homing_feedrate_mm_s[] = { +static const float homing_feedrate_mm_s[] PROGMEM = { #if ENABLED(DELTA) MMM_TO_MMS(HOMING_FEEDRATE_Z), MMM_TO_MMS(HOMING_FEEDRATE_Z), #else @@ -397,6 +397,8 @@ float constexpr homing_feedrate_mm_s[] = { #endif MMM_TO_MMS(HOMING_FEEDRATE_Z), 0 }; +FORCE_INLINE float homing_feedrate(const AxisEnum a) { return pgm_read_float(&homing_feedrate_mm_s[a]); } + float feedrate_mm_s = MMM_TO_MMS(1500.0); static float saved_feedrate_mm_s; int feedrate_percentage = 100, saved_feedrate_percentage, @@ -1504,7 +1506,7 @@ inline float get_homing_bump_feedrate(const AxisEnum axis) { SERIAL_ECHO_START; SERIAL_ECHOLNPGM("Warning: Homing Bump Divisor < 1"); } - return homing_feedrate_mm_s[axis] / hbd; + return homing_feedrate(axis) / hbd; } /** @@ -1631,7 +1633,7 @@ void do_blocking_move_to(const float &x, const float &y, const float &z, const f // If Z needs to raise, do it before moving XY if (destination[Z_AXIS] < z) { destination[Z_AXIS] = z; - prepare_uninterpolated_move_to_destination(fr_mm_s ? fr_mm_s : homing_feedrate_mm_s[Z_AXIS]); + prepare_uninterpolated_move_to_destination(fr_mm_s ? fr_mm_s : homing_feedrate(Z_AXIS)); } destination[X_AXIS] = x; @@ -1641,14 +1643,14 @@ void do_blocking_move_to(const float &x, const float &y, const float &z, const f // If Z needs to lower, do it after moving XY if (destination[Z_AXIS] > z) { destination[Z_AXIS] = z; - prepare_uninterpolated_move_to_destination(fr_mm_s ? fr_mm_s : homing_feedrate_mm_s[Z_AXIS]); + prepare_uninterpolated_move_to_destination(fr_mm_s ? fr_mm_s : homing_feedrate(Z_AXIS)); } #else // If Z needs to raise, do it before moving XY if (current_position[Z_AXIS] < z) { - feedrate_mm_s = fr_mm_s ? fr_mm_s : homing_feedrate_mm_s[Z_AXIS]; + feedrate_mm_s = fr_mm_s ? fr_mm_s : homing_feedrate(Z_AXIS); current_position[Z_AXIS] = z; line_to_current_position(); } @@ -1660,7 +1662,7 @@ void do_blocking_move_to(const float &x, const float &y, const float &z, const f // If Z needs to lower, do it after moving XY if (current_position[Z_AXIS] > z) { - feedrate_mm_s = fr_mm_s ? fr_mm_s : homing_feedrate_mm_s[Z_AXIS]; + feedrate_mm_s = fr_mm_s ? fr_mm_s : homing_feedrate(Z_AXIS); current_position[Z_AXIS] = z; line_to_current_position(); } @@ -2778,11 +2780,11 @@ static void do_homing_move(const AxisEnum axis, const float distance, const floa SYNC_PLAN_POSITION_KINEMATIC(); current_position[axis] = distance; inverse_kinematics(current_position); - planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], current_position[E_AXIS], fr_mm_s ? fr_mm_s : homing_feedrate_mm_s[axis], active_extruder); + planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], current_position[E_AXIS], fr_mm_s ? fr_mm_s : homing_feedrate(axis), active_extruder); #else sync_plan_position(); current_position[axis] = distance; - planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], fr_mm_s ? fr_mm_s : homing_feedrate_mm_s[axis], active_extruder); + planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], fr_mm_s ? fr_mm_s : homing_feedrate(axis), active_extruder); #endif stepper.synchronize(); @@ -3397,7 +3399,7 @@ inline void gcode_G4() { const float mlx = max_length(X_AXIS), mly = max_length(Y_AXIS), mlratio = mlx > mly ? mly / mlx : mlx / mly, - fr_mm_s = min(homing_feedrate_mm_s[X_AXIS], homing_feedrate_mm_s[Y_AXIS]) * sqrt(sq(mlratio) + 1.0); + fr_mm_s = min(homing_feedrate(X_AXIS), homing_feedrate(Y_AXIS)) * sqrt(sq(mlratio) + 1.0); do_blocking_move_to_xy(1.5 * mlx * x_axis_home_dir, 1.5 * mly * home_dir(Y_AXIS), fr_mm_s); endstops.hit_on_purpose(); // clear endstop hit flags @@ -3540,7 +3542,7 @@ inline void gcode_G4() { // Move all carriages together linearly until an endstop is hit. current_position[X_AXIS] = current_position[Y_AXIS] = current_position[Z_AXIS] = (Z_MAX_LENGTH + 10); - feedrate_mm_s = homing_feedrate_mm_s[X_AXIS]; + feedrate_mm_s = homing_feedrate(X_AXIS); line_to_current_position(); stepper.synchronize(); endstops.hit_on_purpose(); // clear endstop hit flags @@ -3853,7 +3855,7 @@ void home_all_axes() { gcode_G28(true); } const float old_feedrate_mm_s = feedrate_mm_s; #if MANUAL_PROBE_HEIGHT > 0 - feedrate_mm_s = homing_feedrate_mm_s[Z_AXIS]; + feedrate_mm_s = homing_feedrate(Z_AXIS); current_position[Z_AXIS] = LOGICAL_Z_POSITION(Z_MIN_POS) + MANUAL_PROBE_HEIGHT; line_to_current_position(); #endif @@ -3864,7 +3866,7 @@ void home_all_axes() { gcode_G28(true); } line_to_current_position(); #if MANUAL_PROBE_HEIGHT > 0 - feedrate_mm_s = homing_feedrate_mm_s[Z_AXIS]; + feedrate_mm_s = homing_feedrate(Z_AXIS); current_position[Z_AXIS] = LOGICAL_Z_POSITION(Z_MIN_POS); // just slightly over the bed line_to_current_position(); #endif @@ -3900,7 +3902,7 @@ void home_all_axes() { gcode_G28(true); } #if ENABLED(MESH_G28_REST_ORIGIN) current_position[Z_AXIS] = LOGICAL_Z_POSITION(Z_MIN_POS); set_destination_to_current(); - line_to_destination(homing_feedrate_mm_s[Z_AXIS]); + line_to_destination(homing_feedrate(Z_AXIS)); stepper.synchronize(); #endif } @@ -5502,7 +5504,7 @@ void home_all_axes() { gcode_G28(true); } // If any axis has enough movement, do the move LOOP_XYZ(i) if (fabs(destination[i] - current_position[i]) >= G38_MINIMUM_MOVE) { - if (!parser.seen('F')) feedrate_mm_s = homing_feedrate_mm_s[i]; + if (!parser.seen('F')) feedrate_mm_s = homing_feedrate(i); // If G38.2 fails throw an error if (!G38_run_probe() && is_38_2) { SERIAL_ERROR_START;