Version 1.20alpha3

Upgraded compiler
Floading point constants now default to single-precision
Changed to hardware floating point ABI on Cortex-M4 targets

1 files changed, 99 insertions, 107 deletions

diff --git a/src/Configuration.h b/src/Configuration.h
index 3828be15..dc4b369d 100644
--- a/src/Configuration.h
+++ b/src/Configuration.h
@@ -38,92 +38,88 @@ enum Compatibility
 };
 
 // Generic constants
-
-const float ABS_ZERO = -273.15;						// Celsius
-const float NEARLY_ABS_ZERO = -273.0;				// Celsius
-const float ROOM_TEMPERATURE = 21.0;				// Celsius
+constexpr float ABS_ZERO = -273.15;						// Celsius
+constexpr float NEARLY_ABS_ZERO = -273.0;				// Celsius
+constexpr float ROOM_TEMPERATURE = 21.0;				// Celsius
 
 // Timeouts
-const uint32_t LongTime = 300000;					// Milliseconds (5 minutes)
-const uint32_t MinimumWarningInterval = 4000;		// Milliseconds
-const uint32_t FanCheckInterval = 500;				// Milliseconds
-const uint32_t LogFlushInterval = 15000;			// Milliseconds
-const uint32_t DriverCoolingTimeout = 4000;			// Milliseconds
-const float DefaultMessageTimeout = 10.0;			// How long a message is displayed by default, in seconds
+constexpr uint32_t LongTime = 300000;					// Milliseconds (5 minutes)
+constexpr uint32_t MinimumWarningInterval = 4000;		// Milliseconds
+constexpr uint32_t FanCheckInterval = 500;				// Milliseconds
+constexpr uint32_t LogFlushInterval = 15000;			// Milliseconds
+constexpr uint32_t DriverCoolingTimeout = 4000;			// Milliseconds
+constexpr float DefaultMessageTimeout = 10.0;			// How long a message is displayed by default, in seconds
 
 
 // FanCheckInterval must be lower than MinimumWarningInterval to avoid giving driver over temperature warnings too soon when thermostatic control of electronics cooling fans is used
 static_assert(FanCheckInterval < MinimumWarningInterval, "FanCheckInterval too large");
 
 // Comms defaults
-
-const unsigned int MAIN_BAUD_RATE = 115200;			// Default communication speed of the USB if needed
-const unsigned int AUX_BAUD_RATE = 57600;			// Ditto - for auxiliary UART device
-const unsigned int AUX2_BAUD_RATE = 115200;			// Ditto - for second auxiliary UART device
-
-const uint32_t SERIAL_MAIN_TIMEOUT = 1000;			// timeout in ms for sending data to the main serial/USB port
+constexpr unsigned int MAIN_BAUD_RATE = 115200;			// Default communication speed of the USB if needed
+constexpr unsigned int AUX_BAUD_RATE = 57600;			// Ditto - for auxiliary UART device
+constexpr unsigned int AUX2_BAUD_RATE = 115200;			// Ditto - for second auxiliary UART device
+constexpr uint32_t SERIAL_MAIN_TIMEOUT = 1000;			// timeout in ms for sending data to the main serial/USB port
 
 // Heater values
-
-const float HEAT_SAMPLE_TIME = 0.5;					// Seconds
-const float HEAT_PWM_AVERAGE_TIME = 5.0;			// Seconds
-
-const float TEMPERATURE_CLOSE_ENOUGH = 1.0;			// Celsius
-const float TEMPERATURE_LOW_SO_DONT_CARE = 40.0;	// Celsius
-const float HOT_ENOUGH_TO_EXTRUDE = 160.0;			// Celsius
-const float HOT_ENOUGH_TO_RETRACT = 90.0;			// Celsius
-
-const uint8_t MAX_BAD_TEMPERATURE_COUNT = 4;		// Number of bad temperature samples permitted before a heater fault is reported
-const float BAD_LOW_TEMPERATURE = -10.0;			// Celsius
-const float DefaultExtruderTemperatureLimit = 288.0; // Celsius - E3D say to tighten the hot end at 285C
-const float DefaultBedTemperatureLimit = 125.0;		// Celsius
-const float HOT_END_FAN_TEMPERATURE = 45.0;			// Temperature at which a thermostatic hot end fan comes on
-const float ThermostatHysteresis = 1.0;				// How much hysteresis we use to prevent noise turning fans on/off too often
-const float BAD_ERROR_TEMPERATURE = 2000.0;			// Must exceed any reasonable 5temperature limit including DEFAULT_TEMPERATURE_LIMIT
+constexpr float HEAT_SAMPLE_TIME = 0.5;					// Seconds
+constexpr float HEAT_PWM_AVERAGE_TIME = 5.0;			// Seconds
+
+constexpr float TEMPERATURE_CLOSE_ENOUGH = 1.0;			// Celsius
+constexpr float TEMPERATURE_LOW_SO_DONT_CARE = 40.0;	// Celsius
+constexpr float HOT_ENOUGH_TO_EXTRUDE = 160.0;			// Celsius
+constexpr float HOT_ENOUGH_TO_RETRACT = 90.0;			// Celsius
+
+constexpr uint8_t MAX_BAD_TEMPERATURE_COUNT = 4;		// Number of bad temperature samples permitted before a heater fault is reported
+constexpr float BAD_LOW_TEMPERATURE = -10.0;			// Celsius
+constexpr float DefaultExtruderTemperatureLimit = 288.0; // Celsius - E3D say to tighten the hot end at 285C
+constexpr float DefaultBedTemperatureLimit = 125.0;		// Celsius
+constexpr float HOT_END_FAN_TEMPERATURE = 45.0;			// Temperature at which a thermostatic hot end fan comes on
+constexpr float ThermostatHysteresis = 1.0;				// How much hysteresis we use to prevent noise turning fans on/off too often
+constexpr float BAD_ERROR_TEMPERATURE = 2000.0;			// Must exceed any reasonable 5temperature limit including DEFAULT_TEMPERATURE_LIMIT
 
 // Heating model default parameters. For the chamber heater, we use the same values as for the bed heater.
 // These parameters are about right for an E3Dv6 hot end with 30W heater.
-const float DefaultHotEndHeaterGain = 340.0;
-const float DefaultHotEndHeaterTimeConstant = 140.0;
-const float DefaultHotEndHeaterDeadTime = 5.5;
+constexpr float DefaultHotEndHeaterGain = 340.0;
+constexpr float DefaultHotEndHeaterTimeConstant = 140.0;
+constexpr float DefaultHotEndHeaterDeadTime = 5.5;
 
-const int8_t DefaultBedHeater = 0;
-const int8_t DefaultChamberHeater = -1;
-const int8_t DefaultE0Heater = 1;					// Index of the default first extruder heater
+constexpr int8_t DefaultBedHeater = 0;
+constexpr int8_t DefaultChamberHeater = -1;
+constexpr int8_t DefaultE0Heater = 1;					// Index of the default first extruder heater
 
-const unsigned int FirstVirtualHeater = 100;		// the heater number at which virtual heaters start
-const unsigned int MaxVirtualHeaters = 10;			// the number of virtual heaters supported
+constexpr unsigned int FirstVirtualHeater = 100;		// the heater number at which virtual heaters start
+constexpr unsigned int MaxVirtualHeaters = 10;			// the number of virtual heaters supported
 
 // These parameters are about right for a typical PCB bed heater that maxes out at 110C
-const float DefaultBedHeaterGain = 90.0;
-const float DefaultBedHeaterTimeConstant = 700.0;
-const float DefaultBedHeaterDeadTime = 10.0;
+constexpr float DefaultBedHeaterGain = 90.0;
+constexpr float DefaultBedHeaterTimeConstant = 700.0;
+constexpr float DefaultBedHeaterDeadTime = 10.0;
 
 // Parameters used to detect heating errors
-const float DefaultMaxHeatingFaultTime = 5.0;		// How many seconds we allow a heating fault to persist
-const float AllowedTemperatureDerivativeNoise = 0.25;	// How much fluctuation in the averaged temperature derivative we allow
-const float MaxAmbientTemperature = 45.0;			// We expect heaters to cool to this temperature or lower when switched off
-const float NormalAmbientTemperature = 25.0;		// The ambient temperature we assume - allow for the printer heating its surroundings a little
-const float DefaultMaxTempExcursion = 15.0;			// How much error we tolerate when maintaining temperature before deciding that a heater fault has occurred
-const float MinimumConnectedTemperature = -5.0;		// Temperatures below this we treat as a disconnected thermistor
+constexpr float DefaultMaxHeatingFaultTime = 5.0;		// How many seconds we allow a heating fault to persist
+constexpr float AllowedTemperatureDerivativeNoise = 0.25;	// How much fluctuation in the averaged temperature derivative we allow
+constexpr float MaxAmbientTemperature = 45.0;			// We expect heaters to cool to this temperature or lower when switched off
+constexpr float NormalAmbientTemperature = 25.0;		// The ambient temperature we assume - allow for the printer heating its surroundings a little
+constexpr float DefaultMaxTempExcursion = 15.0;			// How much error we tolerate when maintaining temperature before deciding that a heater fault has occurred
+constexpr float MinimumConnectedTemperature = -5.0;		// Temperatures below this we treat as a disconnected thermistor
 
 static_assert(DefaultMaxTempExcursion > TEMPERATURE_CLOSE_ENOUGH, "DefaultMaxTempExcursion is too low");
 
 // Temperature sense channels
-const unsigned int FirstThermistorChannel = 0;		// Temperature sensor channels 0... are thermistors
-const unsigned int FirstMax31855ThermocoupleChannel = 100;	// Temperature sensor channels 100... are MAX31855 thermocouples
-const unsigned int FirstMax31856ThermocoupleChannel = 150;	// Temperature sensor channels 150... are MAX31856 thermocouples
-const unsigned int FirstRtdChannel = 200;			// Temperature sensor channels 200... are RTDs
-const unsigned int FirstLinearAdcChannel = 300;		// Temperature sensor channels 300... use an ADC that provides a linear output over a temperature range
-const unsigned int CpuTemperatureSenseChannel = 1000;  // Sensor 1000 is the MCJU's own temperature sensor
-const unsigned int FirstTmcDriversSenseChannel = 1001; // Sensors 1001..1002 are the TMC2660 driver temperature sense
-const unsigned int NumTmcDriversSenseChannels = 2;	// Sensors 1001..1002 are the TMC2660 driver temperature sense
+constexpr unsigned int FirstThermistorChannel = 0;		// Temperature sensor channels 0... are thermistors
+constexpr unsigned int FirstMax31855ThermocoupleChannel = 100;	// Temperature sensor channels 100... are MAX31855 thermocouples
+constexpr unsigned int FirstMax31856ThermocoupleChannel = 150;	// Temperature sensor channels 150... are MAX31856 thermocouples
+constexpr unsigned int FirstRtdChannel = 200;			// Temperature sensor channels 200... are RTDs
+constexpr unsigned int FirstLinearAdcChannel = 300;		// Temperature sensor channels 300... use an ADC that provides a linear output over a temperature range
+constexpr unsigned int CpuTemperatureSenseChannel = 1000;  // Sensor 1000 is the MCJU's own temperature sensor
+constexpr unsigned int FirstTmcDriversSenseChannel = 1001; // Sensors 1001..1002 are the TMC2660 driver temperature sense
+constexpr unsigned int NumTmcDriversSenseChannels = 2;	// Sensors 1001..1002 are the TMC2660 driver temperature sense
 
 // PWM frequencies
-const unsigned int SlowHeaterPwmFreq = 10;			// slow PWM frequency for bed and chamber heaters, compatible with DC/AC SSRs
-const unsigned int NormalHeaterPwmFreq = 250;		// normal PWM frequency used for hot ends
-const unsigned int DefaultFanPwmFreq = 250;			// increase to 25kHz using M106 command to meet Intel 4-wire PWM fan specification
-const unsigned int DefaultPinWritePwmFreq = 500;	// default PWM frequency for M42 pin writes and extrusion ancillary PWM
+constexpr unsigned int SlowHeaterPwmFreq = 10;			// slow PWM frequency for bed and chamber heaters, compatible with DC/AC SSRs
+constexpr unsigned int NormalHeaterPwmFreq = 250;		// normal PWM frequency used for hot ends
+constexpr unsigned int DefaultFanPwmFreq = 250;			// increase to 25kHz using M106 command to meet Intel 4-wire PWM fan specification
+constexpr unsigned int DefaultPinWritePwmFreq = 500;	// default PWM frequency for M42 pin writes and extrusion ancillary PWM
 
 // Default Z probe values
 
@@ -134,15 +130,15 @@ const unsigned int DefaultPinWritePwmFreq = 500;	// default PWM frequency for M4
 //     Using double-precision maths and up to 9-factor calibration: (9 + 5) * 8 bytes per point
 //   So 32 points using double precision arithmetic need 3584 bytes of stack space.
 #ifdef DUET_NG
-const size_t MaxGridProbePoints = 441;				// 441 allows us to probe e.g. 400x400 at 20mm intervals
-const size_t MaxXGridPoints = 41;					// Maximum number of grid points in one X row
-const size_t MaxProbePoints = 32;					// Maximum number of G30 probe points
-const size_t MaxDeltaCalibrationPoints = 32;		// Should a power of 2 for speed
+constexpr size_t MaxGridProbePoints = 441;				// 441 allows us to probe e.g. 400x400 at 20mm intervals
+constexpr size_t MaxXGridPoints = 41;					// Maximum number of grid points in one X row
+constexpr size_t MaxProbePoints = 32;					// Maximum number of G30 probe points
+constexpr size_t MaxDeltaCalibrationPoints = 32;		// Should a power of 2 for speed
 #else
-const size_t MaxGridProbePoints = 121;				// 121 allows us to probe 200x200 at 20mm intervals
-const size_t MaxXGridPoints = 21;					// Maximum number of grid points in one X row
-const size_t MaxProbePoints = 32;					// Maximum number of G30 probe points
-const size_t MaxDeltaCalibrationPoints = 32;		// Should a power of 2 for speed
+constexpr size_t MaxGridProbePoints = 121;				// 121 allows us to probe 200x200 at 20mm intervals
+constexpr size_t MaxXGridPoints = 21;					// Maximum number of grid points in one X row
+constexpr size_t MaxProbePoints = 32;					// Maximum number of G30 probe points
+constexpr size_t MaxDeltaCalibrationPoints = 32;		// Should a power of 2 for speed
 #endif
 
 const float DefaultGridSpacing = 20.0;				// Default bed probing grid spacing in mm
@@ -150,61 +146,57 @@ const float DefaultGridSpacing = 20.0;				// Default bed probing grid spacing in
 static_assert(MaxProbePoints <= MaxGridProbePoints, "MaxProbePoints must be <= MaxGridProbePoints");
 static_assert(MaxDeltaCalibrationPoints <= MaxProbePoints, "MaxDeltaCalibrationPoints must be <= MaxProbePoints");
 
-const float DEFAULT_Z_DIVE = 5.0;					// Millimetres
-const float DEFAULT_PROBE_SPEED = 2.0;				// Default Z probing speed mm/sec
-const float DEFAULT_TRAVEL_SPEED = 100.0;			// Default speed for travel to probe points
-const float ZProbeMaxAcceleration = 250.0;			// Maximum Z acceleration to use at the start of a probing move
-const size_t MaxZProbeProgramBytes = 8;				// Maximum number of bytes in a Z probe program
+constexpr float DEFAULT_Z_DIVE = 5.0;					// Millimetres
+constexpr float DEFAULT_PROBE_SPEED = 2.0;				// Default Z probing speed mm/sec
+constexpr float DEFAULT_TRAVEL_SPEED = 100.0;			// Default speed for travel to probe points
+constexpr float ZProbeMaxAcceleration = 250.0;			// Maximum Z acceleration to use at the start of a probing move
+constexpr size_t MaxZProbeProgramBytes = 8;				// Maximum number of bytes in a Z probe program
 
-const float TRIANGLE_ZERO = -0.001;					// Millimetres
-const float SILLY_Z_VALUE = -9999.0;				// Millimetres
+constexpr float TRIANGLE_ZERO = -0.001;					// Millimetres
+constexpr float SILLY_Z_VALUE = -9999.0;				// Millimetres
 
 // String lengths
 
-const size_t FORMAT_STRING_LENGTH = 256;
-const size_t MACHINE_NAME_LENGTH = 40;
-const size_t PASSWORD_LENGTH = 20;
+constexpr size_t FORMAT_STRING_LENGTH = 256;
+constexpr size_t MACHINE_NAME_LENGTH = 40;
+constexpr size_t PASSWORD_LENGTH = 20;
 
-const size_t GCODE_LENGTH = 100;
-const size_t GCODE_REPLY_LENGTH = 2048;
-const size_t MESSAGE_LENGTH = 256;
+constexpr size_t GCODE_LENGTH = 100;
+constexpr size_t GCODE_REPLY_LENGTH = 2048;
+constexpr size_t MESSAGE_LENGTH = 256;
 
-const size_t FILENAME_LENGTH = 100;
-const size_t MaxHeaterNameLength = 20;				// Maximum number of characters in a heater name
+constexpr size_t FILENAME_LENGTH = 100;
+constexpr size_t MaxHeaterNameLength = 20;				// Maximum number of characters in a heater name
 
 // Output buffer lengths
-
 #ifdef DUET_NG
-const uint16_t OUTPUT_BUFFER_SIZE = 256;			// How many bytes does each OutputBuffer hold?
-const size_t OUTPUT_BUFFER_COUNT = 32;				// How many OutputBuffer instances do we have?
-const size_t RESERVED_OUTPUT_BUFFERS = 1;			// Number of reserved output buffers after long responses. Must be enough for an HTTP header
+constexpr uint16_t OUTPUT_BUFFER_SIZE = 256;			// How many bytes does each OutputBuffer hold?
+constexpr size_t OUTPUT_BUFFER_COUNT = 32;				// How many OutputBuffer instances do we have?
+constexpr size_t RESERVED_OUTPUT_BUFFERS = 1;			// Number of reserved output buffers after long responses. Must be enough for an HTTP header
 #else
-const uint16_t OUTPUT_BUFFER_SIZE = 128;			// How many bytes does each OutputBuffer hold?
-const size_t OUTPUT_BUFFER_COUNT = 32;				// How many OutputBuffer instances do we have?
-const size_t RESERVED_OUTPUT_BUFFERS = 2;			// Number of reserved output buffers after long responses. Must be enough for an HTTP header
+constexpr uint16_t OUTPUT_BUFFER_SIZE = 128;			// How many bytes does each OutputBuffer hold?
+constexpr size_t OUTPUT_BUFFER_COUNT = 32;				// How many OutputBuffer instances do we have?
+constexpr size_t RESERVED_OUTPUT_BUFFERS = 2;			// Number of reserved output buffers after long responses. Must be enough for an HTTP header
 #endif
 
 // Move system
+constexpr float DefaultFeedrate = 3000.0;				// The initial requested feed rate after resetting the printer, in mm/min
+constexpr float DefaultRetractSpeed = 1000.0;			// The default firmware retraction and un-retraction speed, in mm
+constexpr float DefaultRetractLength = 2.0;
 
-const float DefaultFeedrate = 3000.0;				// The initial requested feed rate after resetting the printer, in mm/min
-const float DefaultRetractSpeed = 1000.0;			// The default firmware retraction and un-retraction speed, in mm
-const float DefaultRetractLength = 2.0;
-
-const float DefaultArcSegmentLength = 0.2;			// G2 and G3 arc movement commands get split into segments this long
+constexpr float DefaultArcSegmentLength = 0.2;			// G2 and G3 arc movement commands get split into segments this long
 
-const uint32_t DefaultIdleTimeout = 30000;			// Milliseconds
-const float DefaultIdleCurrentFactor = 0.3;			// Proportion of normal motor current that we use for idle hold
+constexpr uint32_t DefaultIdleTimeout = 30000;			// Milliseconds
+constexpr float DefaultIdleCurrentFactor = 0.3;			// Proportion of normal motor current that we use for idle hold
 
 // Triggers
-
-const unsigned int MaxTriggers = 10;				// Must be <= 32 because we store a bitmap of pending triggers in a uint32_t
+constexpr unsigned int MaxTriggers = 10;				// Must be <= 32 because we store a bitmap of pending triggers in a uint32_t
 
 // Default nozzle and filament values
+constexpr float NOZZLE_DIAMETER = 0.5;					// Millimetres
+constexpr float FILAMENT_WIDTH = 1.75;					// Millimetres
 
-const float NOZZLE_DIAMETER = 0.5;					// Millimetres
-const float FILAMENT_WIDTH = 1.75;					// Millimetres
-
-const unsigned int MaxStackDepth = 5;				// Maximum depth of stack
+constexpr unsigned int MaxStackDepth = 5;				// Maximum depth of stack
 
 // Webserver stuff
 
@@ -235,8 +227,8 @@ const unsigned int MaxStackDepth = 5;				// Maximum depth of stack
 
 // List defaults
 
-const char LIST_SEPARATOR = ':';
-const char FILE_LIST_SEPARATOR = ',';
-const char FILE_LIST_BRACKET = '"';
+constexpr char LIST_SEPARATOR = ':';
+constexpr char FILE_LIST_SEPARATOR = ',';
+constexpr char FILE_LIST_BRACKET = '"';
 
 #endif