Fixes for change to time units

4 files changed, 17 insertions, 10 deletions

diff --git a/src/Configuration.h b/src/Configuration.h
index 72b18337..b5b6b4a2 100644
--- a/src/Configuration.h
+++ b/src/Configuration.h
@@ -51,7 +51,9 @@ constexpr float DefaultEInstantDv = 2.0;
 constexpr float DefaultMinFeedrate = 0.5;				// the default minimum movement speed in mm/sec (extruding moves will go slower than this if the extrusion rate demands it)
 constexpr float AbsoluteMinFeedrate = 0.01;				// the absolute minimum movement speed in mm/sec
 constexpr float MinimumJerk = 0.1;						// the minimum jerk in mm/sec
-constexpr float MinimumAcceleration = 0.1;				// he minimum acceleration in mm/sec^2
+constexpr float MinimumAcceleration = 0.1;				// the minimum acceleration in mm/sec^2
+constexpr float DefaultPrintingAcceleration = 20000.0;	// higher than the likely max acceleration defined by M201
+constexpr float DefaultTravelAcceleration = 20000.0;	// higher than the likely max acceleration defined by M201
 
 constexpr float DefaultAxisMinimum = 0.0;
 constexpr float DefaultAxisMaximum = 200.0;
diff --git a/src/Movement/DriveMovement.h b/src/Movement/DriveMovement.h
index 5d16e16a..21e1d421 100644
--- a/src/Movement/DriveMovement.h
+++ b/src/Movement/DriveMovement.h
@@ -100,8 +100,14 @@ private:
 	uint32_t stepInterval;								// how many clocks between steps
 
 	float distanceSoFar;
+#if DM_USE_FPU
 	float timeSoFar;
 	float pA, pB, pC;
+#else
+	uint32_t iTimeSoFar;
+	int64_t ipA;
+	int32_t ipB, ipC;
+#endif
 
 	// Parameters unique to a style of move (Cartesian, delta or extruder). Currently, extruders and Cartesian moves use the same parameters.
 	union
@@ -109,11 +115,11 @@ private:
 		struct DeltaParameters							// Parameters for delta movement
 		{
 			// The following don't depend on how the move is executed, so they could be set up in Init() if we use fixed acceleration/deceleration
-#if DM_USE_FPU
 			float fTwoA;
 			float fTwoB;
-			float fDSquaredMinusAsquaredMinusBsquaredTimesSsquared;
 			float h0MinusZ0;							// the height subtended by the rod at the start of the move
+#if DM_USE_FPU
+			float fDSquaredMinusAsquaredMinusBsquaredTimesSsquared;
 			float fHmz0s;								// the starting height less the starting Z height, multiplied by the Z movement fraction (can go negative)
 			float fMinusAaPlusBbTimesS;
 			float reverseStartDistance;					// the overall move distance at which movement reversal occurs
@@ -133,8 +139,6 @@ private:
 		} cart;
 	} mp;
 
-	static constexpr uint32_t NoStepTime = 0xFFFFFFFF;	// value to indicate that no further steps are needed when calculating the next step time
-
 #if !DM_USE_FPU
 	static constexpr uint32_t K1 = 1024;				// a power of 2 used to multiply the value mmPerStepTimesCdivtopSpeed to reduce rounding errors
 	static constexpr uint32_t K2 = 512;					// a power of 2 used in delta calculations to reduce rounding errors (but too large makes things worse)
diff --git a/src/Movement/Move.cpp b/src/Movement/Move.cpp
index bff92a17..08c8761f 100644
--- a/src/Movement/Move.cpp
+++ b/src/Movement/Move.cpp
@@ -167,7 +167,7 @@ Move::Move() noexcept
 #if SUPPORT_ASYNC_MOVES
 	  heightController(nullptr),
 #endif
-	  maxPrintingAcceleration(10000.0), maxTravelAcceleration(10000.0),
+	  maxPrintingAcceleration(ConvertAcceleration(DefaultPrintingAcceleration)), maxTravelAcceleration(ConvertAcceleration(DefaultTravelAcceleration)),
 	  jerkPolicy(0),
 	  numCalibratedFactors(0)
 {
diff --git a/src/RepRapFirmware.h b/src/RepRapFirmware.h
index 53019c85..efb8c5d6 100644
--- a/src/RepRapFirmware.h
+++ b/src/RepRapFirmware.h
@@ -494,6 +494,7 @@ const AxesBitmap XyAxes = AxesBitmap::MakeLowestNBits(XY_AXES);
 
 // Common conversion factors
 constexpr float MinutesToSeconds = 60.0;
+constexpr uint32_t iMinutesToSeconds = 60;
 constexpr float SecondsToMinutes = 1.0/MinutesToSeconds;
 constexpr float SecondsToMillis = 1000.0;
 constexpr float MillisToSeconds = 0.001;
@@ -525,12 +526,12 @@ static inline constexpr float ConvertSpeedFromMmPerSec(float speed) noexcept
 
 static inline constexpr float ConvertSpeedFromMmPerMin(float speed) noexcept
 {
-	return speed * (MinutesToSeconds/StepClockRate);
+	return speed * (1.0/(StepClockRate * iMinutesToSeconds));
 }
 
 static inline constexpr float ConvertSpeedFromMm(float speed, bool useSeconds) noexcept
 {
-	return speed * ((useSeconds) ? 1.0/StepClockRate : MinutesToSeconds/StepClockRate);
+	return speed * ((useSeconds) ? 1.0/StepClockRate : 1.0/(StepClockRate * iMinutesToSeconds));
 }
 
 static inline constexpr float InverseConvertSpeedToMmPerSec(float speed) noexcept
@@ -540,12 +541,12 @@ static inline constexpr float InverseConvertSpeedToMmPerSec(float speed) noexcep
 
 static inline constexpr float InverseConvertSpeedToMmPerMin(float speed) noexcept
 {
-	return speed * (StepClockRate * SecondsToMinutes);
+	return speed * (StepClockRate * iMinutesToSeconds);
 }
 
 static inline constexpr float InverseConvertSpeedToMm(float speed, bool useSeconds) noexcept
 {
-	return speed * ((useSeconds) ? StepClockRate : StepClockRate * SecondsToMinutes);
+	return speed * ((useSeconds) ? StepClockRate : StepClockRate * iMinutesToSeconds);
 }
 
 static inline constexpr float ConvertAcceleration(float accel) noexcept