use floorf isntead of floor

diff --git a/src/libs/SlowTicker.h b/src/libs/SlowTicker.h
index 133dd78..242273b 100644 (file)
--- a/src/libs/SlowTicker.h
+++ b/src/libs/SlowTicker.h
@@ -36,7 +36,7 @@ class SlowTicker : public Module{
         // TODO replace this with std::function()
         template<typename T> Hook* attach( uint32_t frequency, T *optr, uint32_t ( T::*fptr )( uint32_t ) ){
             Hook* hook = new Hook();
-            hook->interval = int(floor((SystemCoreClock/4)/frequency));
+            hook->interval = floorf((SystemCoreClock/4)/frequency);
             hook->attach(optr, fptr);
             hook->countdown = hook->interval;
 

diff --git a/src/libs/StepTicker.cpp b/src/libs/StepTicker.cpp
index 06f21d7..9347228 100644 (file)
--- a/src/libs/StepTicker.cpp
+++ b/src/libs/StepTicker.cpp
@@ -63,7 +63,7 @@ StepTicker::~StepTicker() {
 // Set the base stepping frequency
 void StepTicker::set_frequency( float frequency ){
     this->frequency = frequency;
-    this->period = int(floor((SystemCoreClock/4)/frequency));  // SystemCoreClock/4 = Timer increments in a second
+    this->period = floorf((SystemCoreClock/4)/frequency);  // SystemCoreClock/4 = Timer increments in a second
     LPC_TIM0->MR0 = this->period;
     if( LPC_TIM0->TC > LPC_TIM0->MR0 ){
         LPC_TIM0->TCR = 3;  // Reset
@@ -73,7 +73,7 @@ void StepTicker::set_frequency( float frequency ){
 
 // Set the reset delay
 void StepTicker::set_reset_delay( float seconds ){
-    this->delay = int(floor(float(SystemCoreClock/4)*( seconds )));  // SystemCoreClock/4 = Timer increments in a second
+    this->delay = floorf(float(SystemCoreClock/4)*( seconds ));  // SystemCoreClock/4 = Timer increments in a second
     LPC_TIM1->MR0 = this->delay;
 }
 

diff --git a/src/modules/robot/Block.cpp b/src/modules/robot/Block.cpp
index 060919d..ff2a806 100644 (file)
--- a/src/modules/robot/Block.cpp
+++ b/src/modules/robot/Block.cpp
@@ -109,7 +109,7 @@ void Block::calculate_trapezoid( float entryspeed, float exitspeed )
     // How many steps to accelerate and decelerate
     float acceleration_per_second = this->rate_delta * THEKERNEL->stepper->get_acceleration_ticks_per_second(); // ( step/s^2)
     int accelerate_steps = ceilf( this->estimate_acceleration_distance( this->initial_rate, this->nominal_rate, acceleration_per_second ) );
-    int decelerate_steps = floor( this->estimate_acceleration_distance( this->nominal_rate, this->final_rate,  -acceleration_per_second ) );
+    int decelerate_steps = floorf( this->estimate_acceleration_distance( this->nominal_rate, this->final_rate,  -acceleration_per_second ) );
 
     // Calculate the size of Plateau of Nominal Rate ( during which we don't accelerate nor decelerate, but just cruise )
     int plateau_steps = this->steps_event_count - accelerate_steps - decelerate_steps;

diff --git a/src/modules/robot/Robot.cpp b/src/modules/robot/Robot.cpp
index c2283c4..e50bc8e 100644 (file)
--- a/src/modules/robot/Robot.cpp
+++ b/src/modules/robot/Robot.cpp
@@ -780,7 +780,7 @@ void Robot::append_arc(Gcode *gcode, float target[], float offset[], float radiu
     this->distance_in_gcode_is_known( gcode );
 
     // Figure out how many segments for this gcode
-    uint16_t segments = floor(gcode->millimeters_of_travel / this->mm_per_arc_segment);
+    uint16_t segments = floorf(gcode->millimeters_of_travel / this->mm_per_arc_segment);
 
     float theta_per_segment = angular_travel / segments;
     float linear_per_segment = linear_travel / segments;

diff --git a/src/modules/tools/endstops/Endstops.cpp b/src/modules/tools/endstops/Endstops.cpp
index 4f9131a..75ce7e4 100644 (file)
--- a/src/modules/tools/endstops/Endstops.cpp
+++ b/src/modules/tools/endstops/Endstops.cpp
@@ -743,10 +743,10 @@ uint32_t Endstops::acceleration_tick(uint32_t dummy)
         if( !STEPPER[c]->is_moving() ) continue;
 
         uint32_t current_rate = STEPPER[c]->get_steps_per_second();
-        uint32_t target_rate = int(floor(this->feed_rate[c]*STEPS_PER_MM(c)));
+        uint32_t target_rate = floorf(this->feed_rate[c]*STEPS_PER_MM(c));
         float acc= (c==Z_AXIS) ? THEKERNEL->planner->get_z_acceleration() : THEKERNEL->planner->get_acceleration();
         if( current_rate < target_rate ){
-            uint32_t rate_increase = floor((acc/THEKERNEL->stepper->get_acceleration_ticks_per_second())*STEPS_PER_MM(c));
+            uint32_t rate_increase = floorf((acc/THEKERNEL->stepper->get_acceleration_ticks_per_second())*STEPS_PER_MM(c));
             current_rate = min( target_rate, current_rate + rate_increase );
         }
         if( current_rate > target_rate ){ current_rate = target_rate; }

diff --git a/src/modules/tools/extruder/Extruder.cpp b/src/modules/tools/extruder/Extruder.cpp
index 1e9cc2f..9cd5fec 100644 (file)
--- a/src/modules/tools/extruder/Extruder.cpp
+++ b/src/modules/tools/extruder/Extruder.cpp
@@ -474,7 +474,7 @@ void Extruder::on_block_begin(void *argument)
 
         this->current_position += this->travel_distance ;
 
-        int steps_to_step = abs(int(floor(this->steps_per_millimeter * (this->travel_distance + this->unstepped_distance) )));
+        int steps_to_step = abs(floorf(this->steps_per_millimeter * (this->travel_distance + this->unstepped_distance) ));
 
         if ( this->travel_distance > 0 ) {
             this->unstepped_distance += this->travel_distance - (steps_to_step / this->steps_per_millimeter); //catch any overflow
@@ -500,7 +500,7 @@ void Extruder::on_block_begin(void *argument)
 
         this->current_position += this->travel_distance;
 
-        int steps_to_step = abs(int(floor(this->steps_per_millimeter * (this->travel_distance + this->unstepped_distance) )));
+        int steps_to_step = abs(floorf(this->steps_per_millimeter * (this->travel_distance + this->unstepped_distance) ));
 
         if ( this->travel_distance > 0 ) {
             this->unstepped_distance += this->travel_distance - (steps_to_step / this->steps_per_millimeter); //catch any overflow
@@ -548,10 +548,10 @@ uint32_t Extruder::acceleration_tick(uint32_t dummy)
     if(!this->stepper_motor->is_moving()) return 0;
 
     uint32_t current_rate = this->stepper_motor->get_steps_per_second();
-    uint32_t target_rate = int(floor(this->feed_rate * this->steps_per_millimeter));
+    uint32_t target_rate = floorf(this->feed_rate * this->steps_per_millimeter);
 
     if( current_rate < target_rate ) {
-        uint32_t rate_increase = int(floor((this->acceleration / THEKERNEL->stepper->get_acceleration_ticks_per_second()) * this->steps_per_millimeter));
+        uint32_t rate_increase = floorf((this->acceleration / THEKERNEL->stepper->get_acceleration_ticks_per_second()) * this->steps_per_millimeter);
         current_rate = min( target_rate, current_rate + rate_increase );
     }
     if( current_rate > target_rate ) {

diff --git a/src/modules/tools/zprobe/ZProbe.cpp b/src/modules/tools/zprobe/ZProbe.cpp
index 6eab717..46314f9 100644 (file)
--- a/src/modules/tools/zprobe/ZProbe.cpp
+++ b/src/modules/tools/zprobe/ZProbe.cpp
@@ -313,12 +313,12 @@ uint32_t ZProbe::acceleration_tick(uint32_t dummy)
 
 void ZProbe::accelerate(int c)
 {   uint32_t current_rate = STEPPER[c]->get_steps_per_second();
-    uint32_t target_rate = int(floor(this->current_feedrate));
+    uint32_t target_rate = floorf(this->current_feedrate);
 
     // Z may have a different acceleration to X and Y
     float acc= (c==Z_AXIS) ? THEKERNEL->planner->get_z_acceleration() : THEKERNEL->planner->get_acceleration();
     if( current_rate < target_rate ) {
-        uint32_t rate_increase = floor((acc / THEKERNEL->stepper->get_acceleration_ticks_per_second()) * STEPS_PER_MM(c));
+        uint32_t rate_increase = floorf((acc / THEKERNEL->stepper->get_acceleration_ticks_per_second()) * STEPS_PER_MM(c));
         current_rate = min( target_rate, current_rate + rate_increase );
     }
     if( current_rate > target_rate ) {