Use "dist" instead of "delta" for clarity

Marlin/src/feature/backlash.cpp

@@ -113,7 +113,7 @@ void Backlash::add_correction_steps(const int32_t &da, const int32_t &db, const
             error_correction = 0; // Don't take up any backlash in this segment, as it would subtract steps
         }
       #endif
-      // Making a correction reduces the residual error and modifies delta_mm
+      // Making a correction reduces the residual error and adds block steps
       if (error_correction) {
         block->steps[axis] += ABS(error_correction);
         residual_error[axis] -= error_correction;

Marlin/src/module/motion.cpp

@@ -1292,12 +1292,14 @@ feedRate_t get_homing_bump_feedrate(const AxisEnum axis) {
  */
 void do_homing_move(const AxisEnum axis, const float distance, const feedRate_t fr_mm_s=0.0) {
 
+  const feedRate_t real_fr_mm_s = fr_mm_s ?: homing_feedrate(axis);
+
   if (DEBUGGING(LEVELING)) {
     DEBUG_ECHOPAIR(">>> do_homing_move(", axis_codes[axis], ", ", distance, ", ");
     if (fr_mm_s)
       DEBUG_ECHO(fr_mm_s);
     else
-      DEBUG_ECHOPAIR("[", homing_feedrate(axis), "]");
+      DEBUG_ECHOPAIR("[", real_fr_mm_s, "]");
     DEBUG_ECHOLNPGM(")");
   }
 
@@ -1331,7 +1333,6 @@ void do_homing_move(const AxisEnum axis, const float distance, const feedRate_t
     #endif
   }
 
-  const feedRate_t real_fr_mm_s = fr_mm_s ?: homing_feedrate(axis);
   #if IS_SCARA
     // Tell the planner the axis is at 0
     current_position[axis] = 0;
@@ -1345,13 +1346,13 @@ void do_homing_move(const AxisEnum axis, const float distance, const feedRate_t
     target[axis] = distance;
 
     #if IS_KINEMATIC && DISABLED(CLASSIC_JERK)
-      const xyze_float_t delta_mm_cart{0};
+      const xyze_float_t cart_dist_mm{0};
     #endif
 
     // Set delta/cartesian axes directly
     planner.buffer_segment(target
       #if IS_KINEMATIC && DISABLED(CLASSIC_JERK)
-        , delta_mm_cart
+        , cart_dist_mm
       #endif
       , real_fr_mm_s, active_extruder
     );

Marlin/src/module/planner.cpp

@@ -1648,8 +1648,8 @@ bool Planner::_buffer_steps(const xyze_long_t &target
   #if HAS_POSITION_FLOAT
     , const xyze_pos_t &target_float
   #endif
-  #if IS_KINEMATIC && DISABLED(CLASSIC_JERK)
-    , const xyze_float_t &delta_mm_cart
+  #if HAS_DIST_MM_ARG
+    , const xyze_float_t &cart_dist_mm
   #endif
   , feedRate_t fr_mm_s, const uint8_t extruder, const float &millimeters
 ) {
@@ -1666,8 +1666,8 @@ bool Planner::_buffer_steps(const xyze_long_t &target
     #if HAS_POSITION_FLOAT
       , target_float
     #endif
-    #if IS_KINEMATIC && DISABLED(CLASSIC_JERK)
-      , delta_mm_cart
+    #if HAS_DIST_MM_ARG
+      , cart_dist_mm
     #endif
     , fr_mm_s, extruder, millimeters
   )) {
@@ -1712,8 +1712,8 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
   #if HAS_POSITION_FLOAT
     , const xyze_pos_t &target_float
   #endif
-  #if IS_KINEMATIC && DISABLED(CLASSIC_JERK)
-    , const xyze_float_t &delta_mm_cart
+  #if HAS_DIST_MM_ARG
+    , const xyze_float_t &cart_dist_mm
   #endif
   , feedRate_t fr_mm_s, const uint8_t extruder, const float &millimeters/*=0.0*/
 ) {
@@ -1840,51 +1840,51 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
    * So we need to create other 2 "AXIS", named X_HEAD and Y_HEAD, meaning the real displacement of the Head.
    * Having the real displacement of the head, we can calculate the total movement length and apply the desired speed.
    */
-  struct DeltaMM : abce_float_t {
+  struct DistanceMM : abce_float_t {
     #if IS_CORE
       xyz_pos_t head;
     #endif
-  } delta_mm;
+  } steps_dist_mm;
   #if IS_CORE
     #if CORE_IS_XY
-      delta_mm.head.x = da * steps_to_mm[A_AXIS];
-      delta_mm.head.y = db * steps_to_mm[B_AXIS];
-      delta_mm.z      = dc * steps_to_mm[Z_AXIS];
-      delta_mm.a      = (da + db) * steps_to_mm[A_AXIS];
-      delta_mm.b      = CORESIGN(da - db) * steps_to_mm[B_AXIS];
+      steps_dist_mm.head.x = da * steps_to_mm[A_AXIS];
+      steps_dist_mm.head.y = db * steps_to_mm[B_AXIS];
+      steps_dist_mm.z      = dc * steps_to_mm[Z_AXIS];
+      steps_dist_mm.a      = (da + db) * steps_to_mm[A_AXIS];
+      steps_dist_mm.b      = CORESIGN(da - db) * steps_to_mm[B_AXIS];
     #elif CORE_IS_XZ
-      delta_mm.head.x = da * steps_to_mm[A_AXIS];
-      delta_mm.y      = db * steps_to_mm[Y_AXIS];
-      delta_mm.head.z = dc * steps_to_mm[C_AXIS];
-      delta_mm.a      = (da + dc) * steps_to_mm[A_AXIS];
-      delta_mm.c      = CORESIGN(da - dc) * steps_to_mm[C_AXIS];
+      steps_dist_mm.head.x = da * steps_to_mm[A_AXIS];
+      steps_dist_mm.y      = db * steps_to_mm[Y_AXIS];
+      steps_dist_mm.head.z = dc * steps_to_mm[C_AXIS];
+      steps_dist_mm.a      = (da + dc) * steps_to_mm[A_AXIS];
+      steps_dist_mm.c      = CORESIGN(da - dc) * steps_to_mm[C_AXIS];
     #elif CORE_IS_YZ
-      delta_mm.x      = da * steps_to_mm[X_AXIS];
-      delta_mm.head.y = db * steps_to_mm[B_AXIS];
-      delta_mm.head.z = dc * steps_to_mm[C_AXIS];
-      delta_mm.b      = (db + dc) * steps_to_mm[B_AXIS];
-      delta_mm.c      = CORESIGN(db - dc) * steps_to_mm[C_AXIS];
+      steps_dist_mm.x      = da * steps_to_mm[X_AXIS];
+      steps_dist_mm.head.y = db * steps_to_mm[B_AXIS];
+      steps_dist_mm.head.z = dc * steps_to_mm[C_AXIS];
+      steps_dist_mm.b      = (db + dc) * steps_to_mm[B_AXIS];
+      steps_dist_mm.c      = CORESIGN(db - dc) * steps_to_mm[C_AXIS];
     #endif
   #else
-    delta_mm.a = da * steps_to_mm[A_AXIS];
-    delta_mm.b = db * steps_to_mm[B_AXIS];
-    delta_mm.c = dc * steps_to_mm[C_AXIS];
+    steps_dist_mm.a = da * steps_to_mm[A_AXIS];
+    steps_dist_mm.b = db * steps_to_mm[B_AXIS];
+    steps_dist_mm.c = dc * steps_to_mm[C_AXIS];
   #endif
 
   #if EXTRUDERS
-    delta_mm.e = esteps_float * steps_to_mm[E_AXIS_N(extruder)];
+    steps_dist_mm.e = esteps_float * steps_to_mm[E_AXIS_N(extruder)];
   #else
-    delta_mm.e = 0.0f;
+    steps_dist_mm.e = 0.0f;
   #endif
 
   #if ENABLED(LCD_SHOW_E_TOTAL)
-    e_move_accumulator += delta_mm.e;
+    e_move_accumulator += steps_dist_mm.e;
   #endif
 
   if (block->steps.a < MIN_STEPS_PER_SEGMENT && block->steps.b < MIN_STEPS_PER_SEGMENT && block->steps.c < MIN_STEPS_PER_SEGMENT) {
     block->millimeters = (0
       #if EXTRUDERS
-        + ABS(delta_mm.e)
+        + ABS(steps_dist_mm.e)
       #endif
     );
   }
@@ -1894,13 +1894,13 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
     else
       block->millimeters = SQRT(
         #if CORE_IS_XY
-          sq(delta_mm.head.x) + sq(delta_mm.head.y) + sq(delta_mm.z)
+          sq(steps_dist_mm.head.x) + sq(steps_dist_mm.head.y) + sq(steps_dist_mm.z)
         #elif CORE_IS_XZ
-          sq(delta_mm.head.x) + sq(delta_mm.y) + sq(delta_mm.head.z)
+          sq(steps_dist_mm.head.x) + sq(steps_dist_mm.y) + sq(steps_dist_mm.head.z)
         #elif CORE_IS_YZ
-          sq(delta_mm.x) + sq(delta_mm.head.y) + sq(delta_mm.head.z)
+          sq(steps_dist_mm.x) + sq(steps_dist_mm.head.y) + sq(steps_dist_mm.head.z)
         #else
-          sq(delta_mm.x) + sq(delta_mm.y) + sq(delta_mm.z)
+          sq(steps_dist_mm.x) + sq(steps_dist_mm.y) + sq(steps_dist_mm.z)
         #endif
       );
 
@@ -2071,7 +2071,7 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
 
   #if ENABLED(FILAMENT_WIDTH_SENSOR)
     if (extruder == FILAMENT_SENSOR_EXTRUDER_NUM)   // Only for extruder with filament sensor
-      filwidth.advance_e(delta_mm.e);
+      filwidth.advance_e(steps_dist_mm.e);
   #endif
 
   // Calculate and limit speed in mm/sec
@@ -2081,7 +2081,7 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
 
   // Linear axes first with less logic
   LOOP_XYZ(i) {
-    current_speed[i] = delta_mm[i] * inverse_secs;
+    current_speed[i] = steps_dist_mm[i] * inverse_secs;
     const feedRate_t cs = ABS(current_speed[i]),
                  max_fr = settings.max_feedrate_mm_s[i];
     if (cs > max_fr) NOMORE(speed_factor, max_fr / cs);
@@ -2090,7 +2090,7 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
   // Limit speed on extruders, if any
   #if EXTRUDERS
     {
-      current_speed.e = delta_mm.e * inverse_secs;
+      current_speed.e = steps_dist_mm.e * inverse_secs;
       #if BOTH(MIXING_EXTRUDER, RETRACT_SYNC_MIXING)
         // Move all mixing extruders at the specified rate
         if (mixer.get_current_vtool() == MIXER_AUTORETRACT_TOOL)
@@ -2308,10 +2308,10 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
     static xyze_float_t prev_unit_vec;
 
     xyze_float_t unit_vec =
-      #if IS_KINEMATIC && DISABLED(CLASSIC_JERK)
-        delta_mm_cart
+      #if HAS_DIST_MM_ARG
+        cart_dist_mm
       #else
-        { delta_mm.x, delta_mm.y, delta_mm.z, delta_mm.e }
+        { steps_dist_mm.x, steps_dist_mm.y, steps_dist_mm.z, steps_dist_mm.e }
       #endif
     ;
     unit_vec *= inverse_millimeters;
@@ -2572,8 +2572,8 @@ void Planner::buffer_sync_block() {
  *  millimeters - the length of the movement, if known
  */
 bool Planner::buffer_segment(const float &a, const float &b, const float &c, const float &e
-  #if IS_KINEMATIC && DISABLED(CLASSIC_JERK)
-    , const xyze_float_t &delta_mm_cart
+  #if HAS_DIST_MM_ARG
+    , const xyze_float_t &cart_dist_mm
   #endif
   , const feedRate_t &fr_mm_s, const uint8_t extruder, const float &millimeters/*=0.0*/
 ) {
@@ -2651,8 +2651,8 @@ bool Planner::buffer_segment(const float &a, const float &b, const float &c, con
       #if HAS_POSITION_FLOAT
         , target_float
       #endif
-      #if IS_KINEMATIC && DISABLED(CLASSIC_JERK)
-        , delta_mm_cart
+      #if HAS_DIST_MM_ARG
+        , cart_dist_mm
       #endif
       , fr_mm_s, extruder, millimeters
     )
@@ -2686,17 +2686,17 @@ bool Planner::buffer_line(const float &rx, const float &ry, const float &rz, con
   #if IS_KINEMATIC
 
     #if DISABLED(CLASSIC_JERK)
-      const xyze_pos_t delta_mm_cart = {
+      const xyze_pos_t cart_dist_mm = {
         rx - position_cart.x, ry - position_cart.y,
         rz - position_cart.z, e  - position_cart.e
       };
     #else
-      const xyz_pos_t delta_mm_cart = { rx - position_cart.x, ry - position_cart.y, rz - position_cart.z };
+      const xyz_pos_t cart_dist_mm = { rx - position_cart.x, ry - position_cart.y, rz - position_cart.z };
     #endif
 
     float mm = millimeters;
     if (mm == 0.0)
-      mm = (delta_mm_cart.x != 0.0 || delta_mm_cart.y != 0.0) ? delta_mm_cart.magnitude() : ABS(delta_mm_cart.z);
+      mm = (cart_dist_mm.x != 0.0 || cart_dist_mm.y != 0.0) ? cart_dist_mm.magnitude() : ABS(cart_dist_mm.z);
 
     // Cartesian XYZ to kinematic ABC, stored in global 'delta'
     inverse_kinematics(machine);
@@ -2712,7 +2712,7 @@ bool Planner::buffer_line(const float &rx, const float &ry, const float &rz, con
     #endif
     if (buffer_segment(delta.a, delta.b, delta.c, machine.e
       #if DISABLED(CLASSIC_JERK)
-        , delta_mm_cart
+        , cart_dist_mm
       #endif
       , feedrate, extruder, mm
     )) {

Marlin/src/module/planner.h

@@ -61,6 +61,10 @@
                             manual_feedrate_mm_s { _mf.x / 60.0f, _mf.y / 60.0f, _mf.z / 60.0f, _mf.e / 60.0f };
 #endif
 
+#if IS_KINEMATIC && DISABLED(CLASSIC_JERK)
+  #define HAS_DIST_MM_ARG 1
+#endif
+
 enum BlockFlagBit : char {
   // Recalculate trapezoids on entry junction. For optimization.
   BLOCK_BIT_RECALCULATE,
@@ -588,8 +592,8 @@ class Planner {
       #if HAS_POSITION_FLOAT
         , const xyze_pos_t &target_float
       #endif
-      #if IS_KINEMATIC && DISABLED(CLASSIC_JERK)
-        , const xyze_float_t &delta_mm_cart
+      #if HAS_DIST_MM_ARG
+        , const xyze_float_t &cart_dist_mm
       #endif
       , feedRate_t fr_mm_s, const uint8_t extruder, const float &millimeters=0.0
     );
@@ -611,8 +615,8 @@ class Planner {
       #if HAS_POSITION_FLOAT
         , const xyze_pos_t &target_float
       #endif
-      #if IS_KINEMATIC && DISABLED(CLASSIC_JERK)
-        , const xyze_float_t &delta_mm_cart
+      #if HAS_DIST_MM_ARG
+        , const xyze_float_t &cart_dist_mm
       #endif
       , feedRate_t fr_mm_s, const uint8_t extruder, const float &millimeters=0.0
     );
@@ -643,21 +647,21 @@ class Planner {
      *  millimeters - the length of the movement, if known
      */
     static bool buffer_segment(const float &a, const float &b, const float &c, const float &e
-      #if IS_KINEMATIC && DISABLED(CLASSIC_JERK)
-        , const xyze_float_t &delta_mm_cart
+      #if HAS_DIST_MM_ARG
+        , const xyze_float_t &cart_dist_mm
       #endif
       , const feedRate_t &fr_mm_s, const uint8_t extruder, const float &millimeters=0.0
     );
 
     FORCE_INLINE static bool buffer_segment(abce_pos_t &abce
-      #if IS_KINEMATIC && DISABLED(CLASSIC_JERK)
-        , const xyze_float_t &delta_mm_cart
+      #if HAS_DIST_MM_ARG
+        , const xyze_float_t &cart_dist_mm
       #endif
       , const feedRate_t &fr_mm_s, const uint8_t extruder, const float &millimeters=0.0
     ) {
       return buffer_segment(abce.a, abce.b, abce.c, abce.e
-        #if IS_KINEMATIC && DISABLED(CLASSIC_JERK)
-          , delta_mm_cart
+        #if HAS_DIST_MM_ARG
+          , cart_dist_mm
         #endif
         , fr_mm_s, extruder, millimeters);
     }