MPCNC/Firmware
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

Apply minor optimizations to planner.cpp

Browse Source
This commit is contained in:
Scott Lahteine 2016-10-11 02:01:20 -05:00
parent 1092319b19
commit 4d89652bc2
1 changed files with 11 additions and 12 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

23
Marlin/planner.cpp
View File

@ -145,6 +145,8 @@ void Planner::init() {
#endif #endif
} }
#define MINIMAL_STEP_RATE 120
/** /**
* Calculate trapezoid parameters, multiplying the entry- and exit-speeds * Calculate trapezoid parameters, multiplying the entry- and exit-speeds
* by the provided factors. * by the provided factors.
@ -154,8 +156,8 @@ void Planner::calculate_trapezoid_for_block(block_t* const block, const float &e
final_rate = ceil(block->nominal_rate * exit_factor); // (steps per second) final_rate = ceil(block->nominal_rate * exit_factor); // (steps per second)
// Limit minimal step rate (Otherwise the timer will overflow.) // Limit minimal step rate (Otherwise the timer will overflow.)
NOLESS(initial_rate, 120); NOLESS(initial_rate, MINIMAL_STEP_RATE);
NOLESS(final_rate, 120); NOLESS(final_rate, MINIMAL_STEP_RATE);
int32_t accel = block->acceleration_steps_per_s2, int32_t accel = block->acceleration_steps_per_s2,
accelerate_steps = ceil(estimate_acceleration_distance(initial_rate, block->nominal_rate, accel)), accelerate_steps = ceil(estimate_acceleration_distance(initial_rate, block->nominal_rate, accel)),
@ -172,13 +174,9 @@ void Planner::calculate_trapezoid_for_block(block_t* const block, const float &e
plateau_steps = 0; plateau_steps = 0;
} }
#if ENABLED(ADVANCE)
volatile int32_t initial_advance = block->advance * sq(entry_factor),
final_advance = block->advance * sq(exit_factor);
#endif // ADVANCE
// block->accelerate_until = accelerate_steps; // block->accelerate_until = accelerate_steps;
// block->decelerate_after = accelerate_steps+plateau_steps; // block->decelerate_after = accelerate_steps+plateau_steps;
CRITICAL_SECTION_START; // Fill variables used by the stepper in a critical section CRITICAL_SECTION_START; // Fill variables used by the stepper in a critical section
if (!block->busy) { // Don't update variables if block is busy. if (!block->busy) { // Don't update variables if block is busy.
block->accelerate_until = accelerate_steps; block->accelerate_until = accelerate_steps;
@ -186,8 +184,8 @@ void Planner::calculate_trapezoid_for_block(block_t* const block, const float &e
block->initial_rate = initial_rate; block->initial_rate = initial_rate;
block->final_rate = final_rate; block->final_rate = final_rate;
#if ENABLED(ADVANCE) #if ENABLED(ADVANCE)
block->initial_advance = initial_advance; block->initial_advance = block->advance * sq(entry_factor);
block->final_advance = final_advance; block->final_advance = block->advance * sq(exit_factor);
#endif #endif
} }
CRITICAL_SECTION_END; CRITICAL_SECTION_END;
@ -230,9 +228,10 @@ void Planner::reverse_pass() {
block_t* block[3] = { NULL, NULL, NULL }; block_t* block[3] = { NULL, NULL, NULL };
// Make a local copy of block_buffer_tail, because the interrupt can alter it // Make a local copy of block_buffer_tail, because the interrupt can alter it
CRITICAL_SECTION_START; // Is a critical section REALLY needed for a single byte change?
uint8_t tail = block_buffer_tail; //CRITICAL_SECTION_START;
CRITICAL_SECTION_END uint8_t tail = block_buffer_tail;
//CRITICAL_SECTION_END
uint8_t b = BLOCK_MOD(block_buffer_head - 3); uint8_t b = BLOCK_MOD(block_buffer_head - 3);
while (b != tail) { while (b != tail) {