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Optimize calculation of block->millimeters for DELTA

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This commit is contained in:
Scott Lahteine 2016-07-23 19:03:38 -07:00
parent db5df9500b
commit b921f6b69d
1 changed files with 16 additions and 4 deletions
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14
Marlin/planner.cpp
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@ -803,10 +803,16 @@ void Planner::check_axes_activity() {
#endif #endif
#else #else
float delta_mm[4]; float delta_mm[4];
#if ENABLED(DELTA)
// On delta all axes (should!) have the same steps-per-mm
// so calculate distance in steps first, then do one division
// at the end to get millimeters
#else
delta_mm[X_AXIS] = dx / axis_steps_per_mm[X_AXIS]; delta_mm[X_AXIS] = dx / axis_steps_per_mm[X_AXIS];
delta_mm[Y_AXIS] = dy / axis_steps_per_mm[Y_AXIS]; delta_mm[Y_AXIS] = dy / axis_steps_per_mm[Y_AXIS];
delta_mm[Z_AXIS] = dz / axis_steps_per_mm[Z_AXIS]; delta_mm[Z_AXIS] = dz / axis_steps_per_mm[Z_AXIS];
#endif #endif
#endif
delta_mm[E_AXIS] = (de / axis_steps_per_mm[E_AXIS]) * volumetric_multiplier[extruder] * extruder_multiplier[extruder] / 100.0; delta_mm[E_AXIS] = (de / axis_steps_per_mm[E_AXIS]) * volumetric_multiplier[extruder] * extruder_multiplier[extruder] / 100.0;
if (block->steps[X_AXIS] <= dropsegments && block->steps[Y_AXIS] <= dropsegments && block->steps[Z_AXIS] <= dropsegments) { if (block->steps[X_AXIS] <= dropsegments && block->steps[Y_AXIS] <= dropsegments && block->steps[Z_AXIS] <= dropsegments) {
@ -820,10 +826,16 @@ void Planner::check_axes_activity() {
sq(delta_mm[X_HEAD]) + sq(delta_mm[Y_AXIS]) + sq(delta_mm[Z_HEAD]) sq(delta_mm[X_HEAD]) + sq(delta_mm[Y_AXIS]) + sq(delta_mm[Z_HEAD])
#elif ENABLED(COREYZ) #elif ENABLED(COREYZ)
sq(delta_mm[X_AXIS]) + sq(delta_mm[Y_HEAD]) + sq(delta_mm[Z_HEAD]) sq(delta_mm[X_AXIS]) + sq(delta_mm[Y_HEAD]) + sq(delta_mm[Z_HEAD])
#elif ENABLED(DELTA)
sq(dx) + sq(dy) + sq(dz)
#else #else
sq(delta_mm[X_AXIS]) + sq(delta_mm[Y_AXIS]) + sq(delta_mm[Z_AXIS]) sq(delta_mm[X_AXIS]) + sq(delta_mm[Y_AXIS]) + sq(delta_mm[Z_AXIS])
#endif #endif
); )
#if ENABLED(DELTA)
/ axis_steps_per_mm[X_AXIS]
#endif
;
} }
float inverse_millimeters = 1.0 / block->millimeters; // Inverse millimeters to remove multiple divides float inverse_millimeters = 1.0 / block->millimeters; // Inverse millimeters to remove multiple divides