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⚡️ Minor planner optimization (#24737)

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XDA-Bam 2022-09-09 22:51:11 +02:00 committed by Scott Lahteine
parent 02810616cc
commit 38b3105900
1 changed files with 11 additions and 8 deletions
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19
Marlin/src/module/planner.cpp
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@ -793,19 +793,21 @@ void Planner::calculate_trapezoid_for_block(block_t * const block, const_float_t
uint32_t cruise_rate = block->nominal_rate; uint32_t cruise_rate = block->nominal_rate;
#endif #endif
const int32_t accel = block->acceleration_steps_per_s2;
// Steps for acceleration, plateau and deceleration // Steps for acceleration, plateau and deceleration
int32_t plateau_steps = block->step_event_count; int32_t plateau_steps = block->step_event_count;
uint32_t accelerate_steps = 0, uint32_t accelerate_steps = 0,
decelerate_steps = 0; decelerate_steps = 0;
const int32_t accel = block->acceleration_steps_per_s2;
float inverse_accel = 0.0f;
if (accel != 0) { if (accel != 0) {
// Steps required for acceleration, deceleration to/from nominal rate inverse_accel = 1.0f / accel;
const float nominal_rate_sq = sq(float(block->nominal_rate)); const float half_inverse_accel = 0.5f * inverse_accel,
float accelerate_steps_float = (nominal_rate_sq - sq(float(initial_rate))) * (0.5f / accel); nominal_rate_sq = sq(float(block->nominal_rate)),
// Steps required for acceleration, deceleration to/from nominal rate
decelerate_steps_float = half_inverse_accel * (nominal_rate_sq - sq(float(final_rate)));
float accelerate_steps_float = half_inverse_accel * (nominal_rate_sq - sq(float(initial_rate)));
accelerate_steps = CEIL(accelerate_steps_float); accelerate_steps = CEIL(accelerate_steps_float);
const float decelerate_steps_float = (nominal_rate_sq - sq(float(final_rate))) * (0.5f / accel);
decelerate_steps = FLOOR(decelerate_steps_float); decelerate_steps = FLOOR(decelerate_steps_float);
// Steps between acceleration and deceleration, if any // Steps between acceleration and deceleration, if any
@ -828,9 +830,10 @@ void Planner::calculate_trapezoid_for_block(block_t * const block, const_float_t
} }
#if ENABLED(S_CURVE_ACCELERATION) #if ENABLED(S_CURVE_ACCELERATION)
const float rate_factor = inverse_accel * (STEPPER_TIMER_RATE);
// Jerk controlled speed requires to express speed versus time, NOT steps // Jerk controlled speed requires to express speed versus time, NOT steps
uint32_t acceleration_time = (float(cruise_rate - initial_rate) / accel) * (STEPPER_TIMER_RATE), uint32_t acceleration_time = rate_factor * float(cruise_rate - initial_rate),
deceleration_time = (float(cruise_rate - final_rate) / accel) * (STEPPER_TIMER_RATE), deceleration_time = rate_factor * float(cruise_rate - final_rate),
// And to offload calculations from the ISR, we also calculate the inverse of those times here // And to offload calculations from the ISR, we also calculate the inverse of those times here
acceleration_time_inverse = get_period_inverse(acceleration_time), acceleration_time_inverse = get_period_inverse(acceleration_time),
deceleration_time_inverse = get_period_inverse(deceleration_time); deceleration_time_inverse = get_period_inverse(deceleration_time);