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Merge pull request #5214 from Sebastianv650/RCBugFix_planner_opt

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Save some cycle inside the planner
This commit is contained in:
Scott Lahteine 2016-11-16 00:06:55 -06:00 committed by GitHub
commit 548b45026d
2 changed files with 7 additions and 6 deletions
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11
Marlin/planner.cpp
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@ -662,7 +662,7 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const
SERIAL_ECHOLNPGM(MSG_ERR_COLD_EXTRUDE_STOP);
}
#if ENABLED(PREVENT_LENGTHY_EXTRUDE)
if (labs(de) > axis_steps_per_mm[E_AXIS] * (EXTRUDE_MAXLENGTH)) {
if (labs(de) > (int32_t)axis_steps_per_mm[E_AXIS] * (EXTRUDE_MAXLENGTH)) { // It's not important to get max. extrusion length in a precision < 1mm, so save some cycles and cast to int
position[E_AXIS] = target[E_AXIS]; // Behave as if the move really took place, but ignore E part
de = 0; // no difference
SERIAL_ECHO_START;
@ -699,10 +699,11 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const
#endif
if (de < 0) SBI(dm, E_AXIS);
int32_t esteps = labs(de) * volumetric_multiplier[extruder] * flow_percentage[extruder] * 0.01 + 0.5;
float esteps_float = de * volumetric_multiplier[extruder] * flow_percentage[extruder] * 0.01;
int32_t esteps = abs(esteps_float) + 0.5;
// Calculate the buffer head after we push this byte
int next_buffer_head = next_block_index(block_buffer_head);
int8_t next_buffer_head = next_block_index(block_buffer_head);
// If the buffer is full: good! That means we are well ahead of the robot.
// Rest here until there is room in the buffer.
@ -798,7 +799,7 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const
#if ENABLED(DISABLE_INACTIVE_EXTRUDER) // Enable only the selected extruder
for (int i = 0; i < EXTRUDERS; i++)
for (int8_t i = 0; i < EXTRUDERS; i++)
if (g_uc_extruder_last_move[i] > 0) g_uc_extruder_last_move[i]--;
switch(extruder) {
@ -903,7 +904,7 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const
delta_mm[Y_AXIS] = db * steps_to_mm[Y_AXIS];
delta_mm[Z_AXIS] = dc * steps_to_mm[Z_AXIS];
#endif
delta_mm[E_AXIS] = 0.01 * (de * steps_to_mm[E_AXIS]) * volumetric_multiplier[extruder] * flow_percentage[extruder];
delta_mm[E_AXIS] = esteps_float * steps_to_mm[E_AXIS];
if (block->steps[X_AXIS] < MIN_STEPS_PER_SEGMENT && block->steps[Y_AXIS] < MIN_STEPS_PER_SEGMENT && block->steps[Z_AXIS] < MIN_STEPS_PER_SEGMENT) {
block->millimeters = fabs(delta_mm[E_AXIS]);

2
Marlin/planner.h
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@ -117,7 +117,7 @@ typedef struct {
acceleration_steps_per_s2; // acceleration steps/sec^2
#if FAN_COUNT > 0
uint32_t fan_speed[FAN_COUNT];
uint16_t fan_speed[FAN_COUNT];
#endif
#if ENABLED(BARICUDA)