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Improve JD acosx implementation (#17817)

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This commit is contained in:
Štěpán Dalecký
2020-05-03 06:59:09 +02:00
committed by GitHub
parent 9a4a768ee3
commit 0c68794fa9
2 changed files with 93 additions and 22 deletions
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15
Marlin/src/module/planner.h
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@ -32,6 +32,17 @@
#include "../MarlinCore.h"
#if HAS_JUNCTION_DEVIATION
// Enable this option for perfect accuracy but maximum
// computation. Should be fine on ARM processors.
//#define JD_USE_MATH_ACOS
// Disable this option to save 120 bytes of PROGMEM,
// but incur increased computation and a reduction
// in accuracy.
#define JD_USE_LOOKUP_TABLE
#endif
#include "motion.h"
#include "../gcode/queue.h"
@ -827,9 +838,11 @@ class Planner {
static void autotemp_update();
#endif
#define JUNC_SQ(N,ST) (junction_deviation_mm * (N) * (ST) / (1.0f - (ST)))
#if HAS_LINEAR_E_JERK
FORCE_INLINE static void recalculate_max_e_jerk() {
#define GET_MAX_E_JERK(N) SQRT(SQRT(0.5) * junction_deviation_mm * (N) * RECIPROCAL(1.0 - SQRT(0.5)))
#define GET_MAX_E_JERK(N) SQRT(JUNC_SQ(N,SQRT(0.5)))
#if ENABLED(DISTINCT_E_FACTORS)
LOOP_L_N(i, EXTRUDERS)
max_e_jerk[i] = GET_MAX_E_JERK(settings.max_acceleration_mm_per_s2[E_AXIS_N(i)]);