bissen21/Marlin_Firmware
1
0
Fork 0
Code Issues Pull Requests Projects Releases 4 Wiki Activity

Replace double with float, optimize calculation

Browse Source
This commit is contained in:
etagle
2018-07-01 17:20:28 -03:00
committed by Scott Lahteine
parent d960d448fa
commit 1367df2875
38 changed files with 263 additions and 267 deletions
Download Patch File Download Diff File Expand all files Collapse all files

23
Marlin/src/gcode/motion/G2_G3.cpp
View File

@@ -92,7 +92,7 @@ void plan_arc(
const float flat_mm = radius * angular_travel,
mm_of_travel = linear_travel ? HYPOT(flat_mm, linear_travel) : ABS(flat_mm);
if (mm_of_travel < 0.001) return;
if (mm_of_travel < 0.001f) return;
uint16_t segments = FLOOR(mm_of_travel / (MM_PER_ARC_SEGMENT));
if (segments == 0) segments = 1;
@@ -129,7 +129,7 @@ void plan_arc(
linear_per_segment = linear_travel / segments,
extruder_per_segment = extruder_travel / segments,
sin_T = theta_per_segment,
cos_T = 1 - 0.5 * sq(theta_per_segment); // Small angle approximation
cos_T = 1 - 0.5f * sq(theta_per_segment); // Small angle approximation
// Initialize the linear axis
raw[l_axis] = current_position[l_axis];
@@ -143,7 +143,7 @@ void plan_arc(
#if HAS_FEEDRATE_SCALING
// SCARA needs to scale the feed rate from mm/s to degrees/s
const float inv_segment_length = 1.0 / (MM_PER_ARC_SEGMENT),
const float inv_segment_length = 1.0f / float(MM_PER_ARC_SEGMENT),
inverse_secs = inv_segment_length * fr_mm_s;
float oldA = planner.position_float[A_AXIS],
oldB = planner.position_float[B_AXIS]
@@ -289,19 +289,20 @@ void GcodeSuite::G2_G3(const bool clockwise) {
relative_mode = relative_mode_backup;
#endif
float arc_offset[2] = { 0.0, 0.0 };
float arc_offset[2] = { 0, 0 };
if (parser.seenval('R')) {
const float r = parser.value_linear_units(),
p1 = current_position[X_AXIS], q1 = current_position[Y_AXIS],
p2 = destination[X_AXIS], q2 = destination[Y_AXIS];
if (r && (p2 != p1 || q2 != q1)) {
const float e = clockwise ^ (r < 0) ? -1 : 1, // clockwise -1/1, counterclockwise 1/-1
dx = p2 - p1, dy = q2 - q1, // X and Y differences
d = HYPOT(dx, dy), // Linear distance between the points
h = SQRT(sq(r) - sq(d * 0.5)), // Distance to the arc pivot-point
mx = (p1 + p2) * 0.5, my = (q1 + q2) * 0.5, // Point between the two points
sx = -dy / d, sy = dx / d, // Slope of the perpendicular bisector
cx = mx + e * h * sx, cy = my + e * h * sy; // Pivot-point of the arc
const float e = clockwise ^ (r < 0) ? -1 : 1, // clockwise -1/1, counterclockwise 1/-1
dx = p2 - p1, dy = q2 - q1, // X and Y differences
d = HYPOT(dx, dy), // Linear distance between the points
dinv = 1/d, // Inverse of d
h = SQRT(sq(r) - sq(d * 0.5f)), // Distance to the arc pivot-point
mx = (p1 + p2) * 0.5f, my = (q1 + q2) * 0.5f,// Point between the two points
sx = -dy * dinv, sy = dx * dinv, // Slope of the perpendicular bisector
cx = mx + e * h * sx, cy = my + e * h * sy; // Pivot-point of the arc
arc_offset[0] = cx - p1;
arc_offset[1] = cy - q1;
}