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Merge branch 'smallopt' into Marlin_v1

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Conflicts:
	Marlin/temperature.h
This commit is contained in:
Bernhard
2011-11-28 21:36:01 +01:00
parent 85da81e673 2d9a715655
commit 311627141b
11 changed files with 246 additions and 74 deletions
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31
Marlin/planner.cpp
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@ -95,13 +95,17 @@ static float previous_nominal_speed; // Nominal speed of previous path line segm
bool autotemp_enabled=false;
#endif
//===========================================================================
//=================semi-private variables, used in inline functions =====
//===========================================================================
block_t block_buffer[BLOCK_BUFFER_SIZE]; // A ring buffer for motion instfructions
volatile unsigned char block_buffer_head; // Index of the next block to be pushed
volatile unsigned char block_buffer_tail; // Index of the block to process now
//===========================================================================
//=============================private variables ============================
//===========================================================================
static block_t block_buffer[BLOCK_BUFFER_SIZE]; // A ring buffer for motion instfructions
static volatile unsigned char block_buffer_head; // Index of the next block to be pushed
static volatile unsigned char block_buffer_tail; // Index of the block to process now
// Used for the frequency limit
static unsigned char old_direction_bits = 0; // Old direction bits. Used for speed calculations
@ -130,7 +134,8 @@ static int8_t prev_block_index(int8_t block_index) {
// Calculates the distance (not time) it takes to accelerate from initial_rate to target_rate using the
// given acceleration:
inline float estimate_acceleration_distance(float initial_rate, float target_rate, float acceleration) {
FORCE_INLINE float estimate_acceleration_distance(float initial_rate, float target_rate, float acceleration)
{
if (acceleration!=0) {
return((target_rate*target_rate-initial_rate*initial_rate)/
(2.0*acceleration));
@ -145,7 +150,8 @@ inline float estimate_acceleration_distance(float initial_rate, float target_rat
// a total travel of distance. This can be used to compute the intersection point between acceleration and
// deceleration in the cases where the trapezoid has no plateau (i.e. never reaches maximum speed)
inline float intersection_distance(float initial_rate, float final_rate, float acceleration, float distance) {
FORCE_INLINE float intersection_distance(float initial_rate, float final_rate, float acceleration, float distance)
{
if (acceleration!=0) {
return((2.0*acceleration*distance-initial_rate*initial_rate+final_rate*final_rate)/
(4.0*acceleration) );
@ -209,7 +215,7 @@ void calculate_trapezoid_for_block(block_t *block, float entry_factor, float exi
// Calculates the maximum allowable speed at this point when you must be able to reach target_velocity using the
// acceleration within the allotted distance.
inline float max_allowable_speed(float acceleration, float target_velocity, float distance) {
FORCE_INLINE float max_allowable_speed(float acceleration, float target_velocity, float distance) {
return sqrt(target_velocity*target_velocity-2*acceleration*distance);
}
@ -366,20 +372,7 @@ void plan_init() {
}
void plan_discard_current_block() {
if (block_buffer_head != block_buffer_tail) {
block_buffer_tail = (block_buffer_tail + 1) & (BLOCK_BUFFER_SIZE - 1);
}
}
block_t *plan_get_current_block() {
if (block_buffer_head == block_buffer_tail) {
return(NULL);
}
block_t *block = &block_buffer[block_buffer_tail];
block->busy = true;
return(block);
}
#ifdef AUTOTEMP
void getHighESpeed()