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Convert custom maths to inlines (#10728)

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This commit is contained in:
Scott Lahteine
2018-05-13 08:10:08 -05:00
committed by GitHub
parent 8f3d313086
commit 883b0c9880
4 changed files with 100 additions and 100 deletions
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23
Marlin/src/module/stepper.cpp
View File

@ -1158,6 +1158,12 @@ HAL_STEP_TIMER_ISR {
HAL_timer_isr_epilogue(STEP_TIMER_NUM);
}
#ifdef CPU_32_BIT
#define STEP_MULTIPLY(A,B) MultiU32X24toH32(A, B);
#else
#define STEP_MULTIPLY(A,B) MultiU24X32toH16(A, B);
#endif
void Stepper::isr() {
#define ENDSTOP_NOMINAL_OCR_VAL 1500 * HAL_TICKS_PER_US // Check endstops every 1.5ms to guarantee two stepper ISRs within 5ms for BLTouch
@ -1525,14 +1531,7 @@ void Stepper::isr() {
? _eval_bezier_curve(acceleration_time)
: current_block->cruise_rate;
#else
#ifdef CPU_32_BIT
MultiU32X24toH32(acc_step_rate, acceleration_time, current_block->acceleration_rate);
#else
MultiU24X32toH16(acc_step_rate, acceleration_time, current_block->acceleration_rate);
#endif
acc_step_rate += current_block->initial_rate;
// upper limit
acc_step_rate = STEP_MULTIPLY(acceleration_time, current_block->acceleration_rate) + current_block->initial_rate;
NOMORE(acc_step_rate, current_block->nominal_rate);
#endif
@ -1576,18 +1575,14 @@ void Stepper::isr() {
#else
// Using the old trapezoidal control
#ifdef CPU_32_BIT
MultiU32X24toH32(step_rate, deceleration_time, current_block->acceleration_rate);
#else
MultiU24X32toH16(step_rate, deceleration_time, current_block->acceleration_rate);
#endif
step_rate = STEP_MULTIPLY(deceleration_time, current_block->acceleration_rate);
if (step_rate < acc_step_rate) { // Still decelerating?
step_rate = acc_step_rate - step_rate;
NOLESS(step_rate, current_block->final_rate);
}
else
step_rate = current_block->final_rate;
#endif
// step_rate to timer interval

20
Marlin/src/module/stepper.h
View File

@ -340,24 +340,24 @@ class Stepper {
#ifdef CPU_32_BIT
// In case of high-performance processor, it is able to calculate in real-time
const uint32_t MIN_TIME_PER_STEP = (HAL_STEPPER_TIMER_RATE) / ((STEP_DOUBLER_FREQUENCY) * 2);
const uint32_t min_time_per_step = (HAL_STEPPER_TIMER_RATE) / ((STEP_DOUBLER_FREQUENCY) * 2);
timer = uint32_t(HAL_STEPPER_TIMER_RATE) / step_rate;
NOLESS(timer, MIN_TIME_PER_STEP); // (STEP_DOUBLER_FREQUENCY * 2 kHz - this should never happen)
NOLESS(timer, min_time_per_step); // (STEP_DOUBLER_FREQUENCY * 2 kHz - this should never happen)
#else
NOLESS(step_rate, F_CPU / 500000);
step_rate -= F_CPU / 500000; // Correct for minimal speed
if (step_rate >= (8 * 256)) { // higher step rate
unsigned short table_address = (unsigned short)&speed_lookuptable_fast[(unsigned char)(step_rate >> 8)][0];
unsigned char tmp_step_rate = (step_rate & 0x00FF);
unsigned short gain = (unsigned short)pgm_read_word_near(table_address + 2);
MultiU16X8toH16(timer, tmp_step_rate, gain);
timer = (unsigned short)pgm_read_word_near(table_address) - timer;
uint8_t tmp_step_rate = (step_rate & 0x00FF);
uint16_t table_address = (uint16_t)&speed_lookuptable_fast[(uint8_t)(step_rate >> 8)][0];
uint16_t gain = (uint16_t)pgm_read_word_near(table_address + 2);
timer = MultiU16X8toH16(tmp_step_rate, gain);
timer = (uint16_t)pgm_read_word_near(table_address) - timer;
}
else { // lower step rates
unsigned short table_address = (unsigned short)&speed_lookuptable_slow[0][0];
uint16_t table_address = (uint16_t)&speed_lookuptable_slow[0][0];
table_address += ((step_rate) >> 1) & 0xFFFC;
timer = (unsigned short)pgm_read_word_near(table_address);
timer -= (((unsigned short)pgm_read_word_near(table_address + 2) * (unsigned char)(step_rate & 0x0007)) >> 3);
timer = (uint16_t)pgm_read_word_near(table_address);
timer -= (((uint16_t)pgm_read_word_near(table_address + 2) * (uint8_t)(step_rate & 0x0007)) >> 3);
}
if (timer < 100) { // (20kHz - this should never happen)
timer = 100;