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Convert custom maths to inlines (#10728)

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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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20
Marlin/src/module/stepper.h
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@ -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;