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Smarter MIN, MAX, ABS macros

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Use macros that explicitly avoid double-evaluation and can be used for any datatype, replacing `min`, `max`, `abs`, `fabs`, `labs`, and `FABS`.

Co-Authored-By: ejtagle <ejtagle@hotmail.com>
This commit is contained in:
Scott Lahteine
2018-05-13 01:10:34 -05:00
parent 083ec9963e
commit 99ecdf59af
52 changed files with 206 additions and 247 deletions
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58
Marlin/src/module/planner.cpp
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@ -833,7 +833,7 @@ void Planner::reverse_pass_kernel(block_t* const current, const block_t* const n
// for max allowable speed if block is decelerating and nominal length is false.
const float new_entry_speed = (TEST(current->flag, BLOCK_BIT_NOMINAL_LENGTH) || max_entry_speed <= next->entry_speed)
? max_entry_speed
: min(max_entry_speed, max_allowable_speed(-current->acceleration, next->entry_speed, current->millimeters));
: MIN(max_entry_speed, max_allowable_speed(-current->acceleration, next->entry_speed, current->millimeters));
if (new_entry_speed != current->entry_speed) {
current->entry_speed = new_entry_speed;
SBI(current->flag, BLOCK_BIT_RECALCULATE);
@ -859,7 +859,7 @@ void Planner::reverse_pass() {
// for max allowable speed if block is decelerating and nominal length is false.
const float new_entry_speed = TEST(current->flag, BLOCK_BIT_NOMINAL_LENGTH)
? max_entry_speed
: min(max_entry_speed, max_allowable_speed(-current->acceleration, MINIMUM_PLANNER_SPEED, current->millimeters));
: MIN(max_entry_speed, max_allowable_speed(-current->acceleration, MINIMUM_PLANNER_SPEED, current->millimeters));
if (current->entry_speed != new_entry_speed) {
current->entry_speed = new_entry_speed;
SBI(current->flag, BLOCK_BIT_RECALCULATE);
@ -884,7 +884,7 @@ void Planner::forward_pass_kernel(const block_t* const previous, block_t* const
// guaranteed to be reached. No need to recheck.
if (!TEST(previous->flag, BLOCK_BIT_NOMINAL_LENGTH)) {
if (previous->entry_speed < current->entry_speed) {
const float new_entry_speed = min(current->entry_speed, max_allowable_speed(-previous->acceleration, previous->entry_speed, previous->millimeters));
const float new_entry_speed = MIN(current->entry_speed, max_allowable_speed(-previous->acceleration, previous->entry_speed, previous->millimeters));
// Check for junction speed change
if (current->entry_speed != new_entry_speed) {
current->entry_speed = new_entry_speed;
@ -1384,7 +1384,7 @@ void Planner::_buffer_steps(const int32_t (&target)[XYZE]
}
#endif // PREVENT_COLD_EXTRUSION
#if ENABLED(PREVENT_LENGTHY_EXTRUDE)
if (labs(de * e_factor[extruder]) > (int32_t)axis_steps_per_mm[E_AXIS_N] * (EXTRUDE_MAXLENGTH)) { // It's not important to get max. extrusion length in a precision < 1mm, so save some cycles and cast to int
if (ABS(de * e_factor[extruder]) > (int32_t)axis_steps_per_mm[E_AXIS_N] * (EXTRUDE_MAXLENGTH)) { // It's not important to get max. extrusion length in a precision < 1mm, so save some cycles and cast to int
position[E_AXIS] = target[E_AXIS]; // Behave as if the move really took place, but ignore E part
#if HAS_POSITION_FLOAT
position_float[E_AXIS] = target_float[E_AXIS];
@ -1425,7 +1425,7 @@ void Planner::_buffer_steps(const int32_t (&target)[XYZE]
if (de < 0) SBI(dm, E_AXIS);
const float esteps_float = de * e_factor[extruder];
const int32_t esteps = abs(esteps_float) + 0.5;
const int32_t esteps = ABS(esteps_float) + 0.5;
// Wait for the next available block
uint8_t next_buffer_head;
@ -1440,26 +1440,26 @@ void Planner::_buffer_steps(const int32_t (&target)[XYZE]
// Number of steps for each axis
// See http://www.corexy.com/theory.html
#if CORE_IS_XY
block->steps[A_AXIS] = labs(da + db);
block->steps[B_AXIS] = labs(da - db);
block->steps[Z_AXIS] = labs(dc);
block->steps[A_AXIS] = ABS(da + db);
block->steps[B_AXIS] = ABS(da - db);
block->steps[Z_AXIS] = ABS(dc);
#elif CORE_IS_XZ
block->steps[A_AXIS] = labs(da + dc);
block->steps[Y_AXIS] = labs(db);
block->steps[C_AXIS] = labs(da - dc);
block->steps[A_AXIS] = ABS(da + dc);
block->steps[Y_AXIS] = ABS(db);
block->steps[C_AXIS] = ABS(da - dc);
#elif CORE_IS_YZ
block->steps[X_AXIS] = labs(da);
block->steps[B_AXIS] = labs(db + dc);
block->steps[C_AXIS] = labs(db - dc);
block->steps[X_AXIS] = ABS(da);
block->steps[B_AXIS] = ABS(db + dc);
block->steps[C_AXIS] = ABS(db - dc);
#elif IS_SCARA
block->steps[A_AXIS] = labs(da);
block->steps[B_AXIS] = labs(db);
block->steps[Z_AXIS] = labs(dc);
block->steps[A_AXIS] = ABS(da);
block->steps[B_AXIS] = ABS(db);
block->steps[Z_AXIS] = ABS(dc);
#else
// default non-h-bot planning
block->steps[A_AXIS] = labs(da);
block->steps[B_AXIS] = labs(db);
block->steps[C_AXIS] = labs(dc);
block->steps[A_AXIS] = ABS(da);
block->steps[B_AXIS] = ABS(db);
block->steps[C_AXIS] = ABS(dc);
#endif
block->steps[E_AXIS] = esteps;
@ -1660,7 +1660,7 @@ void Planner::_buffer_steps(const int32_t (&target)[XYZE]
delta_mm[E_AXIS] = esteps_float * steps_to_mm[E_AXIS_N];
if (block->steps[A_AXIS] < MIN_STEPS_PER_SEGMENT && block->steps[B_AXIS] < MIN_STEPS_PER_SEGMENT && block->steps[C_AXIS] < MIN_STEPS_PER_SEGMENT) {
block->millimeters = FABS(delta_mm[E_AXIS]);
block->millimeters = ABS(delta_mm[E_AXIS]);
}
else if (!millimeters) {
block->millimeters = SQRT(
@ -1751,7 +1751,7 @@ void Planner::_buffer_steps(const int32_t (&target)[XYZE]
// Calculate and limit speed in mm/sec for each axis
float current_speed[NUM_AXIS], speed_factor = 1.0; // factor <1 decreases speed
LOOP_XYZE(i) {
const float cs = FABS((current_speed[i] = delta_mm[i] * inverse_secs));
const float cs = ABS((current_speed[i] = delta_mm[i] * inverse_secs));
#if ENABLED(DISTINCT_E_FACTORS)
if (i == E_AXIS) i += extruder;
#endif
@ -1789,7 +1789,7 @@ void Planner::_buffer_steps(const int32_t (&target)[XYZE]
const uint32_t max_x_segment_time = MAX3(xs0, xs1, xs2),
max_y_segment_time = MAX3(ys0, ys1, ys2),
min_xy_segment_time = min(max_x_segment_time, max_y_segment_time);
min_xy_segment_time = MIN(max_x_segment_time, max_y_segment_time);
if (min_xy_segment_time < MAX_FREQ_TIME_US) {
const float low_sf = speed_factor * min_xy_segment_time / (MAX_FREQ_TIME_US);
NOMORE(speed_factor, low_sf);
@ -1973,7 +1973,7 @@ void Planner::_buffer_steps(const int32_t (&target)[XYZE]
vmax_junction = MINIMUM_PLANNER_SPEED;
}
else {
junction_cos_theta = max(junction_cos_theta, -0.999999); // Check for numerical round-off to avoid divide by zero.
junction_cos_theta = MAX(junction_cos_theta, -0.999999); // Check for numerical round-off to avoid divide by zero.
const float sin_theta_d2 = SQRT(0.5 * (1.0 - junction_cos_theta)); // Trig half angle identity. Always positive.
// TODO: Technically, the acceleration used in calculation needs to be limited by the minimum of the
@ -2003,7 +2003,7 @@ void Planner::_buffer_steps(const int32_t (&target)[XYZE]
float safe_speed = block->nominal_speed;
uint8_t limited = 0;
LOOP_XYZE(i) {
const float jerk = FABS(current_speed[i]), maxj = max_jerk[i];
const float jerk = ABS(current_speed[i]), maxj = max_jerk[i];
if (jerk > maxj) {
if (limited) {
const float mjerk = maxj * block->nominal_speed;
@ -2023,7 +2023,7 @@ void Planner::_buffer_steps(const int32_t (&target)[XYZE]
// The junction velocity will be shared between successive segments. Limit the junction velocity to their minimum.
// Pick the smaller of the nominal speeds. Higher speed shall not be achieved at the junction during coasting.
vmax_junction = min(block->nominal_speed, previous_nominal_speed);
vmax_junction = MIN(block->nominal_speed, previous_nominal_speed);
// Factor to multiply the previous / current nominal velocities to get componentwise limited velocities.
float v_factor = 1;
@ -2043,9 +2043,9 @@ void Planner::_buffer_steps(const int32_t (&target)[XYZE]
// Calculate jerk depending on whether the axis is coasting in the same direction or reversing.
const float jerk = (v_exit > v_entry)
? // coasting axis reversal
( (v_entry > 0 || v_exit < 0) ? (v_exit - v_entry) : max(v_exit, -v_entry) )
( (v_entry > 0 || v_exit < 0) ? (v_exit - v_entry) : MAX(v_exit, -v_entry) )
: // v_exit <= v_entry coasting axis reversal
( (v_entry < 0 || v_exit > 0) ? (v_entry - v_exit) : max(-v_exit, v_entry) );
( (v_entry < 0 || v_exit > 0) ? (v_entry - v_exit) : MAX(-v_exit, v_entry) );
if (jerk > max_jerk[axis]) {
v_factor *= max_jerk[axis] / jerk;
@ -2072,7 +2072,7 @@ void Planner::_buffer_steps(const int32_t (&target)[XYZE]
const float v_allowable = max_allowable_speed(-block->acceleration, MINIMUM_PLANNER_SPEED, block->millimeters);
// If stepper ISR is disabled, this indicates buffer_segment wants to add a split block.
// In this case start with the max. allowed speed to avoid an interrupted first move.
block->entry_speed = STEPPER_ISR_ENABLED() ? MINIMUM_PLANNER_SPEED : min(vmax_junction, v_allowable);
block->entry_speed = STEPPER_ISR_ENABLED() ? MINIMUM_PLANNER_SPEED : MIN(vmax_junction, v_allowable);
// Initialize planner efficiency flags
// Set flag if block will always reach maximum junction speed regardless of entry/exit speeds.