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Merge pull request #4389 from thinkyhead/rc_optimize_planner

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Optimize planner with precalculation, etc.
This commit is contained in:
Scott Lahteine
2016-07-24 17:48:23 -07:00
committed by GitHub
parent 6900bb2286 d8f2876753
commit b7b7c90477
9 changed files with 116 additions and 83 deletions
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43
Marlin/Marlin_main.cpp
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@ -610,6 +610,20 @@ static void report_current_position();
print_xyz(PSTR(STRINGIFY(VAR) "="), PSTR(" : " SUFFIX "\n"), VAR); } while(0)
#endif
/**
* sync_plan_position
* Set planner / stepper positions to the cartesian current_position.
* The stepper code translates these coordinates into step units.
* Allows translation between steps and millimeters for cartesian & core robots
*/
inline void sync_plan_position() {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("sync_plan_position", current_position);
#endif
planner.set_position_mm(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
}
inline void sync_plan_position_e() { planner.set_e_position_mm(current_position[E_AXIS]); }
#if ENABLED(DELTA) || ENABLED(SCARA)
inline void sync_plan_position_delta() {
#if ENABLED(DEBUG_LEVELING_FEATURE)
@ -897,16 +911,15 @@ void setup() {
// Send "ok" after commands by default
for (int8_t i = 0; i < BUFSIZE; i++) send_ok[i] = true;
// loads data from EEPROM if available else uses defaults (and resets step acceleration rate)
// Load data from EEPROM if available (or use defaults)
// This also updates variables in the planner, elsewhere
Config_RetrieveSettings();
// Initialize current position based on home_offset
memcpy(current_position, home_offset, sizeof(home_offset));
#if ENABLED(DELTA) || ENABLED(SCARA)
// Vital to init kinematic equivalent for X0 Y0 Z0
SYNC_PLAN_POSITION_KINEMATIC();
#endif
// Vital to init stepper/planner equivalent for current_position
SYNC_PLAN_POSITION_KINEMATIC();
thermalManager.init(); // Initialize temperature loop
@ -1319,7 +1332,7 @@ inline bool code_value_bool() { return code_value_byte() > 0; }
case TEMPUNIT_C:
return code_value_float();
case TEMPUNIT_F:
return (code_value_float() - 32) / 1.8;
return (code_value_float() - 32) * 0.5555555556;
case TEMPUNIT_K:
return code_value_float() - 272.15;
default:
@ -1333,7 +1346,7 @@ inline bool code_value_bool() { return code_value_byte() > 0; }
case TEMPUNIT_K:
return code_value_float();
case TEMPUNIT_F:
return code_value_float() / 1.8;
return code_value_float() * 0.5555555556;
default:
return code_value_float();
}
@ -1627,19 +1640,6 @@ inline void line_to_destination(float fr_mm_m) {
}
inline void line_to_destination() { line_to_destination(feedrate_mm_m); }
/**
* sync_plan_position
* Set planner / stepper positions to the cartesian current_position.
* The stepper code translates these coordinates into step units.
* Allows translation between steps and millimeters for cartesian & core robots
*/
inline void sync_plan_position() {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("sync_plan_position", current_position);
#endif
planner.set_position_mm(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
}
inline void sync_plan_position_e() { planner.set_e_position_mm(current_position[E_AXIS]); }
inline void set_current_to_destination() { memcpy(current_position, destination, sizeof(current_position)); }
inline void set_destination_to_current() { memcpy(destination, current_position, sizeof(destination)); }
@ -5147,6 +5147,7 @@ inline void gcode_M92() {
}
}
}
planner.refresh_positioning();
}
/**
@ -6140,7 +6141,7 @@ inline void gcode_M428() {
bool err = false;
LOOP_XYZ(i) {
if (axis_homed[i]) {
float base = (current_position[i] > (sw_endstop_min[i] + sw_endstop_max[i]) / 2) ? base_home_pos(i) : 0,
float base = (current_position[i] > (sw_endstop_min[i] + sw_endstop_max[i]) * 0.5) ? base_home_pos(i) : 0,
diff = current_position[i] - LOGICAL_POSITION(base, i);
if (diff > -20 && diff < 20) {
set_home_offset((AxisEnum)i, home_offset[i] - diff);