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Apply @AnHardt reverse_pass changes

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Plus: 3 times 2 float / to 1 float / and 2 float *
      and, reciprocal is an optimized operation
master
AnHardt 7 years ago committed by Scott Lahteine
parent 360c553228
commit 22baf3356a
3 changed files with 27 additions and 32 deletions
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51
Marlin/planner.cpp
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@ -247,7 +247,7 @@ void Planner::calculate_trapezoid_for_block(block_t* const block, const float &e
// The kernel called by recalculate() when scanning the plan from last to first entry.
void Planner::reverse_pass_kernel(block_t* const current, const block_t *next) {
void Planner::reverse_pass_kernel(block_t* const current, const block_t * const next) {
if (!current || !next) return;
// If entry speed is already at the maximum entry speed, no need to recheck. Block is cruising.
// If not, block in state of acceleration or deceleration. Reset entry speed to maximum and
@ -268,31 +268,25 @@ void Planner::reverse_pass_kernel(block_t* const current, const block_t *next) {
* Once in reverse and once forward. This implements the reverse pass.
*/
void Planner::reverse_pass() {
if (movesplanned() > 3) {
block_t* block[3] = { NULL, NULL, NULL };
// Make a local copy of block_buffer_tail, because the interrupt can alter it
// Is a critical section REALLY needed for a single byte change?
//CRITICAL_SECTION_START;
uint8_t tail = block_buffer_tail;
//CRITICAL_SECTION_END
uint8_t b = BLOCK_MOD(block_buffer_head - 3);
while (b != tail) {
if (block[0] && TEST(block[0]->flag, BLOCK_BIT_START_FROM_FULL_HALT)) break;
b = prev_block_index(b);
block[2] = block[1];
block[1] = block[0];
block[0] = &block_buffer[b];
reverse_pass_kernel(block[1], block[2]);
}
const uint8_t endnr = BLOCK_MOD(block_buffer_tail + 2); // tail is running. tail+1 shouldn't be altered because it's connected to the running block.
// tail+2 because the index is not yet advanced when checked
uint8_t blocknr = prev_block_index(block_buffer_head);
block_t* current = &block_buffer[blocknr];
do {
const block_t * const next = current;
blocknr = prev_block_index(blocknr);
current = &block_buffer[blocknr];
if (TEST(current->flag, BLOCK_BIT_START_FROM_FULL_HALT)) // Up to this every block is already optimized.
break;
reverse_pass_kernel(current, next);
} while (blocknr != endnr);
}
}
// The kernel called by recalculate() when scanning the plan from first to last entry.
void Planner::forward_pass_kernel(const block_t* previous, block_t* const current) {
void Planner::forward_pass_kernel(const block_t * const previous, block_t* const current) {
if (!previous) return;
// If the previous block is an acceleration block, but it is not long enough to complete the
@ -344,8 +338,8 @@ void Planner::recalculate_trapezoids() {
// Recalculate if current block entry or exit junction speed has changed.
if (TEST(current->flag, BLOCK_BIT_RECALCULATE) || TEST(next->flag, BLOCK_BIT_RECALCULATE)) {
// NOTE: Entry and exit factors always > 0 by all previous logic operations.
float nom = current->nominal_speed;
calculate_trapezoid_for_block(current, current->entry_speed / nom, next->entry_speed / nom);
const float nomr = 1.0 / current->nominal_speed;
calculate_trapezoid_for_block(current, current->entry_speed * nomr, next->entry_speed * nomr);
CBI(current->flag, BLOCK_BIT_RECALCULATE); // Reset current only to ensure next trapezoid is computed
}
}
@ -353,8 +347,8 @@ void Planner::recalculate_trapezoids() {
}
// Last/newest block in buffer. Exit speed is set with MINIMUM_PLANNER_SPEED. Always recalculated.
if (next) {
float nom = next->nominal_speed;
calculate_trapezoid_for_block(next, next->entry_speed / nom, (MINIMUM_PLANNER_SPEED) / nom);
const float nomr = 1.0 / next->nominal_speed;
calculate_trapezoid_for_block(next, next->entry_speed * nomr, (MINIMUM_PLANNER_SPEED) * nomr);
CBI(next->flag, BLOCK_BIT_RECALCULATE);
}
}
@ -1009,7 +1003,7 @@ void Planner::_buffer_steps(const int32_t (&target)[XYZE], float fr_mm_s, const
#endif
);
}
float inverse_millimeters = 1.0 / block->millimeters; // Inverse millimeters to remove multiple divides
const float inverse_millimeters = 1.0 / block->millimeters; // Inverse millimeters to remove multiple divides
// Calculate inverse time for this move. No divide by zero due to previous checks.
// Example: At 120mm/s a 60mm move takes 0.5s. So this will give 2.0.
@ -1048,7 +1042,7 @@ void Planner::_buffer_steps(const int32_t (&target)[XYZE], float fr_mm_s, const
//FMM update ring buffer used for delay with filament measurements
if (extruder == FILAMENT_SENSOR_EXTRUDER_NUM && filwidth_delay_index[1] >= 0) { //only for extruder with filament sensor and if ring buffer is initialized
const int MMD_CM = MAX_MEASUREMENT_DELAY + 1, MMD_MM = MMD_CM * 10;
constexpr int MMD_CM = MAX_MEASUREMENT_DELAY + 1, MMD_MM = MMD_CM * 10;
// increment counters with next move in e axis
filwidth_e_count += delta_mm[E_AXIS];
@ -1345,7 +1339,8 @@ void Planner::_buffer_steps(const int32_t (&target)[XYZE], float fr_mm_s, const
#endif // LIN_ADVANCE
calculate_trapezoid_for_block(block, block->entry_speed / block->nominal_speed, safe_speed / block->nominal_speed);
const float bnsr = 1.0 / block->nominal_speed;
calculate_trapezoid_for_block(block, block->entry_speed * bnsr, safe_speed * bnsr);
// Move buffer head
block_buffer_head = next_buffer_head;

4
Marlin/planner.h
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@ -565,8 +565,8 @@ class Planner {
static void calculate_trapezoid_for_block(block_t* const block, const float &entry_factor, const float &exit_factor);
static void reverse_pass_kernel(block_t* const current, const block_t *next);
static void forward_pass_kernel(const block_t *previous, block_t* const current);
static void reverse_pass_kernel(block_t* const current, const block_t * const next);
static void forward_pass_kernel(const block_t * const previous, block_t* const current);
static void reverse_pass();
static void forward_pass();

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