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Tweak planner code style

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This commit is contained in:
Scott Lahteine 2017-11-29 15:11:31 -06:00
parent eede8679e7
commit 285b868e9b
1 changed files with 9 additions and 8 deletions
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17
Marlin/src/module/planner.cpp
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@ -1060,7 +1060,7 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const
#endif #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 moves/second for this move. No divide by zero due to previous checks. // Calculate moves/second for this move. No divide by zero due to previous checks.
float inverse_mm_s = fr_mm_s * inverse_millimeters; float inverse_mm_s = fr_mm_s * inverse_millimeters;
@ -1076,9 +1076,10 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const
if (WITHIN(moves_queued, 2, (BLOCK_BUFFER_SIZE) / 2 - 1)) { if (WITHIN(moves_queued, 2, (BLOCK_BUFFER_SIZE) / 2 - 1)) {
if (segment_time_us < min_segment_time_us) { if (segment_time_us < min_segment_time_us) {
// buffer is draining, add extra time. The amount of time added increases if the buffer is still emptied more. // buffer is draining, add extra time. The amount of time added increases if the buffer is still emptied more.
inverse_mm_s = 1000000.0 / (segment_time_us + LROUND(2 * (min_segment_time_us - segment_time_us) / moves_queued)); const uint32_t nst = segment_time_us + LROUND(2 * (min_segment_time_us - segment_time_us) / moves_queued);
inverse_mm_s = 1000000.0 / nst;
#if defined(XY_FREQUENCY_LIMIT) || ENABLED(ULTRA_LCD) #if defined(XY_FREQUENCY_LIMIT) || ENABLED(ULTRA_LCD)
segment_time_us = LROUND(1000000.0 / inverse_mm_s); segment_time_us = nst;
#endif #endif
} }
} }
@ -1106,7 +1107,7 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const
filwidth_delay_dist += delta_mm[E_AXIS]; filwidth_delay_dist += delta_mm[E_AXIS];
// Only get new measurements on forward E movement // Only get new measurements on forward E movement
if (filwidth_e_count > 0.0001) { if (!UNEAR_ZERO(filwidth_e_count)) {
// Loop the delay distance counter (modulus by the mm length) // Loop the delay distance counter (modulus by the mm length)
while (filwidth_delay_dist >= MMD_MM) filwidth_delay_dist -= MMD_MM; while (filwidth_delay_dist >= MMD_MM) filwidth_delay_dist -= MMD_MM;
@ -1309,7 +1310,7 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const
} }
} }
if (moves_queued > 1 && previous_nominal_speed > 0.0001) { if (moves_queued > 1 && !UNEAR_ZERO(previous_nominal_speed)) {
// Estimate a maximum velocity allowed at a joint of two successive segments. // Estimate a maximum velocity allowed at a joint of two successive segments.
// If this maximum velocity allowed is lower than the minimum of the entry / exit safe velocities, // If this maximum velocity allowed is lower than the minimum of the entry / exit safe velocities,
// then the machine is not coasting anymore and the safe entry / exit velocities shall be used. // then the machine is not coasting anymore and the safe entry / exit velocities shall be used.
@ -1320,7 +1321,7 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const
// Pick the smaller of the nominal speeds. Higher speed shall not be achieved at the junction during coasting. // Pick the smaller of the nominal speeds. Higher speed shall not be achieved at the junction during coasting.
vmax_junction = prev_speed_larger ? block->nominal_speed : previous_nominal_speed; vmax_junction = prev_speed_larger ? block->nominal_speed : previous_nominal_speed;
// Factor to multiply the previous / current nominal velocities to get componentwise limited velocities. // Factor to multiply the previous / current nominal velocities to get componentwise limited velocities.
float v_factor = 1.f; float v_factor = 1;
limited = 0; limited = 0;
// Now limit the jerk in all axes. // Now limit the jerk in all axes.
LOOP_XYZE(axis) { LOOP_XYZE(axis) {
@ -1335,9 +1336,9 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const
// Calculate jerk depending on whether the axis is coasting in the same direction or reversing. // Calculate jerk depending on whether the axis is coasting in the same direction or reversing.
const float jerk = (v_exit > v_entry) const float jerk = (v_exit > v_entry)
? // coasting axis reversal ? // coasting axis reversal
( (v_entry > 0.f || v_exit < 0.f) ? (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_exit <= v_entry coasting axis reversal
( (v_entry < 0.f || v_exit > 0.f) ? (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]) { if (jerk > max_jerk[axis]) {
v_factor *= max_jerk[axis] / jerk; v_factor *= max_jerk[axis] / jerk;