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Minor DELTA segmentation speedup

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Minor DELTA segmentation speedup by pulling calculations out of the loop.
This commit is contained in:
AnHardt 2016-05-18 01:49:30 +02:00
parent ce1d6981c2
commit 41e9569dbc
1 changed files with 5 additions and 3 deletions
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8
Marlin/Marlin_main.cpp
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@ -7314,8 +7314,10 @@ void mesh_buffer_line(float x, float y, float z, const float e, float feed_rate,
float cartesian_mm = sqrt(sq(difference[X_AXIS]) + sq(difference[Y_AXIS]) + sq(difference[Z_AXIS])); float cartesian_mm = sqrt(sq(difference[X_AXIS]) + sq(difference[Y_AXIS]) + sq(difference[Z_AXIS]));
if (cartesian_mm < 0.000001) cartesian_mm = abs(difference[E_AXIS]); if (cartesian_mm < 0.000001) cartesian_mm = abs(difference[E_AXIS]);
if (cartesian_mm < 0.000001) return false; if (cartesian_mm < 0.000001) return false;
float seconds = 6000 * cartesian_mm / feedrate / feedrate_multiplier; float _feedrate = feedrate * feedrate_multiplier / 6000.0;
float seconds = cartesian_mm / _feedrate;
int steps = max(1, int(delta_segments_per_second * seconds)); int steps = max(1, int(delta_segments_per_second * seconds));
float inv_steps = 1.0/steps;
// SERIAL_ECHOPGM("mm="); SERIAL_ECHO(cartesian_mm); // SERIAL_ECHOPGM("mm="); SERIAL_ECHO(cartesian_mm);
// SERIAL_ECHOPGM(" seconds="); SERIAL_ECHO(seconds); // SERIAL_ECHOPGM(" seconds="); SERIAL_ECHO(seconds);
@ -7323,7 +7325,7 @@ void mesh_buffer_line(float x, float y, float z, const float e, float feed_rate,
for (int s = 1; s <= steps; s++) { for (int s = 1; s <= steps; s++) {
float fraction = float(s) / float(steps); float fraction = float(s) * inv_steps;
for (int8_t i = 0; i < NUM_AXIS; i++) for (int8_t i = 0; i < NUM_AXIS; i++)
target[i] = current_position[i] + difference[i] * fraction; target[i] = current_position[i] + difference[i] * fraction;
@ -7337,7 +7339,7 @@ void mesh_buffer_line(float x, float y, float z, const float e, float feed_rate,
//DEBUG_POS("prepare_move_delta", target); //DEBUG_POS("prepare_move_delta", target);
//DEBUG_POS("prepare_move_delta", delta); //DEBUG_POS("prepare_move_delta", delta);
planner.buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], target[E_AXIS], feedrate / 60 * feedrate_multiplier / 100.0, active_extruder); planner.buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], target[E_AXIS], _feedrate, active_extruder);
} }
return true; return true;
} }