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Optimize coordinate transformation

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Pre-compute the combined position shift and home offset to save a
single float fetch-and-add per conversion. Great for delta/scara and
bed leveling.
This commit is contained in:
Scott Lahteine 2017-03-04 19:18:11 -06:00
parent 5f7e85398b
commit e141f3a03f
2 changed files with 10 additions and 6 deletions
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9
Marlin/Marlin.h
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@ -278,10 +278,11 @@ extern float current_position[NUM_AXIS];
// Workspace offsets // Workspace offsets
#if DISABLED(NO_WORKSPACE_OFFSETS) #if DISABLED(NO_WORKSPACE_OFFSETS)
extern float position_shift[XYZ]; extern float position_shift[XYZ],
extern float home_offset[XYZ]; home_offset[XYZ],
#define LOGICAL_POSITION(POS, AXIS) ((POS) + home_offset[AXIS] + position_shift[AXIS]) workspace_offset[XYZ];
#define RAW_POSITION(POS, AXIS) ((POS) - home_offset[AXIS] - position_shift[AXIS]) #define LOGICAL_POSITION(POS, AXIS) ((POS) + workspace_offset[AXIS])
#define RAW_POSITION(POS, AXIS) ((POS) - workspace_offset[AXIS])
#else #else
#define LOGICAL_POSITION(POS, AXIS) (POS) #define LOGICAL_POSITION(POS, AXIS) (POS)
#define RAW_POSITION(POS, AXIS) (POS) #define RAW_POSITION(POS, AXIS) (POS)

7
Marlin/Marlin_main.cpp
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@ -405,6 +405,9 @@ float filament_size[EXTRUDERS] = ARRAY_BY_EXTRUDERS1(DEFAULT_NOMINAL_FILAMENT_DI
// Set by M206, M428, or menu item. Saved to EEPROM. // Set by M206, M428, or menu item. Saved to EEPROM.
float home_offset[XYZ] = { 0 }; float home_offset[XYZ] = { 0 };
// The above two are combined to save on computes
float workspace_offset[XYZ] = { 0 };
#endif #endif
// Software Endstops are based on the configured limits. // Software Endstops are based on the configured limits.
@ -1349,7 +1352,7 @@ bool get_target_extruder_from_command(int code) {
* at the same positions relative to the machine. * at the same positions relative to the machine.
*/ */
void update_software_endstops(const AxisEnum axis) { void update_software_endstops(const AxisEnum axis) {
const float offs = LOGICAL_POSITION(0, axis); const float offs = workspace_offset[axis] = LOGICAL_POSITION(0, axis);
#if ENABLED(DUAL_X_CARRIAGE) #if ENABLED(DUAL_X_CARRIAGE)
if (axis == X_AXIS) { if (axis == X_AXIS) {
@ -1408,7 +1411,7 @@ bool get_target_extruder_from_command(int code) {
* Since this changes the current_position, code should * Since this changes the current_position, code should
* call sync_plan_position soon after this. * call sync_plan_position soon after this.
*/ */
static void set_home_offset(AxisEnum axis, float v) { static void set_home_offset(const AxisEnum axis, const float v) {
current_position[axis] += v - home_offset[axis]; current_position[axis] += v - home_offset[axis];
home_offset[axis] = v; home_offset[axis] = v;
update_software_endstops(axis); update_software_endstops(axis);