From 761593b74b667bb57af296c0c870f727fdb6d624 Mon Sep 17 00:00:00 2001
From: Scott Lahteine <sourcetree@thinkyhead.com>
Date: Sun, 2 Oct 2016 04:38:17 -0500
Subject: [PATCH] Cleanup some vars, use of min/max
---
Marlin/planner.cpp | 39 +++++++++++++++++----------------------
Marlin/temperature.cpp | 4 ++--
2 files changed, 19 insertions(+), 24 deletions(-)
diff --git a/Marlin/planner.cpp b/Marlin/planner.cpp
index 6e694771d1..959b109e59 100644
--- a/Marlin/planner.cpp
+++ b/Marlin/planner.cpp
@@ -150,33 +150,31 @@ void Planner::init() {
* by the provided factors.
*/
void Planner::calculate_trapezoid_for_block(block_t* block, float entry_factor, float exit_factor) {
- unsigned long initial_rate = ceil(block->nominal_rate * entry_factor),
- final_rate = ceil(block->nominal_rate * exit_factor); // (steps per second)
+ uint32_t initial_rate = ceil(block->nominal_rate * entry_factor),
+ final_rate = ceil(block->nominal_rate * exit_factor); // (steps per second)
// Limit minimal step rate (Otherwise the timer will overflow.)
NOLESS(initial_rate, 120);
NOLESS(final_rate, 120);
- long accel = block->acceleration_steps_per_s2;
- int32_t accelerate_steps = ceil(estimate_acceleration_distance(initial_rate, block->nominal_rate, accel));
- int32_t decelerate_steps = floor(estimate_acceleration_distance(block->nominal_rate, final_rate, -accel));
-
- // Calculate the size of Plateau of Nominal Rate.
- int32_t plateau_steps = block->step_event_count - accelerate_steps - decelerate_steps;
+ int32_t accel = block->acceleration_steps_per_s2,
+ accelerate_steps = ceil(estimate_acceleration_distance(initial_rate, block->nominal_rate, accel)),
+ decelerate_steps = floor(estimate_acceleration_distance(block->nominal_rate, final_rate, -accel)),
+ plateau_steps = block->step_event_count - accelerate_steps - decelerate_steps;
// Is the Plateau of Nominal Rate smaller than nothing? That means no cruising, and we will
// have to use intersection_distance() to calculate when to abort accel and start braking
// in order to reach the final_rate exactly at the end of this block.
if (plateau_steps < 0) {
accelerate_steps = ceil(intersection_distance(initial_rate, final_rate, accel, block->step_event_count));
- accelerate_steps = max(accelerate_steps, 0); // Check limits due to numerical round-off
+ NOLESS(accelerate_steps, 0); // Check limits due to numerical round-off
accelerate_steps = min((uint32_t)accelerate_steps, block->step_event_count);//(We can cast here to unsigned, because the above line ensures that we are above zero)
plateau_steps = 0;
}
#if ENABLED(ADVANCE)
- volatile long initial_advance = block->advance * sq(entry_factor);
- volatile long final_advance = block->advance * sq(exit_factor);
+ volatile int32_t initial_advance = block->advance * sq(entry_factor),
+ final_advance = block->advance * sq(exit_factor);
#endif // ADVANCE
// block->accelerate_until = accelerate_steps;
@@ -266,7 +264,7 @@ void Planner::forward_pass_kernel(block_t* previous, block_t* current) {
// If nominal length is true, max junction speed is guaranteed to be reached. No need to recheck.
if (!previous->nominal_length_flag) {
if (previous->entry_speed < current->entry_speed) {
- double entry_speed = min(current->entry_speed,
+ float entry_speed = min(current->entry_speed,
max_allowable_speed(-previous->acceleration, previous->entry_speed, previous->millimeters));
// Check for junction speed change
if (current->entry_speed != entry_speed) {
@@ -982,15 +980,13 @@ void Planner::buffer_line(ARG_X, ARG_Y, ARG_Z, const float &e, float fr_mm_s, co
#endif
// Calculate and limit speed in mm/sec for each axis
- float current_speed[NUM_AXIS];
- float speed_factor = 1.0; //factor <=1 do decrease speed
+ float current_speed[NUM_AXIS], speed_factor = 1.0; // factor <1 decreases speed
LOOP_XYZE(i) {
- current_speed[i] = delta_mm[i] * inverse_mm_s;
- float cs = fabs(current_speed[i]), mf = max_feedrate_mm_s[i];
- if (cs > mf) speed_factor = min(speed_factor, mf / cs);
+ float cs = fabs(current_speed[i] = delta_mm[i] * inverse_mm_s);
+ if (cs > max_feedrate_mm_s[i]) NOMORE(speed_factor, max_feedrate_mm_s[i] / cs);
}
- // Max segement time in us.
+ // Max segment time in µs.
#ifdef XY_FREQUENCY_LIMIT
// Check and limit the xy direction change frequency
@@ -1024,7 +1020,7 @@ void Planner::buffer_line(ARG_X, ARG_Y, ARG_Z, const float &e, float fr_mm_s, co
min_xy_segment_time = min(max_x_segment_time, max_y_segment_time);
if (min_xy_segment_time < MAX_FREQ_TIME) {
float low_sf = speed_factor * min_xy_segment_time / (MAX_FREQ_TIME);
- speed_factor = min(speed_factor, low_sf);
+ NOMORE(speed_factor, low_sf);
}
#endif // XY_FREQUENCY_LIMIT
@@ -1091,8 +1087,7 @@ void Planner::buffer_line(ARG_X, ARG_Y, ARG_Z, const float &e, float fr_mm_s, co
if (cos_theta > -0.95) {
// Compute maximum junction velocity based on maximum acceleration and junction deviation
double sin_theta_d2 = sqrt(0.5 * (1.0 - cos_theta)); // Trig half angle identity. Always positive.
- vmax_junction = min(vmax_junction,
- sqrt(block->acceleration * junction_deviation * sin_theta_d2 / (1.0 - sin_theta_d2)));
+ NOMORE(vmax_junction, sqrt(block->acceleration * junction_deviation * sin_theta_d2 / (1.0 - sin_theta_d2)));
}
}
}
@@ -1125,7 +1120,7 @@ void Planner::buffer_line(ARG_X, ARG_Y, ARG_Z, const float &e, float fr_mm_s, co
block->max_entry_speed = vmax_junction;
// Initialize block entry speed. Compute based on deceleration to user-defined MINIMUM_PLANNER_SPEED.
- double v_allowable = max_allowable_speed(-block->acceleration, MINIMUM_PLANNER_SPEED, block->millimeters);
+ float v_allowable = max_allowable_speed(-block->acceleration, MINIMUM_PLANNER_SPEED, block->millimeters);
block->entry_speed = min(vmax_junction, v_allowable);
// Initialize planner efficiency flags
diff --git a/Marlin/temperature.cpp b/Marlin/temperature.cpp
index 5e57188743..c3053cd1c1 100644
--- a/Marlin/temperature.cpp
+++ b/Marlin/temperature.cpp
@@ -265,8 +265,8 @@ uint8_t Temperature::soft_pwm[HOTENDS];
#endif
;
- max = max(max, input);
- min = min(min, input);
+ NOLESS(max, input);
+ NOMORE(min, input);
#if HAS_AUTO_FAN
if (ELAPSED(ms, next_auto_fan_check_ms)) {