CMS/Marlin
3
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Explicitly optimize x/x in Classic Jerk (#18112)

Browse Source 
Can we outsmart the compiler?
This commit is contained in:
XDA-Bam 2020-05-26 00:29:02 +02:00 committed by GitHub
parent f776260d7a
commit 5fbea83840
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 8 additions and 8 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

16
Marlin/src/module/planner.cpp
View File

@ -2456,16 +2456,16 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
// Pick the smaller of the nominal speeds. Higher speed shall not be achieved at the junction during coasting.
CACHED_SQRT(previous_nominal_speed, previous_nominal_speed_sqr);
vmax_junction = _MIN(nominal_speed, previous_nominal_speed);
float smaller_speed_factor = 1.0f;
if (nominal_speed < previous_nominal_speed) {
vmax_junction = nominal_speed;
smaller_speed_factor = vmax_junction / previous_nominal_speed;
}
else
vmax_junction = previous_nominal_speed;
// Now limit the jerk in all axes.
const float smaller_speed_factor = vmax_junction / previous_nominal_speed;
#if HAS_LINEAR_E_JERK
LOOP_XYZ(axis)
#else
LOOP_XYZE(axis)
#endif
{
TERN(HAS_LINEAR_E_JERK, LOOP_XYZ, LOOP_XYZE)(axis) {
// Limit an axis. We have to differentiate: coasting, reversal of an axis, full stop.
float v_exit = previous_speed[axis] * smaller_speed_factor,
v_entry = current_speed[axis];