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