ManuelW/grbl-LPC-CoreXY
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Planner optimizations.

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- Improved planner execution speed by 5% or more. Re-factored most of
the calculations in terms of the square of velocity. This removed a lot
of sqrt() calculations for every planner_recalculate.
This commit is contained in:
Sonny Jeon
2012-12-11 17:42:29 -07:00
parent 4f273db805
commit 2dc920a8e5
3 changed files with 84 additions and 89 deletions
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3
stepper.c
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@ -30,7 +30,6 @@
// Some useful constants
#define TICKS_PER_MICROSECOND (F_CPU/1000000)
// #define CYCLES_PER_ACCELERATION_TICK ((TICKS_PER_MICROSECOND*1000000)/ACCELERATION_TICKS_PER_SECOND)
#define INTERRUPTS_PER_ACCELERATION_TICK (ISR_TICKS_PER_SECOND/ACCELERATION_TICKS_PER_SECOND)
#define CRUISE_RAMP 0
#define ACCEL_RAMP 1
@ -189,7 +188,7 @@ ISR(TIMER2_COMPA_vect)
// Initialize ramp type.
if (st.step_events_remaining == current_block->decelerate_after) { st.ramp_type = DECEL_RAMP; }
else if (current_block->entry_speed == current_block->nominal_speed) { st.ramp_type = CRUISE_RAMP; }
else if (st.delta_d == current_block->nominal_rate) { st.ramp_type = CRUISE_RAMP; }
else { st.ramp_type = ACCEL_RAMP; }
}