From af14c684b5d2ca58d44687f7d04dbd7bbb36f930 Mon Sep 17 00:00:00 2001
From: Scott Lahteine <sourcetree@thinkyhead.com>
Date: Fri, 20 Mar 2015 20:57:06 -0700
Subject: [PATCH] Minor optimizations to planner code
- Prefetch values used more than once
---
Marlin/planner.cpp | 23 +++++++++++------------
1 file changed, 11 insertions(+), 12 deletions(-)
diff --git a/Marlin/planner.cpp b/Marlin/planner.cpp
index a105548b47..6b36cefab1 100644
--- a/Marlin/planner.cpp
+++ b/Marlin/planner.cpp
@@ -315,9 +315,8 @@ void planner_recalculate_trapezoids() {
// Recalculate if current block entry or exit junction speed has changed.
if (current->recalculate_flag || next->recalculate_flag) {
// NOTE: Entry and exit factors always > 0 by all previous logic operations.
- calculate_trapezoid_for_block(current,
- current->entry_speed / current->nominal_speed,
- next->entry_speed / current->nominal_speed);
+ float nom = current->nominal_speed;
+ calculate_trapezoid_for_block(current, current->entry_speed / nom, next->entry_speed / nom);
current->recalculate_flag = false; // Reset current only to ensure next trapezoid is computed
}
}
@@ -325,8 +324,8 @@ void planner_recalculate_trapezoids() {
}
// Last/newest block in buffer. Exit speed is set with MINIMUM_PLANNER_SPEED. Always recalculated.
if (next) {
- calculate_trapezoid_for_block(next, next->entry_speed/next->nominal_speed,
- MINIMUM_PLANNER_SPEED/next->nominal_speed);
+ float nom = next->nominal_speed;
+ calculate_trapezoid_for_block(next, next->entry_speed / nom, MINIMUM_PLANNER_SPEED / nom);
next->recalculate_flag = false;
}
}
@@ -373,11 +372,9 @@ void plan_init() {
uint8_t block_index = block_buffer_tail;
while (block_index != block_buffer_head) {
- if ((block_buffer[block_index].steps[X_AXIS] != 0) ||
- (block_buffer[block_index].steps[Y_AXIS] != 0) ||
- (block_buffer[block_index].steps[Z_AXIS] != 0)) {
- float se=(float(block_buffer[block_index].steps[E_AXIS])/float(block_buffer[block_index].step_event_count))*block_buffer[block_index].nominal_speed;
- //se; mm/sec;
+ block_t *block = &block_buffer[block_index];
+ if (block->steps[X_AXIS] || block->steps[Y_AXIS] || block->steps[Z_AXIS]) {
+ float se = (float)block->steps[E_AXIS] / block->step_event_count * block->nominal_speed; // mm/sec;
if (se > high) high = se;
}
block_index = next_block_index(block_index);
@@ -399,14 +396,16 @@ void check_axes_activity() {
unsigned char tail_valve_pressure = ValvePressure,
tail_e_to_p_pressure = EtoPPressure;
#endif
+
block_t *block;
if (blocks_queued()) {
uint8_t block_index = block_buffer_tail;
tail_fan_speed = block_buffer[block_index].fan_speed;
#ifdef BARICUDA
- tail_valve_pressure = block_buffer[block_index].valve_pressure;
- tail_e_to_p_pressure = block_buffer[block_index].e_to_p_pressure;
+ block = &block_buffer[block_index];
+ tail_valve_pressure = block->valve_pressure;
+ tail_e_to_p_pressure = block->e_to_p_pressure;
#endif
while (block_index != block_buffer_head) {
block = &block_buffer[block_index];