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⚡️ Optimize speed lookup for AVR

Browse Source 
Co-Authored-By: tombrazier <68918209+tombrazier@users.noreply.github.com>
This commit is contained in:
Scott Lahteine 2023-03-12 16:29:21 -05:00
parent 3365172e7c
commit 143a8701d5
4 changed files with 176 additions and 181 deletions
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34
Marlin/src/HAL/AVR/math.h
View File

@ -84,32 +84,26 @@ FORCE_INLINE static uint16_t MultiU24X32toH16(uint32_t longIn1, uint32_t longIn2
return intRes;
}
// intRes = intIn1 * intIn2 >> 8
// charRes = charIn1 * charIn2 >> 8
// uses:
// r1, r0 for the result of mul. After the second mul, r0 holds bits 0-7 of the 24 bit result and
// the top bit of r0 is used for rounding.
// [tmp] to store 0.
// [intRes] (A B) is bits 8-15 and is the returned value.
// r1, r0 for the result of mul. After the mul, r0 holds bits 0-7 of the 16 bit result,
// and the top bit of r0 is used for rounding.
// [charRes] is bits 8-15 and is the returned value.
// [charIn1] is an 8 bit parameter.
// [intIn2] (B A) is a 16 bit parameter.
// [charIn2] is an 8 bit parameter.
//
FORCE_INLINE static uint16_t MultiU8X16toH16(uint8_t charIn1, uint16_t intIn2) {
uint8_t tmp;
uint16_t intRes;
FORCE_INLINE static uint8_t MultiU8X8toH8(uint8_t charIn1, uint8_t charIn2) {
uint8_t charRes;
__asm__ __volatile__ (
A("clr %[tmp]")
A("mul %[charIn1], %B[intIn2]")
A("movw %A[intRes], r0")
A("mul %[charIn1], %A[intIn2]")
A("lsl r0")
A("adc %A[intRes], r1")
A("adc %B[intRes], %[tmp]")
A("mul %[charIn1], %[charIn2]")
A("mov %[charRes], r1")
A("clr r1")
: [intRes] "=&r" (intRes),
[tmp] "=&r" (tmp)
A("lsl r0")
A("adc %[charRes], r1")
: [charRes] "=&r" (charRes)
: [charIn1] "d" (charIn1),
[intIn2] "d" (intIn2)
[charIn2] "d" (charIn2)
: "cc"
);
return intRes;
return charRes;
}

27
Marlin/src/module/stepper.cpp
View File

@ -2069,22 +2069,21 @@ hal_timer_t Stepper::calc_timer_interval(uint32_t step_rate) {
// AVR is able to keep up at 30khz Stepping ISR rate.
constexpr uint32_t min_step_rate = (F_CPU) / 500000U; // i.e., 32 or 40
if (step_rate <= min_step_rate) { // lower step rates
step_rate = 0;
return uint16_t(pgm_read_word(uintptr_t(speed_lookuptable_slow)));
if (step_rate >= 0x0800) { // higher step rate
const uintptr_t table_address = uintptr_t(&speed_lookuptable_fast[uint8_t(step_rate >> 8)]);
const uint16_t base = uint16_t(pgm_read_word(table_address));
const uint8_t gain = uint8_t(pgm_read_byte(table_address + 2));
return base - MultiU8X8toH8(uint8_t(step_rate & 0x00FF), gain);
}
else if (step_rate > min_step_rate) { // lower step rates
step_rate -= min_step_rate; // Correct for minimal speed
const uintptr_t table_address = uintptr_t(&speed_lookuptable_slow[uint8_t(step_rate >> 3)]);
return uint16_t(pgm_read_word(table_address))
- ((uint16_t(pgm_read_word(table_address + 2)) * uint8_t(step_rate & 0x0007)) >> 3);
}
else {
step_rate -= min_step_rate; // Correct for minimal speed
if (step_rate >= 0x0800) { // higher step rate
const uintptr_t table_address = uintptr_t(&speed_lookuptable_fast[uint8_t(step_rate >> 8)]);
const uint16_t gain = uint16_t(pgm_read_word(table_address + 2));
return uint16_t(pgm_read_word(table_address)) - MultiU8X16toH16(uint8_t(step_rate & 0x00FF), gain);
}
else { // lower step rates
const uintptr_t table_address = uintptr_t(&speed_lookuptable_slow[uint8_t(step_rate >> 3)]);
return uint16_t(pgm_read_word(table_address))
- ((uint16_t(pgm_read_word(table_address + 2)) * uint8_t(step_rate & 0x0007)) >> 3);
}
step_rate = 0;
return uint16_t(pgm_read_word(uintptr_t(speed_lookuptable_slow)));
}
#endif // !CPU_32_BIT

254
Marlin/src/module/stepper/speed_lookuptable.h
View File

@ -23,146 +23,146 @@
#if F_CPU == 16000000
const uint16_t speed_lookuptable_fast[256][2] PROGMEM = {
const struct { uint16_t base; uint8_t gain; } speed_lookuptable_fast[256] PROGMEM = {
{ 0, 0 }, { 0, 0 }, { 0, 0 }, { 0, 0 }, { 0, 0 }, { 0, 0 }, { 0, 0 }, { 0, 0 }, // dummy first row
{ 961, 105 }, { 856, 85 }, { 771, 69 }, { 702, 58 }, { 644, 49 }, { 595, 42 }, { 553, 37 }, { 516, 32 },
{ 484, 28 }, { 456, 25 }, { 431, 23 }, { 408, 20 }, { 388, 19 }, { 369, 16 }, { 353, 16 }, { 337, 14 },
{ 323, 13 }, { 310, 11 }, { 299, 11 }, { 288, 11 }, { 277, 9 }, { 268, 9 }, { 259, 8 }, { 251, 8 },
{ 243, 8 }, { 235, 7 }, { 228, 6 }, { 222, 6 }, { 216, 6 }, { 210, 6 }, { 204, 5 }, { 199, 5 },
{ 194, 5 }, { 189, 4 }, { 185, 4 }, { 181, 4 }, { 177, 4 }, { 173, 4 }, { 169, 4 }, { 165, 3 },
{ 162, 3 }, { 159, 4 }, { 155, 3 }, { 152, 3 }, { 149, 2 }, { 147, 3 }, { 144, 3 }, { 141, 2 },
{ 139, 3 }, { 136, 2 }, { 134, 2 }, { 132, 3 }, { 129, 2 }, { 127, 2 }, { 125, 2 }, { 123, 2 },
{ 121, 2 }, { 119, 1 }, { 118, 2 }, { 116, 2 }, { 114, 1 }, { 113, 2 }, { 111, 2 }, { 109, 1 },
{ 108, 2 }, { 106, 1 }, { 105, 2 }, { 103, 1 }, { 102, 1 }, { 101, 1 }, { 100, 2 }, { 98, 1 },
{ 97, 1 }, { 96, 1 }, { 95, 2 }, { 93, 1 }, { 92, 1 }, { 91, 1 }, { 90, 1 }, { 89, 1 },
{ 88, 1 }, { 87, 1 }, { 86, 1 }, { 85, 1 }, { 84, 1 }, { 83, 0 }, { 83, 1 }, { 82, 1 },
{ 81, 1 }, { 80, 1 }, { 79, 1 }, { 78, 0 }, { 78, 1 }, { 77, 1 }, { 76, 1 }, { 75, 0 },
{ 75, 1 }, { 74, 1 }, { 73, 1 }, { 72, 0 }, { 72, 1 }, { 71, 1 }, { 70, 0 }, { 70, 1 },
{ 69, 0 }, { 69, 1 }, { 68, 1 }, { 67, 0 }, { 67, 1 }, { 66, 0 }, { 66, 1 }, { 65, 0 },
{ 65, 1 }, { 64, 1 }, { 63, 0 }, { 63, 1 }, { 62, 0 }, { 62, 1 }, { 61, 0 }, { 61, 1 },
{ 60, 0 }, { 60, 0 }, { 60, 1 }, { 59, 0 }, { 59, 1 }, { 58, 0 }, { 58, 1 }, { 57, 0 },
{ 57, 1 }, { 56, 0 }, { 56, 0 }, { 56, 1 }, { 55, 0 }, { 55, 1 }, { 54, 0 }, { 54, 0 },
{ 54, 1 }, { 53, 0 }, { 53, 0 }, { 53, 1 }, { 52, 0 }, { 52, 0 }, { 52, 1 }, { 51, 0 },
{ 51, 0 }, { 51, 1 }, { 50, 0 }, { 50, 0 }, { 50, 1 }, { 49, 0 }, { 49, 0 }, { 49, 1 },
{ 48, 0 }, { 48, 0 }, { 48, 1 }, { 47, 0 }, { 47, 0 }, { 47, 0 }, { 47, 1 }, { 46, 0 },
{ 46, 0 }, { 46, 1 }, { 45, 0 }, { 45, 0 }, { 45, 0 }, { 45, 1 }, { 44, 0 }, { 44, 0 },
{ 44, 0 }, { 44, 1 }, { 43, 0 }, { 43, 0 }, { 43, 0 }, { 43, 1 }, { 42, 0 }, { 42, 0 },
{ 42, 0 }, { 42, 1 }, { 41, 0 }, { 41, 0 }, { 41, 0 }, { 41, 0 }, { 41, 1 }, { 40, 0 },
{ 40, 0 }, { 40, 0 }, { 40, 0 }, { 40, 1 }, { 39, 0 }, { 39, 0 }, { 39, 0 }, { 39, 0 },
{ 39, 1 }, { 38, 0 }, { 38, 0 }, { 38, 0 }, { 38, 0 }, { 38, 1 }, { 37, 0 }, { 37, 0 },
{ 37, 0 }, { 37, 0 }, { 37, 0 }, { 37, 1 }, { 36, 0 }, { 36, 0 }, { 36, 0 }, { 36, 0 },
{ 36, 1 }, { 35, 0 }, { 35, 0 }, { 35, 0 }, { 35, 0 }, { 35, 0 }, { 35, 0 }, { 35, 1 },
{ 34, 0 }, { 34, 0 }, { 34, 0 }, { 34, 0 }, { 34, 0 }, { 34, 1 }, { 33, 0 }, { 33, 0 },
{ 33, 0 }, { 33, 0 }, { 33, 0 }, { 33, 0 }, { 33, 1 }, { 32, 0 }, { 32, 0 }, { 32, 0 },
{ 32, 0 }, { 32, 0 }, { 32, 0 }, { 32, 0 }, { 32, 1 }, { 31, 0 }, { 31, 0 }, { 31, 0 },
{ 31, 0 }, { 31, 0 }, { 31, 0 }, { 31, 1 }, { 30, 0 }, { 30, 0 }, { 30, 0 }, { 30, 0 }
{ 977, 109 }, { 868, 87 }, { 781, 71 }, { 710, 59 }, { 651, 50 }, { 601, 43 }, { 558, 37 }, { 521, 33 },
{ 488, 28 }, { 460, 26 }, { 434, 23 }, { 411, 20 }, { 391, 19 }, { 372, 17 }, { 355, 15 }, { 340, 14 },
{ 326, 13 }, { 313, 13 }, { 300, 11 }, { 289, 10 }, { 279, 10 }, { 269, 9 }, { 260, 8 }, { 252, 8 },
{ 244, 7 }, { 237, 7 }, { 230, 7 }, { 223, 6 }, { 217, 6 }, { 211, 5 }, { 206, 6 }, { 200, 5 },
{ 195, 4 }, { 191, 5 }, { 186, 4 }, { 182, 4 }, { 178, 4 }, { 174, 4 }, { 170, 4 }, { 166, 3 },
{ 163, 4 }, { 159, 3 }, { 156, 3 }, { 153, 3 }, { 150, 3 }, { 147, 2 }, { 145, 3 }, { 142, 2 },
{ 140, 3 }, { 137, 2 }, { 135, 3 }, { 132, 2 }, { 130, 2 }, { 128, 2 }, { 126, 2 }, { 124, 2 },
{ 122, 2 }, { 120, 2 }, { 118, 1 }, { 117, 2 }, { 115, 2 }, { 113, 1 }, { 112, 2 }, { 110, 1 },
{ 109, 2 }, { 107, 1 }, { 106, 2 }, { 104, 1 }, { 103, 2 }, { 101, 1 }, { 100, 1 }, { 99, 1 },
{ 98, 2 }, { 96, 1 }, { 95, 1 }, { 94, 1 }, { 93, 1 }, { 92, 1 }, { 91, 1 }, { 90, 1 },
{ 89, 1 }, { 88, 1 }, { 87, 1 }, { 86, 1 }, { 85, 1 }, { 84, 1 }, { 83, 1 }, { 82, 1 },
{ 81, 0 }, { 81, 1 }, { 80, 1 }, { 79, 1 }, { 78, 1 }, { 77, 0 }, { 77, 1 }, { 76, 1 },
{ 75, 1 }, { 74, 0 }, { 74, 1 }, { 73, 1 }, { 72, 0 }, { 72, 1 }, { 71, 1 }, { 70, 0 },
{ 70, 1 }, { 69, 0 }, { 69, 1 }, { 68, 1 }, { 67, 0 }, { 67, 1 }, { 66, 0 }, { 66, 1 },
{ 65, 0 }, { 65, 1 }, { 64, 0 }, { 64, 1 }, { 63, 0 }, { 63, 1 }, { 62, 0 }, { 62, 1 },
{ 61, 0 }, { 61, 1 }, { 60, 0 }, { 60, 1 }, { 59, 0 }, { 59, 1 }, { 58, 0 }, { 58, 1 },
{ 57, 0 }, { 57, 0 }, { 57, 1 }, { 56, 0 }, { 56, 1 }, { 55, 0 }, { 55, 0 }, { 55, 1 },
{ 54, 0 }, { 54, 0 }, { 54, 1 }, { 53, 0 }, { 53, 1 }, { 52, 0 }, { 52, 0 }, { 52, 1 },
{ 51, 0 }, { 51, 0 }, { 51, 1 }, { 50, 0 }, { 50, 0 }, { 50, 1 }, { 49, 0 }, { 49, 0 },
{ 49, 0 }, { 49, 1 }, { 48, 0 }, { 48, 0 }, { 48, 1 }, { 47, 0 }, { 47, 0 }, { 47, 0 },
{ 47, 1 }, { 46, 0 }, { 46, 0 }, { 46, 1 }, { 45, 0 }, { 45, 0 }, { 45, 0 }, { 45, 1 },
{ 44, 0 }, { 44, 0 }, { 44, 0 }, { 44, 1 }, { 43, 0 }, { 43, 0 }, { 43, 0 }, { 43, 1 },
{ 42, 0 }, { 42, 0 }, { 42, 0 }, { 42, 0 }, { 42, 1 }, { 41, 0 }, { 41, 0 }, { 41, 0 },
{ 41, 1 }, { 40, 0 }, { 40, 0 }, { 40, 0 }, { 40, 0 }, { 40, 1 }, { 39, 0 }, { 39, 0 },
{ 39, 0 }, { 39, 0 }, { 39, 1 }, { 38, 0 }, { 38, 0 }, { 38, 0 }, { 38, 0 }, { 38, 0 },
{ 38, 1 }, { 37, 0 }, { 37, 0 }, { 37, 0 }, { 37, 0 }, { 37, 0 }, { 37, 1 }, { 36, 0 },
{ 36, 0 }, { 36, 0 }, { 36, 0 }, { 36, 0 }, { 36, 1 }, { 35, 0 }, { 35, 0 }, { 35, 0 },
{ 35, 0 }, { 35, 0 }, { 35, 1 }, { 34, 0 }, { 34, 0 }, { 34, 0 }, { 34, 0 }, { 34, 0 },
{ 34, 0 }, { 34, 1 }, { 33, 0 }, { 33, 0 }, { 33, 0 }, { 33, 0 }, { 33, 0 }, { 33, 0 },
{ 33, 1 }, { 32, 0 }, { 32, 0 }, { 32, 0 }, { 32, 0 }, { 32, 0 }, { 32, 0 }, { 32, 0 },
{ 32, 1 }, { 31, 0 }, { 31, 0 }, { 31, 0 }, { 31, 0 }, { 31, 0 }, { 31, 0 }, { 31, 0 },
};
const uint16_t speed_lookuptable_slow[256][2] PROGMEM = {
{ 62500, 12500 }, { 50000, 8334 }, { 41666, 5952 }, { 35714, 4464 }, { 31250, 3473 }, { 27777, 2777 }, { 25000, 2273 }, { 22727, 1894 },
{ 20833, 1603 }, { 19230, 1373 }, { 17857, 1191 }, { 16666, 1041 }, { 15625, 920 }, { 14705, 817 }, { 13888, 731 }, { 13157, 657 },
{ 12500, 596 }, { 11904, 541 }, { 11363, 494 }, { 10869, 453 }, { 10416, 416 }, { 10000, 385 }, { 9615, 356 }, { 9259, 331 },
{ 8928, 308 }, { 8620, 287 }, { 8333, 269 }, { 8064, 252 }, { 7812, 237 }, { 7575, 223 }, { 7352, 210 }, { 7142, 198 },
{ 6944, 188 }, { 6756, 178 }, { 6578, 168 }, { 6410, 160 }, { 6250, 153 }, { 6097, 145 }, { 5952, 139 }, { 5813, 132 },
{ 5681, 126 }, { 5555, 121 }, { 5434, 115 }, { 5319, 111 }, { 5208, 106 }, { 5102, 102 }, { 5000, 99 }, { 4901, 94 },
{ 4807, 91 }, { 4716, 87 }, { 4629, 84 }, { 4545, 81 }, { 4464, 79 }, { 4385, 75 }, { 4310, 73 }, { 4237, 71 },
{ 4166, 68 }, { 4098, 66 }, { 4032, 64 }, { 3968, 62 }, { 3906, 60 }, { 3846, 59 }, { 3787, 56 }, { 3731, 55 },
{ 3676, 53 }, { 3623, 52 }, { 3571, 50 }, { 3521, 49 }, { 3472, 48 }, { 3424, 46 }, { 3378, 45 }, { 3333, 44 },
{ 3289, 43 }, { 3246, 41 }, { 3205, 41 }, { 3164, 39 }, { 3125, 39 }, { 3086, 38 }, { 3048, 36 }, { 3012, 36 },
{ 2976, 35 }, { 2941, 35 }, { 2906, 33 }, { 2873, 33 }, { 2840, 32 }, { 2808, 31 }, { 2777, 30 }, { 2747, 30 },
{ 2717, 29 }, { 2688, 29 }, { 2659, 28 }, { 2631, 27 }, { 2604, 27 }, { 2577, 26 }, { 2551, 26 }, { 2525, 25 },
{ 2500, 25 }, { 2475, 25 }, { 2450, 23 }, { 2427, 24 }, { 2403, 23 }, { 2380, 22 }, { 2358, 22 }, { 2336, 22 },
{ 2314, 21 }, { 2293, 21 }, { 2272, 20 }, { 2252, 20 }, { 2232, 20 }, { 2212, 20 }, { 2192, 19 }, { 2173, 18 },
{ 2155, 19 }, { 2136, 18 }, { 2118, 18 }, { 2100, 17 }, { 2083, 17 }, { 2066, 17 }, { 2049, 17 }, { 2032, 16 },
{ 2016, 16 }, { 2000, 16 }, { 1984, 16 }, { 1968, 15 }, { 1953, 16 }, { 1937, 14 }, { 1923, 15 }, { 1908, 15 },
{ 1893, 14 }, { 1879, 14 }, { 1865, 14 }, { 1851, 13 }, { 1838, 14 }, { 1824, 13 }, { 1811, 13 }, { 1798, 13 },
{ 1785, 12 }, { 1773, 13 }, { 1760, 12 }, { 1748, 12 }, { 1736, 12 }, { 1724, 12 }, { 1712, 12 }, { 1700, 11 },
{ 1689, 12 }, { 1677, 11 }, { 1666, 11 }, { 1655, 11 }, { 1644, 11 }, { 1633, 10 }, { 1623, 11 }, { 1612, 10 },
{ 1602, 10 }, { 1592, 10 }, { 1582, 10 }, { 1572, 10 }, { 1562, 10 }, { 1552, 9 }, { 1543, 10 }, { 1533, 9 },
{ 1524, 9 }, { 1515, 9 }, { 1506, 9 }, { 1497, 9 }, { 1488, 9 }, { 1479, 9 }, { 1470, 9 }, { 1461, 8 },
{ 1453, 8 }, { 1445, 9 }, { 1436, 8 }, { 1428, 8 }, { 1420, 8 }, { 1412, 8 }, { 1404, 8 }, { 1396, 8 },
{ 1388, 7 }, { 1381, 8 }, { 1373, 7 }, { 1366, 8 }, { 1358, 7 }, { 1351, 7 }, { 1344, 8 }, { 1336, 7 },
{ 1329, 7 }, { 1322, 7 }, { 1315, 7 }, { 1308, 6 }, { 1302, 7 }, { 1295, 7 }, { 1288, 6 }, { 1282, 7 },
{ 1275, 6 }, { 1269, 7 }, { 1262, 6 }, { 1256, 6 }, { 1250, 7 }, { 1243, 6 }, { 1237, 6 }, { 1231, 6 },
{ 1225, 6 }, { 1219, 6 }, { 1213, 6 }, { 1207, 6 }, { 1201, 5 }, { 1196, 6 }, { 1190, 6 }, { 1184, 5 },
{ 1179, 6 }, { 1173, 5 }, { 1168, 6 }, { 1162, 5 }, { 1157, 5 }, { 1152, 6 }, { 1146, 5 }, { 1141, 5 },
{ 62500, 12500 }, { 50000, 8333 }, { 41667, 5953 }, { 35714, 4464 }, { 31250, 3472 }, { 27778, 2778 }, { 25000, 2273 }, { 22727, 1894 },
{ 20833, 1602 }, { 19231, 1374 }, { 17857, 1190 }, { 16667, 1042 }, { 15625, 919 }, { 14706, 817 }, { 13889, 731 }, { 13158, 658 },
{ 12500, 595 }, { 11905, 541 }, { 11364, 494 }, { 10870, 453 }, { 10417, 417 }, { 10000, 385 }, { 9615, 356 }, { 9259, 330 },
{ 8929, 308 }, { 8621, 288 }, { 8333, 268 }, { 8065, 252 }, { 7813, 237 }, { 7576, 223 }, { 7353, 210 }, { 7143, 199 },
{ 6944, 187 }, { 6757, 178 }, { 6579, 169 }, { 6410, 160 }, { 6250, 152 }, { 6098, 146 }, { 5952, 138 }, { 5814, 132 },
{ 5682, 126 }, { 5556, 121 }, { 5435, 116 }, { 5319, 111 }, { 5208, 106 }, { 5102, 102 }, { 5000, 98 }, { 4902, 94 },
{ 4808, 91 }, { 4717, 87 }, { 4630, 85 }, { 4545, 81 }, { 4464, 78 }, { 4386, 76 }, { 4310, 73 }, { 4237, 70 },
{ 4167, 69 }, { 4098, 66 }, { 4032, 64 }, { 3968, 62 }, { 3906, 60 }, { 3846, 58 }, { 3788, 57 }, { 3731, 55 },
{ 3676, 53 }, { 3623, 52 }, { 3571, 50 }, { 3521, 49 }, { 3472, 47 }, { 3425, 47 }, { 3378, 45 }, { 3333, 44 },
{ 3289, 42 }, { 3247, 42 }, { 3205, 40 }, { 3165, 40 }, { 3125, 39 }, { 3086, 37 }, { 3049, 37 }, { 3012, 36 },
{ 2976, 35 }, { 2941, 34 }, { 2907, 33 }, { 2874, 33 }, { 2841, 32 }, { 2809, 31 }, { 2778, 31 }, { 2747, 30 },
{ 2717, 29 }, { 2688, 28 }, { 2660, 28 }, { 2632, 28 }, { 2604, 27 }, { 2577, 26 }, { 2551, 26 }, { 2525, 25 },
{ 2500, 25 }, { 2475, 24 }, { 2451, 24 }, { 2427, 23 }, { 2404, 23 }, { 2381, 23 }, { 2358, 22 }, { 2336, 21 },
{ 2315, 21 }, { 2294, 21 }, { 2273, 21 }, { 2252, 20 }, { 2232, 20 }, { 2212, 19 }, { 2193, 19 }, { 2174, 19 },
{ 2155, 18 }, { 2137, 18 }, { 2119, 18 }, { 2101, 18 }, { 2083, 17 }, { 2066, 17 }, { 2049, 16 }, { 2033, 17 },
{ 2016, 16 }, { 2000, 16 }, { 1984, 15 }, { 1969, 16 }, { 1953, 15 }, { 1938, 15 }, { 1923, 15 }, { 1908, 14 },
{ 1894, 14 }, { 1880, 14 }, { 1866, 14 }, { 1852, 14 }, { 1838, 13 }, { 1825, 13 }, { 1812, 13 }, { 1799, 13 },
{ 1786, 13 }, { 1773, 12 }, { 1761, 13 }, { 1748, 12 }, { 1736, 12 }, { 1724, 12 }, { 1712, 11 }, { 1701, 12 },
{ 1689, 11 }, { 1678, 11 }, { 1667, 11 }, { 1656, 11 }, { 1645, 11 }, { 1634, 11 }, { 1623, 10 }, { 1613, 10 },
{ 1603, 11 }, { 1592, 10 }, { 1582, 10 }, { 1572, 9 }, { 1563, 10 }, { 1553, 10 }, { 1543, 9 }, { 1534, 10 },
{ 1524, 9 }, { 1515, 9 }, { 1506, 9 }, { 1497, 9 }, { 1488, 9 }, { 1479, 8 }, { 1471, 9 }, { 1462, 9 },
{ 1453, 8 }, { 1445, 8 }, { 1437, 8 }, { 1429, 9 }, { 1420, 8 }, { 1412, 8 }, { 1404, 7 }, { 1397, 8 },
{ 1389, 8 }, { 1381, 7 }, { 1374, 8 }, { 1366, 7 }, { 1359, 8 }, { 1351, 7 }, { 1344, 7 }, { 1337, 7 },
{ 1330, 7 }, { 1323, 7 }, { 1316, 7 }, { 1309, 7 }, { 1302, 7 }, { 1295, 6 }, { 1289, 7 }, { 1282, 6 },
{ 1276, 7 }, { 1269, 6 }, { 1263, 7 }, { 1256, 6 }, { 1250, 6 }, { 1244, 6 }, { 1238, 6 }, { 1232, 7 },
{ 1225, 5 }, { 1220, 6 }, { 1214, 6 }, { 1208, 6 }, { 1202, 6 }, { 1196, 6 }, { 1190, 5 }, { 1185, 6 },
{ 1179, 5 }, { 1174, 6 }, { 1168, 5 }, { 1163, 6 }, { 1157, 5 }, { 1152, 5 }, { 1147, 5 }, { 1142, 6 },
{ 1136, 5 }, { 1131, 5 }, { 1126, 5 }, { 1121, 5 }, { 1116, 5 }, { 1111, 5 }, { 1106, 5 }, { 1101, 5 },
{ 1096, 5 }, { 1091, 5 }, { 1086, 4 }, { 1082, 5 }, { 1077, 5 }, { 1072, 4 }, { 1068, 5 }, { 1063, 4 },
{ 1059, 5 }, { 1054, 4 }, { 1050, 4 }, { 1046, 5 }, { 1041, 4 }, { 1037, 4 }, { 1033, 5 }, { 1028, 4 },
{ 1024, 4 }, { 1020, 4 }, { 1016, 4 }, { 1012, 4 }, { 1008, 4 }, { 1004, 4 }, { 1000, 4 }, { 996, 4 },
{ 992, 4 }, { 988, 4 }, { 984, 4 }, { 980, 4 }, { 976, 4 }, { 972, 4 }, { 968, 3 }, { 965, 3 }
{ 1096, 4 }, { 1092, 5 }, { 1087, 5 }, { 1082, 4 }, { 1078, 5 }, { 1073, 5 }, { 1068, 4 }, { 1064, 5 },
{ 1059, 4 }, { 1055, 5 }, { 1050, 4 }, { 1046, 4 }, { 1042, 5 }, { 1037, 4 }, { 1033, 4 }, { 1029, 4 },
{ 1025, 5 }, { 1020, 4 }, { 1016, 4 }, { 1012, 4 }, { 1008, 4 }, { 1004, 4 }, { 1000, 4 }, { 996, 4 },
{ 992, 4 }, { 988, 4 }, { 984, 4 }, { 980, 3 }, { 977, 4 }, { 973, 4 }, { 969, 4 }, { 965, 4 },
};
#elif F_CPU == 20000000
const uint16_t speed_lookuptable_fast[256][2] PROGMEM = {
const struct { uint16_t base; uint8_t gain; } speed_lookuptable_fast[256] PROGMEM = {
{ 0, 0 }, { 0, 0 }, { 0, 0 }, { 0, 0 }, { 0, 0 }, { 0, 0 }, { 0, 0 }, { 0, 0 }, // dummy first row
{ 1197, 131 }, { 1066, 105 }, { 961, 86 }, { 875, 72 }, { 803, 61 }, { 742, 53 }, { 689, 45 }, { 644, 40 },
{ 604, 35 }, { 569, 32 }, { 537, 28 }, { 509, 25 }, { 484, 23 }, { 461, 21 }, { 440, 19 }, { 421, 17 },
{ 404, 16 }, { 388, 15 }, { 373, 14 }, { 359, 13 }, { 346, 12 }, { 334, 11 }, { 323, 10 }, { 313, 10 },
{ 303, 9 }, { 294, 9 }, { 285, 8 }, { 277, 7 }, { 270, 8 }, { 262, 7 }, { 255, 6 }, { 249, 6 },
{ 243, 6 }, { 237, 6 }, { 231, 5 }, { 226, 5 }, { 221, 5 }, { 216, 5 }, { 211, 4 }, { 207, 5 },
{ 202, 4 }, { 198, 4 }, { 194, 4 }, { 190, 3 }, { 187, 4 }, { 183, 3 }, { 180, 3 }, { 177, 4 },
{ 173, 3 }, { 170, 3 }, { 167, 2 }, { 165, 3 }, { 162, 3 }, { 159, 2 }, { 157, 3 }, { 154, 2 },
{ 152, 3 }, { 149, 2 }, { 147, 2 }, { 145, 2 }, { 143, 2 }, { 141, 2 }, { 139, 2 }, { 137, 2 },
{ 135, 2 }, { 133, 2 }, { 131, 2 }, { 129, 1 }, { 128, 2 }, { 126, 2 }, { 124, 1 }, { 123, 2 },
{ 121, 1 }, { 120, 2 }, { 118, 1 }, { 117, 1 }, { 116, 2 }, { 114, 1 }, { 113, 1 }, { 112, 2 },
{ 110, 1 }, { 109, 1 }, { 108, 1 }, { 107, 2 }, { 105, 1 }, { 104, 1 }, { 103, 1 }, { 102, 1 },
{ 101, 1 }, { 100, 1 }, { 99, 1 }, { 98, 1 }, { 97, 1 }, { 96, 1 }, { 95, 1 }, { 94, 1 },
{ 93, 1 }, { 92, 1 }, { 91, 0 }, { 91, 1 }, { 90, 1 }, { 89, 1 }, { 88, 1 }, { 87, 0 },
{ 87, 1 }, { 86, 1 }, { 85, 1 }, { 84, 0 }, { 84, 1 }, { 83, 1 }, { 82, 1 }, { 81, 0 },
{ 81, 1 }, { 80, 1 }, { 79, 0 }, { 79, 1 }, { 78, 0 }, { 78, 1 }, { 77, 1 }, { 76, 0 },
{ 76, 1 }, { 75, 0 }, { 75, 1 }, { 74, 1 }, { 73, 0 }, { 73, 1 }, { 72, 0 }, { 72, 1 },
{ 71, 0 }, { 71, 1 }, { 70, 0 }, { 70, 1 }, { 69, 0 }, { 69, 1 }, { 68, 0 }, { 68, 1 },
{ 67, 0 }, { 67, 1 }, { 66, 0 }, { 66, 1 }, { 65, 0 }, { 65, 0 }, { 65, 1 }, { 64, 0 },
{ 64, 1 }, { 63, 0 }, { 63, 1 }, { 62, 0 }, { 62, 0 }, { 62, 1 }, { 61, 0 }, { 61, 1 },
{ 60, 0 }, { 60, 0 }, { 60, 1 }, { 59, 0 }, { 59, 0 }, { 59, 1 }, { 58, 0 }, { 58, 0 },
{ 58, 1 }, { 57, 0 }, { 57, 0 }, { 57, 1 }, { 56, 0 }, { 56, 0 }, { 56, 1 }, { 55, 0 },
{ 55, 0 }, { 55, 1 }, { 54, 0 }, { 54, 0 }, { 54, 1 }, { 53, 0 }, { 53, 0 }, { 53, 0 },
{ 53, 1 }, { 52, 0 }, { 52, 0 }, { 52, 1 }, { 51, 0 }, { 51, 0 }, { 51, 0 }, { 51, 1 },
{ 50, 0 }, { 50, 0 }, { 50, 0 }, { 50, 1 }, { 49, 0 }, { 49, 0 }, { 49, 0 }, { 49, 1 },
{ 48, 0 }, { 48, 0 }, { 48, 0 }, { 48, 1 }, { 47, 0 }, { 47, 0 }, { 47, 0 }, { 47, 1 },
{ 46, 0 }, { 46, 0 }, { 46, 0 }, { 46, 0 }, { 46, 1 }, { 45, 0 }, { 45, 0 }, { 45, 0 },
{ 45, 1 }, { 44, 0 }, { 44, 0 }, { 44, 0 }, { 44, 0 }, { 44, 1 }, { 43, 0 }, { 43, 0 },
{ 43, 0 }, { 43, 0 }, { 43, 1 }, { 42, 0 }, { 42, 0 }, { 42, 0 }, { 42, 0 }, { 42, 0 },
{ 42, 1 }, { 41, 0 }, { 41, 0 }, { 41, 0 }, { 41, 0 }, { 41, 0 }, { 41, 1 }, { 40, 0 },
{ 40, 0 }, { 40, 0 }, { 40, 0 }, { 40, 1 }, { 39, 0 }, { 39, 0 }, { 39, 0 }, { 39, 0 },
{ 39, 0 }, { 39, 0 }, { 39, 1 }, { 38, 0 }, { 38, 0 }, { 38, 0 }, { 38, 0 }, { 38, 0 },
{ 1221, 136 }, { 1085, 108 }, { 977, 89 }, { 888, 74 }, { 814, 63 }, { 751, 53 }, { 698, 47 }, { 651, 41 },
{ 610, 36 }, { 574, 31 }, { 543, 29 }, { 514, 26 }, { 488, 23 }, { 465, 21 }, { 444, 19 }, { 425, 18 },
{ 407, 16 }, { 391, 15 }, { 376, 14 }, { 362, 13 }, { 349, 12 }, { 337, 11 }, { 326, 11 }, { 315, 10 },
{ 305, 9 }, { 296, 9 }, { 287, 8 }, { 279, 8 }, { 271, 7 }, { 264, 7 }, { 257, 7 }, { 250, 6 },
{ 244, 6 }, { 238, 5 }, { 233, 6 }, { 227, 5 }, { 222, 5 }, { 217, 5 }, { 212, 4 }, { 208, 5 },
{ 203, 4 }, { 199, 4 }, { 195, 4 }, { 191, 3 }, { 188, 4 }, { 184, 3 }, { 181, 3 }, { 178, 4 },
{ 174, 3 }, { 171, 3 }, { 168, 2 }, { 166, 3 }, { 163, 3 }, { 160, 2 }, { 158, 3 }, { 155, 2 },
{ 153, 3 }, { 150, 2 }, { 148, 2 }, { 146, 2 }, { 144, 2 }, { 142, 2 }, { 140, 2 }, { 138, 2 },
{ 136, 2 }, { 134, 2 }, { 132, 2 }, { 130, 2 }, { 128, 1 }, { 127, 2 }, { 125, 1 }, { 124, 2 },
{ 122, 1 }, { 121, 2 }, { 119, 1 }, { 118, 2 }, { 116, 1 }, { 115, 1 }, { 114, 2 }, { 112, 1 },
{ 111, 1 }, { 110, 1 }, { 109, 2 }, { 107, 1 }, { 106, 1 }, { 105, 1 }, { 104, 1 }, { 103, 1 },
{ 102, 1 }, { 101, 1 }, { 100, 1 }, { 99, 1 }, { 98, 1 }, { 97, 1 }, { 96, 1 }, { 95, 1 },
{ 94, 1 }, { 93, 1 }, { 92, 1 }, { 91, 1 }, { 90, 0 }, { 90, 1 }, { 89, 1 }, { 88, 1 },
{ 87, 1 }, { 86, 0 }, { 86, 1 }, { 85, 1 }, { 84, 1 }, { 83, 0 }, { 83, 1 }, { 82, 1 },
{ 81, 0 }, { 81, 1 }, { 80, 1 }, { 79, 0 }, { 79, 1 }, { 78, 0 }, { 78, 1 }, { 77, 1 },
{ 76, 0 }, { 76, 1 }, { 75, 0 }, { 75, 1 }, { 74, 1 }, { 73, 0 }, { 73, 1 }, { 72, 0 },
{ 72, 1 }, { 71, 0 }, { 71, 1 }, { 70, 0 }, { 70, 1 }, { 69, 0 }, { 69, 1 }, { 68, 0 },
{ 68, 1 }, { 67, 0 }, { 67, 1 }, { 66, 0 }, { 66, 0 }, { 66, 1 }, { 65, 0 }, { 65, 1 },
{ 64, 0 }, { 64, 1 }, { 63, 0 }, { 63, 0 }, { 63, 1 }, { 62, 0 }, { 62, 1 }, { 61, 0 },
{ 61, 0 }, { 61, 1 }, { 60, 0 }, { 60, 0 }, { 60, 1 }, { 59, 0 }, { 59, 1 }, { 58, 0 },
{ 58, 0 }, { 58, 1 }, { 57, 0 }, { 57, 0 }, { 57, 1 }, { 56, 0 }, { 56, 0 }, { 56, 1 },
{ 55, 0 }, { 55, 0 }, { 55, 0 }, { 55, 1 }, { 54, 0 }, { 54, 0 }, { 54, 1 }, { 53, 0 },
{ 53, 0 }, { 53, 0 }, { 53, 1 }, { 52, 0 }, { 52, 0 }, { 52, 1 }, { 51, 0 }, { 51, 0 },
{ 51, 0 }, { 51, 1 }, { 50, 0 }, { 50, 0 }, { 50, 0 }, { 50, 1 }, { 49, 0 }, { 49, 0 },
{ 49, 0 }, { 49, 1 }, { 48, 0 }, { 48, 0 }, { 48, 0 }, { 48, 1 }, { 47, 0 }, { 47, 0 },
{ 47, 0 }, { 47, 0 }, { 47, 1 }, { 46, 0 }, { 46, 0 }, { 46, 0 }, { 46, 1 }, { 45, 0 },
{ 45, 0 }, { 45, 0 }, { 45, 0 }, { 45, 1 }, { 44, 0 }, { 44, 0 }, { 44, 0 }, { 44, 0 },
{ 44, 1 }, { 43, 0 }, { 43, 0 }, { 43, 0 }, { 43, 0 }, { 43, 1 }, { 42, 0 }, { 42, 0 },
{ 42, 0 }, { 42, 0 }, { 42, 0 }, { 42, 1 }, { 41, 0 }, { 41, 0 }, { 41, 0 }, { 41, 0 },
{ 41, 0 }, { 41, 1 }, { 40, 0 }, { 40, 0 }, { 40, 0 }, { 40, 0 }, { 40, 0 }, { 40, 1 },
{ 39, 0 }, { 39, 0 }, { 39, 0 }, { 39, 0 }, { 39, 0 }, { 39, 1 }, { 38, 0 }, { 38, 0 },
};
const uint16_t speed_lookuptable_slow[256][2] PROGMEM = {
{ 62500, 10417 }, { 52083, 7441 }, { 44642, 5580 }, { 39062, 4340 }, { 34722, 3472 }, { 31250, 2841 }, { 28409, 2368 }, { 26041, 2003 },
{ 24038, 1717 }, { 22321, 1488 }, { 20833, 1302 }, { 19531, 1149 }, { 18382, 1021 }, { 17361, 914 }, { 16447, 822 }, { 15625, 745 },
{ 14880, 676 }, { 14204, 618 }, { 13586, 566 }, { 13020, 520 }, { 12500, 481 }, { 12019, 445 }, { 11574, 414 }, { 11160, 385 },
{ 10775, 359 }, { 10416, 336 }, { 10080, 315 }, { 9765, 296 }, { 9469, 278 }, { 9191, 263 }, { 8928, 248 }, { 8680, 235 },
{ 8445, 222 }, { 8223, 211 }, { 8012, 200 }, { 7812, 191 }, { 7621, 181 }, { 7440, 173 }, { 7267, 165 }, { 7102, 158 },
{ 6944, 151 }, { 6793, 145 }, { 6648, 138 }, { 6510, 133 }, { 6377, 127 }, { 6250, 123 }, { 6127, 118 }, { 6009, 113 },
{ 5896, 109 }, { 5787, 106 }, { 5681, 101 }, { 5580, 98 }, { 5482, 95 }, { 5387, 91 }, { 5296, 88 }, { 5208, 86 },
{ 5122, 82 }, { 5040, 80 }, { 4960, 78 }, { 4882, 75 }, { 4807, 73 }, { 4734, 70 }, { 4664, 69 }, { 4595, 67 },
{ 4528, 64 }, { 4464, 63 }, { 4401, 61 }, { 4340, 60 }, { 4280, 58 }, { 4222, 56 }, { 4166, 55 }, { 4111, 53 },
{ 4058, 52 }, { 4006, 51 }, { 3955, 49 }, { 3906, 48 }, { 3858, 48 }, { 3810, 45 }, { 3765, 45 }, { 3720, 44 },
{ 3676, 43 }, { 3633, 42 }, { 3591, 40 }, { 3551, 40 }, { 3511, 39 }, { 3472, 38 }, { 3434, 38 }, { 3396, 36 },
{ 3360, 36 }, { 3324, 35 }, { 3289, 34 }, { 3255, 34 }, { 3221, 33 }, { 3188, 32 }, { 3156, 31 }, { 3125, 31 },
{ 3094, 31 }, { 3063, 30 }, { 3033, 29 }, { 3004, 28 }, { 2976, 28 }, { 2948, 28 }, { 2920, 27 }, { 2893, 27 },
{ 2866, 26 }, { 2840, 25 }, { 2815, 25 }, { 2790, 25 }, { 2765, 24 }, { 2741, 24 }, { 2717, 24 }, { 2693, 23 },
{ 2670, 22 }, { 2648, 22 }, { 2626, 22 }, { 2604, 22 }, { 2582, 21 }, { 2561, 21 }, { 2540, 20 }, { 2520, 20 },
{ 2500, 20 }, { 2480, 20 }, { 2460, 19 }, { 2441, 19 }, { 2422, 19 }, { 2403, 18 }, { 2385, 18 }, { 2367, 18 },
{ 2349, 17 }, { 2332, 18 }, { 2314, 17 }, { 2297, 16 }, { 2281, 17 }, { 2264, 16 }, { 2248, 16 }, { 2232, 16 },
{ 2216, 16 }, { 2200, 15 }, { 2185, 15 }, { 2170, 15 }, { 2155, 15 }, { 2140, 15 }, { 2125, 14 }, { 2111, 14 },
{ 2097, 14 }, { 2083, 14 }, { 2069, 14 }, { 2055, 13 }, { 2042, 13 }, { 2029, 13 }, { 2016, 13 }, { 2003, 13 },
{ 1990, 13 }, { 1977, 12 }, { 1965, 12 }, { 1953, 13 }, { 1940, 11 }, { 1929, 12 }, { 1917, 12 }, { 1905, 12 },
{ 1893, 11 }, { 1882, 11 }, { 1871, 11 }, { 1860, 11 }, { 1849, 11 }, { 1838, 11 }, { 1827, 11 }, { 1816, 10 },
{ 1806, 11 }, { 1795, 10 }, { 1785, 10 }, { 1775, 10 }, { 1765, 10 }, { 1755, 10 }, { 1745, 9 }, { 1736, 10 },
{ 1726, 9 }, { 1717, 10 }, { 1707, 9 }, { 1698, 9 }, { 1689, 9 }, { 1680, 9 }, { 1671, 9 }, { 1662, 9 },
{ 1653, 9 }, { 1644, 8 }, { 1636, 9 }, { 1627, 8 }, { 1619, 9 }, { 1610, 8 }, { 1602, 8 }, { 1594, 8 },
{ 1586, 8 }, { 1578, 8 }, { 1570, 8 }, { 1562, 8 }, { 1554, 7 }, { 1547, 8 }, { 1539, 8 }, { 1531, 7 },
{ 1524, 8 }, { 1516, 7 }, { 1509, 7 }, { 1502, 7 }, { 1495, 7 }, { 1488, 7 }, { 1481, 7 }, { 1474, 7 },
{ 1467, 7 }, { 1460, 7 }, { 1453, 7 }, { 1446, 6 }, { 1440, 7 }, { 1433, 7 }, { 1426, 6 }, { 1420, 6 },
{ 1414, 7 }, { 1407, 6 }, { 1401, 6 }, { 1395, 7 }, { 1388, 6 }, { 1382, 6 }, { 1376, 6 }, { 1370, 6 },
{ 1364, 6 }, { 1358, 6 }, { 1352, 6 }, { 1346, 5 }, { 1341, 6 }, { 1335, 6 }, { 1329, 5 }, { 1324, 6 },
{ 1318, 5 }, { 1313, 6 }, { 1307, 5 }, { 1302, 6 }, { 1296, 5 }, { 1291, 5 }, { 1286, 6 }, { 1280, 5 },
{ 1275, 5 }, { 1270, 5 }, { 1265, 5 }, { 1260, 5 }, { 1255, 5 }, { 1250, 5 }, { 1245, 5 }, { 1240, 5 },
{ 1235, 5 }, { 1230, 5 }, { 1225, 5 }, { 1220, 5 }, { 1215, 4 }, { 1211, 5 }, { 1206, 5 }, { 1201, 5 },
{ 62500, 10417 }, { 52083, 7440 }, { 44643, 5580 }, { 39063, 4341 }, { 34722, 3472 }, { 31250, 2841 }, { 28409, 2367 }, { 26042, 2004 },
{ 24038, 1717 }, { 22321, 1488 }, { 20833, 1302 }, { 19531, 1149 }, { 18382, 1021 }, { 17361, 914 }, { 16447, 822 }, { 15625, 744 },
{ 14881, 676 }, { 14205, 618 }, { 13587, 566 }, { 13021, 521 }, { 12500, 481 }, { 12019, 445 }, { 11574, 413 }, { 11161, 385 },
{ 10776, 359 }, { 10417, 336 }, { 10081, 315 }, { 9766, 296 }, { 9470, 279 }, { 9191, 262 }, { 8929, 248 }, { 8681, 235 },
{ 8446, 222 }, { 8224, 211 }, { 8013, 200 }, { 7813, 191 }, { 7622, 182 }, { 7440, 173 }, { 7267, 165 }, { 7102, 158 },
{ 6944, 151 }, { 6793, 144 }, { 6649, 139 }, { 6510, 132 }, { 6378, 128 }, { 6250, 123 }, { 6127, 117 }, { 6010, 114 },
{ 5896, 109 }, { 5787, 105 }, { 5682, 102 }, { 5580, 98 }, { 5482, 94 }, { 5388, 91 }, { 5297, 89 }, { 5208, 85 },
{ 5123, 83 }, { 5040, 80 }, { 4960, 77 }, { 4883, 75 }, { 4808, 73 }, { 4735, 71 }, { 4664, 68 }, { 4596, 67 },
{ 4529, 65 }, { 4464, 63 }, { 4401, 61 }, { 4340, 59 }, { 4281, 58 }, { 4223, 56 }, { 4167, 55 }, { 4112, 54 },
{ 4058, 52 }, { 4006, 50 }, { 3956, 50 }, { 3906, 48 }, { 3858, 47 }, { 3811, 46 }, { 3765, 45 }, { 3720, 44 },
{ 3676, 42 }, { 3634, 42 }, { 3592, 41 }, { 3551, 40 }, { 3511, 39 }, { 3472, 38 }, { 3434, 37 }, { 3397, 37 },
{ 3360, 36 }, { 3324, 35 }, { 3289, 34 }, { 3255, 33 }, { 3222, 33 }, { 3189, 32 }, { 3157, 32 }, { 3125, 31 },
{ 3094, 30 }, { 3064, 30 }, { 3034, 29 }, { 3005, 29 }, { 2976, 28 }, { 2948, 27 }, { 2921, 27 }, { 2894, 27 },
{ 2867, 26 }, { 2841, 26 }, { 2815, 25 }, { 2790, 25 }, { 2765, 24 }, { 2741, 24 }, { 2717, 23 }, { 2694, 23 },
{ 2671, 23 }, { 2648, 22 }, { 2626, 22 }, { 2604, 21 }, { 2583, 22 }, { 2561, 20 }, { 2541, 21 }, { 2520, 20 },
{ 2500, 20 }, { 2480, 19 }, { 2461, 20 }, { 2441, 19 }, { 2422, 18 }, { 2404, 19 }, { 2385, 18 }, { 2367, 17 },
{ 2350, 18 }, { 2332, 17 }, { 2315, 17 }, { 2298, 17 }, { 2281, 17 }, { 2264, 16 }, { 2248, 16 }, { 2232, 16 },
{ 2216, 15 }, { 2201, 16 }, { 2185, 15 }, { 2170, 15 }, { 2155, 15 }, { 2140, 14 }, { 2126, 15 }, { 2111, 14 },
{ 2097, 14 }, { 2083, 13 }, { 2070, 14 }, { 2056, 14 }, { 2042, 13 }, { 2029, 13 }, { 2016, 13 }, { 2003, 13 },
{ 1990, 12 }, { 1978, 13 }, { 1965, 12 }, { 1953, 12 }, { 1941, 12 }, { 1929, 12 }, { 1917, 12 }, { 1905, 11 },
{ 1894, 11 }, { 1883, 12 }, { 1871, 11 }, { 1860, 11 }, { 1849, 11 }, { 1838, 11 }, { 1827, 10 }, { 1817, 11 },
{ 1806, 10 }, { 1796, 10 }, { 1786, 10 }, { 1776, 10 }, { 1766, 10 }, { 1756, 10 }, { 1746, 10 }, { 1736, 9 },
{ 1727, 10 }, { 1717, 9 }, { 1708, 10 }, { 1698, 9 }, { 1689, 9 }, { 1680, 9 }, { 1671, 9 }, { 1662, 9 },
{ 1653, 8 }, { 1645, 9 }, { 1636, 8 }, { 1628, 9 }, { 1619, 8 }, { 1611, 8 }, { 1603, 9 }, { 1594, 8 },
{ 1586, 8 }, { 1578, 8 }, { 1570, 7 }, { 1563, 8 }, { 1555, 8 }, { 1547, 8 }, { 1539, 7 }, { 1532, 8 },
{ 1524, 7 }, { 1517, 7 }, { 1510, 8 }, { 1502, 7 }, { 1495, 7 }, { 1488, 7 }, { 1481, 7 }, { 1474, 7 },
{ 1467, 7 }, { 1460, 7 }, { 1453, 6 }, { 1447, 7 }, { 1440, 7 }, { 1433, 6 }, { 1427, 7 }, { 1420, 6 },
{ 1414, 6 }, { 1408, 7 }, { 1401, 6 }, { 1395, 6 }, { 1389, 6 }, { 1383, 6 }, { 1377, 6 }, { 1371, 6 },
{ 1365, 6 }, { 1359, 6 }, { 1353, 6 }, { 1347, 6 }, { 1341, 6 }, { 1335, 5 }, { 1330, 6 }, { 1324, 5 },
{ 1319, 6 }, { 1313, 5 }, { 1308, 6 }, { 1302, 5 }, { 1297, 6 }, { 1291, 5 }, { 1286, 5 }, { 1281, 5 },
{ 1276, 6 }, { 1270, 5 }, { 1265, 5 }, { 1260, 5 }, { 1255, 5 }, { 1250, 5 }, { 1245, 5 }, { 1240, 5 },
{ 1235, 5 }, { 1230, 5 }, { 1225, 4 }, { 1221, 5 }, { 1216, 5 }, { 1211, 4 }, { 1207, 5 }, { 1202, 5 },
};
#endif

42
buildroot/share/scripts/createSpeedLookupTable.py
View File

@ -19,34 +19,36 @@ args = parser.parse_args()
cpu_freq = args.cpu_freq * 1000000
timer_freq = cpu_freq / args.divider
print("#ifndef SPEED_LOOKUPTABLE_H")
print("#define SPEED_LOOKUPTABLE_H")
print("#pragma once")
print()
print('#include "MarlinCore.h"')
print("#if F_CPU == %d" % cpu_freq)
print()
print("const uint16_t speed_lookuptable_fast[256][2] PROGMEM = {")
a = [ timer_freq / ((i*256)+(args.cpu_freq*2)) for i in range(256) ]
print(" const struct { uint16_t base; uint8_t gain; } speed_lookuptable_fast[256] PROGMEM = {")
a = [0 for i in range(8)] + [ int(0.5 + float(timer_freq) / (i*256)) for i in range(8, 256) ]
b = [0 for i in range(8)] + [ a[i] - a[i+1] for i in range(8, 255) ]
b.append(b[-1])
for i in range(32):
print(" ", end='')
for j in range(8):
print("{ %5d, %5d }," % (a[8*i+j], b[8*i+j]), end='')
if j < 7: print(" ", end='')
if i == 0: print(" // dummy first row")
else: print()
print(" };")
print()
print(" const uint16_t speed_lookuptable_slow[256][2] PROGMEM = {")
a = [ int(0.5 + float(timer_freq) / ((i*8)+(args.cpu_freq*2))) for i in range(256) ]
b = [ a[i] - a[i+1] for i in range(255) ]
b.append(b[-1])
for i in range(32):
print(" ", end=' ')
print(" ", end='')
for j in range(8):
print("{%d, %d}," % (a[8*i+j], b[8*i+j]), end=' ')
print("{ %5d, %5d }," % (a[8*i+j], b[8*i+j]), end='')
if j < 7: print(" ", end='')
print()
print("};")
print()
print("const uint16_t speed_lookuptable_slow[256][2] PROGMEM = {")
a = [ timer_freq / ((i*8)+(args.cpu_freq*2)) for i in range(256) ]
b = [ a[i] - a[i+1] for i in range(255) ]
b.append(b[-1])
for i in range(32):
print(" ", end=' ')
for j in range(8):
print("{%d, %d}," % (a[8*i+j], b[8*i+j]), end=' ')
print()
print("};")
print(" };")
print()
print("#endif")