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Convert custom maths to inlines ()

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Scott Lahteine 2018-05-13 08:10:08 -05:00 • committed by GitHub
parent 8f3d313086
commit 883b0c9880
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4 changed files with 100 additions and 100 deletions
Marlin/src/module
stepper.cpp

23
Marlin/src/module/stepper.cpp
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@ -1158,6 +1158,12 @@ HAL_STEP_TIMER_ISR {
HAL_timer_isr_epilogue(STEP_TIMER_NUM);
}
#ifdef CPU_32_BIT
#define STEP_MULTIPLY(A,B) MultiU32X24toH32(A, B);
#else
#define STEP_MULTIPLY(A,B) MultiU24X32toH16(A, B);
#endif
void Stepper::isr() {
#define ENDSTOP_NOMINAL_OCR_VAL 1500 * HAL_TICKS_PER_US // Check endstops every 1.5ms to guarantee two stepper ISRs within 5ms for BLTouch
@ -1525,14 +1531,7 @@ void Stepper::isr() {
? _eval_bezier_curve(acceleration_time)
: current_block->cruise_rate;
#else
#ifdef CPU_32_BIT
MultiU32X24toH32(acc_step_rate, acceleration_time, current_block->acceleration_rate);
#else
MultiU24X32toH16(acc_step_rate, acceleration_time, current_block->acceleration_rate);
#endif
acc_step_rate += current_block->initial_rate;
// upper limit
acc_step_rate = STEP_MULTIPLY(acceleration_time, current_block->acceleration_rate) + current_block->initial_rate;
NOMORE(acc_step_rate, current_block->nominal_rate);
#endif
@ -1576,18 +1575,14 @@ void Stepper::isr() {
#else
// Using the old trapezoidal control
#ifdef CPU_32_BIT
MultiU32X24toH32(step_rate, deceleration_time, current_block->acceleration_rate);
#else
MultiU24X32toH16(step_rate, deceleration_time, current_block->acceleration_rate);
#endif
step_rate = STEP_MULTIPLY(deceleration_time, current_block->acceleration_rate);
if (step_rate < acc_step_rate) { // Still decelerating?
step_rate = acc_step_rate - step_rate;
NOLESS(step_rate, current_block->final_rate);
}
else
step_rate = current_block->final_rate;
#endif
// step_rate to timer interval