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Revert "⚡️ Minor planner optimization (#24737)"

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This reverts commit d5cf0b3348.
This commit is contained in:
InsanityAutomation
2022-09-17 12:03:16 -04:00
parent 47c0c7072a
commit 0a55425552
1 changed files with 8 additions and 11 deletions
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Marlin/src/module/planner.cpp
+8 -11
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@@ -793,21 +793,19 @@ void Planner::calculate_trapezoid_for_block(block_t * const block, const_float_t
uint32_t cruise_rate = block->nominal_rate;
#endif
const int32_t accel = block->acceleration_steps_per_s2;
// Steps for acceleration, plateau and deceleration
int32_t plateau_steps = block->step_event_count;
uint32_t accelerate_steps = 0,
decelerate_steps = 0;
const int32_t accel = block->acceleration_steps_per_s2;
float inverse_accel = 0.0f;
if (accel != 0) {
const float inverse_accel = 1.0f / accel,
half_inverse_accel = 0.5f * inverse_accel,
nominal_rate_sq = sq(float(block->nominal_rate)),
// Steps required for acceleration, deceleration to/from nominal rate
decelerate_steps_float = half_inverse_accel * (nominal_rate_sq - sq(float(final_rate)));
float accelerate_steps_float = half_inverse_accel * (nominal_rate_sq - sq(float(initial_rate)));
// Steps required for acceleration, deceleration to/from nominal rate
const float nominal_rate_sq = sq(float(block->nominal_rate));
float accelerate_steps_float = (nominal_rate_sq - sq(float(initial_rate))) * (0.5f / accel);
accelerate_steps = CEIL(accelerate_steps_float);
const float decelerate_steps_float = (nominal_rate_sq - sq(float(final_rate))) * (0.5f / accel);
decelerate_steps = FLOOR(decelerate_steps_float);
// Steps between acceleration and deceleration, if any
@@ -830,10 +828,9 @@ void Planner::calculate_trapezoid_for_block(block_t * const block, const_float_t
}
#if ENABLED(S_CURVE_ACCELERATION)
const float rate_factor = inverse_accel * (STEPPER_TIMER_RATE);
// Jerk controlled speed requires to express speed versus time, NOT steps
uint32_t acceleration_time = rate_factor * float(cruise_rate - initial_rate),
deceleration_time = rate_factor * float(cruise_rate - final_rate),
uint32_t acceleration_time = (float(cruise_rate - initial_rate) / accel) * (STEPPER_TIMER_RATE),
deceleration_time = (float(cruise_rate - final_rate) / accel) * (STEPPER_TIMER_RATE),
// And to offload calculations from the ISR, we also calculate the inverse of those times here
acceleration_time_inverse = get_period_inverse(acceleration_time),
deceleration_time_inverse = get_period_inverse(deceleration_time);