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Input shaping buffer size metaprogramming for disctict E axes

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This commit is contained in:
Tom Brazier
2022-12-01 17:01:59 +00:00
committed by InsanityAutomation
parent 005019b82d
commit a0ed4d51bc
1 changed files with 14 additions and 19 deletions
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Marlin/src/module/stepper.h
+14 -19
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@@ -331,28 +331,23 @@ constexpr ena_mask_t enable_overlap[] = {
#if HAS_SHAPING
// These constexpr are used to calculate the shaping queue buffer sizes
constexpr xyze_float_t max_feedrate = DEFAULT_MAX_FEEDRATE;
constexpr xyze_float_t steps_per_unit = DEFAULT_AXIS_STEPS_PER_UNIT;
// MIN_STEP_ISR_FREQUENCY is known at compile time on AVRs and any reduction in SRAM is welcome
struct DistinctAxes{ float x, y, z, i, j, k, u, v, w, e0, e1, e2, e3, e4, e5, e6, e7; };
constexpr DistinctAxes max_feedrate = DEFAULT_MAX_FEEDRATE;
constexpr DistinctAxes steps_per_unit = DEFAULT_AXIS_STEPS_PER_UNIT;
constexpr float _max_feedrate[] = DEFAULT_MAX_FEEDRATE;
constexpr float _steps_per_unit[] = DEFAULT_AXIS_STEPS_PER_UNIT;
#ifdef SHAPING_MAX_STEPRATE
constexpr float max_step_rate = SHAPING_MAX_STEPRATE;
// MIN_STEP_ISR_FREQUENCY is known at compile time on AVRs and any reduction in SRAM is welcome
#elif defined(__AVR__) || !defined(ADAPTIVE_STEP_SMOOTHING)
constexpr float max_isr_rate = _MAX(
LOGICAL_AXIS_LIST(
max_feedrate.e * steps_per_unit.e,
max_feedrate.x * steps_per_unit.x,
max_feedrate.y * steps_per_unit.y,
max_feedrate.z * steps_per_unit.z,
max_feedrate.i * steps_per_unit.i,
max_feedrate.j * steps_per_unit.j,
max_feedrate.k * steps_per_unit.k,
max_feedrate.u * steps_per_unit.u,
max_feedrate.v * steps_per_unit.v,
max_feedrate.w * steps_per_unit.w
)
OPTARG(ADAPTIVE_STEP_SMOOTHING, MIN_STEP_ISR_FREQUENCY)
);
constexpr float max_step_rate = _MIN(max_isr_rate,
template<int INDEX = DISTINCT_AXES> constexpr float max_isr_rate() {
return _MAX(_max_feedrate[INDEX - 1] * _steps_per_unit[INDEX - 1], max_isr_rate<INDEX - 1>());
}
template<> constexpr float max_isr_rate<0>() {
return TERN0(ADAPTIVE_STEP_SMOOTHING, MIN_STEP_ISR_FREQUENCY);
}
constexpr float max_step_rate = _MIN(max_isr_rate(),
TERN0(INPUT_SHAPING_X, max_feedrate.x * steps_per_unit.x) +
TERN0(INPUT_SHAPING_Y, max_feedrate.y * steps_per_unit.y)
);