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dda_lookahead.c: remember movement distance to avoid recalculation.

This commit is contained in:
Markus Hitter 2013-11-03 14:15:29 +01:00
parent da5339d163
commit 9715b7702d
1 changed files with 4 additions and 9 deletions
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13
dda_lookahead.c
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@ -164,13 +164,14 @@ void dda_emergency_shutdown(PGM_P msg) {
* \return dda->crossF * \return dda->crossF
*/ */
void dda_find_crossing_speed(DDA *prev, DDA *current, uint32_t curr_distance) { void dda_find_crossing_speed(DDA *prev, DDA *current, uint32_t curr_distance) {
uint32_t F, prev_distance; static uint32_t prev_distance;
uint32_t dv, speed_factor, max_speed_factor; uint32_t F, dv, speed_factor, max_speed_factor;
int32_t prevFx, prevFy, prevFz, prevFe; int32_t prevFx, prevFy, prevFz, prevFe;
int32_t currFx, currFy, currFz, currFe; int32_t currFx, currFy, currFz, currFe;
// Bail out if there's nothing to join (e.g. G1 F1500). // Bail out if there's nothing to join (e.g. G1 F1500).
if ( ! prev || prev->nullmove) { if ( ! prev || prev->nullmove) {
prev_distance = curr_distance;
current->crossF = 0; current->crossF = 0;
return; return;
} }
@ -181,13 +182,6 @@ void dda_find_crossing_speed(DDA *prev, DDA *current, uint32_t curr_distance) {
if (current->endpoint.F < F) if (current->endpoint.F < F)
F = current->endpoint.F; F = current->endpoint.F;
// Find out movement distance of the previous move.
// TODO: remember this from the previous call of dda_find_crossing_speed().
prev_distance = approx_distance_3(
prev->x_direction ? prev->delta_um.X : - prev->delta_um.X,
prev->y_direction ? prev->delta_um.Y : - prev->delta_um.Y,
prev->z_direction ? prev->delta_um.Z : - prev->delta_um.Z);
if (DEBUG_DDA && (debug_flags & DEBUG_DDA)) if (DEBUG_DDA && (debug_flags & DEBUG_DDA))
sersendf_P(PSTR("Distance: %lu, then %lu\n"), prev_distance, curr_distance); sersendf_P(PSTR("Distance: %lu, then %lu\n"), prev_distance, curr_distance);
@ -279,6 +273,7 @@ void dda_find_crossing_speed(DDA *prev, DDA *current, uint32_t curr_distance) {
sersendf_P(PSTR("Cross speed reduction from %lu to %lu\n"), sersendf_P(PSTR("Cross speed reduction from %lu to %lu\n"),
F, current->crossF); F, current->crossF);
prev_distance = curr_distance;
return; return;
} }