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Remove float conversions from step loop

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This commit is contained in:
kliment 2011-07-15 20:40:43 +02:00
parent b7b099bb0e
commit b31c7a837f
1 changed files with 6 additions and 6 deletions
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12
Sprinter/Sprinter.pde
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@ -1170,8 +1170,10 @@ inline void linear_move(unsigned long axis_steps_remaining[]) // make linear mov
#ifdef DEBUG_MOVE_TIME
unsigned long startmove = micros();
#endif
//move until no more steps remain
long long_steps_per_sqr_second=(long) steps_per_sqr_second;
long long_min_speed_steps_per_second=(long) min_speed_steps_per_second;
long long_max_speed_steps_per_second=(long) max_speed_steps_per_second;
//move until no more steps remain THERE SHOULD BE NO FLOAT CALCS INSIDE THIS LOOP
while(axis_steps_remaining[0] + axis_steps_remaining[1] + axis_steps_remaining[2] + axis_steps_remaining[3] > 0) {
#ifdef DISABLE_CHECK_DURING_ACC
if(!accelerating && !decelerating) {
@ -1197,8 +1199,7 @@ inline void linear_move(unsigned long axis_steps_remaining[]) // make linear mov
if (acceleration_enabled && steps_done == 0) {
interval = max_interval;
} else if (acceleration_enabled && steps_done <= plateau_steps) {
long current_speed = (long) ((((long) steps_per_sqr_second) / 10000)
* ((micros() - start_move_micros) / 100) + (long) min_speed_steps_per_second);
long current_speed = (long_steps_per_sqr_second / 10000)* ((micros() - start_move_micros) / 100) + long_min_speed_steps_per_second;
interval = 100000000 / current_speed;
if (interval < full_interval) {
accelerating = false;
@ -1215,8 +1216,7 @@ inline void linear_move(unsigned long axis_steps_remaining[]) // make linear mov
accelerating = true;
decelerating = true;
}
long current_speed = (long) ((long) max_speed_steps_per_second - ((((long) steps_per_sqr_second) / 10000)
* ((micros() - start_move_micros) / 100)));
long current_speed = long_max_speed_steps_per_second - (((long_steps_per_sqr_second / 10000) * ((micros() - start_move_micros) / 100)));
interval = 100000000 / current_speed;
if (interval > max_interval)
interval = max_interval;