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Merge 3f728d5505 into 6d7d3403e4

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Timofey Titovets 2026-02-07 23:14:44 +01:00 • committed by GitHub
commit 0345296867
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1 changed files with 17 additions and 5 deletions
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22
klippy/chelper/stepcompress.c
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@ -32,6 +32,7 @@
// optimization to reduce memory, improve cache usage, and reduce 64 bit ops)
struct qstep {
uint32_t clock32;
uint32_t max_error;
};
// Main stepcompress object storage
@ -96,11 +97,8 @@ struct points {
static inline struct points
minmax_point(struct stepcompress *sc, struct qstep *pos)
{
uint32_t lsc = sc->last_step_clock, point = pos->clock32 - lsc;
uint32_t prevpoint = pos > sc->queue_pos ? (pos-1)->clock32 - lsc : 0;
uint32_t max_error = (point - prevpoint) / 2;
if (max_error > sc->max_error)
max_error = sc->max_error;
uint32_t max_error = pos->max_error;
uint32_t point = pos->clock32 - sc->last_step_clock;
return (struct points){ point - max_error, point };
}
@ -374,6 +372,17 @@ add_move(struct stepcompress *sc, uint64_t first_clock, struct step_move *move)
list_add_head(&hs->node, &sc->history_list);
}
static void
step_init_max_error(struct stepcompress *sc, struct qstep *pos)
{
uint32_t lsc = sc->last_step_clock, point = pos->clock32 - lsc;
uint32_t prevpoint = pos > sc->queue_pos ? (pos-1)->clock32 - lsc : 0;
uint32_t max_error = (point - prevpoint) / 2;
if (max_error > sc->max_error)
max_error = sc->max_error;
pos->max_error = max_error;
}
// Convert previously scheduled steps into commands for the mcu
static int
queue_flush(struct stepcompress *sc, uint64_t move_clock)
@ -439,6 +448,7 @@ queue_append_far(struct stepcompress *sc)
if (step_clock >= sc->last_step_clock + CLOCK_DIFF_MAX)
return stepcompress_flush_far(sc, step_clock);
sc->queue_next->clock32 = step_clock;
step_init_max_error(sc, sc->queue_next);
sc->queue_next++;
return 0;
}
@ -477,6 +487,7 @@ queue_append_extend(struct stepcompress *sc)
}
sc->queue_next->clock32 = sc->next_step_clock;
step_init_max_error(sc, sc->queue_next);
sc->queue_next++;
sc->next_step_clock = 0;
return 0;
@ -496,6 +507,7 @@ queue_append(struct stepcompress *sc)
if (unlikely(sc->queue_next >= sc->queue_end))
return queue_append_extend(sc);
sc->queue_next->clock32 = sc->next_step_clock;
step_init_max_error(sc, sc->queue_next);
sc->queue_next++;
sc->next_step_clock = 0;
return 0;