diff options
Diffstat (limited to 'src/Movement/Move.cpp')
| -rw-r--r-- | src/Movement/Move.cpp | 9 |
1 files changed, 5 insertions, 4 deletions
diff --git a/src/Movement/Move.cpp b/src/Movement/Move.cpp index 53ffd9b1..b3ff43cd 100644 --- a/src/Movement/Move.cpp +++ b/src/Movement/Move.cpp @@ -565,8 +565,6 @@ void Move::SetNewPosition(const float positionNow[MaxAxesPlusExtruders], bool do float newPos[MaxAxesPlusExtruders]; memcpyf(newPos, positionNow, ARRAY_SIZE(newPos)); // copy to local storage because Transform modifies it AxisAndBedTransform(newPos, reprap.GetGCodes().GetMovementState(queueNumber).currentTool, doBedCompensation); - - rings[queueNumber].SetLiveCoordinates(newPos); rings[queueNumber].SetPositions(newPos); } @@ -1204,14 +1202,17 @@ void Move::RevertPosition(const CanMessageRevertPosition& msg) noexcept #endif -// Return the current live XYZ and extruder coordinates +// Return the current machine axis and extruder coordinates. They are needed only to service status requests from DWC, PanelDue, M114. +// Transforming the machine motor coordinates to Cartesian coordinates is quite expensive, and a status request or object model request will call this for each axis. +// So we cache the latest coordinates and only update them if it is some time since we last did // Interrupts are assumed enabled on entry float Move::LiveCoordinate(unsigned int axisOrExtruder, const Tool *tool) noexcept { - if (rings[0].HaveLiveCoordinatesChanged()) + if (millis() - latestLiveCoordinatesFetchedAt > 200) { rings[0].LiveCoordinates(latestLiveCoordinates); InverseAxisAndBedTransform(latestLiveCoordinates, tool); + latestLiveCoordinatesFetchedAt = millis(); } return latestLiveCoordinates[axisOrExtruder]; } |