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🩹 Prevent ÷ 0 in FT Motion (#28150)

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This commit is contained in:
narno2202
2025-11-12 23:06:36 +01:00
committed by GitHub
parent ebf9aa5c82
commit 3293b2780e
1 changed files with 7 additions and 4 deletions
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11
Marlin/src/module/ft_motion/stepping.cpp
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@@ -42,7 +42,7 @@ uint32_t Stepping::advance_until_step() {
uint32_t iterations = bresenham_iterations_pending;
// Per-axis lower-bound approx of floor(space_q32/adv), min across axes (lower bound because this fast division underestimates result by up to 1)
//#define RUN_AXIS(A) if (advance_q32.A > 0) NOMORE(iterations, space_q32.A / advance_q32.A);
#define RUN_AXIS(A) if (advance_q32.A > 0) NOMORE(iterations, uint32_t((uint64_t(space_q32.A) * advance_dividend_reciprocal.A) >> 32));
#define RUN_AXIS(A) NOMORE(iterations, uint32_t((uint64_t(space_q32.A) * advance_dividend_reciprocal.A) >> 32));
LOGICAL_AXIS_MAP(RUN_AXIS);
#undef RUN_AXIS
@@ -90,8 +90,8 @@ uint32_t Stepping::plan() {
#undef _HANDLE_DIR_CHANGES
}
if (!(bool)stepper_plan.advance_dividend_q0_32) {
// don't waste time in zero motion traj points
if (stepper_plan.advance_dividend_q0_32 == 0) {
// Don't waste time in zero motion traj points
bresenham_iterations_pending = 0;
step_bits = 0;
return INTERVAL_PER_TRAJ_POINT;
@@ -101,7 +101,10 @@ uint32_t Stepping::plan() {
// The reciprocal is actually 2^32/dividend, but that requires dividing a uint64_t, which quite expensive
// Since even the real reciprocal may underestimate the quotient by 1 anyway already, this optimisation doesn't
// make things worse. This underestimation is compensated for in advance_until_step.
#define _DIVIDEND_RECIP(A) advance_dividend_reciprocal.A = UINT32_MAX / stepper_plan.advance_dividend_q0_32.A;
#define _DIVIDEND_RECIP(A) do{ \
const uint32_t d = stepper_plan.advance_dividend_q0_32.A; \
advance_dividend_reciprocal.A = d ? UINT32_MAX / d : UINT32_MAX; \
}while(0);
LOGICAL_AXIS_MAP(_DIVIDEND_RECIP);
#undef _DIVIDEND_RECIP