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Save 316 bytes by avoiding advance_spread copies

This commit is contained in:
Yuri D'Elia 2019-05-26 15:34:05 +02:00
parent a28fb65bb2
commit 20694aeabc
1 changed files with 28 additions and 23 deletions
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51
Firmware/stepper.cpp
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@ -116,7 +116,10 @@ volatile signed char count_direction[NUM_AXIS] = { 1, 1, 1, 1};
void advance_isr_scheduler(); void advance_isr_scheduler();
void advance_isr(); void advance_isr();
static const uint16_t ADV_NEVER = 0xFFFF; static const uint16_t ADV_NEVER = 0xFFFF;
static const uint8_t ADV_INIT = 0b01;
static const uint8_t ADV_DECELERATE = 0b10;
static bool use_advance_lead; static bool use_advance_lead;
static uint16_t nextMainISR; static uint16_t nextMainISR;
@ -771,6 +774,11 @@ FORCE_INLINE void isr() {
else else
stepper_tick_highres(); stepper_tick_highres();
#ifdef LIN_ADVANCE
uint8_t la_state = 0;
#endif
// Calculare new timer value // Calculare new timer value
// 13.38-14.63us for steady state, // 13.38-14.63us for steady state,
// 25.12us for acceleration / deceleration. // 25.12us for acceleration / deceleration.
@ -789,10 +797,8 @@ FORCE_INLINE void isr() {
acceleration_time += timer; acceleration_time += timer;
#ifdef LIN_ADVANCE #ifdef LIN_ADVANCE
if (current_block->use_advance_lead) { if (current_block->use_advance_lead) {
bool first = (step_events_completed.wide <= (unsigned long int)step_loops); if (step_events_completed.wide <= (unsigned long int)step_loops)
if (first) eISR_Err = current_block->advance_rate / 2; la_state = ADV_INIT;
if (first || nextAdvanceISR != ADV_NEVER)
advance_spread(timer);
} }
#endif #endif
} }
@ -810,20 +816,8 @@ FORCE_INLINE void isr() {
deceleration_time += timer; deceleration_time += timer;
#ifdef LIN_ADVANCE #ifdef LIN_ADVANCE
if (current_block->use_advance_lead) { if (current_block->use_advance_lead) {
bool first = (step_events_completed.wide <= (unsigned long int)current_block->decelerate_after + step_loops); if (step_events_completed.wide <= (unsigned long int)current_block->decelerate_after + step_loops)
if (first) eISR_Err = current_block->advance_rate / 2; la_state = ADV_INIT | ADV_DECELERATE;
if (first || nextAdvanceISR != ADV_NEVER)
{
advance_spread(timer);
if (step_loops == e_step_loops)
LA_phase = (eISR_Rate > main_Rate);
else
{
// avoid overflow through division. warning: we need to _guarantee_ step_loops
// and e_step_loops are <= 4 due to fastdiv's limit
LA_phase = (fastdiv(eISR_Rate, step_loops) > fastdiv(main_Rate, e_step_loops));
}
}
} }
#endif #endif
} }
@ -835,15 +829,26 @@ FORCE_INLINE void isr() {
step_loops_nominal = step_loops; step_loops_nominal = step_loops;
} }
_NEXT_ISR(OCR1A_nominal); _NEXT_ISR(OCR1A_nominal);
#ifdef LIN_ADVANCE
if (current_block->use_advance_lead && nextAdvanceISR != ADV_NEVER)
advance_spread(OCR1A_nominal);
#endif
} }
//WRITE_NC(LOGIC_ANALYZER_CH1, false); //WRITE_NC(LOGIC_ANALYZER_CH1, false);
} }
#ifdef LIN_ADVANCE #ifdef LIN_ADVANCE
// avoid multiple instances or function calls to advance_spread
if (la_state & ADV_INIT) eISR_Rate = current_block->advance_rate;
if (la_state & ADV_INIT || nextAdvanceISR != ADV_NEVER) {
advance_spread(main_Rate);
if (la_state & ADV_DECELERATE) {
if (step_loops == e_step_loops)
LA_phase = (eISR_Rate > main_Rate);
else {
// avoid overflow through division. warning: we need to _guarantee_ step_loops
// and e_step_loops are <= 4 due to fastdiv's limit
LA_phase = (fastdiv(eISR_Rate, step_loops) > fastdiv(main_Rate, e_step_loops));
}
}
}
// Check for serial chars. This executes roughtly between 50-60% of the total length of the isr, // Check for serial chars. This executes roughtly between 50-60% of the total length of the isr,
// making this spot a much better choice than checking during esteps // making this spot a much better choice than checking during esteps
MSerial.checkRx(); MSerial.checkRx();