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tmc2130: simplify parsing axis mask 

There is no need to check if every axis bit with each for-loop
iteration. We just need to check if a given axit bit is set.

Change in memory:
Flash: -6 bytes
SRAM: 0 bytes
This commit is contained in:
Guðni Már Gilbert 2023-04-09 13:12:22 +00:00
parent e88c92a8dc
commit 4e31bb94ef
1 changed files with 3 additions and 6 deletions
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9
Firmware/tmc2130.cpp
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@ -272,8 +272,7 @@ void tmc2130_home_enter(uint8_t axes_mask)
tmc2130_wait_standstill_xy(1000); tmc2130_wait_standstill_xy(1000);
for (uint8_t axis = X_AXIS; axis <= Z_AXIS; axis++) //X Y and Z axes for (uint8_t axis = X_AXIS; axis <= Z_AXIS; axis++) //X Y and Z axes
{ {
uint8_t mask = (X_AXIS_MASK << axis); if (const uint8_t mask = axes_mask & _BV(axis); mask)
if (axes_mask & mask)
{ {
tmc2130_sg_homing_axes_mask |= mask; tmc2130_sg_homing_axes_mask |= mask;
//Configuration to spreadCycle //Configuration to spreadCycle
@ -281,8 +280,7 @@ void tmc2130_home_enter(uint8_t axes_mask)
tmc2130_wr(axis, TMC2130_REG_COOLCONF, (((uint32_t)tmc2130_sg_thr_home[axis]) << 16)); tmc2130_wr(axis, TMC2130_REG_COOLCONF, (((uint32_t)tmc2130_sg_thr_home[axis]) << 16));
tmc2130_wr(axis, TMC2130_REG_TCOOLTHRS, __tcoolthrs(axis)); tmc2130_wr(axis, TMC2130_REG_TCOOLTHRS, __tcoolthrs(axis));
tmc2130_setup_chopper(axis, tmc2130_mres[axis], tmc2130_current_h[axis], tmc2130_current_r_home[axis]); tmc2130_setup_chopper(axis, tmc2130_mres[axis], tmc2130_current_h[axis], tmc2130_current_r_home[axis]);
if (mask & (X_AXIS_MASK | Y_AXIS_MASK | Z_AXIS_MASK)) tmc2130_wr(axis, TMC2130_REG_GCONF, TMC2130_GCONF_SGSENS); //stallguard output DIAG1, DIAG1 = pushpull
tmc2130_wr(axis, TMC2130_REG_GCONF, TMC2130_GCONF_SGSENS); //stallguard output DIAG1, DIAG1 = pushpull
} }
} }
#endif //TMC2130_SG_HOMING #endif //TMC2130_SG_HOMING
@ -298,8 +296,7 @@ void tmc2130_home_exit()
{ {
for (uint8_t axis = X_AXIS; axis <= Z_AXIS; axis++) //X Y and Z axes for (uint8_t axis = X_AXIS; axis <= Z_AXIS; axis++) //X Y and Z axes
{ {
uint8_t mask = (X_AXIS_MASK << axis); if (tmc2130_sg_homing_axes_mask & _BV(axis))
if (tmc2130_sg_homing_axes_mask & mask & (X_AXIS_MASK | Y_AXIS_MASK | Z_AXIS_MASK))
{ {
#ifndef TMC2130_STEALTH_Z #ifndef TMC2130_STEALTH_Z
if ((tmc2130_mode == TMC2130_MODE_SILENT) && (axis != Z_AXIS)) if ((tmc2130_mode == TMC2130_MODE_SILENT) && (axis != Z_AXIS))