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Optimize `st_set_position()` for speed and size 

flash: -186
SRAM: 0
time: x0.45
This commit is contained in:
Alex Voinea 2023-06-22 13:41:02 +02:00 committed by DRracer
parent ef4efc22c3
commit 8149853fc9
3 changed files with 7 additions and 10 deletions
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4
Firmware/planner.cpp
View File

@ -1330,7 +1330,7 @@ void plan_set_position(float x, float y, float z, const float &e)
position_float[Z_AXIS] = z; position_float[Z_AXIS] = z;
position_float[E_AXIS] = e; position_float[E_AXIS] = e;
#endif #endif
st_set_position(position[X_AXIS], position[Y_AXIS], position[Z_AXIS], position[E_AXIS]); st_set_position(position);
previous_nominal_speed = 0.0; // Resets planner junction speeds. Assumes start from rest. previous_nominal_speed = 0.0; // Resets planner junction speeds. Assumes start from rest.
memset(previous_speed, 0, sizeof(previous_speed)); memset(previous_speed, 0, sizeof(previous_speed));
} }
@ -1342,7 +1342,7 @@ void plan_set_z_position(const float &z)
position_float[Z_AXIS] = z; position_float[Z_AXIS] = z;
#endif #endif
position[Z_AXIS] = lround(z*cs.axis_steps_per_unit[Z_AXIS]); position[Z_AXIS] = lround(z*cs.axis_steps_per_unit[Z_AXIS]);
st_set_position(position[X_AXIS], position[Y_AXIS], position[Z_AXIS], position[E_AXIS]); st_set_position(position);
} }
void plan_set_e_position(const float &e) void plan_set_e_position(const float &e)

11
Firmware/stepper.cpp
View File

@ -1313,18 +1313,15 @@ void st_synchronize()
} }
} }
void st_set_position(const long &x, const long &y, const long &z, const long &e) void st_set_position(const long *pos)
{ {
CRITICAL_SECTION_START; CRITICAL_SECTION_START;
// Copy 4x4B. // Copy 4x4B.
// This block locks the interrupts globally for 4.56 us, // This block locks the interrupts globally for 2.06 us,
// which corresponds to a maximum repeat frequency of 219.18 kHz. // which corresponds to a maximum repeat frequency of ~484kHz.
// This blocking is safe in the context of a 10kHz stepper driver interrupt // This blocking is safe in the context of a 10kHz stepper driver interrupt
// or a 115200 Bd serial line receive interrupt, which will not trigger faster than 12kHz. // or a 115200 Bd serial line receive interrupt, which will not trigger faster than 12kHz.
count_position[X_AXIS] = x; memcpy((uint8_t *)count_position, pos, sizeof(count_position));
count_position[Y_AXIS] = y;
count_position[Z_AXIS] = z;
count_position[E_AXIS] = e;
CRITICAL_SECTION_END; CRITICAL_SECTION_END;
} }

2
Firmware/stepper.h
View File

@ -41,7 +41,7 @@ void isr();
void st_synchronize(); void st_synchronize();
// Set current position in steps // Set current position in steps
void st_set_position(const long &x, const long &y, const long &z, const long &e); void st_set_position(const long *pos);
void st_set_e_position(const long &e); void st_set_e_position(const long &e);
// Get current position in steps // Get current position in steps