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Code cleanup and force-inline removal testing

This commit is contained in:
Ted Hess 2017-11-15 09:00:02 -05:00
parent ad0f7ff33b
commit c9db6ac451
2 changed files with 5 additions and 9 deletions
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4
Firmware/planner.cpp
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@ -153,6 +153,7 @@ static inline int8_t prev_block_index(int8_t block_index) {
//=============================functions ============================
//===========================================================================
#if 0
// Calculates the distance (not time) it takes to accelerate from initial_rate to target_rate using the
// given acceleration:
FORCE_INLINE float estimate_acceleration_distance(float initial_rate, float target_rate, float acceleration)
@ -181,6 +182,7 @@ FORCE_INLINE float intersection_distance(float initial_rate, float final_rate, f
return 0.0; // acceleration was 0, set intersection distance to 0
}
}
#endif
#define MINIMAL_STEP_RATE 120
@ -418,7 +420,7 @@ void plan_init() {
block_buffer_tail = 0;
memset(position, 0, sizeof(position)); // clear position
#ifdef LIN_ADVANCE
memset(position_float, 0, sizeof(position)); // clear position
memset(position_float, 0, sizeof(position_float)); // clear position
#endif
previous_speed[0] = 0.0;
previous_speed[1] = 0.0;

10
Firmware/stepper.cpp
View File

@ -282,13 +282,7 @@ void st_wake_up() {
ENABLE_STEPPER_DRIVER_INTERRUPT();
}
void step_wait(){
for(int8_t i=0; i < 6; i++){
}
}
FORCE_INLINE unsigned short calc_timer(unsigned short step_rate) {
unsigned short calc_timer(unsigned short step_rate) {
unsigned short timer;
if(step_rate > MAX_STEP_FREQUENCY) step_rate = MAX_STEP_FREQUENCY;
@ -325,7 +319,7 @@ FORCE_INLINE unsigned short calc_timer(unsigned short step_rate) {
// Initializes the trapezoid generator from the current block. Called whenever a new
// block begins.
FORCE_INLINE void trapezoid_generator_reset() {
void trapezoid_generator_reset() {
deceleration_time = 0;
// step_rate to timer interval
OCR1A_nominal = calc_timer(current_block->nominal_rate);