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dda: recalculate only dedicated axes

This commit is contained in:
Nico Tonnhofer 2017-04-17 09:07:08 +02:00
parent 5cf1b34924
commit 1bb4d7f7dd
3 changed files with 18 additions and 21 deletions
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7
dda.c
View File

@ -952,7 +952,7 @@ void update_current_position() {
if (dda != NULL) { if (dda != NULL) {
uint32_t axis_um; uint32_t axis_um;
axes_int32_t delta_um, um; axes_int32_t delta_um;
for (i = X; i < AXIS_COUNT; i++) { for (i = X; i < AXIS_COUNT; i++) {
axis_um = muldiv(move_state.steps[i], axis_um = muldiv(move_state.steps[i],
@ -962,11 +962,10 @@ void update_current_position() {
delta_um[i] = (int32_t)get_direction(dda, i) * axis_um; delta_um[i] = (int32_t)get_direction(dda, i) * axis_um;
} }
delta_to_axes(delta_um, um); delta_to_axes(delta_um);
um[E] = delta_um[E];
for (i = X; i < AXIS_COUNT; i++) { for (i = X; i < AXIS_COUNT; i++) {
current_position.axis[i] = dda->endpoint.axis[i] - um[i]; current_position.axis[i] = dda->endpoint.axis[i] - delta_um[i];
} }
if (dda->endpoint.e_relative) { if (dda->endpoint.e_relative) {

19
dda_kinematics.c
View File

@ -56,16 +56,15 @@ void axes_um_to_steps_corexy(const axes_int32_t um, axes_int32_t steps) {
steps[Z] = um_to_steps(um[Z], Z); steps[Z] = um_to_steps(um[Z], Z);
} }
void delta_to_axes_cartesian(const axes_int32_t delta_um, axes_int32_t um) { void delta_to_axes_cartesian(axes_int32_t delta) {
enum axis_e i; // nothing to do for cartesian
for (i = X; i < E; i++) {
um[i] = delta_um[i];
}
} }
void delta_to_axes_corexy(const axes_int32_t delta_um, axes_int32_t um) { void delta_to_axes_corexy(axes_int32_t delta) {
um[X] = (delta_um[X] + delta_um[Y]) / 2; // recalculate only dedicated axes
um[Y] = (delta_um[X] - delta_um[Y]) / 2; int32_t x_axis, y_axis;
um[Z] = delta_um[Z]; x_axis = (delta[X] + delta[Y]) / 2;
y_axis = (delta[X] - delta[Y]) / 2;
delta[X] = x_axis;
delta[Y] = y_axis;
} }

13
dda_kinematics.h
View File

@ -52,17 +52,16 @@ inline void axes_um_to_steps(const axes_int32_t um, axes_int32_t steps) {
#endif #endif
} }
void delta_to_axes_cartesian(const axes_int32_t delta_um, axes_int32_t um); void delta_to_axes_cartesian(axes_int32_t delta_um);
void delta_to_axes_corexy(const axes_int32_t delta_um, axes_int32_t um); void delta_to_axes_corexy(axes_int32_t delta_um);
// void delta_to_axes_scara(const axes_int32_t delta_um, axes_int32_t um); // void delta_to_axes_scara(const axes_int32_t delta_um, axes_int32_t um);
static void delta_to_axes(const axes_int32_t, axes_int32_t) static void delta_to_axes(axes_int32_t) __attribute__ ((always_inline));
__attribute__ ((always_inline)); inline void delta_to_axes(axes_int32_t delta) {
inline void delta_to_axes(const axes_int32_t delta_um, axes_int32_t um) {
#if defined KINEMATICS_STRAIGHT #if defined KINEMATICS_STRAIGHT
delta_to_axes_cartesian(delta_um, um); delta_to_axes_cartesian(delta);
#elif defined KINEMATICS_COREXY #elif defined KINEMATICS_COREXY
delta_to_axes_corexy(delta_um, um); delta_to_axes_corexy(delta);
// #elif defined KINEMATICS_SCARA // #elif defined KINEMATICS_SCARA
// delta_to_axes_scara(delta_um, um); // delta_to_axes_scara(delta_um, um);
#else #else