josh
/
Teacup_Firmware
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

dda.h/.c: remove move_state.step_no 

We don't need to save the step_no. We can easily calculate it when needed.
Also some whitespace-work. In dda.h is only a delete of 'uint32_t step_no;'.

Saves up to 16 clock cycles in dda_step():

short-moves.gcode statistics:
LED on occurences: 888.
LED on time minimum: 209 clock cycles.
LED on time maximum: 504 clock cycles.
LED on time average: 241.441 clock cycles.

smooth-curves.gcode statistics:
LED on occurences: 22589.
LED on time minimum: 209 clock cycles.
LED on time maximum: 521 clock cycles.
LED on time average: 276.729 clock cycles.

triangle-odd.gcode statistics:
LED on occurences: 1636.
LED on time minimum: 209 clock cycles.
LED on time maximum: 504 clock cycles.
LED on time average: 262.923 clock cycles.
This commit is contained in:
Nico Tonnhofer 2017-04-03 22:55:26 +02:00
parent 89bb0ae3bb
commit 3592622414
2 changed files with 66 additions and 74 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

31
dda.c
View File

@ -507,9 +507,6 @@ void dda_start(DDA *dda) {
move_state.counter[E] = -(dda->total_steps >> 1); move_state.counter[E] = -(dda->total_steps >> 1);
move_state.endstop_stop = 0; move_state.endstop_stop = 0;
memcpy(&move_state.steps[X], &dda->delta[X], sizeof(uint32_t) * 4); memcpy(&move_state.steps[X], &dda->delta[X], sizeof(uint32_t) * 4);
#ifdef ACCELERATION_RAMPING
move_state.step_no = 0;
#endif
#ifdef ACCELERATION_TEMPORAL #ifdef ACCELERATION_TEMPORAL
move_state.time[X] = move_state.time[Y] = \ move_state.time[X] = move_state.time[Y] = \
move_state.time[Z] = move_state.time[E] = 0UL; move_state.time[Z] = move_state.time[E] = 0UL;
@ -577,7 +574,6 @@ void dda_step(DDA *dda) {
move_state.steps[E]--; move_state.steps[E]--;
} }
} }
move_state.step_no++;
#endif #endif
#ifdef ACCELERATION_REPRAP #ifdef ACCELERATION_REPRAP
@ -687,7 +683,7 @@ void dda_step(DDA *dda) {
// TODO: with ACCELERATION_TEMPORAL this duplicates some code. See where // TODO: with ACCELERATION_TEMPORAL this duplicates some code. See where
// dda->live is zero'd, about 10 lines above. // dda->live is zero'd, about 10 lines above.
#if ! defined ACCELERATION_TEMPORAL #if ! defined ACCELERATION_TEMPORAL
if (move_state.step_no >= dda->total_steps || if (move_state.steps[dda->fast_axis] == 0 ||
(move_state.endstop_stop && dda->n <= 0)) (move_state.endstop_stop && dda->n <= 0))
#else #else
if (move_state.steps[X] == 0 && move_state.steps[Y] == 0 && if (move_state.steps[X] == 0 && move_state.steps[Y] == 0 &&
@ -831,14 +827,16 @@ void dda_clock() {
// For always smooth operations, don't halt apruptly, // For always smooth operations, don't halt apruptly,
// but start deceleration here. // but start deceleration here.
ATOMIC_START ATOMIC_START
move_step_no = dda->total_steps - move_state.steps[dda->fast_axis];
move_state.endstop_stop = 1; move_state.endstop_stop = 1;
if (move_state.step_no < dda->rampup_steps) // still accelerating if (move_step_no < dda->rampup_steps) // still accelerating
dda->total_steps = move_state.step_no * 2; dda->total_steps = move_step_no * 2;
else else
// A "-=" would overflow earlier. // A "-=" would overflow earlier.
dda->total_steps = dda->total_steps - dda->rampdown_steps + dda->total_steps = dda->total_steps - dda->rampdown_steps +
move_state.step_no; move_step_no;
dda->rampdown_steps = move_state.step_no; dda->rampdown_steps = move_step_no;
ATOMIC_END ATOMIC_END
// Not atomic, because not used in dda_step(). // Not atomic, because not used in dda_step().
dda->rampup_steps = 0; // in case we're still accelerating dda->rampup_steps = 0; // in case we're still accelerating
@ -856,7 +854,7 @@ void dda_clock() {
// and http://www.atmel.com/images/doc8017.pdf (Atmel app note AVR446) // and http://www.atmel.com/images/doc8017.pdf (Atmel app note AVR446)
ATOMIC_START ATOMIC_START
current_id = dda->id; current_id = dda->id;
move_step_no = move_state.step_no; move_step_no = dda->total_steps - move_state.steps[dda->fast_axis];
// All other variables are read-only or unused in dda_step(), // All other variables are read-only or unused in dda_step(),
// so no need for atomic operations. // so no need for atomic operations.
ATOMIC_END ATOMIC_END
@ -951,16 +949,13 @@ void update_current_position() {
}; };
if (dda != NULL) { if (dda != NULL) {
uint32_t axis_steps, axis_um; uint32_t axis_um;
for (i = X; i < AXIS_COUNT; i++) { for (i = X; i < AXIS_COUNT; i++) {
#if ! defined ACCELERATION_TEMPORAL axis_um = muldiv(move_state.steps[i],
axis_steps = muldiv(dda->total_steps - move_state.step_no, 1000000,
dda->delta[i], dda->total_steps); pgm_read_dword(&steps_per_m_P[i]));
#else
axis_steps = move_state.steps[i];
#endif
axis_um = muldiv(axis_steps, 1000000, pgm_read_dword(&steps_per_m_P[i]));
current_position.axis[i] = current_position.axis[i] =
dda->endpoint.axis[i] - (int32_t)get_direction(dda, i) * axis_um; dda->endpoint.axis[i] - (int32_t)get_direction(dda, i) * axis_um;
} }

5
dda.h
View File

@ -56,10 +56,7 @@ typedef struct {
// bresenham counters // bresenham counters
axes_int32_t counter; ///< counter for total_steps vs each axis axes_int32_t counter; ///< counter for total_steps vs each axis
#if ! defined ACCELERATION_TEMPORAL #ifdef ACCELERATION_TEMPORAL
/// counts actual steps done
uint32_t step_no;
#else
axes_uint32_t time; ///< time of the last step on each axis axes_uint32_t time; ///< time of the last step on each axis
uint32_t last_time; ///< time of the last step of any axis uint32_t last_time; ///< time of the last step of any axis
#endif #endif