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DDA: remember the fast axis micrometers and save their reconstruction. 

No surprise, this saves a whopping 600 bytes.
This commit is contained in:
Markus Hitter 2013-12-05 23:38:25 +01:00
parent 297aa28dfd
commit 3da2363ac5
3 changed files with 18 additions and 55 deletions
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34
dda.c
View File

@ -186,12 +186,19 @@ void dda_create(DDA *dda, TARGET *target) {
target->Z - startpoint.Z, target->E - startpoint.E); target->Z - startpoint.Z, target->E - startpoint.E);
dda->total_steps = dda->x_delta; dda->total_steps = dda->x_delta;
if (dda->y_delta > dda->total_steps) dda->fast_um = x_delta_um;
if (dda->y_delta > dda->total_steps) {
dda->total_steps = dda->y_delta; dda->total_steps = dda->y_delta;
if (dda->z_delta > dda->total_steps) dda->fast_um = y_delta_um;
}
if (dda->z_delta > dda->total_steps) {
dda->total_steps = dda->z_delta; dda->total_steps = dda->z_delta;
if (dda->e_delta > dda->total_steps) dda->fast_um = z_delta_um;
}
if (dda->e_delta > dda->total_steps) {
dda->total_steps = dda->e_delta; dda->total_steps = dda->e_delta;
dda->fast_um = e_delta_um;
}
if (DEBUG_DDA && (debug_flags & DEBUG_DDA)) if (DEBUG_DDA && (debug_flags & DEBUG_DDA))
sersendf_P(PSTR(" [ts:%lu"), dda->total_steps); sersendf_P(PSTR(" [ts:%lu"), dda->total_steps);
@ -347,24 +354,9 @@ void dda_create(DDA *dda, TARGET *target) {
if (dda->endpoint.F > 65535) if (dda->endpoint.F > 65535)
dda->endpoint.F = 65535; dda->endpoint.F = 65535;
// Note: this is inaccurate: // Acceleration ramps are based on the fast axis, not the combined speed.
// - ACCELERATE_RAMP_LEN() uses STEPS_PER_M_X, so axes not matching dda->rampup_steps =
// this get too much or not enough rampup steps. ACCELERATE_RAMP_LEN(muldiv(dda->fast_um, dda->endpoint.F, distance));
uint32_t fast_um;
if (dda->total_steps == dda->x_delta)
fast_um = x_delta_um;
else if (dda->total_steps == dda->y_delta)
fast_um = y_delta_um;
else if (dda->total_steps == dda->z_delta)
fast_um = z_delta_um;
else if (dda->total_steps == dda->e_delta)
fast_um = e_delta_um;
else {
fast_um = 0;
sersendf_P(PSTR("WTF? No prev fast axis found\n"));
}
dda->rampup_steps = ACCELERATE_RAMP_LEN(muldiv(fast_um, dda->endpoint.F, distance));
if (dda->rampup_steps > dda->total_steps / 2) if (dda->rampup_steps > dda->total_steps / 2)
dda->rampup_steps = dda->total_steps / 2; dda->rampup_steps = dda->total_steps / 2;

4
dda.h
View File

@ -126,8 +126,8 @@ typedef struct {
uint32_t z_delta; ///< number of steps on Z axis uint32_t z_delta; ///< number of steps on Z axis
uint32_t e_delta; ///< number of steps on E axis uint32_t e_delta; ///< number of steps on E axis
/// total number of steps: set to \f$\max(\Delta x, \Delta y, \Delta z, \Delta e)\f$ uint32_t total_steps; ///< steps of the "fast" axis
uint32_t total_steps; uint32_t fast_um; ///< movement length of this fast axis
uint32_t c; ///< time until next step, 24.8 fixed point uint32_t c; ///< time until next step, 24.8 fixed point

35
dda_lookahead.c
View File

@ -351,38 +351,9 @@ void dda_join_moves(DDA *prev, DDA *current) {
// //
// All calculations here are done along the fast axis, so recalculate // All calculations here are done along the fast axis, so recalculate
// F and crossF to match this, too. // F and crossF to match this, too.
uint32_t fast_um; prev_F = muldiv(prev->fast_um, prev_F, prev->distance);
this_F = muldiv(current->fast_um, current->endpoint.F, current->distance);
// TODO: instead of reconstructing the fast axis distance, it crossF = muldiv(current->fast_um, crossF, current->distance);
// could be stored right in dda_create().
if (prev->total_steps == prev->x_delta)
fast_um = prev->delta_um.X;
else if (prev->total_steps == prev->y_delta)
fast_um = prev->delta_um.Y;
else if (prev->total_steps == prev->z_delta)
fast_um = prev->delta_um.Z;
else if (prev->total_steps == prev->e_delta)
fast_um = prev->delta_um.E;
else {
fast_um = 0;
sersendf_P(PSTR("WTF? No prev fast axis found\n"));
}
prev_F = muldiv(fast_um, prev_F, prev->distance);
if (current->total_steps == current->x_delta)
fast_um = current->delta_um.X;
else if (current->total_steps == current->y_delta)
fast_um = current->delta_um.Y;
else if (current->total_steps == current->z_delta)
fast_um = current->delta_um.Z;
else if (current->total_steps == current->e_delta)
fast_um = current->delta_um.E;
else {
fast_um = 0;
sersendf_P(PSTR("WTF? No current fast axis found\n"));
}
crossF = muldiv(fast_um, crossF, current->distance);
this_F = muldiv(fast_um, current->endpoint.F, current->distance);
prev_F_in_steps = ACCELERATE_RAMP_LEN(prev_F); prev_F_in_steps = ACCELERATE_RAMP_LEN(prev_F);
this_F_in_steps = ACCELERATE_RAMP_LEN(this_F); this_F_in_steps = ACCELERATE_RAMP_LEN(this_F);