From 4596dffe1077520553162a3f945e006766c31278 Mon Sep 17 00:00:00 2001 From: Markus Hitter Date: Fri, 17 Oct 2014 01:17:36 +0200 Subject: [PATCH] dda_lookahead.c: put MAX_JERK_{XYZE} into an array. This costs 88 bytes binary size for now, but will us allow to loop up a nice section of code. --- dda_lookahead.c | 30 ++++++++++++++++++++++-------- 1 file changed, 22 insertions(+), 8 deletions(-) diff --git a/dda_lookahead.c b/dda_lookahead.c index 54a688c..e68a9dc 100644 --- a/dda_lookahead.c +++ b/dda_lookahead.c @@ -40,6 +40,16 @@ uint32_t lookahead_timeout = 0; // Moves that did not compute in time to be #define serprintf(...) #endif +/// \var maximum_jerk_P +/// \brief maximum allowed feedrate jerk on each axis +static const axes_uint32_t PROGMEM maximum_jerk_P = { + MAX_JERK_X, + MAX_JERK_Y, + MAX_JERK_Z, + MAX_JERK_E +}; + + // We also need the inverse: given a ramp length, determine the expected speed // Note: the calculation is scaled by a factor 16384 to obtain an answer with a smaller // rounding error. @@ -219,42 +229,46 @@ void dda_find_crossing_speed(DDA *prev, DDA *current) { // TODO: this should be looped up, too. dv = currF[X] > prevF[X] ? currF[X] - prevF[X] : prevF[X] - currF[X]; if (dv) { - speed_factor = ((uint32_t)MAX_JERK_X << 8) / dv; + speed_factor = ((uint32_t)pgm_read_dword(&maximum_jerk_P[X]) << 8) / dv; if (speed_factor < max_speed_factor) max_speed_factor = speed_factor; if (DEBUG_DDA && (debug_flags & DEBUG_DDA)) sersendf_P(PSTR("X: dv %lu of %lu factor %lu of %lu\n"), - dv, (uint32_t)MAX_JERK_X, speed_factor, (uint32_t)1 << 8); + dv, (uint32_t)pgm_read_dword(&maximum_jerk_P[X]), + speed_factor, (uint32_t)1 << 8); } dv = currF[Y] > prevF[Y] ? currF[Y] - prevF[Y] : prevF[Y] - currF[Y]; if (dv) { - speed_factor = ((uint32_t)MAX_JERK_Y << 8) / dv; + speed_factor = ((uint32_t)pgm_read_dword(&maximum_jerk_P[Y]) << 8) / dv; if (speed_factor < max_speed_factor) max_speed_factor = speed_factor; if (DEBUG_DDA && (debug_flags & DEBUG_DDA)) sersendf_P(PSTR("Y: dv %lu of %lu factor %lu of %lu\n"), - dv, (uint32_t)MAX_JERK_Y, speed_factor, (uint32_t)1 << 8); + dv, (uint32_t)pgm_read_dword(&maximum_jerk_P[Y]), + speed_factor, (uint32_t)1 << 8); } dv = currF[Z] > prevF[Z] ? currF[Z] - prevF[Z] : prevF[Z] - currF[Z]; if (dv) { - speed_factor = ((uint32_t)MAX_JERK_Z << 8) / dv; + speed_factor = ((uint32_t)pgm_read_dword(&maximum_jerk_P[Z]) << 8) / dv; if (speed_factor < max_speed_factor) max_speed_factor = speed_factor; if (DEBUG_DDA && (debug_flags & DEBUG_DDA)) sersendf_P(PSTR("Z: dv %lu of %lu factor %lu of %lu\n"), - dv, (uint32_t)MAX_JERK_Z, speed_factor, (uint32_t)1 << 8); + dv, (uint32_t)pgm_read_dword(&maximum_jerk_P[Z]), + speed_factor, (uint32_t)1 << 8); } dv = currF[E] > prevF[E] ? currF[E] - prevF[E] : prevF[E] - currF[E]; if (dv) { - speed_factor = ((uint32_t)MAX_JERK_E << 8) / dv; + speed_factor = ((uint32_t)pgm_read_dword(&maximum_jerk_P[E]) << 8) / dv; if (speed_factor < max_speed_factor) max_speed_factor = speed_factor; if (DEBUG_DDA && (debug_flags & DEBUG_DDA)) sersendf_P(PSTR("E: dv %lu of %lu factor %lu of %lu\n"), - dv, (uint32_t)MAX_JERK_E, speed_factor, (uint32_t)1 << 8); + dv, (uint32_t)pgm_read_dword(&maximum_jerk_P[E]), + speed_factor, (uint32_t)1 << 8); } if (max_speed_factor >= ((uint32_t)1 << 8))