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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.
This commit is contained in:
Markus Hitter 2014-10-17 01:17:36 +02:00
parent 87a0706ff9
commit 4596dffe10
1 changed files with 22 additions and 8 deletions
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30
dda_lookahead.c
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@ -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))