ARM: get dda_maths.c, dda_kinematics.c and dda.c in.

All in one chunk, because it's all hardware-independent and doing
them one by one would end up on not more than some typing
exercises.

Compiles fine. For testing, remove if (DEBUG... for M114 in
gcode_process.c. Then one can see how the queue fills up when
sending movements and M114 repeatedly. This time with actual
coordinates.

No stepper movements, yet, because set_timer() is still empty.

Makefile-ARM

@@ -99,7 +99,7 @@ TARGET = $(PROGRAM).hex
 # in #ifdef __AVR__. To avoid this, build only a selection for now:
 SOURCES  = mendel.c cpu.c serial.c sermsg.c sersendf.c delay.c
 SOURCES += gcode_parse.c gcode_process.c pinio.c timer.c clock.c
-SOURCES += dda_queue.c
+SOURCES += dda_queue.c dda_maths.c dda_kinematics.c dda.c
 ifeq ($(MCU), lpc1114)
   SOURCES += cmsis-system_lpc11xx.c
 endif

config_wrapper.h

@@ -42,3 +42,7 @@
            Lookahead disabled.
   #undef LOOKAHEAD
 #endif
+
+#ifdef __ARMEL_NOTYET__
+  #undef LOOKAHEAD
+#endif

dda_lookahead.c

@@ -53,7 +53,7 @@ static const axes_uint32_t PROGMEM maximum_jerk_P = {
  * exceeding the expected jerk. Worst case this speed is zero, which means a
  * full stop between both moves. Best case it's the lower of the maximum speeds.
  *
- * This function is expected to be called from within dda_start().
+ * This function is expected to be called from within dda_create().
  *
  * \param [in] prev is the DDA structure of the move previous to the current one.
  * \param [in] current is the DDA structure of the move currently created.

dda_queue.c

@@ -90,9 +90,7 @@ void queue_step() {
       }
 		}
 		else {
-      #ifndef __ARMEL_NOTYET__
 			dda_step(current_movebuffer);
-      #endif /* __ARMEL_NOTYET__ */
 		}
 	}
 
@@ -126,9 +124,7 @@ void enqueue_home(TARGET *t, uint8_t endstop_check, uint8_t endstop_stop_cond) {
 		// it's a wait for temp
 		new_movebuffer->waitfor_temp = 1;
 	}
-  #ifndef __ARMEL_NOTYET__
   dda_create(new_movebuffer, t);
-  #endif /* __ARMEL_NOTYET__ */
 
 	// make certain all writes to global memory
 	// are flushed before modifying mb_head.
@@ -173,9 +169,7 @@ void next_move() {
       timer_set(HEATER_WAIT_TIMEOUT, 0);
 		}
 		else {
-      #ifndef __ARMEL_NOTYET__
 			dda_start(current_movebuffer);
-      #endif /* __ARMEL_NOTYET__ */
 		}
 	}
 }

gcode_process.c

@@ -46,14 +46,12 @@ uint8_t next_tool;
 void process_gcode_command() {
 	uint32_t	backup_f;
 
-  #ifndef __ARMEL_NOTYET__
 	// convert relative to absolute
 	if (next_target.option_all_relative) {
     next_target.target.axis[X] += startpoint.axis[X];
     next_target.target.axis[Y] += startpoint.axis[Y];
     next_target.target.axis[Z] += startpoint.axis[Z];
 	}
-  #endif /* __ARMEL_NOTYET__ */
 
 	// E relative movement.
 	// Matches Sprinter's behaviour as of March 2012.
@@ -101,9 +99,8 @@ void process_gcode_command() {
 	}
 
 	if (next_target.seen_G) {
-    #ifndef __ARMEL_NOTYET__
 		uint8_t axisSelected = 0;
-    #endif /* __ARMEL_NOTYET__ */
+
 		switch (next_target.G) {
 			case 0:
 				//? G0: Rapid Linear Motion
@@ -272,7 +269,6 @@ void process_gcode_command() {
 
 				queue_wait();
 
-        #ifndef __ARMEL_NOTYET__
 				if (next_target.seen_X) {
           startpoint.axis[X] = next_target.target.axis[X];
 					axisSelected = 1;
@@ -298,7 +294,6 @@ void process_gcode_command() {
 				}
 
 				dda_new_startpoint();
-        #endif /* __ARMEL_NOTYET__ */
 				break;
 
 			case 161:
@@ -641,13 +636,11 @@ void process_gcode_command() {
 					// wait for all moves to complete
 					queue_wait();
 				#endif
-        #ifndef __ARMEL_NOTYET__
 				update_current_position();
 				sersendf_P(PSTR("X:%lq,Y:%lq,Z:%lq,E:%lq,F:%lu\n"),
                         current_position.axis[X], current_position.axis[Y],
                         current_position.axis[Z], current_position.axis[E],
 				                current_position.F);
-        #endif /* __ARMEL_NOTYET__ */
 
         if (DEBUG_POSITION && (debug_flags & DEBUG_POSITION)) {
           sersendf_P(PSTR("Endpoint: X:%ld,Y:%ld,Z:%ld,E:%ld,F:%lu,c:%lu}\n"),

mendel.c

@@ -100,10 +100,12 @@ void init(void) {
   #ifndef __ARMEL_NOTYET__
 	// read PID settings from EEPROM
 	heater_init();
+  #endif /* __ARMEL_NOTYET__ */
 
 	// set up dda
 	dda_init();
 
+  #ifndef __ARMEL_NOTYET__
 	// start up analog read interrupt loop,
 	// if any of the temp sensors in your config.h use analog interface
 	analog_init();