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dda_lookahead.c: loop up speed factor calculation, too. 

This saves 250 bytes over the previous version, totalling to a
savings of 162 bytes.

... and it's easier to extend beyond 4 axes now, of course.
This commit is contained in:
Markus Hitter 2014-10-17 01:26:02 +02:00
parent 4596dffe10
commit 69e0b0d15e
1 changed files with 11 additions and 43 deletions
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54
dda_lookahead.c
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@ -226,49 +226,17 @@ void dda_find_crossing_speed(DDA *prev, DDA *current) {
*/
max_speed_factor = (uint32_t)2 << 8;
// 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)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)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)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)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)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)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)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)pgm_read_dword(&maximum_jerk_P[E]),
speed_factor, (uint32_t)1 << 8);
for (i = X; i < AXIS_COUNT; i++) {
dv = currF[i] > prevF[i] ? currF[i] - prevF[i] : prevF[i] - currF[i];
if (dv) {
speed_factor = ((uint32_t)pgm_read_dword(&maximum_jerk_P[i]) << 8) / dv;
if (speed_factor < max_speed_factor)
max_speed_factor = speed_factor;
if (DEBUG_DDA && (debug_flags & DEBUG_DDA))
sersendf_P(PSTR("%c: dv %lu of %lu factor %lu of %lu\n"),
'X' + i, dv, (uint32_t)pgm_read_dword(&maximum_jerk_P[i]),
speed_factor, (uint32_t)1 << 8);
}
}
if (max_speed_factor >= ((uint32_t)1 << 8))