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DDA: finally, don't bit-shift dda->c. 

This was the goal: to not bit-shift when calling setTimer(). Binary
size another 40 bytes off, about 1.2 % better performance:

    SIZES             ATmega...  '168    '328(P)    '644(P)    '1280
    FLASH : 20136 bytes          141%       66%        32%       16%
    RAM   :  2318 bytes          227%      114%        57%       29%
    EEPROM:    32 bytes            4%        2%         2%        1%

short-moves.gcode statistics:
LED on occurences: 888.
LED on time minimum: 302 clock cycles.
LED on time maximum: 718 clock cycles.
LED on time average: 311.258 clock cycles.

smooth-curves.gcode statistics:
LED on occurences: 9124.
LED on time minimum: 307 clock cycles.
LED on time maximum: 708 clock cycles.
LED on time average: 357.417 clock cycles.

triangle-odd.gcode statistics:
LED on occurences: 1636.
LED on time minimum: 302 clock cycles.
LED on time maximum: 708 clock cycles.
LED on time average: 330.322 clock cycles.
This commit is contained in:
Markus Hitter 2014-07-15 19:50:22 +02:00
parent e098a96bac
commit 6c5809f0fa
1 changed files with 24 additions and 26 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

50
dda.c
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@ -314,17 +314,17 @@ void dda_create(DDA *dda, TARGET *target) {
#ifdef ACCELERATION_REPRAP
// c is initial step time in IOclk ticks
dda->c = (move_duration / startpoint.F) << 8;
if (dda->c < (c_limit << 8))
dda->c = (c_limit << 8);
dda->c = move_duration / startpoint.F;
if (dda->c < c_limit)
dda->c = c_limit;
dda->end_c = move_duration / target->F;
if (dda->end_c < c_limit)
dda->end_c = c_limit;
if (DEBUG_DDA && (debug_flags & DEBUG_DDA))
sersendf_P(PSTR(",md:%lu,c:%lu"), move_duration, dda->c >> 8);
sersendf_P(PSTR(",md:%lu,c:%lu"), move_duration, dda->c);
if (dda->c != (dda->end_c << 8)) {
if (dda->c != dda->end_c) {
uint32_t stF = startpoint.F / 4;
uint32_t enF = target->F / 4;
// now some constant acceleration stuff, courtesy of http://www.embedded.com/design/mcus-processors-and-socs/4006438/Generate-stepper-motor-speed-profiles-in-real-time
@ -395,15 +395,15 @@ void dda_create(DDA *dda, TARGET *target) {
dda_join_moves(prev_dda, dda);
dda->n = dda->start_steps;
if (dda->n == 0)
dda->c = pgm_read_dword(&c0_P[dda->fast_axis]) << 8;
dda->c = pgm_read_dword(&c0_P[dda->fast_axis]);
else
dda->c = (pgm_read_dword(&c0_P[dda->fast_axis]) *
int_inv_sqrt(dda->n)) >> 5;
if (dda->c < (dda->c_min << 8))
dda->c = (dda->c_min << 8);
int_inv_sqrt(dda->n)) >> 13;
if (dda->c < dda->c_min)
dda->c = dda->c_min;
#else
dda->n = 0;
dda->c = pgm_read_dword(&c0_P[dda->fast_axis]) << 8;
dda->c = pgm_read_dword(&c0_P[dda->fast_axis]);
#endif
#elif defined ACCELERATION_TEMPORAL
@ -423,11 +423,10 @@ void dda_create(DDA *dda, TARGET *target) {
}
}
dda->c <<= 8;
#else
dda->c = (move_duration / target->F) << 8;
if (dda->c < (c_limit << 8))
dda->c = (c_limit << 8);
dda->c = move_duration / target->F;
if (dda->c < c_limit)
dda->c = c_limit;
#endif
} /* ! dda->total_steps == 0 */
@ -496,7 +495,7 @@ void dda_start(DDA *dda) {
dda->live = 1;
// set timeout for first step
setTimer(dda->c >> 8);
setTimer(dda->c);
}
// else just a speed change, keep dda->live = 0
@ -609,26 +608,26 @@ void dda_step(DDA *dda) {
#ifdef ACCELERATION_REPRAP
// linear acceleration magic, courtesy of http://www.embedded.com/design/mcus-processors-and-socs/4006438/Generate-stepper-motor-speed-profiles-in-real-time
if (dda->accel) {
if ((dda->c > (dda->end_c << 8)) && (dda->n > 0)) {
if ((dda->c > dda->end_c) && (dda->n > 0)) {
uint32_t new_c = dda->c - (dda->c * 2) / dda->n;
if (new_c <= dda->c && new_c > (dda->end_c << 8)) {
if (new_c <= dda->c && new_c > dda->end_c) {
dda->c = new_c;
dda->n += 4;
}
else
dda->c = dda->end_c << 8;
dda->c = dda->end_c;
}
else if ((dda->c < (dda->end_c << 8)) && (dda->n < 0)) {
else if ((dda->c < dda->end_c) && (dda->n < 0)) {
uint32_t new_c = dda->c + ((dda->c * 2) / -dda->n);
if (new_c >= dda->c && new_c < (dda->end_c << 8)) {
if (new_c >= dda->c && new_c < dda->end_c) {
dda->c = new_c;
dda->n += 4;
}
else
dda->c = dda->end_c << 8;
dda->c = dda->end_c;
}
else if (dda->c != (dda->end_c << 8)) {
dda->c = (dda->end_c << 8);
else if (dda->c != dda->end_c) {
dda->c = dda->end_c;
}
// else we are already at target speed
}
@ -671,7 +670,6 @@ void dda_step(DDA *dda) {
}
}
}
dda->c <<= 8;
#endif
// If there are no steps left or an endstop stop happened, we have finished.
@ -699,7 +697,7 @@ void dda_step(DDA *dda) {
}
else {
psu_timeout = 0;
setTimer(dda->c >> 8);
setTimer(dda->c);
}
// turn off step outputs, hopefully they've been on long enough by now to register with the drivers
@ -893,7 +891,7 @@ void dda_clock() {
// Write results.
ATOMIC_START
dda->c = (move_c << 8);
dda->c = move_c;
ATOMIC_END
}
#endif