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DDA: Move axis calculations into loops, part 5. 

Clean up code to reduce duplication by consolidating code into
loops for per-axis actions.

Part 5 is move ACCELERATION_TEMPORAL's step delay calculations
into loops. Not tested, binary size change unknown.
This commit is contained in:
Phil Hord 2013-11-25 18:06:43 -05:00 committed by Markus Hitter
parent 8d729d499d
commit 74808610c7
1 changed files with 26 additions and 55 deletions
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81
dda.c
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@ -375,33 +375,21 @@ void dda_create(DDA *dda, TARGET *target) {
#endif
#elif defined ACCELERATION_TEMPORAL
// TODO: limit speed of individual axes to MAXIMUM_FEEDRATE
// TODO: calculate acceleration/deceleration for each axis
dda->step_interval[X] = dda->step_interval[Y] = \
dda->step_interval[Z] = dda->step_interval[E] = 0xFFFFFFFF;
if (dda->delta[X])
dda->step_interval[X] = move_duration / dda->delta[X];
if (dda->delta[Y])
dda->step_interval[Y] = move_duration / dda->delta[Y];
if (dda->delta[Z])
dda->step_interval[Z] = move_duration / dda->delta[Z];
if (dda->delta[E])
dda->step_interval[E] = move_duration / dda->delta[E];
for (i = X; i < AXIS_COUNT; i++) {
dda->step_interval[i] = 0xFFFFFFFF;
if (dda->delta[i])
dda->step_interval[i] = move_duration / dda->delta[i];
}
dda->axis_to_step = 'x';
dda->c = dda->step_interval[X];
if (dda->step_interval[Y] < dda->c) {
dda->axis_to_step = 'y';
dda->c = dda->step_interval[Y];
}
if (dda->step_interval[Z] < dda->c) {
dda->axis_to_step = 'z';
dda->c = dda->step_interval[Z];
}
if (dda->step_interval[E] < dda->c) {
dda->axis_to_step = 'e';
dda->c = dda->step_interval[E];
}
dda->c = 0xFFFFFFFF;
dda->axis_to_step = X; // Safety value
for (i = X; i < AXIS_COUNT; i++) {
if (dda->step_interval[i] < dda->c) {
dda->axis_to_step = i;
dda->c = dda->step_interval[i];
}
}
dda->c <<= 8;
#else
@ -505,7 +493,7 @@ void dda_step(DDA *dda) {
}
}
#else // ACCELERATION_TEMPORAL
if (dda->axis_to_step == 'x') {
if (dda->axis_to_step == X) {
x_step();
move_state.steps[X]--;
move_state.time[X] += dda->step_interval[X];
@ -523,7 +511,7 @@ void dda_step(DDA *dda) {
}
}
#else // ACCELERATION_TEMPORAL
if (dda->axis_to_step == 'y') {
if (dda->axis_to_step == Y) {
y_step();
move_state.steps[Y]--;
move_state.time[Y] += dda->step_interval[Y];
@ -541,7 +529,7 @@ void dda_step(DDA *dda) {
}
}
#else // ACCELERATION_TEMPORAL
if (dda->axis_to_step == 'z') {
if (dda->axis_to_step == Z) {
z_step();
move_state.steps[Z]--;
move_state.time[Z] += dda->step_interval[Z];
@ -559,7 +547,7 @@ void dda_step(DDA *dda) {
}
}
#else // ACCELERATION_TEMPORAL
if (dda->axis_to_step == 'e') {
if (dda->axis_to_step == E) {
e_step();
move_state.steps[E]--;
move_state.time[E] += dda->step_interval[E];
@ -620,32 +608,15 @@ void dda_step(DDA *dda) {
uint32_t c_candidate;
dda->c = 0xFFFFFFFF;
if (move_state.steps[X]) {
c_candidate = move_state.time[X] + dda->step_interval[X] - move_state.all_time;
dda->axis_to_step = 'x';
dda->c = c_candidate;
}
if (move_state.steps[Y]) {
c_candidate = move_state.time[Y] + dda->step_interval[Y] - move_state.all_time;
if (c_candidate < dda->c) {
dda->axis_to_step = 'y';
dda->c = c_candidate;
}
}
if (move_state.steps[Z]) {
c_candidate = move_state.time[Z] + dda->step_interval[Z] - move_state.all_time;
if (c_candidate < dda->c) {
dda->axis_to_step = 'z';
dda->c = c_candidate;
}
}
if (move_state.steps[E]) {
c_candidate = move_state.time[E] + dda->step_interval[E] - move_state.all_time;
if (c_candidate < dda->c) {
dda->axis_to_step = 'e';
dda->c = c_candidate;
}
}
for (i = X; i < AXIS_COUNT; i++) {
if (move_state.steps[i]) {
c_candidate = move_state.time[i] + dda->step_interval[i] - move_state.all_time;
if (c_candidate < dda->c) {
dda->axis_to_step = i;
dda->c = c_candidate;
}
}
}
dda->c <<= 8;
#endif