From 7dda91ab5641578c6b4a4e695892d2c510c3f71f Mon Sep 17 00:00:00 2001
From: Markus Hitter <mah@jump-ing.de>
Date: Sun, 1 Mar 2015 14:49:56 +0100
Subject: [PATCH] dda.c: put code for ACCELERATION_TEMPORAL in dda_step()
 together.

Performance for ACCELERATION_RAMPING unchanged:

$ cd testcases
$ ./run-in-simulavr.sh short-moves.gcode smooth-curves.gcode triangle-odd.gcode
[...]
    SIZES             ATmega...  '168    '328(P)    '644(P)    '1280
    FLASH  : 20518 bytes         144%        67%        33%      16%
    RAM    :  2188 bytes         214%       107%        54%      27%
    EEPROM :    32 bytes           4%         2%         2%       1%

short-moves.gcode statistics:
LED on occurences: 838.
LED on time minimum: 302 clock cycles.
LED on time maximum: 713 clock cycles.
LED on time average: 308.72 clock cycles.

smooth-curves.gcode statistics:
LED on occurences: 8585.
LED on time minimum: 307 clock cycles.
LED on time maximum: 710 clock cycles.
LED on time average: 358.051 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.
---
 dda.c | 64 ++++++++++++++++++++++++-----------------------------------
 1 file changed, 26 insertions(+), 38 deletions(-)

diff --git a/dda.c b/dda.c
index 486907f..4ec4ff0 100644
--- a/dda.c
+++ b/dda.c
@@ -565,16 +565,6 @@ void dda_step(DDA *dda) {
       move_state.counter[X] += dda->total_steps;
 		}
 	}
-#else	// ACCELERATION_TEMPORAL
-	if (dda->axis_to_step == X) {
-		x_step();
-    move_state.steps[X]--;
-    move_state.time[X] += dda->step_interval[X];
-    move_state.last_time = move_state.time[X];
-	}
-#endif
-
-#if ! defined ACCELERATION_TEMPORAL
   if (move_state.steps[Y]) {
     move_state.counter[Y] -= dda->delta[Y];
     if (move_state.counter[Y] < 0) {
@@ -583,16 +573,6 @@ void dda_step(DDA *dda) {
       move_state.counter[Y] += dda->total_steps;
 		}
 	}
-#else	// ACCELERATION_TEMPORAL
-	if (dda->axis_to_step == Y) {
-		y_step();
-    move_state.steps[Y]--;
-    move_state.time[Y] += dda->step_interval[Y];
-    move_state.last_time = move_state.time[Y];
-	}
-#endif
-
-#if ! defined ACCELERATION_TEMPORAL
   if (move_state.steps[Z]) {
     move_state.counter[Z] -= dda->delta[Z];
     if (move_state.counter[Z] < 0) {
@@ -601,16 +581,6 @@ void dda_step(DDA *dda) {
       move_state.counter[Z] += dda->total_steps;
 		}
 	}
-#else	// ACCELERATION_TEMPORAL
-	if (dda->axis_to_step == Z) {
-		z_step();
-    move_state.steps[Z]--;
-    move_state.time[Z] += dda->step_interval[Z];
-    move_state.last_time = move_state.time[Z];
-	}
-#endif
-
-#if ! defined ACCELERATION_TEMPORAL
   if (move_state.steps[E]) {
     move_state.counter[E] -= dda->delta[E];
     if (move_state.counter[E] < 0) {
@@ -619,13 +589,6 @@ void dda_step(DDA *dda) {
       move_state.counter[E] += dda->total_steps;
 		}
 	}
-#else	// ACCELERATION_TEMPORAL
-	if (dda->axis_to_step == E) {
-		e_step();
-    move_state.steps[E]--;
-    move_state.time[E] += dda->step_interval[E];
-    move_state.last_time = move_state.time[E];
-	}
 #endif
 
 	#ifdef ACCELERATION_REPRAP
@@ -680,10 +643,35 @@ void dda_step(DDA *dda) {
       timer shall do the step as soon as possible and compensate for the delay
       later. In turn we promise here to send a maximum of four such
       short-delays consecutively and to give sufficient time on average.
-   */
+    */
 		uint32_t c_candidate;
     uint8_t i;
 
+    if (dda->axis_to_step == X) {
+      x_step();
+      move_state.steps[X]--;
+      move_state.time[X] += dda->step_interval[X];
+      move_state.last_time = move_state.time[X];
+    }
+    if (dda->axis_to_step == Y) {
+      y_step();
+      move_state.steps[Y]--;
+      move_state.time[Y] += dda->step_interval[Y];
+      move_state.last_time = move_state.time[Y];
+    }
+    if (dda->axis_to_step == Z) {
+      z_step();
+      move_state.steps[Z]--;
+      move_state.time[Z] += dda->step_interval[Z];
+      move_state.last_time = move_state.time[Z];
+    }
+    if (dda->axis_to_step == E) {
+      e_step();
+      move_state.steps[E]--;
+      move_state.time[E] += dda->step_interval[E];
+      move_state.last_time = move_state.time[E];
+    }
+
 		dda->c = 0xFFFFFFFF;
     for (i = X; i < AXIS_COUNT; i++) {
       if (move_state.steps[i]) {