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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.
This commit is contained in:
Markus Hitter 2015-03-01 14:49:56 +01:00
parent 8b88334b06
commit 7dda91ab56
1 changed files with 26 additions and 38 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

64
dda.c
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@ -565,16 +565,6 @@ void dda_step(DDA *dda) {
move_state.counter[X] += dda->total_steps; 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]) { if (move_state.steps[Y]) {
move_state.counter[Y] -= dda->delta[Y]; move_state.counter[Y] -= dda->delta[Y];
if (move_state.counter[Y] < 0) { if (move_state.counter[Y] < 0) {
@ -583,16 +573,6 @@ void dda_step(DDA *dda) {
move_state.counter[Y] += dda->total_steps; 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]) { if (move_state.steps[Z]) {
move_state.counter[Z] -= dda->delta[Z]; move_state.counter[Z] -= dda->delta[Z];
if (move_state.counter[Z] < 0) { if (move_state.counter[Z] < 0) {
@ -601,16 +581,6 @@ void dda_step(DDA *dda) {
move_state.counter[Z] += dda->total_steps; 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]) { if (move_state.steps[E]) {
move_state.counter[E] -= dda->delta[E]; move_state.counter[E] -= dda->delta[E];
if (move_state.counter[E] < 0) { if (move_state.counter[E] < 0) {
@ -619,13 +589,6 @@ void dda_step(DDA *dda) {
move_state.counter[E] += dda->total_steps; 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 #endif
#ifdef ACCELERATION_REPRAP #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 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 later. In turn we promise here to send a maximum of four such
short-delays consecutively and to give sufficient time on average. short-delays consecutively and to give sufficient time on average.
*/ */
uint32_t c_candidate; uint32_t c_candidate;
uint8_t i; 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; dda->c = 0xFFFFFFFF;
for (i = X; i < AXIS_COUNT; i++) { for (i = X; i < AXIS_COUNT; i++) {
if (move_state.steps[i]) { if (move_state.steps[i]) {