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DDA: Move axis calculations into loops, part 4. 

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

Part 4 is move ACCELERATION_TEMPORAL's maximum feedrate limitation
into a loop. 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 cd0155b5f4
commit 8d729d499d
1 changed files with 11 additions and 16 deletions
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27
dda.c
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@ -235,23 +235,18 @@ void dda_create(DDA *dda, TARGET *target) {
if (DEBUG_DDA && (debug_flags & DEBUG_DDA))
sersendf_P(PSTR(",ds:%lu"), distance);
#ifdef ACCELERATION_TEMPORAL
// bracket part of this equation in an attempt to avoid overflow: 60 * 16MHz * 5mm is >32 bits
uint32_t move_duration, md_candidate;
#ifdef ACCELERATION_TEMPORAL
// bracket part of this equation in an attempt to avoid overflow:
// 60 * 16 MHz * 5 mm is > 32 bits
uint32_t move_duration, md_candidate;
move_duration = distance * ((60 * F_CPU) / (target->F * 1000UL));
md_candidate = dda->delta[X] * ((60 * F_CPU) / (MAXIMUM_FEEDRATE_X * 1000UL));
if (md_candidate > move_duration)
move_duration = md_candidate;
md_candidate = dda->delta[Y] * ((60 * F_CPU) / (MAXIMUM_FEEDRATE_Y * 1000UL));
if (md_candidate > move_duration)
move_duration = md_candidate;
md_candidate = dda->delta[Z] * ((60 * F_CPU) / (MAXIMUM_FEEDRATE_Z * 1000UL));
if (md_candidate > move_duration)
move_duration = md_candidate;
md_candidate = dda->delta[E] * ((60 * F_CPU) / (MAXIMUM_FEEDRATE_E * 1000UL));
if (md_candidate > move_duration)
move_duration = md_candidate;
move_duration = distance * ((60 * F_CPU) / (target->F * 1000UL));
for (i = X; i < AXIS_COUNT; i++) {
md_candidate = dda->delta[i] * ((60 * F_CPU) /
(pgm_read_dword(&maximum_feedrate[i]) * 1000UL));
if (md_candidate > move_duration)
move_duration = md_candidate;
}
#else
// pre-calculate move speed in millimeter microseconds per step minute for less math in interrupt context
// mm (distance) * 60000000 us/min / step (total_steps) = mm.us per step.min