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dda_lookahead.c: loop up prevF calculation. 

This saves a whopping 98 bytes binary size.
This commit is contained in:
Markus Hitter 2014-10-17 00:47:09 +02:00
parent ab25efbe81
commit b3eba1d062
1 changed files with 11 additions and 11 deletions
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22
dda_lookahead.c
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@ -165,8 +165,9 @@ void dda_emergency_shutdown(PGM_P msg_P) {
*/
void dda_find_crossing_speed(DDA *prev, DDA *current) {
uint32_t F, dv, speed_factor, max_speed_factor;
int32_t prevFx, prevFy, prevFz, prevFe;
axes_int32_t prevF;
int32_t currFx, currFy, currFz, currFe;
enum axis_e i;
// Bail out if there's nothing to join (e.g. G1 F1500).
if ( ! prev || prev->nullmove)
@ -183,11 +184,9 @@ void dda_find_crossing_speed(DDA *prev, DDA *current) {
prev->distance, current->distance);
// Find individual axis speeds.
// int32_t muldiv(int32_t multiplicand, uint32_t multiplier, uint32_t divisor)
prevFx = muldiv(prev->delta_um[X], F, prev->distance);
prevFy = muldiv(prev->delta_um[Y], F, prev->distance);
prevFz = muldiv(prev->delta_um[Z], F, prev->distance);
prevFe = muldiv(prev->delta_um[E], F, prev->distance);
for (i = X; i < AXIS_COUNT; i++) {
prevF[i] = muldiv(prev->delta_um[i], F, prev->distance);
}
currFx = muldiv(current->delta_um[X], F, current->distance);
currFy = muldiv(current->delta_um[Y], F, current->distance);
@ -196,7 +195,8 @@ void dda_find_crossing_speed(DDA *prev, DDA *current) {
if (DEBUG_DDA && (debug_flags & DEBUG_DDA))
sersendf_P(PSTR("prevF: %ld %ld %ld %ld\ncurrF: %ld %ld %ld %ld\n"),
prevFx, prevFy, prevFz, prevFe, currFx, currFy, currFz, currFe);
prevF[X], prevF[Y], prevF[Z], prevF[E],
currFx, currFy, currFz, currFe);
/**
* What we want is (for each axis):
@ -221,7 +221,7 @@ void dda_find_crossing_speed(DDA *prev, DDA *current) {
*/
max_speed_factor = (uint32_t)2 << 8;
dv = currFx > prevFx ? currFx - prevFx : prevFx - currFx;
dv = currFx > prevF[X] ? currFx - prevF[X] : prevF[X] - currFx;
if (dv) {
speed_factor = ((uint32_t)MAX_JERK_X << 8) / dv;
if (speed_factor < max_speed_factor)
@ -231,7 +231,7 @@ void dda_find_crossing_speed(DDA *prev, DDA *current) {
dv, (uint32_t)MAX_JERK_X, speed_factor, (uint32_t)1 << 8);
}
dv = currFy > prevFy ? currFy - prevFy : prevFy - currFy;
dv = currFy > prevF[Y] ? currFy - prevF[Y] : prevF[Y] - currFy;
if (dv) {
speed_factor = ((uint32_t)MAX_JERK_Y << 8) / dv;
if (speed_factor < max_speed_factor)
@ -241,7 +241,7 @@ void dda_find_crossing_speed(DDA *prev, DDA *current) {
dv, (uint32_t)MAX_JERK_Y, speed_factor, (uint32_t)1 << 8);
}
dv = currFz > prevFz ? currFz - prevFz : prevFz - currFz;
dv = currFz > prevF[Z] ? currFz - prevF[Z] : prevF[Z] - currFz;
if (dv) {
speed_factor = ((uint32_t)MAX_JERK_Z << 8) / dv;
if (speed_factor < max_speed_factor)
@ -251,7 +251,7 @@ void dda_find_crossing_speed(DDA *prev, DDA *current) {
dv, (uint32_t)MAX_JERK_Z, speed_factor, (uint32_t)1 << 8);
}
dv = currFe > prevFe ? currFe - prevFe : prevFe - currFe;
dv = currFe > prevF[E] ? currFe - prevF[E] : prevF[E] - currFe;
if (dv) {
speed_factor = ((uint32_t)MAX_JERK_E << 8) / dv;
if (speed_factor < max_speed_factor)