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DDA: Move axis calculations into loops, part 8. 

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

Part 8 is, move remaining update_current_position() into a loop.

This makes the binary 134 bytes smaller. As it's not critical,
no performance test.

    SIZES             ATmega...  '168    '328(P)    '644(P)    '1280
    FLASH : 20134 bytes          141%       66%        32%       16%
    RAM   :  2302 bytes          225%      113%        57%       29%
    EEPROM:    32 bytes            4%        2%         2%        1%
This commit is contained in:
Phil Hord 2013-11-25 18:06:43 -05:00 committed by Markus Hitter
parent 80b29b727b
commit b552447789
1 changed files with 36 additions and 35 deletions
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71
dda.c
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@ -70,6 +70,20 @@ static const axes_uint32_t PROGMEM maximum_feedrate_P = {
MAXIMUM_FEEDRATE_E MAXIMUM_FEEDRATE_E
}; };
/*! Find the direction of the 'n' axis
*/
static char get_direction(DDA *dda, enum axis_e n) {
if (n == X)
return dda->x_direction;
if (n == Y)
return dda->y_direction;
if (n == Z)
return dda->z_direction;
if (n == E)
return dda->e_direction;
return 0;
}
/*! Inititalise DDA movement structures /*! Inititalise DDA movement structures
*/ */
void dda_init(void) { void dda_init(void) {
@ -849,48 +863,35 @@ void update_current_position() {
DDA *dda = &movebuffer[mb_tail]; DDA *dda = &movebuffer[mb_tail];
enum axis_e i; enum axis_e i;
// Use smaller values to adjust to avoid overflow in later calculations,
// (STEPS_PER_M_X / 1000) is a bit inaccurate for low STEPS_PER_M numbers.
static const axes_uint32_t PROGMEM steps_per_mm_P = {
((STEPS_PER_M_X + 500) / 1000),
((STEPS_PER_M_Y + 500) / 1000),
((STEPS_PER_M_Z + 500) / 1000),
((STEPS_PER_M_E + 500) / 1000)
};
if (queue_empty()) { if (queue_empty()) {
for (i = X; i < AXIS_COUNT; i++) { for (i = X; i < AXIS_COUNT; i++) {
current_position.axis[i] = startpoint.axis[i]; current_position.axis[i] = startpoint.axis[i];
} }
} }
else if (dda->live) { else if (dda->live) {
if (dda->x_direction) for (i = X; i < AXIS_COUNT; i++) {
// (STEPS_PER_M_X / 1000) is a bit inaccurate for low STEPS_PER_M numbers if (get_direction(dda, i))
current_position.axis[X] = dda->endpoint.axis[X] - current_position.axis[i] = dda->endpoint.axis[i] -
// should be: move_state.steps[X] * 1000000 / STEPS_PER_M_X) // Should be: move_state.steps[i] * 1000000 / steps_per_m_P[i])
// but steps[X] can be like 1000000 already, so we'd overflow // but steps[i] can be like 1000000 already, so we'd overflow.
move_state.steps[X] * 1000 / ((STEPS_PER_M_X + 500) / 1000); move_state.steps[i] * 1000 / pgm_read_dword(&steps_per_mm_P[i]);
else else
current_position.axis[X] = dda->endpoint.axis[X] + current_position.axis[i] = dda->endpoint.axis[i] +
move_state.steps[X] * 1000 / ((STEPS_PER_M_X + 500) / 1000); move_state.steps[i] * 1000 / pgm_read_dword(&steps_per_mm_P[i]);
}
if (dda->y_direction) if (dda->endpoint.e_relative)
current_position.axis[Y] = dda->endpoint.axis[Y] - current_position.axis[E] =
move_state.steps[Y] * 1000 / ((STEPS_PER_M_Y + 500) / 1000); move_state.steps[E] * 1000 / pgm_read_dword(&steps_per_mm_P[E]);
else
current_position.axis[Y] = dda->endpoint.axis[Y] +
move_state.steps[Y] * 1000 / ((STEPS_PER_M_Y + 500) / 1000);
if (dda->z_direction)
current_position.axis[Z] = dda->endpoint.axis[Z] -
move_state.steps[Z] * 1000 / ((STEPS_PER_M_Z + 500) / 1000);
else
current_position.axis[Z] = dda->endpoint.axis[Z] +
move_state.steps[Z] * 1000 / ((STEPS_PER_M_Z + 500) / 1000);
if (dda->endpoint.e_relative) {
current_position.axis[E] = move_state.steps[E] * 1000 /
((STEPS_PER_M_E + 500) / 1000);
}
else {
if (dda->e_direction)
current_position.axis[E] = dda->endpoint.axis[E] -
move_state.steps[E] * 1000 / ((STEPS_PER_M_E + 500) / 1000);
else
current_position.axis[E] = dda->endpoint.axis[E] +
move_state.steps[E] * 1000 / ((STEPS_PER_M_E + 500) / 1000);
}
// current_position.F is updated in dda_start() // current_position.F is updated in dda_start()
} }