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DDA: Move axis calculations into loops, part 6a. 

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

Part 6a is putting stuff inside the step interrupt into a loop,
too. do_step() is put into the "tidiest" place. Binary size goes
down a remarkable 374 bytes, but stepping performance suffers by
almost 30%.

Traumflug's performance measurements:

    SIZES             ATmega...  '168    '328(P)    '644(P)    '1280
    FLASH : 19908 bytes          139%       65%        32%       16%
    RAM   :  2302 bytes          225%      113%        57%       29%
    EEPROM:    32 bytes            4%        2%         2%        1%

short-moves.gcode
Statistics (assuming a 20 MHz clock):
LED on occurences: 888.
Sum of all LED on time: 354537 clock cycles.
LED on time minimum: 390 clock cycles.
LED on time maximum: 806 clock cycles.
LED on time average: 399.253 clock cycles.

smooth-curves.gcode
Statistics (assuming a 20 MHz clock):
LED on occurences: 9124.
Sum of all LED on time: 4268896 clock cycles.
LED on time minimum: 395 clock cycles.
LED on time maximum: 807 clock cycles.
LED on time average: 467.875 clock cycles.

triangle-odd.gcode
Statistics (assuming a 20 MHz clock):
LED on occurences: 1636.
Sum of all LED on time: 706846 clock cycles.
LED on time minimum: 390 clock cycles.
LED on time maximum: 807 clock cycles.
LED on time average: 432.057 clock cycles.
This commit is contained in:
Phil Hord 2013-11-25 18:06:43 -05:00 committed by Markus Hitter
parent ad82907b98
commit b83449d8c3
3 changed files with 35 additions and 71 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

90
dda.c
View File

@ -482,78 +482,26 @@ void dda_start(DDA *dda) {
Finally we de-assert any asserted step pins.
*/
void dda_step(DDA *dda) {
enum axis_e i;
#if ! defined ACCELERATION_TEMPORAL
if (move_state.steps[X]) {
move_state.counter[X] -= dda->delta[X];
if (move_state.counter[X] < 0) {
x_step();
move_state.steps[X]--;
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.all_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) {
y_step();
move_state.steps[Y]--;
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.all_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) {
z_step();
move_state.steps[Z]--;
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.all_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) {
e_step();
move_state.steps[E]--;
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.all_time = move_state.time[E];
}
#endif
#if ! defined ACCELERATION_TEMPORAL
for (i = X; i < AXIS_COUNT; i++) {
if (move_state.steps[i]) {
move_state.counter[i] -= dda->delta[i];
if (move_state.counter[i] < 0) {
do_step(i);
move_state.steps[i]--;
move_state.counter[i] += dda->total_steps;
}
}
}
#else // ACCELERATION_TEMPORAL
i = dda->axis_to_step;
do_step(i);
move_state.steps[i]--;
move_state.time[i] += dda->step_interval[i];
move_state.all_time = move_state.time[i];
#endif
#if STEP_INTERRUPT_INTERRUPTIBLE && ! defined ACCELERATION_RAMPING
// Since we have sent steps to all the motors that will be stepping

13
pinio.c
View File

@ -42,3 +42,16 @@ void power_off() {
ps_is_on = 0;
}
// step the 'n' axis
void do_step(enum axis_e n) {
if (n == X)
x_step();
else if (n == Y)
y_step();
else if (n == Z)
z_step();
else if (n == E)
e_step();
}

3
pinio.h
View File

@ -6,6 +6,7 @@
#define _PINIO_H
#include "config_wrapper.h"
#include "dda.h"
#ifdef SIMULATOR
#include "simulator.h"
@ -33,6 +34,8 @@ inline void power_init(void) {
void power_on(void);
void power_off(void);
void do_step(enum axis_e n);
/*
X Stepper
*/