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DDA: don't bit-shift dda->c_min. 

Another babystep. First results: binary 4 bytes smaller. Yikes!
Ha ha.
This commit is contained in:
Markus Hitter 2014-07-15 18:03:26 +02:00
parent 6880f05f7e
commit b9c38051cc
1 changed files with 8 additions and 8 deletions
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16
dda.c
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@ -367,10 +367,10 @@ void dda_create(DDA *dda, TARGET *target) {
dda->accel = 0; dda->accel = 0;
#elif defined ACCELERATION_RAMPING #elif defined ACCELERATION_RAMPING
// yes, this assumes always the x axis as the critical one regarding acceleration. If we want to implement per-axis acceleration, things get tricky ... // yes, this assumes always the x axis as the critical one regarding acceleration. If we want to implement per-axis acceleration, things get tricky ...
dda->c_min = (move_duration / target->F) << 8; dda->c_min = move_duration / target->F;
if (dda->c_min < (c_limit << 8)) { if (dda->c_min < c_limit) {
dda->c_min = (c_limit << 8); dda->c_min = c_limit;
dda->endpoint.F = move_duration / (dda->c_min >> 8); dda->endpoint.F = move_duration / dda->c_min;
} }
// Lookahead can deal with 16 bits ( = 1092 mm/s), only. // Lookahead can deal with 16 bits ( = 1092 mm/s), only.
@ -399,8 +399,8 @@ void dda_create(DDA *dda, TARGET *target) {
else else
dda->c = (pgm_read_dword(&c0_P[dda->fast_axis]) * dda->c = (pgm_read_dword(&c0_P[dda->fast_axis]) *
int_inv_sqrt(dda->n)) >> 5; int_inv_sqrt(dda->n)) >> 5;
if (dda->c < dda->c_min) if (dda->c < (dda->c_min << 8))
dda->c = dda->c_min; dda->c = (dda->c_min << 8);
#else #else
dda->n = 0; dda->n = 0;
dda->c = pgm_read_dword(&c0_P[dda->fast_axis]) << 8; dda->c = pgm_read_dword(&c0_P[dda->fast_axis]) << 8;
@ -876,9 +876,9 @@ void dda_clock() {
// TODO: most likely this whole check is obsolete. It was left as a // TODO: most likely this whole check is obsolete. It was left as a
// safety margin, only. Rampup steps calculation should be accurate // safety margin, only. Rampup steps calculation should be accurate
// now and give the requested target speed within a few percent. // now and give the requested target speed within a few percent.
if (move_c < dda->c_min) { if (move_c < (dda->c_min << 8)) {
// We hit max speed not always exactly. // We hit max speed not always exactly.
move_c = dda->c_min; move_c = (dda->c_min << 8);
// This is a hack which deals with movements with an unknown number of // This is a hack which deals with movements with an unknown number of
// acceleration steps. dda_create() sets a very high number, then, // acceleration steps. dda_create() sets a very high number, then,