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DDA: Move axis calculations into loops, part 3. 

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

Part 3 is moving fast axis detection into a loop.
Binary size 84 bytes smaller.
This commit is contained in:
Phil Hord 2013-11-25 18:06:43 -05:00 committed by Markus Hitter
parent d3beb21225
commit cd0155b5f4
1 changed files with 20 additions and 17 deletions
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37
dda.c
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@ -52,6 +52,15 @@ TARGET BSS current_position;
/// \brief numbers for tracking the current state of movement /// \brief numbers for tracking the current state of movement
MOVE_STATE BSS move_state; MOVE_STATE BSS move_state;
/// \var steps_per_m
/// \brief motor steps required to advance one meter on each axis
static const axes_uint32_t PROGMEM steps_per_m = {
STEPS_PER_M_X,
STEPS_PER_M_Y,
STEPS_PER_M_Z,
STEPS_PER_M_E
};
/// \var maximum_feedrate /// \var maximum_feedrate
/// \brief maximum allowed feedrate on each axis /// \brief maximum allowed feedrate on each axis
static const axes_uint32_t PROGMEM maximum_feedrate = { static const axes_uint32_t PROGMEM maximum_feedrate = {
@ -184,23 +193,17 @@ void dda_create(DDA *dda, TARGET *target) {
target->axis[X] - startpoint.axis[X], target->axis[Y] - startpoint.axis[Y], target->axis[X] - startpoint.axis[X], target->axis[Y] - startpoint.axis[Y],
target->axis[Z] - startpoint.axis[Z], target->axis[E] - startpoint.axis[E]); target->axis[Z] - startpoint.axis[Z], target->axis[E] - startpoint.axis[E]);
dda->total_steps = dda->delta[X]; // Admittedly, this looks like it's overcomplicated. Why store three 32-bit
dda->fast_um = delta_um[X]; // values if storing an axis number would be fully sufficient? Well, I'm not
dda->fast_spm = STEPS_PER_M_X; // sure, but my feeling says that when we achieve true circles and Beziers,
if (dda->delta[Y] > dda->total_steps) { // we'll have total_steps which matches neither of X, Y, Z or E. Accordingly,
dda->total_steps = dda->delta[Y]; // keep it for now. --Traumflug
dda->fast_um = delta_um[Y]; for (i = X; i < AXIS_COUNT; i++) {
dda->fast_spm = STEPS_PER_M_Y; if (i == X || dda->delta[i] > dda->total_steps) {
} dda->total_steps = dda->delta[i];
if (dda->delta[Z] > dda->total_steps) { dda->fast_um = delta_um[i];
dda->total_steps = dda->delta[Z]; dda->fast_spm = pgm_read_dword(&steps_per_m[i]);
dda->fast_um = delta_um[Z]; }
dda->fast_spm = STEPS_PER_M_Z;
}
if (dda->delta[E] > dda->total_steps) {
dda->total_steps = dda->delta[E];
dda->fast_um = delta_um[E];
dda->fast_spm = STEPS_PER_M_E;
} }
if (DEBUG_DDA && (debug_flags & DEBUG_DDA)) if (DEBUG_DDA && (debug_flags & DEBUG_DDA))