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DDA: Move axis calculations into loops, part 2. 

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

Part 2 is moving maximum speed limit calculations into loops.
Binary size another 160 bytes smaller.
This commit is contained in:
Phil Hord 2013-11-25 18:06:43 -05:00 committed by Markus Hitter
parent 427d6637c3
commit d3beb21225
1 changed files with 17 additions and 17 deletions
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34
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 maximum_feedrate
/// \brief maximum allowed feedrate on each axis
static const axes_uint32_t PROGMEM maximum_feedrate = {
MAXIMUM_FEEDRATE_X,
MAXIMUM_FEEDRATE_Y,
MAXIMUM_FEEDRATE_Z,
MAXIMUM_FEEDRATE_E
};
/*! Inititalise DDA movement structures /*! Inititalise DDA movement structures
*/ */
void dda_init(void) { void dda_init(void) {
@ -265,23 +274,14 @@ void dda_create(DDA *dda, TARGET *target) {
// to calculate (maximum) move_duration for each axis, like done for // to calculate (maximum) move_duration for each axis, like done for
// ACCELERATION_TEMPORAL above. This should make re-calculating the // ACCELERATION_TEMPORAL above. This should make re-calculating the
// allowed F easier. // allowed F easier.
c_limit = 0; c_limit = 0;
// check X axis for (i = X; i < AXIS_COUNT; i++) {
c_limit_calc = ((delta_um[X] * 2400L) / dda->total_steps * (F_CPU / 40000) / MAXIMUM_FEEDRATE_X) << 8; c_limit_calc = ((delta_um[i] * 2400L) /
if (c_limit_calc > c_limit) dda->total_steps * (F_CPU / 40000) /
c_limit = c_limit_calc; pgm_read_dword(&maximum_feedrate[i])) << 8;
// check Y axis if (c_limit_calc > c_limit)
c_limit_calc = ((delta_um[Y] * 2400L) / dda->total_steps * (F_CPU / 40000) / MAXIMUM_FEEDRATE_Y) << 8; c_limit = c_limit_calc;
if (c_limit_calc > c_limit) }
c_limit = c_limit_calc;
// check Z axis
c_limit_calc = ((delta_um[Z] * 2400L) / dda->total_steps * (F_CPU / 40000) / MAXIMUM_FEEDRATE_Z) << 8;
if (c_limit_calc > c_limit)
c_limit = c_limit_calc;
// check E axis
c_limit_calc = ((delta_um[E] * 2400L) / dda->total_steps * (F_CPU / 40000) / MAXIMUM_FEEDRATE_E) << 8;
if (c_limit_calc > c_limit)
c_limit = c_limit_calc;
#ifdef ACCELERATION_REPRAP #ifdef ACCELERATION_REPRAP
// c is initial step time in IOclk ticks // c is initial step time in IOclk ticks