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dda_maths.h: make um_to_steps_{xyze}() inline functions. 

Size and speed is the same as with #defines, but now there is
type checking.
This commit is contained in:
Markus Hitter 2012-06-27 00:48:33 +02:00
parent 44be918d2a
commit d49c0745d5
2 changed files with 32 additions and 10 deletions
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2
Makefile
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@ -102,7 +102,7 @@ OBJCOPY = $(ARCH)objcopy
OPTIMIZE = -Os -ffunction-sections -finline-functions-called-once -mcall-prologues
# OPTIMIZE = -O0
CFLAGS = -g -Wall -Wstrict-prototypes $(OPTIMIZE) -mmcu=$(MCU_TARGET) $(DEFS) -std=gnu99 -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums -save-temps
CFLAGS = -g -Wall -Wstrict-prototypes $(OPTIMIZE) -mmcu=$(MCU_TARGET) $(DEFS) -std=gnu99 -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums -save-temps -Winline
LDFLAGS = -Wl,--as-needed -Wl,--gc-sections
LIBS = -lm
LIBDEPS =

40
dda_maths.h
View File

@ -13,14 +13,36 @@
const int32_t muldivQR(int32_t multiplicand, uint32_t qn, uint32_t rn,
uint32_t divisor);
// convert micrometer distances to motor step distances
#define um_to_steps_x(distance) muldivQR(distance, \
STEPS_PER_M_X / 1000000UL, STEPS_PER_M_X % 1000000UL, 1000000UL);
#define um_to_steps_y(distance) muldivQR(distance, \
STEPS_PER_M_Y / 1000000UL, STEPS_PER_M_Y % 1000000UL, 1000000UL);
#define um_to_steps_z(distance) muldivQR(distance, \
STEPS_PER_M_Z / 1000000UL, STEPS_PER_M_Z % 1000000UL, 1000000UL);
#define um_to_steps_e(distance) muldivQR(distance, \
STEPS_PER_M_E / 1000000UL, STEPS_PER_M_E % 1000000UL, 1000000UL);
/*
micrometer distance <=> motor step distance conversions
*/
// Like shown in the patch attached to this post:
// http://forums.reprap.org/read.php?147,89710,130225#msg-130225 ,
// it might be worth pre-calculating muldivQR()'s qn and rn in dda_init()
// as soon as STEPS_PER_M_{XYZE} is no longer a compile-time variable.
static int32_t um_to_steps_x(int32_t) __attribute__ ((always_inline));
inline int32_t um_to_steps_x(int32_t distance) {
return muldivQR(distance, STEPS_PER_M_X / 1000000UL,
STEPS_PER_M_X % 1000000UL, 1000000UL);
}
static int32_t um_to_steps_y(int32_t) __attribute__ ((always_inline));
inline int32_t um_to_steps_y(int32_t distance) {
return muldivQR(distance, STEPS_PER_M_Y / 1000000UL,
STEPS_PER_M_Y % 1000000UL, 1000000UL);
}
static int32_t um_to_steps_z(int32_t) __attribute__ ((always_inline));
inline int32_t um_to_steps_z(int32_t distance) {
return muldivQR(distance, STEPS_PER_M_Z / 1000000UL,
STEPS_PER_M_Z % 1000000UL, 1000000UL);
}
static int32_t um_to_steps_e(int32_t) __attribute__ ((always_inline));
inline int32_t um_to_steps_e(int32_t distance) {
return muldivQR(distance, STEPS_PER_M_E / 1000000UL,
STEPS_PER_M_E % 1000000UL, 1000000UL);
}
#endif /* _DDA_MATHS_H */