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dda_lookahead.c: use the new ATOMIC macros here as well.

This commit is contained in:
Markus Hitter 2013-07-21 23:21:01 +02:00
parent 36c07d3423
commit da085670f4
1 changed files with 5 additions and 5 deletions
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10
dda_lookahead.c
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@ -12,7 +12,6 @@
#include <stddef.h> #include <stddef.h>
#include <math.h> #include <math.h>
#include <avr/interrupt.h> #include <avr/interrupt.h>
#include <util/atomic.h>
#include "dda_maths.h" #include "dda_maths.h"
#include "dda.h" #include "dda.h"
@ -25,6 +24,7 @@
#include "debug.h" #include "debug.h"
#include "sersendf.h" #include "sersendf.h"
#include "pinio.h" #include "pinio.h"
#include "memory_barrier.h"
extern uint8_t use_lookahead; extern uint8_t use_lookahead;
@ -212,7 +212,7 @@ void dda_join_moves(DDA *prev, DDA *current) {
// Make sure we have 2 moves and the previous move is not already active // Make sure we have 2 moves and the previous move is not already active
if(prev!=NULL && prev->live==0) { if(prev!=NULL && prev->live==0) {
// Perform an atomic copy to preserve volatile parameters during the calculations // Perform an atomic copy to preserve volatile parameters during the calculations
ATOMIC_BLOCK(ATOMIC_RESTORESTATE) { ATOMIC_START
prev_id = prev->id; prev_id = prev->id;
prev_F = prev->endpoint.F; prev_F = prev->endpoint.F;
prev_F_start = prev->F_start; prev_F_start = prev->F_start;
@ -220,7 +220,7 @@ void dda_join_moves(DDA *prev, DDA *current) {
prev_rampup = prev->rampup_steps; prev_rampup = prev->rampup_steps;
prev_rampdown = prev->rampdown_steps; prev_rampdown = prev->rampdown_steps;
prev_total_steps = prev->total_steps; prev_total_steps = prev->total_steps;
} ATOMIC_END
// The initial crossing speed is the minimum between both target speeds // The initial crossing speed is the minimum between both target speeds
// Note: this is a given: the start speed and end speed can NEVER be // Note: this is a given: the start speed and end speed can NEVER be
@ -453,7 +453,7 @@ void dda_join_moves(DDA *prev, DDA *current) {
uint8_t timeout = 0; uint8_t timeout = 0;
ATOMIC_BLOCK(ATOMIC_RESTORESTATE) { ATOMIC_START
// Evaluation: determine how we did... // Evaluation: determine how we did...
lookahead_joined++; lookahead_joined++;
@ -471,7 +471,7 @@ void dda_join_moves(DDA *prev, DDA *current) {
la_cnt++; la_cnt++;
} else } else
timeout = 1; timeout = 1;
} ATOMIC_END
// If we were not fast enough, any feedback will happen outside the atomic block: // If we were not fast enough, any feedback will happen outside the atomic block:
if(timeout) { if(timeout) {