josh
/
Teacup_Firmware
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

DDA: use the already calculated distance for crossing speed calculation.

This commit is contained in:
Markus Hitter 2013-11-03 12:31:27 +01:00
parent 3ac26f0cab
commit da5339d163
3 changed files with 6 additions and 11 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
dda.c
View File

@ -362,7 +362,7 @@ void dda_create(DDA *dda, TARGET *target) {
dda->rampdown_steps = dda->total_steps - dda->rampup_steps; dda->rampdown_steps = dda->total_steps - dda->rampup_steps;
#ifdef LOOKAHEAD #ifdef LOOKAHEAD
dda_find_crossing_speed(prev_dda, dda); dda_find_crossing_speed(prev_dda, dda, distance);
// TODO: this should become a reverse-stepping through the existing // TODO: this should become a reverse-stepping through the existing
// movement queue to allow higher speeds for short moves. // movement queue to allow higher speeds for short moves.
// dda_find_crossing_speed() is required only once. // dda_find_crossing_speed() is required only once.

13
dda_lookahead.c
View File

@ -163,8 +163,8 @@ void dda_emergency_shutdown(PGM_P msg) {
* *
* \return dda->crossF * \return dda->crossF
*/ */
void dda_find_crossing_speed(DDA *prev, DDA *current) { void dda_find_crossing_speed(DDA *prev, DDA *current, uint32_t curr_distance) {
uint32_t F, prev_distance, curr_distance; uint32_t F, prev_distance;
uint32_t dv, speed_factor, max_speed_factor; uint32_t dv, speed_factor, max_speed_factor;
int32_t prevFx, prevFy, prevFz, prevFe; int32_t prevFx, prevFy, prevFz, prevFe;
int32_t currFx, currFy, currFz, currFe; int32_t currFx, currFy, currFz, currFe;
@ -181,18 +181,13 @@ void dda_find_crossing_speed(DDA *prev, DDA *current) {
if (current->endpoint.F < F) if (current->endpoint.F < F)
F = current->endpoint.F; F = current->endpoint.F;
// Find out movement distances. // Find out movement distance of the previous move.
// TODO: remember these from dda_start(); // TODO: remember this from the previous call of dda_find_crossing_speed().
prev_distance = approx_distance_3( prev_distance = approx_distance_3(
prev->x_direction ? prev->delta_um.X : - prev->delta_um.X, prev->x_direction ? prev->delta_um.X : - prev->delta_um.X,
prev->y_direction ? prev->delta_um.Y : - prev->delta_um.Y, prev->y_direction ? prev->delta_um.Y : - prev->delta_um.Y,
prev->z_direction ? prev->delta_um.Z : - prev->delta_um.Z); prev->z_direction ? prev->delta_um.Z : - prev->delta_um.Z);
curr_distance = approx_distance_3(
current->x_direction ? current->delta_um.X : - current->delta_um.X,
current->y_direction ? current->delta_um.Y : - current->delta_um.Y,
current->z_direction ? current->delta_um.Z : - current->delta_um.Z);
if (DEBUG_DDA && (debug_flags & DEBUG_DDA)) if (DEBUG_DDA && (debug_flags & DEBUG_DDA))
sersendf_P(PSTR("Distance: %lu, then %lu\n"), prev_distance, curr_distance); sersendf_P(PSTR("Distance: %lu, then %lu\n"), prev_distance, curr_distance);

2
dda_lookahead.h
View File

@ -43,7 +43,7 @@
#define MAX(a,b) (((a)>(b))?(a):(b)) #define MAX(a,b) (((a)>(b))?(a):(b))
#define MIN(a,b) (((a)<(b))?(a):(b)) #define MIN(a,b) (((a)<(b))?(a):(b))
void dda_find_crossing_speed(DDA *prev, DDA *current); void dda_find_crossing_speed(DDA *prev, DDA *current, uint32_t curr_distance);
void dda_join_moves(DDA *prev, DDA *current); void dda_join_moves(DDA *prev, DDA *current);
// Debug counters // Debug counters