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dda_create(): store prev_dda locally. 

This obviously requires less place on the stack and accordingly a
few CPU cycles less, but more importantly, it lets decide
dda_start() whether a previous movement is to be taken into account
or not.

To make this decision more reliable, add a flag for movements done.
Else it could happen we'd try to join with a movement done long
before.
This commit is contained in:
Phil Hord 2013-11-27 21:49:42 -05:00 committed by Markus Hitter
parent ec9e84a068
commit ddd8988727
3 changed files with 14 additions and 6 deletions
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10
dda.c
View File

@ -83,12 +83,16 @@ void dda_new_startpoint(void) {
This algorithm is probably the main limiting factor to print speed in terms of firmware limitations This algorithm is probably the main limiting factor to print speed in terms of firmware limitations
*/ */
void dda_create(DDA *dda, TARGET *target, DDA *prev_dda) { void dda_create(DDA *dda, TARGET *target) {
uint32_t steps, x_delta_um, y_delta_um, z_delta_um, e_delta_um; uint32_t steps, x_delta_um, y_delta_um, z_delta_um, e_delta_um;
uint32_t distance, c_limit, c_limit_calc; uint32_t distance, c_limit, c_limit_calc;
#ifdef LOOKAHEAD #ifdef LOOKAHEAD
// Number the moves to identify them; allowed to overflow. // Number the moves to identify them; allowed to overflow.
static uint8_t idcnt = 0; static uint8_t idcnt = 0;
static DDA* prev_dda = NULL;
if (prev_dda && prev_dda->done)
prev_dda = NULL;
#endif #endif
// initialise DDA to a known state // initialise DDA to a known state
@ -405,6 +409,9 @@ void dda_create(DDA *dda, TARGET *target, DDA *prev_dda) {
// next dda starts where we finish // next dda starts where we finish
memcpy(&startpoint, target, sizeof(TARGET)); memcpy(&startpoint, target, sizeof(TARGET));
#ifdef LOOKAHEAD
prev_dda = dda;
#endif
} }
/*! Start a prepared DDA /*! Start a prepared DDA
@ -637,6 +644,7 @@ void dda_step(DDA *dda) {
#endif #endif
) { ) {
dda->live = 0; dda->live = 0;
dda->done = 1;
#ifdef LOOKAHEAD #ifdef LOOKAHEAD
// If look-ahead was using this move, it could have missed our activation: // If look-ahead was using this move, it could have missed our activation:
// make sure the ids do not match. // make sure the ids do not match.

5
dda.h
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@ -103,6 +103,7 @@ typedef struct {
// status fields // status fields
uint8_t nullmove :1; ///< bool: no axes move, maybe we wait for temperatures or change speed uint8_t nullmove :1; ///< bool: no axes move, maybe we wait for temperatures or change speed
uint8_t live :1; ///< bool: this DDA is running and still has steps to do uint8_t live :1; ///< bool: this DDA is running and still has steps to do
uint8_t done :1; ///< bool: this DDA is done.
#ifdef ACCELERATION_REPRAP #ifdef ACCELERATION_REPRAP
uint8_t accel :1; ///< bool: speed changes during this move, run accel code uint8_t accel :1; ///< bool: speed changes during this move, run accel code
#endif #endif
@ -116,7 +117,7 @@ typedef struct {
uint8_t z_direction :1; ///< direction flag for Z axis uint8_t z_direction :1; ///< direction flag for Z axis
uint8_t e_direction :1; ///< direction flag for E axis uint8_t e_direction :1; ///< direction flag for E axis
}; };
uint8_t allflags; ///< used for clearing all flags uint16_t allflags; ///< used for clearing all flags
}; };
// distances // distances
@ -198,7 +199,7 @@ void dda_init(void);
void dda_new_startpoint(void); void dda_new_startpoint(void);
// create a DDA // create a DDA
void dda_create(DDA *dda, TARGET *target, DDA *prev_dda); void dda_create(DDA *dda, TARGET *target);
// start a created DDA (called from timer interrupt) // start a created DDA (called from timer interrupt)
void dda_start(DDA *dda) __attribute__ ((hot)); void dda_start(DDA *dda) __attribute__ ((hot));

5
dda_queue.c
View File

@ -84,7 +84,7 @@ void queue_step() {
if (current_movebuffer->waitfor_temp) { if (current_movebuffer->waitfor_temp) {
setTimer(HEATER_WAIT_TIMEOUT); setTimer(HEATER_WAIT_TIMEOUT);
if (temp_achieved()) { if (temp_achieved()) {
current_movebuffer->live = current_movebuffer->waitfor_temp = 0; current_movebuffer->live = current_movebuffer->done = 0;
serial_writestr_P(PSTR("Temp achieved\n")); serial_writestr_P(PSTR("Temp achieved\n"));
} }
} }
@ -112,10 +112,9 @@ void enqueue_home(TARGET *t, uint8_t endstop_check, uint8_t endstop_stop_cond) {
h &= (MOVEBUFFER_SIZE - 1); h &= (MOVEBUFFER_SIZE - 1);
DDA* new_movebuffer = &(movebuffer[h]); DDA* new_movebuffer = &(movebuffer[h]);
DDA* prev_movebuffer = (queue_empty() != 0) ? NULL : &movebuffer[mb_head];
if (t != NULL) { if (t != NULL) {
dda_create(new_movebuffer, t, prev_movebuffer); dda_create(new_movebuffer, t);
new_movebuffer->endstop_check = endstop_check; new_movebuffer->endstop_check = endstop_check;
new_movebuffer->endstop_stop_cond = endstop_stop_cond; new_movebuffer->endstop_stop_cond = endstop_stop_cond;
} }