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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
*/
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 distance, c_limit, c_limit_calc;
#ifdef LOOKAHEAD
// Number the moves to identify them; allowed to overflow.
static uint8_t idcnt = 0;
static DDA* prev_dda = NULL;
if (prev_dda && prev_dda->done)
prev_dda = NULL;
#endif
// 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
memcpy(&startpoint, target, sizeof(TARGET));
#ifdef LOOKAHEAD
prev_dda = dda;
#endif
}
/*! Start a prepared DDA
@ -637,6 +644,7 @@ void dda_step(DDA *dda) {
#endif
) {
dda->live = 0;
dda->done = 1;
#ifdef LOOKAHEAD
// If look-ahead was using this move, it could have missed our activation:
// make sure the ids do not match.

5
dda.h
View File

@ -103,6 +103,7 @@ typedef struct {
// status fields
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 done :1; ///< bool: this DDA is done.
#ifdef ACCELERATION_REPRAP
uint8_t accel :1; ///< bool: speed changes during this move, run accel code
#endif
@ -116,7 +117,7 @@ typedef struct {
uint8_t z_direction :1; ///< direction flag for Z 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
@ -198,7 +199,7 @@ void dda_init(void);
void dda_new_startpoint(void);
// 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)
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) {
setTimer(HEATER_WAIT_TIMEOUT);
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"));
}
}
@ -112,10 +112,9 @@ void enqueue_home(TARGET *t, uint8_t endstop_check, uint8_t endstop_stop_cond) {
h &= (MOVEBUFFER_SIZE - 1);
DDA* new_movebuffer = &(movebuffer[h]);
DDA* prev_movebuffer = (queue_empty() != 0) ? NULL : &movebuffer[mb_head];
if (t != NULL) {
dda_create(new_movebuffer, t, prev_movebuffer);
dda_create(new_movebuffer, t);
new_movebuffer->endstop_check = endstop_check;
new_movebuffer->endstop_stop_cond = endstop_stop_cond;
}