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

DDA: Move axis calculations into loops, part 9 (last part). 

Clean up code to reduce duplication by consolidating code into
loops for per-axis actions.

Part 9 is, finally use this set_direction() thing. As a dessert
topping, it reduces binary size by another 122 bytes.

    SIZES             ATmega...  '168    '328(P)    '644(P)    '1280
    FLASH : 19988 bytes          140%       66%        32%       16%
    RAM   :  2302 bytes          225%      113%        57%       29%
    EEPROM:    32 bytes            4%        2%         2%        1%
This commit is contained in:
Phil Hord 2013-11-25 18:06:43 -05:00 committed by Markus Hitter
parent 96e9ae4dab
commit f9f068596d
1 changed files with 14 additions and 7 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

21
dda.c
View File

@ -70,6 +70,19 @@ static const axes_uint32_t PROGMEM maximum_feedrate_P = {
MAXIMUM_FEEDRATE_E
};
/*! Set the direction of the 'n' axis
*/
static void set_direction(DDA *dda, enum axis_e n, int dir) {
if (n == X)
dda->x_direction = dir;
else if (n == Y)
dda->y_direction = dir;
else if (n == Z)
dda->z_direction = dir;
else if (n == E)
dda->e_direction = dir;
}
/*! Find the direction of the 'n' axis
*/
static int8_t get_direction(DDA *dda, enum axis_e n) {
@ -172,6 +185,7 @@ void dda_create(DDA *dda, TARGET *target) {
dda->delta[i] = abs32(steps - startpoint_steps.axis[i]);
startpoint_steps.axis[i] = steps;
set_direction(dda, i, (target->axis[i] >= startpoint.axis[i])?1:0);
#ifdef LOOKAHEAD
// Also displacements in micrometers, but for the lookahead alogrithms.
// TODO: this is redundant. delta_um[] and dda->delta_um[] differ by
@ -182,10 +196,6 @@ void dda_create(DDA *dda, TARGET *target) {
#endif
}
dda->x_direction = (target->axis[X] >= startpoint.axis[X])?1:0;
dda->y_direction = (target->axis[Y] >= startpoint.axis[Y])?1:0;
dda->z_direction = (target->axis[Z] >= startpoint.axis[Z])?1:0;
if (target->e_relative) {
// When we get more extruder axes:
// for (i = E; i < AXIS_COUNT; i++) { ...
@ -196,9 +206,6 @@ void dda_create(DDA *dda, TARGET *target) {
#endif
dda->e_direction = (target->axis[E] >= 0)?1:0;
}
else {
dda->e_direction = (target->axis[E] >= startpoint.axis[E])?1:0;
}
if (DEBUG_DDA && (debug_flags & DEBUG_DDA))
sersendf_P(PSTR("[%ld,%ld,%ld,%ld]"),