As we have mb_tail_dda now, that's no longer necessary. Using
something like movebuffer[mb_tail] is more expensive than
dereferencing mb_tail_dda directly.
This is the first time we see a stepping performance improvement
since introducing mb_tail_dda. 13 clock cycles faster on the
slowest step, which is 9 cycles faster than before that
introduction.
Binary size also a nice 94 bytes down.
ATmega sizes '168 '328(P) '644(P) '1280
Program: 19270 bytes 135% 63% 31% 15%
Data: 2179 bytes 213% 107% 54% 27%
EEPROM: 32 bytes 4% 2% 2% 1%
short-moves.gcode statistics:
LED on occurences: 888.
LED on time minimum: 218 clock cycles.
LED on time maximum: 395 clock cycles.
LED on time average: 249.051 clock cycles.
smooth-curves.gcode statistics:
LED on occurences: 23648.
LED on time minimum: 237 clock cycles.
LED on time maximum: 438 clock cycles.
LED on time average: 272.216 clock cycles.
triangle-odd.gcode statistics:
LED on occurences: 1636.
LED on time minimum: 237 clock cycles.
LED on time maximum: 395 clock cycles.
LED on time average: 262.572 clock cycles.
The plan is to remove this stuff from the movement queue.
We still accept additional G-code ... until a G0 or G1 appears.
This e.g. allows to do homing or read temperature reports while
waiting.
Keep messages exactly as they were before, perhaps some Host
applications try to parse this.
This needs 2 bytes RAM and 138 bytes binary size. Performance is
unchanged. Let's see how this compares to the size reduction when
we remove the temperature handling code from the movement queue.
ATmega sizes '168 '328(P) '644(P) '1280
Program: 19646 bytes 138% 64% 31% 16%
Data: 2177 bytes 213% 107% 54% 27%
EEPROM: 32 bytes 4% 2% 2% 1%
short-moves.gcode statistics:
LED on occurences: 888.
LED on time minimum: 280 clock cycles.
LED on time maximum: 458 clock cycles.
LED on time average: 284.653 clock cycles.
smooth-curves.gcode statistics:
LED on occurences: 23648.
LED on time minimum: 272 clock cycles.
LED on time maximum: 501 clock cycles.
LED on time average: 307.275 clock cycles.
triangle-odd.gcode statistics:
LED on occurences: 1636.
LED on time minimum: 272 clock cycles.
LED on time maximum: 458 clock cycles.
LED on time average: 297.625 clock cycles.
Temperature residency time / temperature achieved check is in
the order of seconds, while updates for residency time were being
called every 10ms - unnecessarily often.
Thermal managers (PID, bang-bang, etc.) assume they're being
ticked on 250ms intervals. In reality, they were being updated on
each temperature reading, which was between 10ms and 250ms. This
caused thermal management to malfunction.
https://github.com/Traumflug/Teacup_Firmware/issues/211
Now we shouldn't experience wait cycles in i2c_write() during
typical display writes any longer. It should also distribute CPU
load of display writes a lot better.
Previously writing a line of text to the display would take
almost as long as it took to actually send it to the display,
because the I2C queue could hold only one transmission, which
effectively meant only one character. This could hold the main
loop for several milliseconds.
Now we queue characters, send them one by one, and return to the
main loop in between.
This costs 160 bytes program memory. Only 18 bytes RAM, because
the I2C queue was reduced accordingly. Now:
Program: 24456 bytes
Data: 1543 bytes
EEPROM: 32 bytes
This isn't pretty at all, but it shows the principle.
Unfortunately it also exploits a bug in the I2C sending mechanism,
I2C sending hangs a few seconds after reset.
Currently at a fixed frequency of 1 kHz and with a fixed duty
cycle of 10%, but PWM does work.
As it turns out, PIO0_11 is not usable for PWM, because its timer
is already in use for the Step timer, and had to be disabled for
Gen7-ARM.
Test: define a heater in board.gen7-arm.h and a square signal
of 1 kHz with 10% duty cycle should appear on the heater pin.
No code changes, but quite a few removals of __ARMEL_NOTYET__
guards. 20 such guards left.
Test: M105 should work and report plausible temperatures.
Current code size:
SIZES ARM... lpc1114
FLASH : 9460 bytes 29%
RAM : 1258 bytes 31%
EEPROM : 0 bytes 0%
In preparation for more efficient and scalable code using axis-loops
for common operations, add two new array-types for signed and unsigned
32-bit values per axis. Make the TARGET type use this array instead of
its current X, Y, Z, and E variables.
Traumflug notes:
- Did the usual conversion to spaces for changed lines.
- Added X = 0 to the enum. Just for peace of mind.
- Excellent patch!
Initially I wanted to make the new array an anonymous union with the
old variables to allow accessing values both ways. This way it would
have been possible to do the transition in smaller pieces. But as
the patch worked so flawlessly and binary size is precisely the
same, I abandoned this idea. Maybe it's a good idea in other areas.
Powering on even with a heater set to zero doesn't work, as
temperature driven heaters are set to zero all the time. So,
the PSU was running all the time.
The bug was introduced with 569e3d504aafd1ffc8b279b5d7092970cef72287
& tests of the debug_flags. Currently the compiler is able to eliminate
the block and the & operation when the constant is zero, but since
the debug_flags variable is a volatile the compiler does not eliminate
the load of the variable. By pretesting and shortcutting the load is
eliminated. Saves a small number of bytes when the debug build is
disabled and costs nothing when it is enabled.
This costs 2 bytes of ram, but saves 60 bytes of flash. Doing so
also eliminates the need to disable interrupts while clearing flags
in the ifclock macro.
Conflicts:
clock.c
timer.c
timer.h
Steptimeout is used both inside and outside
of interrupts, and as such it needs special attention.
Specifically, the increment outside of the interrupt
context needs to occur when interrupts are disabled,
or a clear of the variable can be missed.
The variable was also made volatile. This is not strictly necessary
given the current code, but it is the more conservative approach
to dealing with the variable (and costs nothing in the current code).
Markus Hitter
Robert Konklewski
Ruslan Popov
Phil Hord
Michael Moon
Jim McGee
Markus Amsler