We have only one UART, we use only one UART, so it's pointless to
do pin mapping calculations at runtime.
SIZES ARM... stm32f411
FLASH : 4832 bytes 1%
RAM : 404 bytes 1%
EEPROM : 0 bytes 0%
@phord abstract this to: This happens only when !recalc_speed,
meaning we are cruising, not accelerating or decelerating. So it
pegs our dda->c at c_min if it never made it as far as c_min.
This commit will fix https://github.com/Traumflug/Teacup_Firmware/issues/69
delta_um can become very small, where maximum_feedrate_P is constant.
When moving this division out of the loop, the result can be wrong.
dda->total_steps becomes also very small with delta_um. So this will fit perfectly.
This reverts commit cd66feb8d1.
So let's bring this part back.
We save 35 clock cycles at 'LED on time maximum'
ATmega sizes '168 '328(P) '644(P) '1280
Program: 18038 bytes 126% 59% 29% 14%
Data: 1936 bytes 190% 95% 48% 24%
EEPROM: 32 bytes 4% 2% 2% 1%
short-moves.gcode statistics:
LED on occurences: 888.
LED on time minimum: 217 clock cycles.
LED on time maximum: 520 clock cycles.
LED on time average: 249.626 clock cycles.
smooth-curves.gcode statistics:
LED on occurences: 22589.
LED on time minimum: 217 clock cycles.
LED on time maximum: 537 clock cycles.
LED on time average: 284.747 clock cycles.
triangle-odd.gcode statistics:
LED on occurences: 1636.
LED on time minimum: 217 clock cycles.
LED on time maximum: 520 clock cycles.
LED on time average: 270.933 clock cycles.
ATmega sizes '168 '328(P) '644(P) '1280
Program: 18266 bytes 128% 60% 29% 15%
Data: 1936 bytes 190% 95% 48% 24%
EEPROM: 32 bytes 4% 2% 2% 1%
short-moves.gcode statistics:
LED on occurences: 888.
LED on time minimum: 243 clock cycles.
LED on time maximum: 555 clock cycles.
LED on time average: 250.375 clock cycles.
smooth-curves.gcode statistics:
LED on occurences: 22589.
LED on time minimum: 243 clock cycles.
LED on time maximum: 572 clock cycles.
LED on time average: 292.139 clock cycles.
triangle-odd.gcode statistics:
LED on occurences: 1636.
LED on time minimum: 243 clock cycles.
LED on time maximum: 555 clock cycles.
LED on time average: 275.699 clock cycles.
start the simulation with ./parse_clean xyz, where 'xyz' can be anything to name the created files.
in the end you will get 3 pictures.
swan-reference-xyz.png how it should looks like.
swan-current-xyz.png how it will looks now.
swan-diff-xyz.png is the difference.
This 3 pictures show only the X-axis.
you will get also a forth file. pp-xyz.asc. you can open this file for example with meshlab and you can see that current model in 3d.
If you want to use your own gcode, please do the following:
Create a normal gcode. Delete any M116 (temp waitings). Maybe you want also deleting comments.
Then add M114 for every x line.
I do this with the swan-test.gcode:
sed '1~2 s/$/\nM114/g' < swan.gcode > swan-test.gcode
In `ACCELERATION_RAMPING` code we use the dda->id field even when we do
not enable `LOOKAHEAD`. Expose the variable and its related `idcnt`
when `ACCELERATION_RAMPING` is used.
Add a regression-test to catch this in the future.
Simple trick: raise the feedrate, no need to care about a milling
bit when running a simulation. This reduces simulated time and as
such, duration of the simulation (by about 50%).
Also remove G-code which was never executed because simulations
are chopped at 1 minute of simulation time and smooth-curves.gcode
took about 1.5 minutes.
Step pulse measurements remain about the same:
ATmega sizes '168 '328(P) '644(P) '1280
Program: 17944 bytes 126% 59% 29% 14%
Data: 1920 bytes 188% 94% 47% 24%
EEPROM: 32 bytes 4% 2% 2% 1%
short-moves.gcode statistics:
LED on occurences: 888.
LED on time minimum: 202 clock cycles.
LED on time maximum: 380 clock cycles.
LED on time average: 232.092 clock cycles.
smooth-curves.gcode statistics:
LED on occurences: 22589.
LED on time minimum: 194 clock cycles.
LED on time maximum: 423 clock cycles.
LED on time average: 254.425 clock cycles.
triangle-odd.gcode statistics:
LED on occurences: 1636.
LED on time minimum: 220 clock cycles.
LED on time maximum: 380 clock cycles.
LED on time average: 245.575 clock cycles.
These values were queued up just for finding out individual axis
speeds in dda_find_crossing_speed(). Let's do this calculation
with other available movement properties and save 16 bytes of RAM
per movement queue entry.
First version of this commit forgot to take care of the feedrate
sign (prevF, currF). Lack of that found by @Wurstnase. Idea of
tweaking calculation of 'dv' to achieve this also by @Wurstnase.
It was tried to set the sign immediately after calculation of the
absolute values, but that resulted in larger ( = slower) code.
Binary size down 132 bytes, among that two loops. RAM usage down
256 bytes for the standard test case:
ATmega sizes '168 '328(P) '644(P) '1280
Program: 17944 bytes 126% 59% 29% 14%
Data: 1920 bytes 188% 94% 47% 24%
EEPROM: 32 bytes 4% 2% 2% 1%
We calculate a safe join speed in dda_join_moves using data from
two source DDA movements. We ensure the DDA values we use are sane
by atomically copying them to local variables before beginning our
calculation. But later we discard all our results if the DDA went
live in the meantime, as evidenced by changes in `DDA->live` or
`DDA->id`.
Since we will not use the results of our calculations if either of
these change, we can safely reference all the other DDA values
non-atomically. Change the ATOMIC section to protect only the
`DDA->id` values at the start.
Added by Traumflug: this costs a negligible 4 bytes binary size:
ATmega sizes '168 '328(P) '644(P) '1280
Program: 18082 bytes 127% 59% 29% 15%
Data: 2176 bytes 213% 107% 54% 27%
EEPROM: 32 bytes 4% 2% 2% 1%
Following the resounding success on ARMs, let's try LTO on AVRs,
too. Advantage isn't all that well, binary size increases by 462
bytes and even an additional byte of RAM is needed.
According to @Wurstnase's research, this size increase is pretty
unique to the config.h.Profiling configuration. All other
configurations he tried actually showed a size drop.
Anyways, we have 15 to 17 clock cycles less on any step, so an
about 7% general stepping performance increase.
ATmega sizes '168 '328(P) '644(P) '1280
Program: 18078 bytes 127% 59% 29% 15%
Data: 2176 bytes 213% 107% 54% 27%
EEPROM: 32 bytes 4% 2% 2% 1%
short-moves.gcode statistics:
LED on occurences: 888.
LED on time minimum: 202 clock cycles.
LED on time maximum: 380 clock cycles.
LED on time average: 232.092 clock cycles.
smooth-curves.gcode statistics:
LED on occurences: 23648.
LED on time minimum: 220 clock cycles.
LED on time maximum: 423 clock cycles.
LED on time average: 255.22 clock cycles.
triangle-odd.gcode statistics:
LED on occurences: 1636.
LED on time minimum: 220 clock cycles.
LED on time maximum: 380 clock cycles.
LED on time average: 245.575 clock cycles.
After researching this issue for the third time, I finally found
a proper solution: one can't keep an entire section without re-
writing the entire link script, but one can keep individual
symbols. That's what we do now, so we can use --gc-sections when
linking with SimulAVR support.
The problem came up again because -flto drops unused symbols, too.
This commit changes binary size drastically (1654 bytes less), so
let's take a new performance measurement snapshot:
ATmega sizes '168 '328(P) '644(P) '1280
Program: 17616 bytes 123% 58% 28% 14%
Data: 2175 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.
Suggested by @Wurstnase. Apparently gcc got better, so it's
actually an advantage now.
Actually a pretty big advantage. While binary size decreases some
200 bytes, pulse length of the debug LED is a lot shorter
(measured on the scope):
without LTO: 4.59 us
with LTO: 3.65 us
That's a 25% performance increase by just turning on a flag!
Neither of them brought a performance improvement, so we revert
both. Commits as well as revert kept to preserve the knowledge
gained.
This reverts commits
"DDA, dda_start(): use mb_tail_dda directly." and
"DDA, dda_start(): don't pass mb_tail_dda as parameter."
Performance and binary size is back to what we had before:
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.
Just avoiding to pass mb_tail_dda as parameter didn't work out,
so how about using it directly? This is what this commit does.
Result: binary size another 32 bytes bigger, slowest step another
16 clock cycles slower. No dice.
ATmega sizes '168 '328(P) '644(P) '1280
Program: 19306 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: 414 clock cycles.
LED on time average: 249.436 clock cycles.
smooth-curves.gcode statistics:
LED on occurences: 23648.
LED on time minimum: 237 clock cycles.
LED on time maximum: 457 clock cycles.
LED on time average: 272.256 clock cycles.
triangle-odd.gcode statistics:
LED on occurences: 1636.
LED on time minimum: 237 clock cycles.
LED on time maximum: 414 clock cycles.
LED on time average: 262.595 clock cycles.
Instead, read the global variable directly.
The idea is that reading the global variable directly removes
the effort to build up a parameter stack, making things faster.
Actually, binary size increases by 4 bytes and the slowest step
takes 3 clock cycles longer. D'oh.
ATmega sizes '168 '328(P) '644(P) '1280
Program: 19274 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: 398 clock cycles.
LED on time average: 249.111 clock cycles.
smooth-curves.gcode statistics:
LED on occurences: 23648.
LED on time minimum: 237 clock cycles.
LED on time maximum: 441 clock cycles.
LED on time average: 272.222 clock cycles.
triangle-odd.gcode statistics:
LED on occurences: 1636.
LED on time minimum: 237 clock cycles.
LED on time maximum: 398 clock cycles.
LED on time average: 262.576 clock cycles.
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.
For now, this costs 2 bytes RAM, 8 bytes binary size and slows
down the slowest step by 4 clock cycles. We expect opportunities
for improvements elsewhere, of course.
ATmega sizes '168 '328(P) '644(P) '1280
Program: 19434 bytes 136% 64% 31% 16%
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: 230 clock cycles.
LED on time maximum: 407 clock cycles.
LED on time average: 263.008 clock cycles.
smooth-curves.gcode statistics:
LED on occurences: 23648.
LED on time minimum: 251 clock cycles.
LED on time maximum: 450 clock cycles.
LED on time average: 286.212 clock cycles.
triangle-odd.gcode statistics:
LED on occurences: 1636.
LED on time minimum: 251 clock cycles.
LED on time maximum: 407 clock cycles.
LED on time average: 276.568 clock cycles.
All the simplifications before led to a simple three-line
function, one of which happened to duplicate a line of the calling
code. Also update comments mentioning this former function.
No stepping performance improvement, but cleaner code and 32 bytes
less binary size:
ATmega sizes '168 '328(P) '644(P) '1280
Program: 19440 bytes 136% 64% 31% 16%
Data: 2177 bytes 213% 107% 54% 27%
EEPROM: 32 bytes 4% 2% 2% 1%
As we're in an interrupt already, we can simplify the test for an
empty queue. Slowest step down to 446 clock cycles, another 26
ticks less. Binary size only 36 bytes up:
ATmega sizes '168 '328(P) '644(P) '1280
Program: 19472 bytes 136% 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: 226 clock cycles.
LED on time maximum: 403 clock cycles.
LED on time average: 262.922 clock cycles.
smooth-curves.gcode statistics:
LED on occurences: 23648.
LED on time minimum: 251 clock cycles.
LED on time maximum: 446 clock cycles.
LED on time average: 286.203 clock cycles.
triangle-odd.gcode statistics:
LED on occurences: 1636.
LED on time minimum: 251 clock cycles.
LED on time maximum: 403 clock cycles.
LED on time average: 276.561 clock cycles.
Not queuing up waits for the heaters in the movement queue removes
some code in performance critical paths. What a luck we just
implemented an alternative M116 functionality with the previous
commit :-)
Performance of the slowest step is decreased a nice 29 clock
cycles and binary size decreased by a whoppy 472 bytes. That's
still 210 bytes less than before implementing the alternative
heater wait.
Best of all, average step time is down some 21 clock cycles, too,
so we increased general stepping performance by no less than 5%.
ATmega sizes '168 '328(P) '644(P) '1280
Program: 19436 bytes 136% 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: 259 clock cycles.
LED on time maximum: 429 clock cycles.
LED on time average: 263.491 clock cycles.
smooth-curves.gcode statistics:
LED on occurences: 23648.
LED on time minimum: 251 clock cycles.
LED on time maximum: 472 clock cycles.
LED on time average: 286.259 clock cycles.
triangle-odd.gcode statistics:
LED on occurences: 1636.
LED on time minimum: 251 clock cycles.
LED on time maximum: 429 clock cycles.
LED on time average: 276.616 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.
This was "Go home via point". The RepRap community has apparently
decided for a super complex Z probing command with this number:
http://reprap.org/wiki/G-code#G30:_Single_Z-Probe
This reduces binary size by 18 bytes:
ATmega sizes '168 '328(P) '644(P) '1280
Program: 19508 bytes 137% 64% 31% 16%
Data: 2175 bytes 213% 107% 54% 27%
EEPROM: 32 bytes 4% 2% 2% 1%
Nullmoves are movements which don't actually move a stepper. For
example because it's a velocity change only or the movement is
shorter than a single motor step.
Not queueing them up removes the necessity to check for them,
which reduces code in critical areas. It also removes the
necessity to run dda_start() twice to get past a nullmove.
Best of this is, it also makes lookahead perform better. Before,
a nullmove just changing speed interrupted the lookahead chain,
now it no longer does. See straight-speeds.gcode and
...-Fsep.gcode, which produced different timings before, now
results are identical.
Also update the function description for dda_create().
Performance increase is impressive: another 75 clock cycles off
the slowest step, only 36 bytes binary size increase:
ATmega sizes '168 '328(P) '644(P) '1280
Program: 19652 bytes 138% 64% 31% 16%
Data: 2175 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.
Performance of straight-speeds{-Fsep}.gcode before:
straight-speeds.gcode statistics:
LED on occurences: 32000.
LED on time minimum: 272 clock cycles.
LED on time maximum: 586 clock cycles.
LED on time average: 298.75 clock cycles.
straight-speeds-Fsep.gcode statistics:
LED on occurences: 32000.
LED on time minimum: 272 clock cycles.
LED on time maximum: 672 clock cycles.
LED on time average: 298.79 clock cycles.
Now:
straight-speeds.gcode statistics:
LED on occurences: 32000.
LED on time minimum: 272 clock cycles.
LED on time maximum: 501 clock cycles.
LED on time average: 298.703 clock cycles.
straight-speeds-Fsep.gcode statistics:
LED on occurences: 32000.
LED on time minimum: 272 clock cycles.
LED on time maximum: 501 clock cycles.
LED on time average: 298.703 clock cycles.
There we save even 171 clock cycles :-)
Distinction between straight-speeds.gcode and
straight-speeds-Fsep.gcode is that the latter has all speed
changes in a seperate line. If queueing works properly and
nullmoves get removed, both should produce identical results.
This shaves off another 3 clock cycles without drawback. It
increases binary size by 8 bytes, but apparently only in places
where it doesn't matter.
Performance:
ATmega sizes '168 '328(P) '644(P) '1280
Program: 19616 bytes 137% 64% 31% 16%
Data: 2175 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: 545 clock cycles.
LED on time average: 286.187 clock cycles.
smooth-curves.gcode statistics:
LED on occurences: 23648.
LED on time minimum: 272 clock cycles.
LED on time maximum: 576 clock cycles.
LED on time average: 307.431 clock cycles.
triangle-odd.gcode statistics:
LED on occurences: 1636.
LED on time minimum: 272 clock cycles.
LED on time maximum: 535 clock cycles.
LED on time average: 297.724 clock cycles.
Nico Tonnhofer
Phil Hord
Markus Hitter