... instead of trying to fire an interrupt as quickly as possible.
This affects ACCELERATION_TEMPORAL only. It almost doubles the
achievable step rate. Measured maximum step rate (X axis only,
100 mm moves) is 40'000 steps/s on a 16 MHz electronics, so
approx. 50'000 steps/s on a 20 MHz controller, which is even
a bit faster than the ACCELERATION_RAMPING algorithm.
Tests with temporary test code were run and judging by these
tests, clock interrupts are now very reliable up to the point
where processing speed is simply exhaused.
Performance with ACCELERATION_RAMPING: this costs 10 bytes
binary size and exactly 2 clock cycles per step interrupt or
0.6% performance even. We could avoid this with a lot
of #ifdefs, but considering ACCELERATION_TEMPORAL will one
day be the default acceleration, skip these #ifdefs, also
for better code readability.
$ cd testcases
$ ./run-in-simulavr.sh short-moves.gcode smooth-curves.gcode triangle-odd.gcode
SIZES ATmega... '168 '328(P) '644(P) '1280
FLASH : 20528 bytes 144% 67% 33% 16%
RAM : 2188 bytes 214% 107% 54% 27%
EEPROM : 32 bytes 4% 2% 2% 1%
short-moves.gcode statistics:
LED on occurences: 838.
LED on time minimum: 304 clock cycles.
LED on time maximum: 715 clock cycles.
LED on time average: 310.717 clock cycles.
smooth-curves.gcode statistics:
LED on occurences: 8585.
LED on time minimum: 309 clock cycles.
LED on time maximum: 712 clock cycles.
LED on time average: 360.051 clock cycles.
triangle-odd.gcode statistics:
LED on occurences: 1636.
LED on time minimum: 304 clock cycles.
LED on time maximum: 710 clock cycles.
LED on time average: 332.32 clock cycles.
##############################################################################
# #
# Teacup - lean and efficient firmware for RepRap printers #
# #
# by Triffid Hunter, Traumflug, jakepoz, many others. #
# #
##############################################################################
For installation instructions, see
http://reprap.org/wiki/Teacup_Firmware#Simple_Installation and/or
http://reprap.org/wiki/Teacup_Firmware#Developer_Installation
For documentation, see
http://reprap.org/wiki/Teacup_Firmware
##############################################################################
# #
# This firmware is Copyright (c) ... #
# 2009 - 2010 Michael Moon aka Triffid_Hunter #
# 2010 - 2013 Markus "Traumflug" Hitter <mah@jump-ing.de> #
# #
# This program is free software; you can redistribute it and/or modify #
# it under the terms of the GNU General Public License as published by #
# the Free Software Foundation; either version 2 of the License, or #
# (at your option) any later version. #
# #
# This program is distributed in the hope that it will be useful, #
# but WITHOUT ANY WARRANTY; without even the implied warranty of #
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the #
# GNU General Public License for more details. #
# #
# You should have received a copy of the GNU General Public License #
# along with this program; if not, write to the Free Software #
# Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA #
# #
##############################################################################
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