Clean up code to reduce duplication by consolidating code into
loops for per-axis actions.
Part 6a is putting stuff inside the step interrupt into a loop,
too. do_step() is put into the "tidiest" place. Binary size goes
down a remarkable 374 bytes, but stepping performance suffers by
almost 30%.
Traumflug's performance measurements:
SIZES ATmega... '168 '328(P) '644(P) '1280
FLASH : 19908 bytes 139% 65% 32% 16%
RAM : 2302 bytes 225% 113% 57% 29%
EEPROM: 32 bytes 4% 2% 2% 1%
short-moves.gcode
Statistics (assuming a 20 MHz clock):
LED on occurences: 888.
Sum of all LED on time: 354537 clock cycles.
LED on time minimum: 390 clock cycles.
LED on time maximum: 806 clock cycles.
LED on time average: 399.253 clock cycles.
smooth-curves.gcode
Statistics (assuming a 20 MHz clock):
LED on occurences: 9124.
Sum of all LED on time: 4268896 clock cycles.
LED on time minimum: 395 clock cycles.
LED on time maximum: 807 clock cycles.
LED on time average: 467.875 clock cycles.
triangle-odd.gcode
Statistics (assuming a 20 MHz clock):
LED on occurences: 1636.
Sum of all LED on time: 706846 clock cycles.
LED on time minimum: 390 clock cycles.
LED on time maximum: 807 clock cycles.
LED on time average: 432.057 clock cycles.
##############################################################################
# #
# Teacup - lean and efficient firmware for RepRap printers #
# #
# by Triffid Hunter, Traumflug, jakepoz, Markus Hitter, 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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