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Version 1.3.07T

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- Optimize Variable Size (faster Code) --> heater.cpp
 - Remove unused Code from Interrupt --> faster ~ 22 us per step
 - Replace abs with fabs --> Faster and smaler
This commit is contained in:
midopple 2012-02-24 20:23:38 +01:00
parent 7be03db9d8
commit 9a644d02ce
1 changed files with 22 additions and 46 deletions
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68
Sprinter/Sprinter.pde
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@ -65,6 +65,13 @@
- M501 - reads parameters from EEPROM (if you need reset them after you changed them temporarily).
- M502 - reverts to the default "factory settings". You still need to store them in EEPROM afterwards if you want to.
- M503 - Print settings
Version 1.3.07T
- Optimize Variable Size (faster Code)
- Remove unused Code from Interrupt --> faster ~ 22 us per step
- Replace abs with fabs --> Faster and smaler
- Add "store_eeprom.cpp" to makefile
-
*/
@ -165,7 +172,7 @@ void __cxa_pure_virtual(){};
// M603 - Show Free Ram
#define _VERSION_TEXT "1.3.06T / 17.02.2012"
#define _VERSION_TEXT "1.3.07T / 24.02.2012"
//Stepper Movement Variables
char axis_codes[NUM_AXIS] = {'X', 'Y', 'Z', 'E'};
@ -2298,16 +2305,16 @@ void plan_buffer_line(float x, float y, float z, float e, float feed_rate)
// Limit speed per axis
float speed_factor = 1.0; //factor <=1 do decrease speed
for(int i=0; i < 4; i++) {
if(abs(current_speed[i]) > max_feedrate[i])
speed_factor = min(speed_factor, max_feedrate[i] / abs(current_speed[i]));
if(fabs(current_speed[i]) > max_feedrate[i])
speed_factor = min(speed_factor, max_feedrate[i] / fabs(current_speed[i]));
}
// Correct the speed
if( speed_factor < 1.0) {
// Serial.print("speed factor : "); Serial.println(speed_factor);
for(int i=0; i < 4; i++) {
if(abs(current_speed[i]) > max_feedrate[i])
speed_factor = min(speed_factor, max_feedrate[i] / abs(current_speed[i]));
if(fabs(current_speed[i]) > max_feedrate[i])
speed_factor = min(speed_factor, max_feedrate[i] / fabs(current_speed[i]));
/*
if(speed_factor < 0.1) {
Serial.print("speed factor : "); Serial.println(speed_factor);
@ -2384,7 +2391,7 @@ void plan_buffer_line(float x, float y, float z, float e, float feed_rate)
#endif
// Start with a safe speed
float vmax_junction = max_xy_jerk/2;
if(abs(current_speed[Z_AXIS]) > max_z_jerk/2)
if(fabs(current_speed[Z_AXIS]) > max_z_jerk/2)
vmax_junction = max_z_jerk/2;
vmax_junction = min(vmax_junction, block->nominal_speed);
@ -2396,8 +2403,8 @@ void plan_buffer_line(float x, float y, float z, float e, float feed_rate)
if (jerk > max_xy_jerk) {
vmax_junction *= (max_xy_jerk/jerk);
}
if(abs(current_speed[Z_AXIS] - previous_speed[Z_AXIS]) > max_z_jerk) {
vmax_junction *= (max_z_jerk/abs(current_speed[Z_AXIS] - previous_speed[Z_AXIS]));
if(fabs(current_speed[Z_AXIS] - previous_speed[Z_AXIS]) > max_z_jerk) {
vmax_junction *= (max_z_jerk/fabs(current_speed[Z_AXIS] - previous_speed[Z_AXIS]));
}
}
block->max_entry_speed = vmax_junction;
@ -2468,7 +2475,7 @@ void plan_set_position(float x, float y, float z, float e)
position[Y_AXIS] = lround(y*axis_steps_per_unit[Y_AXIS]);
position[Z_AXIS] = lround(z*axis_steps_per_unit[Z_AXIS]);
position[E_AXIS] = lround(e*axis_steps_per_unit[E_AXIS]);
st_set_position(position[X_AXIS], position[Y_AXIS], position[Z_AXIS], position[E_AXIS]);
previous_nominal_speed = 0.0; // Resets planner junction speeds. Assumes start from rest.
previous_speed[0] = 0.0;
previous_speed[1] = 0.0;
@ -2612,17 +2619,17 @@ static long counter_x, // Counter variables for the bresenham line tracer
counter_z,
counter_e;
static unsigned long step_events_completed; // The number of step events executed in the current block
static long advance_rate, advance, final_advance = 0;
static short old_advance = 0;
#ifdef ADVANCE
static long advance_rate, advance, final_advance = 0;
static short old_advance = 0;
#endif
static short e_steps;
static unsigned char busy = false; // TRUE when SIG_OUTPUT_COMPARE1A is being serviced. Used to avoid retriggering that handler.
static long acceleration_time, deceleration_time;
//static long accelerate_until, decelerate_after, acceleration_rate, initial_rate, final_rate, nominal_rate;
static unsigned short acc_step_rate; // needed for deccelaration start point
static char step_loops;
static unsigned short OCR1A_nominal;
volatile long endstops_trigsteps[3]={0,0,0};
static volatile bool endstop_x_hit=false;
static volatile bool endstop_y_hit=false;
static volatile bool endstop_z_hit=false;
@ -2636,8 +2643,6 @@ static bool old_z_max_endstop=false;
static bool check_endstops = true;
volatile long count_position[NUM_AXIS] = { 0, 0, 0, 0};
volatile char count_direction[NUM_AXIS] = { 1, 1, 1, 1};
// __________________________
@ -2760,13 +2765,11 @@ ISR(TIMER1_COMPA_vect)
// Set direction en check limit switches
if ((out_bits & (1<<X_AXIS)) != 0) { // -direction
WRITE(X_DIR_PIN, INVERT_X_DIR);
count_direction[X_AXIS]=-1;
CHECK_ENDSTOPS
{
#if X_MIN_PIN > -1
bool x_min_endstop=(READ(X_MIN_PIN) != X_ENDSTOP_INVERT);
if(x_min_endstop && old_x_min_endstop && (current_block->steps_x > 0)) {
endstops_trigsteps[X_AXIS] = count_position[X_AXIS];
endstop_x_hit=true;
step_events_completed = current_block->step_event_count;
}
@ -2776,13 +2779,11 @@ ISR(TIMER1_COMPA_vect)
}
else { // +direction
WRITE(X_DIR_PIN,!INVERT_X_DIR);
count_direction[X_AXIS]=1;
CHECK_ENDSTOPS
{
#if X_MAX_PIN > -1
bool x_max_endstop=(READ(X_MAX_PIN) != X_ENDSTOP_INVERT);
if(x_max_endstop && old_x_max_endstop && (current_block->steps_x > 0)){
endstops_trigsteps[X_AXIS] = count_position[X_AXIS];
endstop_x_hit=true;
step_events_completed = current_block->step_event_count;
}
@ -2793,13 +2794,11 @@ ISR(TIMER1_COMPA_vect)
if ((out_bits & (1<<Y_AXIS)) != 0) { // -direction
WRITE(Y_DIR_PIN,INVERT_Y_DIR);
count_direction[Y_AXIS]=-1;
CHECK_ENDSTOPS
{
#if Y_MIN_PIN > -1
bool y_min_endstop=(READ(Y_MIN_PIN) != Y_ENDSTOP_INVERT);
if(y_min_endstop && old_y_min_endstop && (current_block->steps_y > 0)) {
endstops_trigsteps[Y_AXIS] = count_position[Y_AXIS];
endstop_y_hit=true;
step_events_completed = current_block->step_event_count;
}
@ -2808,14 +2807,12 @@ ISR(TIMER1_COMPA_vect)
}
}
else { // +direction
WRITE(Y_DIR_PIN,!INVERT_Y_DIR);
count_direction[Y_AXIS]=1;
WRITE(Y_DIR_PIN,!INVERT_Y_DIR);
CHECK_ENDSTOPS
{
#if Y_MAX_PIN > -1
bool y_max_endstop=(READ(Y_MAX_PIN) != Y_ENDSTOP_INVERT);
if(y_max_endstop && old_y_max_endstop && (current_block->steps_y > 0)){
endstops_trigsteps[Y_AXIS] = count_position[Y_AXIS];
endstop_y_hit=true;
step_events_completed = current_block->step_event_count;
}
@ -2826,13 +2823,11 @@ ISR(TIMER1_COMPA_vect)
if ((out_bits & (1<<Z_AXIS)) != 0) { // -direction
WRITE(Z_DIR_PIN,INVERT_Z_DIR);
count_direction[Z_AXIS]=-1;
CHECK_ENDSTOPS
{
#if Z_MIN_PIN > -1
bool z_min_endstop=(READ(Z_MIN_PIN) != Z_ENDSTOP_INVERT);
if(z_min_endstop && old_z_min_endstop && (current_block->steps_z > 0)) {
endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
endstop_z_hit=true;
step_events_completed = current_block->step_event_count;
}
@ -2842,13 +2837,11 @@ ISR(TIMER1_COMPA_vect)
}
else { // +direction
WRITE(Z_DIR_PIN,!INVERT_Z_DIR);
count_direction[Z_AXIS]=1;
CHECK_ENDSTOPS
{
#if Z_MAX_PIN > -1
bool z_max_endstop=(READ(Z_MAX_PIN) != Z_ENDSTOP_INVERT);
if(z_max_endstop && old_z_max_endstop && (current_block->steps_z > 0)) {
endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
endstop_z_hit=true;
step_events_completed = current_block->step_event_count;
}
@ -2860,18 +2853,15 @@ ISR(TIMER1_COMPA_vect)
#ifndef ADVANCE
if ((out_bits & (1<<E_AXIS)) != 0) { // -direction
WRITE(E_DIR_PIN,INVERT_E_DIR);
count_direction[E_AXIS]=-1;
}
else { // +direction
WRITE(E_DIR_PIN,!INVERT_E_DIR);
count_direction[E_AXIS]=-1;
}
#endif //!ADVANCE
for(int8_t i=0; i < step_loops; i++) { // Take multiple steps per interrupt (For high speed moves)
//MSerial.checkRx(); // Check for serial chars.
#ifdef ADVANCE
counter_e += current_block->steps_e;
@ -2891,7 +2881,6 @@ ISR(TIMER1_COMPA_vect)
WRITE(X_STEP_PIN, HIGH);
counter_x -= current_block->step_event_count;
WRITE(X_STEP_PIN, LOW);
count_position[X_AXIS]+=count_direction[X_AXIS];
}
counter_y += current_block->steps_y;
@ -2899,7 +2888,6 @@ ISR(TIMER1_COMPA_vect)
WRITE(Y_STEP_PIN, HIGH);
counter_y -= current_block->step_event_count;
WRITE(Y_STEP_PIN, LOW);
count_position[Y_AXIS]+=count_direction[Y_AXIS];
}
counter_z += current_block->steps_z;
@ -2907,7 +2895,6 @@ ISR(TIMER1_COMPA_vect)
WRITE(Z_STEP_PIN, HIGH);
counter_z -= current_block->step_event_count;
WRITE(Z_STEP_PIN, LOW);
count_position[Z_AXIS]+=count_direction[Z_AXIS];
}
#ifndef ADVANCE
@ -2915,8 +2902,7 @@ ISR(TIMER1_COMPA_vect)
if (counter_e > 0) {
WRITE(E_STEP_PIN, HIGH);
counter_e -= current_block->step_event_count;
WRITE(E_STEP_PIN, LOW);
count_position[E_AXIS]+=count_direction[E_AXIS];
WRITE(E_STEP_PIN, LOW);
}
#endif //!ADVANCE
step_events_completed += 1;
@ -3063,16 +3049,6 @@ void st_synchronize()
}
}
void st_set_position(const long &x, const long &y, const long &z, const long &e)
{
CRITICAL_SECTION_START;
count_position[X_AXIS] = x;
count_position[Y_AXIS] = y;
count_position[Z_AXIS] = z;
count_position[E_AXIS] = e;
CRITICAL_SECTION_END;
}
#ifdef DEBUG
void log_message(char* message) {