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Optimized print/travel move check, as it is performed in the bresenham loop

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This commit is contained in:
Emanuele Caruso 2011-06-06 18:49:34 +02:00
parent 62ccc7fec8
commit c475cc2062
1 changed files with 4 additions and 3 deletions
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7
Tonokip_Firmware/Tonokip_Firmware.pde
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@ -947,6 +947,7 @@ void linear_move(unsigned long axis_steps_remaining[]) // make linear move with
unsigned long steps_to_take = steps_remaining;
for(int i=0; i < NUM_AXIS; i++) if(i != primary_axis) axis_error[i] = delta[primary_axis] / 2;
interval = axis_interval[primary_axis];
bool is_print_move = delta[3] > 0;
#ifdef DEBUG_BRESENHAM
log_int("_BRESENHAM - Primary axis", primary_axis);
log_int("_BRESENHAM - Primary axis full speed interval", interval);
@ -986,7 +987,7 @@ void linear_move(unsigned long axis_steps_remaining[]) // make linear move with
float slowest_axis_plateau_time = 0;
for(int i=0; i < NUM_AXIS ; i++) {
if(axis_steps_remaining[i] > 0) {
if(move_steps_to_take[3] > 0 && axis_steps_remaining[i] > 0) slowest_axis_plateau_time = max(slowest_axis_plateau_time,
if(is_print_move && axis_steps_remaining[i] > 0) slowest_axis_plateau_time = max(slowest_axis_plateau_time,
(100000000.0 / axis_interval[i] - 100000000.0 / new_axis_max_intervals[i]) / (float) axis_steps_per_sqr_second[i]);
else if(axis_steps_remaining[i] > 0) slowest_axis_plateau_time = max(slowest_axis_plateau_time,
(100000000.0 / axis_interval[i] - 100000000.0 / new_axis_max_intervals[i]) / (float) axis_travel_steps_per_sqr_second[i]);
@ -1026,7 +1027,7 @@ void linear_move(unsigned long axis_steps_remaining[]) // make linear move with
if(!accelerating && !decelerating) {
//If more that HEATER_CHECK_INTERVAL ms have passed since previous heating check, adjust temp
#ifdef DISABLE_CHECK_DURING_TRAVEL
if(delta[3] > 0)
if(is_print_move)
#endif
manage_heater();
}
@ -1036,7 +1037,7 @@ void linear_move(unsigned long axis_steps_remaining[]) // make linear move with
#else
//If more that HEATER_CHECK_INTERVAL ms have passed since previous heating check, adjust temp
#ifdef DISABLE_CHECK_DURING_TRAVEL
if(delta[3] > 0)
if(is_print_move)
#endif
manage_heater();
#endif