ManuelW/grbl-LPC-CoreXY
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More '%' modulo opertor removals and some housecleaning.

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- Serial functions contained quite a few modulo operations that would
be executed with high frequency when streaming. AVR processors are very
slow when operating these. In one test on the Arduino forums, it showed
about a 15x slow down compared to a simple if-then statement. -
Clarified some variable names and types and comments.
This commit is contained in:
Sonny J
2011-09-15 20:32:15 -06:00
parent 4d03c4febc
commit 110faae986
5 changed files with 19 additions and 16 deletions
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16
motion_control.c
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@ -48,7 +48,7 @@ void mc_dwell(uint32_t milliseconds)
// The arc is approximated by generating a huge number of tiny, linear segments. The length of each
// segment is configured in settings.mm_per_arc_segment.
void mc_arc(double *position, double *target, double *offset, uint8_t axis_0, uint8_t axis_1,
uint8_t axis_linear, double feed_rate, uint8_t invert_feed_rate, double radius, int8_t isclockwise)
uint8_t axis_linear, double feed_rate, uint8_t invert_feed_rate, double radius, uint8_t isclockwise)
{
// int acceleration_manager_was_enabled = plan_is_acceleration_manager_enabled();
// plan_set_acceleration_manager_enabled(false); // disable acceleration management for the duration of the arc
@ -106,7 +106,7 @@ void mc_arc(double *position, double *target, double *offset, uint8_t axis_0, ui
double cos_T = 1-0.5*theta_per_segment*theta_per_segment; // Small angle approximation
double sin_T = theta_per_segment;
double trajectory[3];
double arc_target[3];
double sin_Ti;
double cos_Ti;
double r_axisi;
@ -114,7 +114,7 @@ void mc_arc(double *position, double *target, double *offset, uint8_t axis_0, ui
int8_t count = 0;
// Initialize the linear axis
trajectory[axis_linear] = position[axis_linear];
arc_target[axis_linear] = position[axis_linear];
for (i = 1; i<segments; i++) { // Increment (segments-1)
@ -134,11 +134,11 @@ void mc_arc(double *position, double *target, double *offset, uint8_t axis_0, ui
count = 0;
}
// Update trajectory location
trajectory[axis_0] = center_axis0 + r_axis0;
trajectory[axis_1] = center_axis1 + r_axis1;
trajectory[axis_linear] += linear_per_segment;
plan_buffer_line(trajectory[X_AXIS], trajectory[Y_AXIS], trajectory[Z_AXIS], feed_rate, invert_feed_rate);
// Update arc_target location
arc_target[axis_0] = center_axis0 + r_axis0;
arc_target[axis_1] = center_axis1 + r_axis1;
arc_target[axis_linear] += linear_per_segment;
plan_buffer_line(arc_target[X_AXIS], arc_target[Y_AXIS], arc_target[Z_AXIS], feed_rate, invert_feed_rate);
}
// Ensure last segment arrives at target location.