ManuelW/grbl-LPC-CoreXY
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removed inline-keywords because gcc ignores them anyway

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This commit is contained in:
Simen Svale Skogsrud 2011-02-17 23:59:10 +01:00
parent b8eee5ac9a
commit 124bc363bd
4 changed files with 11 additions and 11 deletions
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2
gcode.c
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@ -98,7 +98,7 @@ void gc_init() {
gc.absolute_mode = TRUE; gc.absolute_mode = TRUE;
} }
inline float to_millimeters(double value) { float to_millimeters(double value) {
return(gc.inches_mode ? (value * MM_PER_INCH) : value); return(gc.inches_mode ? (value * MM_PER_INCH) : value);
} }

12
planner.c
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@ -79,7 +79,7 @@ static uint8_t acceleration_manager_enabled; // Acceleration management active
// Calculates the distance (not time) it takes to accelerate from initial_rate to target_rate using the // Calculates the distance (not time) it takes to accelerate from initial_rate to target_rate using the
// given acceleration: // given acceleration:
inline double estimate_acceleration_distance(double initial_rate, double target_rate, double acceleration) { double estimate_acceleration_distance(double initial_rate, double target_rate, double acceleration) {
return( return(
(target_rate*target_rate-initial_rate*initial_rate)/ (target_rate*target_rate-initial_rate*initial_rate)/
(2L*acceleration) (2L*acceleration)
@ -101,7 +101,7 @@ inline double estimate_acceleration_distance(double initial_rate, double target_
| | | |
intersection_distance distance */ intersection_distance distance */
inline double intersection_distance(double initial_rate, double final_rate, double acceleration, double distance) { double intersection_distance(double initial_rate, double final_rate, double acceleration, double distance) {
return( return(
(2*acceleration*distance-initial_rate*initial_rate+final_rate*final_rate)/ (2*acceleration*distance-initial_rate*initial_rate+final_rate*final_rate)/
(4*acceleration) (4*acceleration)
@ -148,7 +148,7 @@ void calculate_trapezoid_for_block(block_t *block, double entry_factor, double e
// Calculates the maximum allowable speed at this point when you must be able to reach target_velocity using the // Calculates the maximum allowable speed at this point when you must be able to reach target_velocity using the
// acceleration within the allotted distance. // acceleration within the allotted distance.
inline double max_allowable_speed(double acceleration, double target_velocity, double distance) { double max_allowable_speed(double acceleration, double target_velocity, double distance) {
return( return(
sqrt(target_velocity*target_velocity-2*acceleration*60*60*distance) sqrt(target_velocity*target_velocity-2*acceleration*60*60*distance)
); );
@ -157,7 +157,7 @@ inline double max_allowable_speed(double acceleration, double target_velocity, d
// "Junction jerk" in this context is the immediate change in speed at the junction of two blocks. // "Junction jerk" in this context is the immediate change in speed at the junction of two blocks.
// This method will calculate the junction jerk as the euclidean distance between the nominal // This method will calculate the junction jerk as the euclidean distance between the nominal
// velocities of the respective blocks. // velocities of the respective blocks.
inline double junction_jerk(block_t *before, block_t *after) { double junction_jerk(block_t *before, block_t *after) {
return(sqrt( return(sqrt(
pow(before->speed_x-after->speed_x, 2)+ pow(before->speed_x-after->speed_x, 2)+
pow(before->speed_y-after->speed_y, 2)+ pow(before->speed_y-after->speed_y, 2)+
@ -322,13 +322,13 @@ int plan_is_acceleration_manager_enabled() {
return(acceleration_manager_enabled); return(acceleration_manager_enabled);
} }
inline void plan_discard_current_block() { void plan_discard_current_block() {
if (block_buffer_head != block_buffer_tail) { if (block_buffer_head != block_buffer_tail) {
block_buffer_tail = (block_buffer_tail + 1) % BLOCK_BUFFER_SIZE; block_buffer_tail = (block_buffer_tail + 1) % BLOCK_BUFFER_SIZE;
} }
} }
inline block_t *plan_get_current_block() { block_t *plan_get_current_block() {
if (block_buffer_head == block_buffer_tail) { return(NULL); } if (block_buffer_head == block_buffer_tail) { return(NULL); }
return(&block_buffer[block_buffer_tail]); return(&block_buffer[block_buffer_tail]);
} }

4
planner.h
View File

@ -62,10 +62,10 @@ void plan_buffer_line(double x, double y, double z, double feed_rate, int invert
// Called when the current block is no longer needed. Discards the block and makes the memory // Called when the current block is no longer needed. Discards the block and makes the memory
// availible for new blocks. // availible for new blocks.
inline void plan_discard_current_block(); void plan_discard_current_block();
// Gets the current block. Returns NULL if buffer empty // Gets the current block. Returns NULL if buffer empty
inline block_t *plan_get_current_block(); block_t *plan_get_current_block();
// Enables or disables acceleration-management for upcoming blocks // Enables or disables acceleration-management for upcoming blocks
void plan_set_acceleration_manager_enabled(int enabled); void plan_set_acceleration_manager_enabled(int enabled);

4
stepper.c
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@ -88,7 +88,7 @@ void st_wake_up() {
// Initializes the trapezoid generator from the current block. Called whenever a new // Initializes the trapezoid generator from the current block. Called whenever a new
// block begins. // block begins.
inline void trapezoid_generator_reset() { void trapezoid_generator_reset() {
trapezoid_adjusted_rate = current_block->initial_rate; trapezoid_adjusted_rate = current_block->initial_rate;
trapezoid_tick_cycle_counter = 0; // Always start a new trapezoid with a full acceleration tick trapezoid_tick_cycle_counter = 0; // Always start a new trapezoid with a full acceleration tick
set_step_events_per_minute(trapezoid_adjusted_rate); set_step_events_per_minute(trapezoid_adjusted_rate);
@ -97,7 +97,7 @@ inline void trapezoid_generator_reset() {
// This is called ACCELERATION_TICKS_PER_SECOND times per second by the step_event // This is called ACCELERATION_TICKS_PER_SECOND times per second by the step_event
// interrupt. It can be assumed that the trapezoid-generator-parameters and the // interrupt. It can be assumed that the trapezoid-generator-parameters and the
// current_block stays untouched by outside handlers for the duration of this function call. // current_block stays untouched by outside handlers for the duration of this function call.
inline void trapezoid_generator_tick() { void trapezoid_generator_tick() {
if (current_block) { if (current_block) {
if (step_events_completed < current_block->accelerate_until) { if (step_events_completed < current_block->accelerate_until) {
trapezoid_adjusted_rate += current_block->rate_delta; trapezoid_adjusted_rate += current_block->rate_delta;