ManuelW/grbl-LPC-CoreXY
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minor optimizatin for size

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This commit is contained in:
Simen Svale Skogsrud 2009-01-30 11:10:57 +01:00
parent 0c8004357a
commit 5f5bd35ddb
1 changed files with 8 additions and 13 deletions
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21
motion_control.c
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@ -204,17 +204,12 @@ void mc_arc(double theta, double angular_travel, double radius, int axis_1, int
ONE_MINUTE_OF_MICROSECONDS / (feed_rate * X_STEPS_PER_MM);
}
// Reset mode if arc has reached target
inline void check_arc_target()
{
if ((state.arc.x * state.arc.target_direction_y >=
state.arc.target_x * state.arc.target_direction_y) &&
(state.arc.y * state.arc.target_direction_x <=
state.arc.target_y * state.arc.target_direction_x))
{
state.mode = MC_MODE_AT_REST;
}
}
#define check_arc_target \
if ((state.arc.x * state.arc.target_direction_y >= \
state.arc.target_x * state.arc.target_direction_y) && \
(state.arc.y * state.arc.target_direction_x <= \
state.arc.target_y * state.arc.target_direction_x)) \
{ state.mode = MC_MODE_AT_REST; }
// Internal method used by execute_arc to trace horizontally in the general direction provided by dx and dy
void step_arc_along_x(int8_t dx, int8_t dy)
@ -232,7 +227,7 @@ void step_arc_along_x(int8_t dx, int8_t dy)
} else {
step_axis(state.arc.axis_x); // step straight
}
check_arc_target();
check_arc_target;
}
// Internal method used by execute_arc to trace vertically in the general direction provided by dx and dy
@ -251,7 +246,7 @@ void step_arc_along_y(int8_t dx, int8_t dy)
} else {
step_axis(state.arc.axis_y); // step straight
}
check_arc_target();
check_arc_target;
}
// Take dx and dy which are local to the arc being generated and map them on to the