ManuelW/grbl-LPC-CoreXY
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made most internal function static to allow gcc to inline them

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This commit is contained in:
Simen Svale Skogsrud 2011-02-19 23:03:10 +01:00
parent d21a791eae
commit 9c8c259153
4 changed files with 23 additions and 24 deletions
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11
gcode.c
View File

@ -75,10 +75,9 @@ static parser_state_t gc;
#define FAIL(status) gc.status_code = status; #define FAIL(status) gc.status_code = status;
int next_statement(char *letter, double *double_ptr, char *line, uint8_t *char_counter); static int next_statement(char *letter, double *double_ptr, char *line, uint8_t *char_counter);
static void select_plane(uint8_t axis_0, uint8_t axis_1, uint8_t axis_2)
void select_plane(uint8_t axis_0, uint8_t axis_1, uint8_t axis_2)
{ {
gc.plane_axis_0 = axis_0; gc.plane_axis_0 = axis_0;
gc.plane_axis_1 = axis_1; gc.plane_axis_1 = axis_1;
@ -93,13 +92,13 @@ void gc_init() {
gc.absolute_mode = true; gc.absolute_mode = true;
} }
float to_millimeters(double value) { static float to_millimeters(double value) {
return(gc.inches_mode ? (value * MM_PER_INCH) : value); return(gc.inches_mode ? (value * MM_PER_INCH) : value);
} }
// Find the angle in radians of deviance from the positive y axis. negative angles to the left of y-axis, // Find the angle in radians of deviance from the positive y axis. negative angles to the left of y-axis,
// positive to the right. // positive to the right.
double theta(double x, double y) static double theta(double x, double y)
{ {
double theta = atan(x/fabs(y)); double theta = atan(x/fabs(y));
if (y>0) { if (y>0) {
@ -387,7 +386,7 @@ uint8_t gc_execute_line(char *line) {
// Parses the next statement and leaves the counter on the first character following // Parses the next statement and leaves the counter on the first character following
// the statement. Returns 1 if there was a statements, 0 if end of string was reached // the statement. Returns 1 if there was a statements, 0 if end of string was reached
// or there was an error (check state.status_code). // or there was an error (check state.status_code).
int next_statement(char *letter, double *double_ptr, char *line, uint8_t *char_counter) { static int next_statement(char *letter, double *double_ptr, char *line, uint8_t *char_counter) {
if (line[*char_counter] == 0) { if (line[*char_counter] == 0) {
return(0); // No more statements return(0); // No more statements
} }

24
planner.c
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@ -47,7 +47,7 @@ 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:
double estimate_acceleration_distance(double initial_rate, double target_rate, double acceleration) { static 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)
@ -70,7 +70,7 @@ double estimate_acceleration_distance(double initial_rate, double target_rate, d
// a total travel of distance. This can be used to compute the intersection point between acceleration and // a total travel of distance. This can be used to compute the intersection point between acceleration and
// deceleration in the cases where the trapezoid has no plateau (i.e. never reaches maximum speed) // deceleration in the cases where the trapezoid has no plateau (i.e. never reaches maximum speed)
double intersection_distance(double initial_rate, double final_rate, double acceleration, double distance) { static 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)
@ -89,7 +89,7 @@ double intersection_distance(double initial_rate, double final_rate, double acce
// Calculates trapezoid parameters so that the entry- and exit-speed is compensated by the provided factors. // Calculates trapezoid parameters so that the entry- and exit-speed is compensated by the provided factors.
// The factors represent a factor of braking and must be in the range 0.0-1.0. // The factors represent a factor of braking and must be in the range 0.0-1.0.
void calculate_trapezoid_for_block(block_t *block, double entry_factor, double exit_factor) { static void calculate_trapezoid_for_block(block_t *block, double entry_factor, double exit_factor) {
block->initial_rate = ceil(block->nominal_rate*entry_factor); block->initial_rate = ceil(block->nominal_rate*entry_factor);
block->final_rate = ceil(block->nominal_rate*exit_factor); block->final_rate = ceil(block->nominal_rate*exit_factor);
int32_t acceleration_per_minute = block->rate_delta*ACCELERATION_TICKS_PER_SECOND*60.0; int32_t acceleration_per_minute = block->rate_delta*ACCELERATION_TICKS_PER_SECOND*60.0;
@ -116,7 +116,7 @@ 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.
double max_allowable_speed(double acceleration, double target_velocity, double distance) { static 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)
); );
@ -125,7 +125,7 @@ double max_allowable_speed(double acceleration, double target_velocity, double 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.
double junction_jerk(block_t *before, block_t *after) { static 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)+
@ -135,7 +135,7 @@ double junction_jerk(block_t *before, block_t *after) {
// Calculate a braking factor to reach baseline speed which is max_jerk/2, e.g. the // Calculate a braking factor to reach baseline speed which is max_jerk/2, e.g. the
// speed under which you cannot exceed max_jerk no matter what you do. // speed under which you cannot exceed max_jerk no matter what you do.
double factor_for_safe_speed(block_t *block) { static double factor_for_safe_speed(block_t *block) {
if(settings.max_jerk < block->nominal_speed) { if(settings.max_jerk < block->nominal_speed) {
return(settings.max_jerk/block->nominal_speed); return(settings.max_jerk/block->nominal_speed);
} else { } else {
@ -144,7 +144,7 @@ double factor_for_safe_speed(block_t *block) {
} }
// The kernel called by planner_recalculate() when scanning the plan from last to first entry. // The kernel called by planner_recalculate() when scanning the plan from last to first entry.
void planner_reverse_pass_kernel(block_t *previous, block_t *current, block_t *next) { static void planner_reverse_pass_kernel(block_t *previous, block_t *current, block_t *next) {
if(!current) { return; } if(!current) { return; }
double entry_factor = 1.0; double entry_factor = 1.0;
@ -181,7 +181,7 @@ void planner_reverse_pass_kernel(block_t *previous, block_t *current, block_t *n
// planner_recalculate() needs to go over the current plan twice. Once in reverse and once forward. This // planner_recalculate() needs to go over the current plan twice. Once in reverse and once forward. This
// implements the reverse pass. // implements the reverse pass.
void planner_reverse_pass() { static void planner_reverse_pass() {
auto int8_t block_index = block_buffer_head; auto int8_t block_index = block_buffer_head;
block_t *block[3] = {NULL, NULL, NULL}; block_t *block[3] = {NULL, NULL, NULL};
while(block_index != block_buffer_tail) { while(block_index != block_buffer_tail) {
@ -198,7 +198,7 @@ void planner_reverse_pass() {
} }
// The kernel called by planner_recalculate() when scanning the plan from first to last entry. // The kernel called by planner_recalculate() when scanning the plan from first to last entry.
void planner_forward_pass_kernel(block_t *previous, block_t *current, block_t *next) { static void planner_forward_pass_kernel(block_t *previous, block_t *current, block_t *next) {
if(!current) { return; } if(!current) { return; }
// If the previous block is an acceleration block, but it is not long enough to // If the previous block is an acceleration block, but it is not long enough to
// complete the full speed change within the block, we need to adjust out entry // complete the full speed change within the block, we need to adjust out entry
@ -216,7 +216,7 @@ void planner_forward_pass_kernel(block_t *previous, block_t *current, block_t *n
// planner_recalculate() needs to go over the current plan twice. Once in reverse and once forward. This // planner_recalculate() needs to go over the current plan twice. Once in reverse and once forward. This
// implements the forward pass. // implements the forward pass.
void planner_forward_pass() { static void planner_forward_pass() {
int8_t block_index = block_buffer_tail; int8_t block_index = block_buffer_tail;
block_t *block[3] = {NULL, NULL, NULL}; block_t *block[3] = {NULL, NULL, NULL};
@ -233,7 +233,7 @@ void planner_forward_pass() {
// Recalculates the trapezoid speed profiles for all blocks in the plan according to the // Recalculates the trapezoid speed profiles for all blocks in the plan according to the
// entry_factor for each junction. Must be called by planner_recalculate() after // entry_factor for each junction. Must be called by planner_recalculate() after
// updating the blocks. // updating the blocks.
void planner_recalculate_trapezoids() { static void planner_recalculate_trapezoids() {
int8_t block_index = block_buffer_tail; int8_t block_index = block_buffer_tail;
block_t *current; block_t *current;
block_t *next = NULL; block_t *next = NULL;
@ -266,7 +266,7 @@ void planner_recalculate_trapezoids() {
// //
// 3. Recalculate trapezoids for all blocks. // 3. Recalculate trapezoids for all blocks.
void planner_recalculate() { static void planner_recalculate() {
planner_reverse_pass(); planner_reverse_pass();
planner_forward_pass(); planner_forward_pass();
planner_recalculate_trapezoids(); planner_recalculate_trapezoids();

2
protocol.c
View File

@ -32,7 +32,7 @@
static char line[LINE_BUFFER_SIZE]; static char line[LINE_BUFFER_SIZE];
static uint8_t char_counter; static uint8_t char_counter;
void status_message(int status_code) { static void status_message(int status_code) {
if (status_code == 0) { if (status_code == 0) {
printPgmString(PSTR("ok\n\r")); printPgmString(PSTR("ok\n\r"));
} else { } else {

10
stepper.c
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@ -80,7 +80,7 @@ static uint32_t trapezoid_adjusted_rate; // The current rate of step_events
// The slope of acceleration is always +/- block->rate_delta and is applied at a constant rate by trapezoid_generator_tick() // The slope of acceleration is always +/- block->rate_delta and is applied at a constant rate by trapezoid_generator_tick()
// that is called ACCELERATION_TICKS_PER_SECOND times per second. // that is called ACCELERATION_TICKS_PER_SECOND times per second.
void set_step_events_per_minute(uint32_t steps_per_minute); static void set_step_events_per_minute(uint32_t steps_per_minute);
void st_wake_up() { void st_wake_up() {
ENABLE_STEPPER_DRIVER_INTERRUPT(); ENABLE_STEPPER_DRIVER_INTERRUPT();
@ -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.
void trapezoid_generator_reset() { static 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 @@ 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.
void trapezoid_generator_tick() { static 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;
@ -248,7 +248,7 @@ void st_synchronize()
// Configures the prescaler and ceiling of timer 1 to produce the given rate as accurately as possible. // Configures the prescaler and ceiling of timer 1 to produce the given rate as accurately as possible.
// Returns the actual number of cycles per interrupt // Returns the actual number of cycles per interrupt
uint32_t config_step_timer(uint32_t cycles) static uint32_t config_step_timer(uint32_t cycles)
{ {
uint16_t ceiling; uint16_t ceiling;
uint16_t prescaler; uint16_t prescaler;
@ -286,7 +286,7 @@ uint32_t config_step_timer(uint32_t cycles)
return(actual_cycles); return(actual_cycles);
} }
void set_step_events_per_minute(uint32_t steps_per_minute) { static void set_step_events_per_minute(uint32_t steps_per_minute) {
if (steps_per_minute < MINIMUM_STEPS_PER_MINUTE) { steps_per_minute = MINIMUM_STEPS_PER_MINUTE; } if (steps_per_minute < MINIMUM_STEPS_PER_MINUTE) { steps_per_minute = MINIMUM_STEPS_PER_MINUTE; }
cycles_per_step_event = config_step_timer((TICKS_PER_MICROSECOND*1000000*60)/steps_per_minute); cycles_per_step_event = config_step_timer((TICKS_PER_MICROSECOND*1000000*60)/steps_per_minute);
} }