diff options
Diffstat (limited to 'src/Movement/DriveMovement.h')
| -rw-r--r-- | src/Movement/DriveMovement.h | 36 |
1 files changed, 29 insertions, 7 deletions
diff --git a/src/Movement/DriveMovement.h b/src/Movement/DriveMovement.h index 36b44f95..788f495d 100644 --- a/src/Movement/DriveMovement.h +++ b/src/Movement/DriveMovement.h @@ -10,16 +10,29 @@ #include "RepRapFirmware.h" +class LinearDeltaKinematics; + // Struct for passing parameters to the DriveMovement Prepare methods struct PrepParams { + // Parameters used for all types of motion float decelStartDistance; uint32_t startSpeedTimesCdivA; uint32_t topSpeedTimesCdivA; uint32_t decelStartClocks; uint32_t topSpeedTimesCdivAPlusDecelStartClocks; uint32_t accelClocksMinusAccelDistanceTimesCdivTopSpeed; + + // Parameters used only for extruders float compFactor; + + // Parameters used only for delta moves + float initialX; + float initialY; + const LinearDeltaKinematics *dparams; + float diagonalSquared; + float a2plusb2; // sum of the squares of the X and Y movement fractions + float a2b2D2; }; enum class DMState : uint8_t @@ -35,11 +48,11 @@ class DriveMovement public: DriveMovement(DriveMovement *next); - bool CalcNextStepTimeCartesian(const DDA &dda, bool live); - bool CalcNextStepTimeDelta(const DDA &dda, bool live); - void PrepareCartesianAxis(const DDA& dda, const PrepParams& params); - void PrepareDeltaAxis(const DDA& dda, const PrepParams& params); - void PrepareExtruder(const DDA& dda, const PrepParams& params, bool doCompensation); + bool CalcNextStepTimeCartesian(const DDA &dda, bool live) __attribute__ ((hot)); + bool CalcNextStepTimeDelta(const DDA &dda, bool live) __attribute__ ((hot)); + void PrepareCartesianAxis(const DDA& dda, const PrepParams& params) __attribute__ ((hot)); + void PrepareDeltaAxis(const DDA& dda, const PrepParams& params) __attribute__ ((hot)); + void PrepareExtruder(const DDA& dda, const PrepParams& params, bool doCompensation) __attribute__ ((hot)); void ReduceSpeed(const DDA& dda, float inverseSpeedFactor); void DebugPrint(char c, bool withDelta) const; int32_t GetNetStepsLeft() const; @@ -53,8 +66,8 @@ public: static void Release(DriveMovement *item); private: - bool CalcNextStepTimeCartesianFull(const DDA &dda, bool live); - bool CalcNextStepTimeDeltaFull(const DDA &dda, bool live); + bool CalcNextStepTimeCartesianFull(const DDA &dda, bool live) __attribute__ ((hot)); + bool CalcNextStepTimeDeltaFull(const DDA &dda, bool live) __attribute__ ((hot)); static DriveMovement *freeList; static int numFree; @@ -144,6 +157,7 @@ inline bool DriveMovement::CalcNextStepTimeCartesian(const DDA &dda, bool live) // Calculate the time since the start of the move when the next step for the specified DriveMovement is due // Return true if there are more steps to do. When finished, leave nextStep == totalSteps + 1. +// We inline this part to speed things up when we are doing double/quad/octal stepping. inline bool DriveMovement::CalcNextStepTimeDelta(const DDA &dda, bool live) { ++nextStep; @@ -201,4 +215,12 @@ inline int32_t DriveMovement::GetNetStepsTaken() const return (direction) ? netStepsTaken : -netStepsTaken; } +// This is inlined because it is only called from one place +inline void DriveMovement::Release(DriveMovement *item) +{ + item->nextDM = freeList; + freeList = item; + ++numFree; +} + #endif /* DRIVEMOVEMENT_H_ */ |