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planner optimization by inline functions

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This commit is contained in:
Bernhard 2011-11-27 14:57:12 +01:00
parent a0dc66f7bf
commit f8e170a44b
2 changed files with 31 additions and 21 deletions
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23
Marlin/planner.cpp
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@ -93,13 +93,17 @@ static float previous_nominal_speed; // Nominal speed of previous path line segm
bool autotemp_enabled=false; bool autotemp_enabled=false;
#endif #endif
//===========================================================================
//=================semi-private variables, used in inline functions =====
//===========================================================================
block_t block_buffer[BLOCK_BUFFER_SIZE]; // A ring buffer for motion instfructions
volatile unsigned char block_buffer_head; // Index of the next block to be pushed
volatile unsigned char block_buffer_tail; // Index of the block to process now
//=========================================================================== //===========================================================================
//=============================private variables ============================ //=============================private variables ============================
//=========================================================================== //===========================================================================
static block_t block_buffer[BLOCK_BUFFER_SIZE]; // A ring buffer for motion instfructions
static volatile unsigned char block_buffer_head; // Index of the next block to be pushed
static volatile unsigned char block_buffer_tail; // Index of the block to process now
// Used for the frequency limit // Used for the frequency limit
static unsigned char old_direction_bits = 0; // Old direction bits. Used for speed calculations static unsigned char old_direction_bits = 0; // Old direction bits. Used for speed calculations
@ -364,20 +368,7 @@ void plan_init() {
} }
void plan_discard_current_block() {
if (block_buffer_head != block_buffer_tail) {
block_buffer_tail = (block_buffer_tail + 1) & (BLOCK_BUFFER_SIZE - 1);
}
}
block_t *plan_get_current_block() {
if (block_buffer_head == block_buffer_tail) {
return(NULL);
}
block_t *block = &block_buffer[block_buffer_tail];
block->busy = true;
return(block);
}
#ifdef AUTOTEMP #ifdef AUTOTEMP
void getHighESpeed() void getHighESpeed()

29
Marlin/planner.h
View File

@ -72,12 +72,7 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
void plan_set_position(const float &x, const float &y, const float &z, const float &e); void plan_set_position(const float &x, const float &y, const float &z, const float &e);
void plan_set_e_position(const float &e); void plan_set_e_position(const float &e);
// Called when the current block is no longer needed. Discards the block and makes the memory
// availible for new blocks.
void plan_discard_current_block();
// Gets the current block. Returns NULL if buffer empty
block_t *plan_get_current_block();
void check_axes_activity(); void check_axes_activity();
uint8_t movesplanned(); //return the nr of buffered moves uint8_t movesplanned(); //return the nr of buffered moves
@ -102,4 +97,28 @@ extern unsigned long axis_steps_per_sqr_second[NUM_AXIS];
extern float autotemp_factor; extern float autotemp_factor;
#endif #endif
/////semi-private stuff
#include <WProgram.h>
extern block_t block_buffer[BLOCK_BUFFER_SIZE]; // A ring buffer for motion instfructions
extern volatile unsigned char block_buffer_head; // Index of the next block to be pushed
extern volatile unsigned char block_buffer_tail;
// Called when the current block is no longer needed. Discards the block and makes the memory
// availible for new blocks.
inline void plan_discard_current_block() {
if (block_buffer_head != block_buffer_tail) {
block_buffer_tail = (block_buffer_tail + 1) & (BLOCK_BUFFER_SIZE - 1);
}
}
// Gets the current block. Returns NULL if buffer empty
inline block_t *plan_get_current_block() {
if (block_buffer_head == block_buffer_tail) {
return(NULL);
}
block_t *block = &block_buffer[block_buffer_tail];
block->busy = true;
return(block);
}
#endif #endif