planner optimization by inline functions
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@ -93,13 +93,17 @@ static float previous_nominal_speed; // Nominal speed of previous path line segm
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bool autotemp_enabled=false;
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#endif
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//===========================================================================
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//=================semi-private variables, used in inline functions =====
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//===========================================================================
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block_t block_buffer[BLOCK_BUFFER_SIZE]; // A ring buffer for motion instfructions
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volatile unsigned char block_buffer_head; // Index of the next block to be pushed
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volatile unsigned char block_buffer_tail; // Index of the block to process now
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//===========================================================================
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//=============================private variables ============================
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//===========================================================================
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static block_t block_buffer[BLOCK_BUFFER_SIZE]; // A ring buffer for motion instfructions
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static volatile unsigned char block_buffer_head; // Index of the next block to be pushed
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static volatile unsigned char block_buffer_tail; // Index of the block to process now
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// Used for the frequency limit
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static unsigned char old_direction_bits = 0; // Old direction bits. Used for speed calculations
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@ -364,20 +368,7 @@ void plan_init() {
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}
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void plan_discard_current_block() {
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if (block_buffer_head != block_buffer_tail) {
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block_buffer_tail = (block_buffer_tail + 1) & (BLOCK_BUFFER_SIZE - 1);
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}
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}
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block_t *plan_get_current_block() {
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if (block_buffer_head == block_buffer_tail) {
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return(NULL);
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}
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block_t *block = &block_buffer[block_buffer_tail];
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block->busy = true;
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return(block);
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}
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#ifdef AUTOTEMP
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void getHighESpeed()
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@ -72,12 +72,7 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
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void plan_set_position(const float &x, const float &y, const float &z, const float &e);
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void plan_set_e_position(const float &e);
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// Called when the current block is no longer needed. Discards the block and makes the memory
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// availible for new blocks.
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void plan_discard_current_block();
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// Gets the current block. Returns NULL if buffer empty
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block_t *plan_get_current_block();
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void check_axes_activity();
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uint8_t movesplanned(); //return the nr of buffered moves
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@ -102,4 +97,28 @@ extern unsigned long axis_steps_per_sqr_second[NUM_AXIS];
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extern float autotemp_factor;
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#endif
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/////semi-private stuff
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#include <WProgram.h>
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extern block_t block_buffer[BLOCK_BUFFER_SIZE]; // A ring buffer for motion instfructions
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extern volatile unsigned char block_buffer_head; // Index of the next block to be pushed
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extern volatile unsigned char block_buffer_tail;
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// Called when the current block is no longer needed. Discards the block and makes the memory
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// availible for new blocks.
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inline void plan_discard_current_block() {
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if (block_buffer_head != block_buffer_tail) {
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block_buffer_tail = (block_buffer_tail + 1) & (BLOCK_BUFFER_SIZE - 1);
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}
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}
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// Gets the current block. Returns NULL if buffer empty
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inline block_t *plan_get_current_block() {
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if (block_buffer_head == block_buffer_tail) {
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return(NULL);
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}
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block_t *block = &block_buffer[block_buffer_tail];
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block->busy = true;
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return(block);
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}
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#endif
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