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stepcompress: Minor code movement 

Move flush() and check_expand() code to a new location so that the
stepcompress_push_X() functions can flush.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2016-11-12 22:55:27 -05:00
parent 1dee1ba64e
commit 79da35d023
1 changed files with 41 additions and 41 deletions
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82
klippy/stepcompress.c
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@ -74,14 +74,6 @@ expand_queue(struct stepcompress *sc, int count)
sc->queue_next = sc->queue + next; sc->queue_next = sc->queue + next;
} }
// Check if the internal queue needs to be expanded, and expand if so
static inline void
check_expand(struct stepcompress *sc, int count)
{
if (sc->queue_next + count > sc->queue_end)
expand_queue(sc, count);
}
/**************************************************************** /****************************************************************
* Step compression * Step compression
@ -287,6 +279,47 @@ stepcompress_alloc(uint32_t max_error, uint32_t queue_step_msgid, uint32_t oid)
return sc; return sc;
} }
// Convert previously scheduled steps into commands for the mcu
static void
stepcompress_flush(struct stepcompress *sc, uint64_t move_clock)
{
if (sc->queue_pos >= sc->queue_next)
return;
while (move_clock > sc->last_step_clock) {
struct step_move move = compress_bisect_add(sc);
check_line(sc, move);
uint32_t msg[5] = {
sc->queue_step_msgid, sc->oid, move.interval, move.count, move.add
};
struct queue_message *qm = message_alloc_and_encode(msg, 5);
qm->min_clock = qm->req_clock = sc->last_step_clock;
if (move.count == 1 && sc->last_step_clock + (1<<27) < *sc->queue_pos) {
// Be careful with 32bit overflow
sc->last_step_clock = qm->req_clock = *sc->queue_pos;
} else {
uint32_t addfactor = move.count*(move.count-1)/2;
uint32_t ticks = move.add*addfactor + move.interval*move.count;
sc->last_step_clock += ticks;
}
list_add_tail(&qm->node, &sc->msg_queue);
if (sc->queue_pos + move.count >= sc->queue_next) {
sc->queue_pos = sc->queue_next = sc->queue;
break;
}
sc->queue_pos += move.count;
}
}
// Check if the internal queue needs to be expanded, and expand if so
static inline void
check_expand(struct stepcompress *sc, int count)
{
if (sc->queue_next + count > sc->queue_end)
expand_queue(sc, count);
}
// Schedule a step event at the specified step_clock time // Schedule a step event at the specified step_clock time
void void
stepcompress_push(struct stepcompress *sc, double step_clock) stepcompress_push(struct stepcompress *sc, double step_clock)
@ -362,39 +395,6 @@ stepcompress_push_sqrt(struct stepcompress *sc, double steps, double step_offset
return next_step_offset; return next_step_offset;
} }
// Convert previously scheduled steps into commands for the mcu
static void
stepcompress_flush(struct stepcompress *sc, uint64_t move_clock)
{
if (sc->queue_pos >= sc->queue_next)
return;
while (move_clock > sc->last_step_clock) {
struct step_move move = compress_bisect_add(sc);
check_line(sc, move);
uint32_t msg[5] = {
sc->queue_step_msgid, sc->oid, move.interval, move.count, move.add
};
struct queue_message *qm = message_alloc_and_encode(msg, 5);
qm->min_clock = qm->req_clock = sc->last_step_clock;
if (move.count == 1 && sc->last_step_clock + (1<<27) < *sc->queue_pos) {
// Be careful with 32bit overflow
sc->last_step_clock = qm->req_clock = *sc->queue_pos;
} else {
uint32_t addfactor = move.count*(move.count-1)/2;
uint32_t ticks = move.add*addfactor + move.interval*move.count;
sc->last_step_clock += ticks;
}
list_add_tail(&qm->node, &sc->msg_queue);
if (sc->queue_pos + move.count >= sc->queue_next) {
sc->queue_pos = sc->queue_next = sc->queue;
break;
}
sc->queue_pos += move.count;
}
}
// Reset the internal state of the stepcompress object // Reset the internal state of the stepcompress object
void void
stepcompress_reset(struct stepcompress *sc, uint64_t last_step_clock) stepcompress_reset(struct stepcompress *sc, uint64_t last_step_clock)