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stepper: Optimize for case where add is zero 

At high rates, the "add" field is frequently zero.  It's possible to
optimize for that case.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2016-06-07 15:07:09 -04:00
parent bb3b881e21
commit a6de2184ba
1 changed files with 15 additions and 11 deletions
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26
src/stepper.c
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@ -32,7 +32,7 @@ struct stepper {
}; };
enum { MF_DIR=1 }; enum { MF_DIR=1 };
enum { SF_LAST_DIR=1, SF_NEXT_DIR=2, SF_INVERT_STEP=4 }; enum { SF_LAST_DIR=1, SF_NEXT_DIR=2, SF_INVERT_STEP=4, SF_HAVE_ADD=8 };
// Setup a stepper for the next move in its queue // Setup a stepper for the next move in its queue
static uint8_t static uint8_t
@ -46,10 +46,10 @@ stepper_load_next(struct stepper *s)
return SF_DONE; return SF_DONE;
} }
s->interval = m->interval; s->time.waketime += m->interval;
s->time.waketime += s->interval;
s->add = m->add; s->add = m->add;
s->interval += s->add; s->interval = m->interval + m->add;
s->flags = m->add ? s->flags | SF_HAVE_ADD : s->flags & ~SF_HAVE_ADD;
s->count = m->count; s->count = m->count;
if (m->flags & MF_DIR) { if (m->flags & MF_DIR) {
s->position = -s->position + s->count; s->position = -s->position + s->count;
@ -73,8 +73,9 @@ stepper_event(struct timer *t)
if (likely(count)) { if (likely(count)) {
s->count = count; s->count = count;
s->time.waketime += s->interval; s->time.waketime += s->interval;
s->interval += s->add;
gpio_out_toggle(s->step_pin); gpio_out_toggle(s->step_pin);
if (s->flags & SF_HAVE_ADD)
s->interval += s->add;
return SF_RESCHEDULE; return SF_RESCHEDULE;
} }
uint8_t ret = stepper_load_next(s); uint8_t ret = stepper_load_next(s);
@ -104,19 +105,19 @@ command_queue_step(uint32_t *args)
{ {
struct stepper *s = lookup_oid(args[0], command_config_stepper); struct stepper *s = lookup_oid(args[0], command_config_stepper);
struct move *m = move_alloc(); struct move *m = move_alloc();
m->flags = 0;
if (!!(s->flags & SF_LAST_DIR) != !!(s->flags & SF_NEXT_DIR)) {
s->flags ^= SF_LAST_DIR;
m->flags |= MF_DIR;
}
m->interval = args[1]; m->interval = args[1];
m->count = args[2]; m->count = args[2];
if (!m->count) if (!m->count)
shutdown("Invalid count parameter"); shutdown("Invalid count parameter");
m->add = args[3]; m->add = args[3];
m->next = NULL; m->next = NULL;
m->flags = 0;
uint8_t flag = irq_save(); uint8_t flag = irq_save();
if (!!(s->flags & SF_LAST_DIR) != !!(s->flags & SF_NEXT_DIR)) {
s->flags ^= SF_LAST_DIR;
m->flags |= MF_DIR;
}
if (s->count) { if (s->count) {
if (s->first) if (s->first)
*s->plast = m; *s->plast = m;
@ -138,7 +139,10 @@ void
command_set_next_step_dir(uint32_t *args) command_set_next_step_dir(uint32_t *args)
{ {
struct stepper *s = lookup_oid(args[0], command_config_stepper); struct stepper *s = lookup_oid(args[0], command_config_stepper);
s->flags = (s->flags & ~SF_NEXT_DIR) | (args[1] ? SF_NEXT_DIR : 0); uint8_t nextdir = args[1] ? SF_NEXT_DIR : 0;
irq_disable();
s->flags = (s->flags & ~SF_NEXT_DIR) | nextdir;
irq_enable();
} }
DECL_COMMAND(command_set_next_step_dir, "set_next_step_dir oid=%c dir=%c"); DECL_COMMAND(command_set_next_step_dir, "set_next_step_dir oid=%c dir=%c");