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Motion: make Motion::Step finally inline

pull/120/head
Yuri D'Elia 2021-09-07 11:54:54 +02:00 committed by DRracer
parent b7fcfa5cb5
commit ad096c9d14
2 changed files with 36 additions and 33 deletions
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33
src/modules/motion.cpp
View File

@ -75,39 +75,6 @@ void Motion::AbortPlannedMoves(bool halt) {
AbortPlannedMoves((Axis)i, halt);
}
st_timer_t Motion::Step() {
st_timer_t timers[NUM_AXIS];
// step and calculate interval for each new move
for (uint8_t i = 0; i != NUM_AXIS; ++i) {
timers[i] = axisData[i].residual;
if (timers[i] <= config::stepTimerQuantum) {
if (timers[i] || !axisData[i].ctrl.QueueEmpty()) {
if (st_timer_t next = axisData[i].ctrl.Step(axisParams[i].params)) {
timers[i] += next;
// axis has been moved, run the tmc2130 Isr for this axis
axisData[i].drv.Isr(axisParams[i].params);
}
}
}
}
// plan next closest interval
st_timer_t next = timers[0];
for (uint8_t i = 1; i != NUM_AXIS; ++i) {
if (timers[i] && (!next || timers[i] < next))
next = timers[i];
}
// update residuals
for (uint8_t i = 0; i != NUM_AXIS; ++i) {
axisData[i].residual = (timers[i] ? timers[i] - next : 0);
}
return next;
}
static inline void Isr() {
#ifdef __AVR__
st_timer_t next = motion.Step();

36
src/modules/motion.h
View File

@ -232,7 +232,43 @@ public:
/// State machine doing all the planning and stepping. Called by the stepping ISR.
/// @returns the interval for the next tick
#if !defined(UNITTEST) || defined(UNITTEST_MOTION)
inline st_timer_t Step() {
st_timer_t timers[NUM_AXIS];
// step and calculate interval for each new move
for (uint8_t i = 0; i != NUM_AXIS; ++i) {
timers[i] = axisData[i].residual;
if (timers[i] <= config::stepTimerQuantum) {
if (timers[i] || !axisData[i].ctrl.QueueEmpty()) {
if (st_timer_t next = axisData[i].ctrl.Step(axisParams[i].params)) {
timers[i] += next;
// axis has been moved, run the tmc2130 Isr for this axis
axisData[i].drv.Isr(axisParams[i].params);
}
}
}
}
// plan next closest interval
st_timer_t next = timers[0];
for (uint8_t i = 1; i != NUM_AXIS; ++i) {
if (timers[i] && (!next || timers[i] < next))
next = timers[i];
}
// update residuals
for (uint8_t i = 0; i != NUM_AXIS; ++i) {
axisData[i].residual = (timers[i] ? timers[i] - next : 0);
}
return next;
}
#else
// Force STUB for testing
st_timer_t Step();
#endif
/// @returns true if all planned moves have been finished for all axes
bool QueueEmpty() const;