Merge pull request #144 from midopple/experimental

Fix Comment, Optimize, remove Unused code, fix makefile

5 files changed, 55 insertions, 67 deletions

diff --git a/Sprinter/Makefile b/Sprinter/Makefile
index 4d6326a..6b873bb 100644
--- a/Sprinter/Makefile
+++ b/Sprinter/Makefile
@@ -55,7 +55,7 @@ $(ARDUINO)/wiring_analog.c $(ARDUINO)/wiring_digital.c \
 $(ARDUINO)/wiring_pulse.c \
 $(ARDUINO)/wiring_shift.c $(ARDUINO)/WInterrupts.c
 CXXSRC = $(ARDUINO)/HardwareSerial.cpp $(ARDUINO)/WMath.cpp $(ARDUINO)/WString.cpp\
-$(ARDUINO)/Print.cpp ./SdFile.cpp ./SdVolume.cpp ./Sd2Card.cpp ./heater.cpp ./arc_func.cpp
+$(ARDUINO)/Print.cpp ./SdFile.cpp ./SdVolume.cpp ./Sd2Card.cpp ./heater.cpp ./arc_func.cpp ./store_eeprom.cpp
 FORMAT = ihex
 
 
@@ -199,7 +199,7 @@ extcoff: $(TARGET).elf
 	$(NM) -n $< > $@
 
 # Link: create ELF output file from library.
-applet/$(TARGET).elf: applet/core.a applet/$(TARGET).cpp
+applet/$(TARGET).elf: applet/$(TARGET).cpp applet/core.a
 	$(CC) $(ALL_CFLAGS) -Wl,--gc-sections -o $@ applet/$(TARGET).cpp -L. applet/core.a $(LDFLAGS)
 
 applet/core.a: $(OBJ)
diff --git a/Sprinter/Sprinter.pde b/Sprinter/Sprinter.pde
index dfe12d1..8a663da 100644
--- a/Sprinter/Sprinter.pde
+++ b/Sprinter/Sprinter.pde
@@ -65,6 +65,19 @@
  - M501 - reads parameters from EEPROM (if you need reset them after you changed them temporarily).
  - M502 - reverts to the default "factory settings". You still need to store them in EEPROM afterwards if you want to.
  - M503 - Print settings
+ 
+ Version 1.3.07T
+ - Optimize Variable Size (faster Code)
+ - Remove unused Code from Interrupt --> faster ~ 22 us per step
+ - Replace abs with fabs --> Faster and smaler
+ - Add "store_eeprom.cpp" to makefile
+
+ Version 1.3.08T
+ - If a line starts with ';', it is ignored but comment_mode is reset.
+   A ';' inside a line ignores just the portion following the ';' character.
+   The beginning of the line is still interpreted.
+   
+ - Same fix for SD Card, testet and work
   
 
 */
@@ -165,7 +178,7 @@ void __cxa_pure_virtual(){};
 // M603 - Show Free Ram
 
 
-#define _VERSION_TEXT "1.3.06T / 17.02.2012"
+#define _VERSION_TEXT "1.3.08T / 24.02.2012"
 
 //Stepper Movement Variables
 char axis_codes[NUM_AXIS] = {'X', 'Y', 'Z', 'E'};
@@ -289,7 +302,7 @@ unsigned char manage_monitor = 255;
   bool sdmode = false;
   bool sdactive = false;
   bool savetosd = false;
-  int16_t read_char_n;
+  int16_t read_char_int;
   
   void initsd()
   {
@@ -812,10 +825,12 @@ void get_command()
     serial_char = Serial.read();
     if(serial_char == '\n' || serial_char == '\r' || serial_char == ':' || serial_count >= (MAX_CMD_SIZE - 1) ) 
     {
-      if(!serial_count) return; //if empty line
+      if(!serial_count) { //if empty line
+        comment_mode = false; // for new command
+        return;
+      }
       cmdbuffer[bufindw][serial_count] = 0; //terminate string
-      if(!comment_mode)
-      {
+
         fromsd[bufindw] = false;
         if(strstr(cmdbuffer[bufindw], "N") != NULL)
         {
@@ -894,12 +909,12 @@ void get_command()
             break;
           }
         }
-		//Removed modulo (%) operator, which uses an expensive divide and multiplication
+        //Removed modulo (%) operator, which uses an expensive divide and multiplication
         //bufindw = (bufindw + 1)%BUFSIZE;
         bufindw++;
         if(bufindw == BUFSIZE) bufindw = 0;
         buflen += 1;
-      }
+
       comment_mode = false; //for new command
       serial_count = 0; //clear buffer
     }
@@ -916,9 +931,10 @@ void get_command()
   }
   while( filesize > sdpos  && buflen < BUFSIZE)
   {
-    read_char_n = file.read();
-    serial_char = (char)read_char_n;
-    if(serial_char == '\n' || serial_char == '\r' || serial_char == ':' || serial_count >= (MAX_CMD_SIZE - 1) || read_char_n == -1) 
+    serial_char = file.read();
+    read_char_int = (int)serial_char;
+    
+    if(serial_char == '\n' || serial_char == '\r' || serial_char == ':' || serial_count >= (MAX_CMD_SIZE - 1) || read_char_int == -1) 
     {
         sdpos = file.curPosition();
         if(sdpos >= filesize)
@@ -926,18 +942,21 @@ void get_command()
             sdmode = false;
             showString(PSTR("Done printing file\r\n"));
         }
-        if(!serial_count) return; //if empty line
+       
+        if(!serial_count) { //if empty line
+          comment_mode = false; // for new command
+          return;
+        }
+        
         cmdbuffer[bufindw][serial_count] = 0; //terminate string
-        if(!comment_mode)
-        {
+
           fromsd[bufindw] = true;
           buflen += 1;
-		  //Removed modulo (%) operator, which uses an expensive divide and multiplication	
+          //Removed modulo (%) operator, which uses an expensive divide and multiplication	
           //bufindw = (bufindw + 1)%BUFSIZE;
           bufindw++;
           if(bufindw == BUFSIZE) bufindw = 0;
-          
-        }
+
         comment_mode = false; //for new command
         serial_count = 0; //clear buffer
     }
@@ -2298,16 +2317,16 @@ void plan_buffer_line(float x, float y, float z, float e, float feed_rate)
   // Limit speed per axis
   float speed_factor = 1.0; //factor <=1 do decrease speed
   for(int i=0; i < 4; i++) {
-    if(abs(current_speed[i]) > max_feedrate[i])
-      speed_factor = min(speed_factor, max_feedrate[i] / abs(current_speed[i]));
+    if(fabs(current_speed[i]) > max_feedrate[i])
+      speed_factor = min(speed_factor, max_feedrate[i] / fabs(current_speed[i]));
   }
 
   // Correct the speed  
   if( speed_factor < 1.0) {
 //    Serial.print("speed factor : "); Serial.println(speed_factor);
     for(int i=0; i < 4; i++) {
-    if(abs(current_speed[i]) > max_feedrate[i])
-      speed_factor = min(speed_factor, max_feedrate[i] / abs(current_speed[i]));
+    if(fabs(current_speed[i]) > max_feedrate[i])
+      speed_factor = min(speed_factor, max_feedrate[i] / fabs(current_speed[i]));
  /*     
       if(speed_factor < 0.1) {
         Serial.print("speed factor : "); Serial.println(speed_factor);
@@ -2384,7 +2403,7 @@ void plan_buffer_line(float x, float y, float z, float e, float feed_rate)
 #endif
   // Start with a safe speed
   float vmax_junction = max_xy_jerk/2;  
-  if(abs(current_speed[Z_AXIS]) > max_z_jerk/2) 
+  if(fabs(current_speed[Z_AXIS]) > max_z_jerk/2) 
     vmax_junction = max_z_jerk/2;
   vmax_junction = min(vmax_junction, block->nominal_speed);
 
@@ -2396,8 +2415,8 @@ void plan_buffer_line(float x, float y, float z, float e, float feed_rate)
     if (jerk > max_xy_jerk) {
       vmax_junction *= (max_xy_jerk/jerk);
     } 
-    if(abs(current_speed[Z_AXIS] - previous_speed[Z_AXIS]) > max_z_jerk) {
-      vmax_junction *= (max_z_jerk/abs(current_speed[Z_AXIS] - previous_speed[Z_AXIS]));
+    if(fabs(current_speed[Z_AXIS] - previous_speed[Z_AXIS]) > max_z_jerk) {
+      vmax_junction *= (max_z_jerk/fabs(current_speed[Z_AXIS] - previous_speed[Z_AXIS]));
     } 
   }
   block->max_entry_speed = vmax_junction;
@@ -2468,7 +2487,7 @@ void plan_set_position(float x, float y, float z, float e)
   position[Y_AXIS] = lround(y*axis_steps_per_unit[Y_AXIS]);
   position[Z_AXIS] = lround(z*axis_steps_per_unit[Z_AXIS]);     
   position[E_AXIS] = lround(e*axis_steps_per_unit[E_AXIS]);  
-  st_set_position(position[X_AXIS], position[Y_AXIS], position[Z_AXIS], position[E_AXIS]);
+
   previous_nominal_speed = 0.0; // Resets planner junction speeds. Assumes start from rest.
   previous_speed[0] = 0.0;
   previous_speed[1] = 0.0;
@@ -2612,17 +2631,17 @@ static long counter_x,       // Counter variables for the bresenham line tracer
             counter_z,       
             counter_e;
 static unsigned long step_events_completed; // The number of step events executed in the current block
-static long advance_rate, advance, final_advance = 0;
-static short old_advance = 0;
+#ifdef ADVANCE
+  static long advance_rate, advance, final_advance = 0;
+  static short old_advance = 0;
+#endif
 static short e_steps;
 static unsigned char busy = false; // TRUE when SIG_OUTPUT_COMPARE1A is being serviced. Used to avoid retriggering that handler.
 static long acceleration_time, deceleration_time;
-//static long accelerate_until, decelerate_after, acceleration_rate, initial_rate, final_rate, nominal_rate;
 static unsigned short acc_step_rate; // needed for deccelaration start point
 static char step_loops;
 static unsigned short OCR1A_nominal;
 
-volatile long endstops_trigsteps[3]={0,0,0};
 static volatile bool endstop_x_hit=false;
 static volatile bool endstop_y_hit=false;
 static volatile bool endstop_z_hit=false;
@@ -2636,8 +2655,6 @@ static bool old_z_max_endstop=false;
 
 static bool check_endstops = true;
 
-volatile long count_position[NUM_AXIS] = { 0, 0, 0, 0};
-volatile char count_direction[NUM_AXIS] = { 1, 1, 1, 1};
 
 
 //         __________________________
@@ -2760,13 +2777,11 @@ ISR(TIMER1_COMPA_vect)
     // Set direction en check limit switches
     if ((out_bits & (1<<X_AXIS)) != 0) {   // -direction
       WRITE(X_DIR_PIN, INVERT_X_DIR);
-      count_direction[X_AXIS]=-1;
       CHECK_ENDSTOPS
       {
         #if X_MIN_PIN > -1
           bool x_min_endstop=(READ(X_MIN_PIN) != X_ENDSTOP_INVERT);
           if(x_min_endstop && old_x_min_endstop && (current_block->steps_x > 0)) {
-            endstops_trigsteps[X_AXIS] = count_position[X_AXIS];
             endstop_x_hit=true;
             step_events_completed = current_block->step_event_count;
           }
@@ -2776,13 +2791,11 @@ ISR(TIMER1_COMPA_vect)
     }
     else { // +direction 
       WRITE(X_DIR_PIN,!INVERT_X_DIR);
-      count_direction[X_AXIS]=1;
       CHECK_ENDSTOPS 
       {
         #if X_MAX_PIN > -1
           bool x_max_endstop=(READ(X_MAX_PIN) != X_ENDSTOP_INVERT);
           if(x_max_endstop && old_x_max_endstop && (current_block->steps_x > 0)){
-            endstops_trigsteps[X_AXIS] = count_position[X_AXIS];
             endstop_x_hit=true;
             step_events_completed = current_block->step_event_count;
           }
@@ -2793,13 +2806,11 @@ ISR(TIMER1_COMPA_vect)
 
     if ((out_bits & (1<<Y_AXIS)) != 0) {   // -direction
       WRITE(Y_DIR_PIN,INVERT_Y_DIR);
-      count_direction[Y_AXIS]=-1;
       CHECK_ENDSTOPS
       {
         #if Y_MIN_PIN > -1
           bool y_min_endstop=(READ(Y_MIN_PIN) != Y_ENDSTOP_INVERT);
           if(y_min_endstop && old_y_min_endstop && (current_block->steps_y > 0)) {
-            endstops_trigsteps[Y_AXIS] = count_position[Y_AXIS];
             endstop_y_hit=true;
             step_events_completed = current_block->step_event_count;
           }
@@ -2808,14 +2819,12 @@ ISR(TIMER1_COMPA_vect)
       }
     }
     else { // +direction
-    WRITE(Y_DIR_PIN,!INVERT_Y_DIR);
-      count_direction[Y_AXIS]=1;
+      WRITE(Y_DIR_PIN,!INVERT_Y_DIR);
       CHECK_ENDSTOPS
       {
         #if Y_MAX_PIN > -1
           bool y_max_endstop=(READ(Y_MAX_PIN) != Y_ENDSTOP_INVERT);
           if(y_max_endstop && old_y_max_endstop && (current_block->steps_y > 0)){
-            endstops_trigsteps[Y_AXIS] = count_position[Y_AXIS];
             endstop_y_hit=true;
             step_events_completed = current_block->step_event_count;
           }
@@ -2826,13 +2835,11 @@ ISR(TIMER1_COMPA_vect)
 
     if ((out_bits & (1<<Z_AXIS)) != 0) {   // -direction
       WRITE(Z_DIR_PIN,INVERT_Z_DIR);
-      count_direction[Z_AXIS]=-1;
       CHECK_ENDSTOPS
       {
         #if Z_MIN_PIN > -1
           bool z_min_endstop=(READ(Z_MIN_PIN) != Z_ENDSTOP_INVERT);
           if(z_min_endstop && old_z_min_endstop && (current_block->steps_z > 0)) {
-            endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
             endstop_z_hit=true;
             step_events_completed = current_block->step_event_count;
           }
@@ -2842,13 +2849,11 @@ ISR(TIMER1_COMPA_vect)
     }
     else { // +direction
       WRITE(Z_DIR_PIN,!INVERT_Z_DIR);
-      count_direction[Z_AXIS]=1;
       CHECK_ENDSTOPS
       {
         #if Z_MAX_PIN > -1
           bool z_max_endstop=(READ(Z_MAX_PIN) != Z_ENDSTOP_INVERT);
           if(z_max_endstop && old_z_max_endstop && (current_block->steps_z > 0)) {
-            endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
             endstop_z_hit=true;
             step_events_completed = current_block->step_event_count;
           }
@@ -2860,18 +2865,15 @@ ISR(TIMER1_COMPA_vect)
     #ifndef ADVANCE
       if ((out_bits & (1<<E_AXIS)) != 0) {  // -direction
         WRITE(E_DIR_PIN,INVERT_E_DIR);
-        count_direction[E_AXIS]=-1;
       }
       else { // +direction
         WRITE(E_DIR_PIN,!INVERT_E_DIR);
-        count_direction[E_AXIS]=-1;
       }
     #endif //!ADVANCE
     
 
     
     for(int8_t i=0; i < step_loops; i++) { // Take multiple steps per interrupt (For high speed moves) 
-      //MSerial.checkRx(); // Check for serial chars. 
       
       #ifdef ADVANCE
       counter_e += current_block->steps_e;
@@ -2891,7 +2893,6 @@ ISR(TIMER1_COMPA_vect)
         WRITE(X_STEP_PIN, HIGH);
         counter_x -= current_block->step_event_count;
         WRITE(X_STEP_PIN, LOW);
-        count_position[X_AXIS]+=count_direction[X_AXIS];   
       }
 
       counter_y += current_block->steps_y;
@@ -2899,7 +2900,6 @@ ISR(TIMER1_COMPA_vect)
         WRITE(Y_STEP_PIN, HIGH);
         counter_y -= current_block->step_event_count;
         WRITE(Y_STEP_PIN, LOW);
-        count_position[Y_AXIS]+=count_direction[Y_AXIS];
       }
 
       counter_z += current_block->steps_z;
@@ -2907,7 +2907,6 @@ ISR(TIMER1_COMPA_vect)
         WRITE(Z_STEP_PIN, HIGH);
         counter_z -= current_block->step_event_count;
         WRITE(Z_STEP_PIN, LOW);
-        count_position[Z_AXIS]+=count_direction[Z_AXIS];
       }
 
       #ifndef ADVANCE
@@ -2915,8 +2914,7 @@ ISR(TIMER1_COMPA_vect)
         if (counter_e > 0) {
           WRITE(E_STEP_PIN, HIGH);
           counter_e -= current_block->step_event_count;
-           WRITE(E_STEP_PIN, LOW);
-          count_position[E_AXIS]+=count_direction[E_AXIS];
+          WRITE(E_STEP_PIN, LOW);
         }
       #endif //!ADVANCE
       step_events_completed += 1;  
@@ -3063,16 +3061,6 @@ void st_synchronize()
   }   
 }
 
-void st_set_position(const long &x, const long &y, const long &z, const long &e)
-{
-  CRITICAL_SECTION_START;
-  count_position[X_AXIS] = x;
-  count_position[Y_AXIS] = y;
-  count_position[Z_AXIS] = z;
-  count_position[E_AXIS] = e;
-  CRITICAL_SECTION_END;
-}
-
 
 #ifdef DEBUG
 void log_message(char*   message) {
diff --git a/Sprinter/heater.cpp b/Sprinter/heater.cpp
index 65f52e4..9d494b2 100644
--- a/Sprinter/heater.cpp
+++ b/Sprinter/heater.cpp
@@ -48,7 +48,7 @@ int current_bed_raw = 0;
 unsigned long previous_millis_heater, previous_millis_bed_heater, previous_millis_monitor;
 
 #ifdef PIDTEMP
-  int g_heater_pwm_val = 0;
+  volatile unsigned char g_heater_pwm_val = 0;
  
   unsigned char PWM_off_time = 0;
   unsigned char PWM_out_on = 0;
@@ -402,7 +402,7 @@ int read_max6675()
       heater_duty = constrain(heater_duty, 0, HEATER_CURRENT);
 
       #ifdef PID_SOFT_PWM
-        g_heater_pwm_val = heater_duty;
+        g_heater_pwm_val = (unsigned char)heater_duty;
       #else
         analogWrite(HEATER_0_PIN, heater_duty);
     
diff --git a/Sprinter/heater.h b/Sprinter/heater.h
index 5470a4f..a1d2917 100644
--- a/Sprinter/heater.h
+++ b/Sprinter/heater.h
@@ -75,7 +75,7 @@ extern unsigned long previous_millis_heater, previous_millis_bed_heater;
 extern unsigned char manage_monitor;
 
 #ifdef PIDTEMP
-  extern int g_heater_pwm_val;
+  extern volatile unsigned char g_heater_pwm_val;
  
   extern unsigned char PWM_off_time;
   extern unsigned char PWM_out_on;
diff --git a/Sprinter/thermistortables.h b/Sprinter/thermistortables.h
index ef1e78b..eccfe88 100644
--- a/Sprinter/thermistortables.h
+++ b/Sprinter/thermistortables.h
@@ -176,7 +176,7 @@ const short temptable_3[NUMTEMPS_3][2] = {
 #if (THERMISTORHEATER == 4) || (THERMISTORBED == 4) //10k thermistor
 
 #define NUMTEMPS_4 20
-short temptable_4[NUMTEMPS_4][2] = {
+const short temptable_4[NUMTEMPS_4][2] = {
    {1, 430},
    {54, 137},
    {107, 107},