dda: move dda->n out into a new state variable

This required to also introduce dda_init() and re-adjust the
number of accelerating steps a bit.

Goal of this is to make look-ahead possible by just reducing
the number of deceleration steps and acceleration steps of
the next move. dda->c and dda->n no longer go down to their
initial values, then.

Also, quite a number of variables in the dda struct are used only when
the dda is live, so there is no need to store that for each
movement of the queue.

Author: Traumflug

dda.c

@@ -12,6 +12,7 @@
 #include	"timer.h"
 #include	"serial.h"
 #include	"sermsg.h"
+#include	"gcode_parse.h"
 #include	"dda_queue.h"
 #include	"debug.h"
 #include	"sersendf.h"
@@ -39,6 +40,10 @@ TARGET startpoint __attribute__ ((__section__ (".bss")));
 /// \todo make current_position = real_position (from endstops) + offset from G28 and friends
 TARGET current_position __attribute__ ((__section__ (".bss")));
 
+/// \var move_state
+/// \brief numbers for tracking the current state of movement
+MOVE_STATE move_state __attribute__ ((__section__ (".bss")));
+
 /*
 	utility functions
 */
@@ -160,6 +165,17 @@ const uint8_t	msbloc (uint32_t v) {
 	return 0;
 }
 
+/*! Inititalise DDA movement structures
+*/
+void dda_init(void) {
+	// set up default feedrate
+	current_position.F = startpoint.F = next_target.target.F = SEARCH_FEEDRATE_Z;
+
+	#ifdef ACCELERATION_RAMPING
+		move_state.n = 1;
+	#endif
+}
+
 /*! CREATE a dda given current_position and a target, save to passed location so we can write directly into the queue
 	\param *dda pointer to a dda_queue entry to overwrite
 	\param *target the target position of this move
@@ -350,10 +366,6 @@ void dda_create(DDA *dda, TARGET *target) {
 			if (dda->rampup_steps > dda->total_steps / 2)
 				dda->rampup_steps = dda->total_steps / 2;
 			dda->rampdown_steps = dda->total_steps - dda->rampup_steps;
-			if (dda->rampup_steps == 0)
-				dda->rampup_steps = 1;
-			dda->n = 1; // TODO: this ends exactly where the next move starts,
-			            // so it should go out of dda->... into some state variable
 		#else
 			dda->c = (move_duration / target->F) << 8;
 			if (dda->c < c_limit)
@@ -524,31 +536,31 @@ void dda_step(DDA *dda) {
 
 		// debug ramping algorithm
 		//if (dda->step_no == 0) {
-		//	sersendf_P(PSTR("\r\nc %lu  c_min %lu  n %ld"), dda->c, dda->c_min, dda->n);
+		//	sersendf_P(PSTR("\r\nc %lu  c_min %lu  n %ld"), dda->c, dda->c_min, move_state.n);
 		//}
 
 		recalc_speed = 0;
-		if (dda->step_no <= dda->rampup_steps) {
-			if (dda->n < 0) // wrong ramp direction
-				dda->n = -((int32_t)2) - dda->n;
+		if (dda->step_no < dda->rampup_steps) {
+			if (move_state.n < 0) // wrong ramp direction
+				move_state.n = -((int32_t)2) - move_state.n;
 			recalc_speed = 1;
 		}
-		else if (dda->step_no >= dda->rampdown_steps) {
-			if (dda->n > 0) // wrong ramp direction
-				dda->n = -((int32_t)2) - dda->n;
+		else if (dda->step_no > dda->rampdown_steps) {
+			if (move_state.n > 0) // wrong ramp direction
+				move_state.n = -((int32_t)2) - move_state.n;
 			recalc_speed = 1;
 		}
 		if (recalc_speed) {
-			dda->n += 4;
+			move_state.n += 4;
 			// be careful of signedness!
-			dda->c = (int32_t)dda->c - ((int32_t)(dda->c * 2) / dda->n);
+			dda->c = (int32_t)dda->c - ((int32_t)(dda->c * 2) / move_state.n);
 		}
 		dda->step_no++;
 
 		// debug ramping algorithm
 		// for very low speeds like 10 mm/min, only
 		//if (dda->step_no % 10 /* 10, 100, ...*/ == 0)
-		//	sersendf_P(PSTR("\r\nc %lu  c_min %lu  n %ld"), dda->c, dda->c_min, dda->n);
+		//	sersendf_P(PSTR("\r\nc %lu  c_min %lu  n %ld"), dda->c, dda->c_min, move_state.n);
 	#endif
 
 	// TODO: did_step is obsolete ...

dda.h

@@ -34,6 +34,35 @@ typedef struct {
 	uint32_t					F;
 } TARGET;
 
+/**
+	\struct MOVE_STATE
+	\brief this struct is made for tracking the current state of the movement
+
+	Parts of this struct are initialised only once per reboot, so make sure dda_step() leaves them with a value compatible to begin a new movement at the end of the movement. Other parts are filled in by dda_start().
+*/
+typedef struct {
+//	// bresenham counters
+//	int32_t						x_counter; ///< counter for total_steps vs this axis
+//	int32_t						y_counter; ///< counter for total_steps vs this axis
+//	int32_t						z_counter; ///< counter for total_steps vs this axis
+//	int32_t						e_counter; ///< counter for total_steps vs this axis
+
+//	// step counters
+//	uint32_t					x_steps; ///< number of steps on X axis
+//	uint32_t					y_steps; ///< number of steps on Y axis
+//	uint32_t					z_steps; ///< number of steps on Z axis
+//	uint32_t					e_steps; ///< number of steps on E axis
+
+	#ifdef ACCELERATION_RAMPING
+//	/// time until next step
+//	uint32_t					c;
+//	/// counts actual steps done
+//	uint32_t					step_no;
+	/// tracking variable
+	int32_t						n;
+	#endif
+} MOVE_STATE;
+
 /**
 	\struct DDA
 	\brief this is a digital differential analyser data struct
@@ -102,8 +131,6 @@ typedef struct {
 	uint32_t					step_no;
 	/// 24.8 fixed point timer value, maximum speed
 	uint32_t					c_min;
-	/// tracking variable
-	int32_t						n;
 	#endif
 } DDA;
 
@@ -131,6 +158,9 @@ uint32_t approx_distance_3( uint32_t dx, uint32_t dy, uint32_t dz )	__attribute_
 // const because return value is always the same given the same v
 const uint8_t	msbloc (uint32_t v)																		__attribute__ ((const));
 
+// initialize dda structures
+void dda_init(void);
+
 // create a DDA
 void dda_create(DDA *dda, TARGET *target);
 

mendel.c

@@ -225,8 +225,8 @@ void init(void) {
 	// read PID settings from EEPROM
 	heater_init();
 
-	// set up default feedrate
-	current_position.F = startpoint.F = next_target.target.F = SEARCH_FEEDRATE_Z;
+	// set up dda
+	dda_init();
 
 	// start up analog read interrupt loop,
 	// if any of the temp sensors in your config.h use analog interface