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stepper: Minor code reorg - remove unneeded HAVE_OPTIMIZED_PATH definition

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Make it more clear that stepper_load_next() has three separate code
paths - one for each of the optimized stepper_event_X() functions.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2025-05-09 12:38:25 -04:00
parent fd55dd9e9d
commit b5aea5b774
1 changed files with 7 additions and 8 deletions
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15
src/stepper.c
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@ -17,15 +17,12 @@
DECL_CONSTANT("STEPPER_STEP_BOTH_EDGE", 1);
#if CONFIG_INLINE_STEPPER_HACK && CONFIG_WANT_STEPPER_OPTIMIZED_BOTH_EDGE
#define HAVE_OPTIMIZED_PATH 1
#define HAVE_EDGE_OPTIMIZATION 1
#define HAVE_AVR_OPTIMIZATION 0
#elif CONFIG_INLINE_STEPPER_HACK && CONFIG_MACH_AVR
#define HAVE_OPTIMIZED_PATH 1
#define HAVE_EDGE_OPTIMIZATION 0
#define HAVE_AVR_OPTIMIZATION 1
#else
#define HAVE_OPTIMIZED_PATH 0
#define HAVE_EDGE_OPTIMIZATION 0
#define HAVE_AVR_OPTIMIZATION 0
#endif
@ -86,13 +83,15 @@ stepper_load_next(struct stepper *s)
// Load next move into 'struct stepper'
s->add = move_add;
s->interval = move_interval + move_add;
if (HAVE_OPTIMIZED_PATH && s->flags & SF_OPTIMIZED_PATH) {
// Using optimized stepper_event_edge() or stepper_event_avr()
if (HAVE_EDGE_OPTIMIZATION && s->flags & SF_OPTIMIZED_PATH) {
// Using optimized stepper_event_edge()
s->time.waketime += move_interval;
if (HAVE_AVR_OPTIMIZATION)
s->flags = (move_add ? s->flags | SF_HAVE_ADD
: s->flags & ~SF_HAVE_ADD);
s->count = move_count;
} else if (HAVE_AVR_OPTIMIZATION && s->flags & SF_OPTIMIZED_PATH) {
// Using optimized stepper_event_avr()
s->time.waketime += move_interval;
s->count = move_count;
s->flags = (move_add ? s->flags|SF_HAVE_ADD : s->flags & ~SF_HAVE_ADD);
} else {
// Using fully scheduled stepper_event_full() code (the scheduler
// may be called twice for each step)