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Reduce memory use

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* Command definition now uses char * instead of String
 * registered_commands is now an array of pointers to Commands,
   previously this was an array of Command and was allocated to
   MAX_COMMANDS entries which were then overwritten with the module
   provided Commands, so every Command used twice as much memory. This
   saves ~200bytes
 * Several (u)ints are now (u)int8_t

On the nano with all modules included this reduces global RAM use from
1676 bytes to 1237 bytes (from 81.8% to 60.4%).
This commit is contained in:
Filip Ayazi 2021-07-11 05:21:38 +01:00
parent 2dab1008dc
commit 1c8e725282
4 changed files with 36 additions and 30 deletions
Download patch file Download diff file Expand all files Collapse all files

6
src/modules/endstops/endstops.cpp
View file

@ -11,12 +11,12 @@
unsigned long retreat_steps = 5000;
unsigned long home_move_steps = 100000;
unsigned long axis_max[STAGE_N_MOTORS];
const int axis_max_eeprom = sizeof(long)*(STAGE_N_MOTORS+2);
const uint8_t axis_max_eeprom = sizeof(long)*(STAGE_N_MOTORS+2);
#ifdef ENDSTOPS_MIN
const int endstops_min_pins[] = WIRING_ENDSTOPS_MIN;
const uint8_t endstops_min_pins[] = WIRING_ENDSTOPS_MIN;
#endif
#ifdef ENDSTOPS_MAX
const int endstops_max_pins[] = WIRING_ENDSTOPS_MAX;
const uint8_t endstops_max_pins[] = WIRING_ENDSTOPS_MAX;
#endif
bool endstops_enabled = true;

38
src/modules/stage/stage.cpp
View file

@ -10,13 +10,13 @@
#include "main.h"
// The array below has 3 stepper objects, for X,Y,Z respectively
const int n_motors = 3;
const uint8_t n_motors = 3;
long min_step_delay;
const int min_step_delay_eeprom = sizeof(long) * n_motors;
const uint8_t min_step_delay_eeprom = sizeof(long) * n_motors;
long ramp_time;
const int ramp_time_eeprom = sizeof(long) * (n_motors + 1);
const int axis_max_eeprom = sizeof(long) * (n_motors + 2);
const int non_blocking_moves_eeprom = sizeof(long) * (n_motors + 3);
const uint8_t ramp_time_eeprom = sizeof(long) * (n_motors + 1);
const uint8_t axis_max_eeprom = sizeof(long) * (n_motors + 2);
const uint8_t non_blocking_moves_eeprom = sizeof(long) * (n_motors + 3);
Stepper *motors[n_motors];
signed long current_pos[n_motors];
long steps_remaining[n_motors];
@ -93,7 +93,7 @@ void start_move(long displ[n_motors])
{
// move all the axes in a nice move
// split displacements into magnitude and direction, and find max. travel
unsigned long max_steps = 0;
long max_steps = 0;
EACH_MOTOR
{
move_directions[i] = displ[i] > 0 ? 1 : -1;
@ -103,14 +103,16 @@ void start_move(long displ[n_motors])
}
// scale the step delays so the move goes in a straight line, with >=1 motor
// running at max. speed.
EACH_MOTOR {if (displacement[i] > 0)
EACH_MOTOR
{
step_delay[i] = float(max_steps) / float(displacement[i]) * float(min_step_delay);
}
else
{
step_delay[i] = 9999999999;
}
if (displacement[i] > 0)
{
step_delay[i] = float(max_steps) / float(displacement[i]) * float(min_step_delay);
}
else
{
step_delay[i] = 9999999999;
}
}
EACH_MOTOR distance_moved[i] = 0;
move_start_time = micros();
@ -165,7 +167,7 @@ void stage_loop()
stage_moving = false;
EACH_MOTOR
{
if ((long) distance_moved[i] < displacement[i])
if ((long)distance_moved[i] < displacement[i])
{
stage_moving = true; //only if all axes are done are we truly finished.
@ -186,7 +188,7 @@ void stage_loop()
void stage_move_single_axis(uint8_t axis, String command)
{
char * args[1];
char *args[1];
parse_arguments(args, command, 1);
int move = atoi(args[0]);
EACH_MOTOR displacement[i] = 0;
@ -211,7 +213,7 @@ void stage_mrz(String command)
void stage_mr(String command)
{
char * args[3];
char *args[3];
parse_arguments(args, command, 3);
EACH_MOTOR
{
@ -238,7 +240,7 @@ void stage_p(String command)
void stage_min_step_delay(String command)
{
char * args[1];
char *args[1];
parse_arguments(args, command, 1);
if (args[0][0] == '?')
{
@ -256,7 +258,7 @@ void stage_min_step_delay(String command)
void stage_ramp_time(String command)
{
char * args[1];
char *args[1];
parse_arguments(args, command, 1);
if (args[0][0] == '?')
{