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made most internal function static to allow gcc to inline them

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This commit is contained in:
Simen Svale Skogsrud
2011-02-19 23:03:10 +01:00
parent d21a791eae
commit 9c8c259153
4 changed files with 23 additions and 24 deletions
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10
stepper.c
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@@ -80,7 +80,7 @@ static uint32_t trapezoid_adjusted_rate; // The current rate of step_events
// The slope of acceleration is always +/- block->rate_delta and is applied at a constant rate by trapezoid_generator_tick()
// that is called ACCELERATION_TICKS_PER_SECOND times per second.
void set_step_events_per_minute(uint32_t steps_per_minute);
static void set_step_events_per_minute(uint32_t steps_per_minute);
void st_wake_up() {
ENABLE_STEPPER_DRIVER_INTERRUPT();
@@ -88,7 +88,7 @@ void st_wake_up() {
// Initializes the trapezoid generator from the current block. Called whenever a new
// block begins.
void trapezoid_generator_reset() {
static void trapezoid_generator_reset() {
trapezoid_adjusted_rate = current_block->initial_rate;
trapezoid_tick_cycle_counter = 0; // Always start a new trapezoid with a full acceleration tick
set_step_events_per_minute(trapezoid_adjusted_rate);
@@ -97,7 +97,7 @@ void trapezoid_generator_reset() {
// This is called ACCELERATION_TICKS_PER_SECOND times per second by the step_event
// interrupt. It can be assumed that the trapezoid-generator-parameters and the
// current_block stays untouched by outside handlers for the duration of this function call.
void trapezoid_generator_tick() {
static void trapezoid_generator_tick() {
if (current_block) {
if (step_events_completed < current_block->accelerate_until) {
trapezoid_adjusted_rate += current_block->rate_delta;
@@ -248,7 +248,7 @@ void st_synchronize()
// Configures the prescaler and ceiling of timer 1 to produce the given rate as accurately as possible.
// Returns the actual number of cycles per interrupt
uint32_t config_step_timer(uint32_t cycles)
static uint32_t config_step_timer(uint32_t cycles)
{
uint16_t ceiling;
uint16_t prescaler;
@@ -286,7 +286,7 @@ uint32_t config_step_timer(uint32_t cycles)
return(actual_cycles);
}
void set_step_events_per_minute(uint32_t steps_per_minute) {
static void set_step_events_per_minute(uint32_t steps_per_minute) {
if (steps_per_minute < MINIMUM_STEPS_PER_MINUTE) { steps_per_minute = MINIMUM_STEPS_PER_MINUTE; }
cycles_per_step_event = config_step_timer((TICKS_PER_MICROSECOND*1000000*60)/steps_per_minute);
}