From 4869e7b1ccc0e3e69cedbe7008f7ec067571dfb4 Mon Sep 17 00:00:00 2001
From: Simen Svale Skogsrud <simen@bengler.no>
Date: Mon, 24 Jan 2011 23:18:07 +0100
Subject: [PATCH] reallocated debug pin to time replanning

---
 stepper.c      | 6 +-----
 stepper_plan.c | 2 ++
 2 files changed, 3 insertions(+), 5 deletions(-)

diff --git a/stepper.c b/stepper.c
index 06383c8..71b9453 100644
--- a/stepper.c
+++ b/stepper.c
@@ -84,7 +84,6 @@ inline void trapezoid_generator_reset() {
 // 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.
 inline void trapezoid_generator_tick() {     
-  PORTD ^= (1<<2); 
   if (current_block) {
     if (step_event_count < current_block->accelerate_until) {
       trapezoid_rate += current_block->rate_delta;
@@ -98,18 +97,15 @@ inline void trapezoid_generator_tick() {
       set_step_events_per_minute(trapezoid_rate);
     }
   }
-  PORTD ^= (1<<2);
 }
 
 // Add a new linear movement to the buffer. steps_x, _y and _z is the signed, relative motion in 
 // steps. Microseconds specify how many microseconds the move should take to perform. To aid acceleration
 // calculation the caller must also provide the physical length of the line in millimeters.
 void st_buffer_line(int32_t steps_x, int32_t steps_y, int32_t steps_z, uint32_t microseconds, double millimeters) {
-  PORTD ^= (1<<2);
   plan_buffer_line(steps_x, steps_y, steps_z, microseconds, millimeters);
   // Ensure that block processing is running by enabling The Stepper Driver Interrupt
   ENABLE_STEPPER_DRIVER_INTERRUPT();
-  PORTD ^= (1<<2);
 }
 
 // "The Stepper Driver Interrupt" - This timer interrupt is the workhorse of Grbl. It is  executed at the rate set with
@@ -239,7 +235,7 @@ void st_init()
   STEPPERS_ENABLE_PORT |= 1<<STEPPERS_ENABLE_BIT;
   
   DDRD |= (1<<2);
-  PORTD |= (1<<2);
+  PORTD &= ~(1<<2);
    
   sei();
 }
diff --git a/stepper_plan.c b/stepper_plan.c
index dc72d71..ae7f6cd 100644
--- a/stepper_plan.c
+++ b/stepper_plan.c
@@ -235,9 +235,11 @@ void planner_recalculate_trapezoids() {
 // 3. Recalculate trapezoids for all blocks.
 
 void planner_recalculate() {     
+  PORTD ^= (1<<2);
   planner_reverse_pass();
   planner_forward_pass();
   planner_recalculate_trapezoids();
+  PORTD ^= (1<<2);
 }