ManuelW/grbl-LPC-CoreXY
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Minor changes.

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- Changed some names up and removed a plan_reset() function that is
never used.
This commit is contained in:
Sonny Jeon
2013-01-06 12:04:02 -07:00
parent 5e7c25d480
commit 53286744d5
4 changed files with 10 additions and 18 deletions
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12
stepper.c
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@ -182,7 +182,7 @@ ISR(TIMER2_COMPA_vect)
// Initialize Ranade variables
st.d_counter = current_block->d_next;
st.delta_d = current_block->initial_rate;
st.ramp_count = INTERRUPTS_PER_ACCELERATION_TICK/2;
st.ramp_count = ISR_TICKS_PER_ACCELERATION_TICK/2;
// Initialize ramp type.
if (st.step_events_remaining == current_block->decelerate_after) { st.ramp_type = DECEL_RAMP; }
@ -203,7 +203,7 @@ ISR(TIMER2_COMPA_vect)
// Tick acceleration ramp counter
st.ramp_count--;
if (st.ramp_count == 0) {
st.ramp_count = INTERRUPTS_PER_ACCELERATION_TICK; // Reload ramp counter
st.ramp_count = ISR_TICKS_PER_ACCELERATION_TICK; // Reload ramp counter
if (st.ramp_type == ACCEL_RAMP) { // Adjust velocity for acceleration
st.delta_d += current_block->rate_delta;
if (st.delta_d >= current_block->nominal_rate) { // Reached cruise state.
@ -232,7 +232,7 @@ ISR(TIMER2_COMPA_vect)
if (sys.state == STATE_HOLD) {
if (st.ramp_type != DECEL_RAMP) {
st.ramp_type = DECEL_RAMP;
st.ramp_count = INTERRUPTS_PER_ACCELERATION_TICK/2;
st.ramp_count = ISR_TICKS_PER_ACCELERATION_TICK/2;
}
if (st.delta_d <= current_block->rate_delta) {
st_go_idle();
@ -279,9 +279,9 @@ ISR(TIMER2_COMPA_vect)
st.ramp_type = DECEL_RAMP;
if (st.step_events_remaining == current_block->decelerate_after) {
if (st.delta_d == current_block->nominal_rate) {
st.ramp_count = INTERRUPTS_PER_ACCELERATION_TICK/2; // Set ramp counter for trapezoid
st.ramp_count = ISR_TICKS_PER_ACCELERATION_TICK/2; // Set ramp counter for trapezoid
} else {
st.ramp_count = INTERRUPTS_PER_ACCELERATION_TICK-st.ramp_count; // Set ramp counter for triangle
st.ramp_count = ISR_TICKS_PER_ACCELERATION_TICK-st.ramp_count; // Set ramp counter for triangle
}
}
}
@ -373,7 +373,7 @@ void st_cycle_reinitialize()
// Replan buffer from the feed hold stop location.
plan_cycle_reinitialize(st.step_events_remaining);
st.ramp_type = ACCEL_RAMP;
st.ramp_count = INTERRUPTS_PER_ACCELERATION_TICK/2;
st.ramp_count = ISR_TICKS_PER_ACCELERATION_TICK/2;
st.delta_d = 0;
sys.state = STATE_QUEUED;
} else {