ManuelW/grbl-LPC-CoreXY
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general clean up after refactoring

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This commit is contained in:
Simen Svale Skogsrud
2010-03-03 13:04:51 +01:00
parent 49ca861dc0
commit 7e152851cc
8 changed files with 18 additions and 180 deletions
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33
motion_control.c
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@ -40,27 +40,20 @@
#define ONE_MINUTE_OF_MICROSECONDS 60000000.0
volatile int8_t mode; // The current operation mode
int32_t position[3]; // The current position of the tool in absolute steps
uint8_t direction_bits; // The direction bits to be used with any upcoming step-instruction
void set_stepper_directions(int8_t *direction);
inline void step_steppers(uint8_t bits);
inline void step_axis(uint8_t axis);
void prepare_linear_motion(uint32_t x, uint32_t y, uint32_t z, float feed_rate, int invert_feed_rate);
void mc_init()
{
mode = MC_MODE_AT_REST;
clear_vector(position);
}
void mc_dwell(uint32_t milliseconds)
{
mode = MC_MODE_DWELL;
st_synchronize();
_delay_ms(milliseconds);
mode = MC_MODE_AT_REST;
st_buffer_line(0, 0, 0, milliseconds*1000);
}
// Execute linear motion in absolute millimeter coordinates. Feed rate given in millimeters/second
@ -128,30 +121,6 @@ void mc_arc(double theta, double angular_travel, double radius, double linear_tr
void mc_go_home()
{
mode = MC_MODE_HOME;
st_go_home();
st_synchronize();
clear_vector(position); // By definition this is location [0, 0, 0]
mode = MC_MODE_AT_REST;
}
int mc_status()
{
return(mode);
}
// Set the direction bits for the stepper motors according to the provided vector.
// direction is an array of three 8 bit integers representing the direction of
// each motor. The values should be negative (reverse), 0 or positive (forward).
void set_stepper_directions(int8_t *direction)
{
/* Sorry about this convoluted code! It uses the fact that bit 7 of each direction
int is set when the direction == -1, but is 0 when direction is forward. This
way we can generate the whole direction bit-mask without doing any comparisions
or branching. Fast and compact, yet practically unreadable. Sorry sorry sorry.
*/
direction_bits = (
((direction[X_AXIS]&0x80)>>(7-X_DIRECTION_BIT)) |
((direction[Y_AXIS]&0x80)>>(7-Y_DIRECTION_BIT)) |
((direction[Z_AXIS]&0x80)>>(7-Z_DIRECTION_BIT)));
}