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commented out some planner debugging, minor syntactic adjustment in stepper

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This commit is contained in:
Rob Giseburt
2016-09-28 11:07:48 -05:00
parent 04c30ba21b
commit 4c94bc7fe3
2 changed files with 18 additions and 15 deletions
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16
g2core/planner.cpp
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@@ -172,14 +172,14 @@ stat_t planner_test_assertions()
(BAD_MAGIC(mr.magic_start)) || (BAD_MAGIC(mr.magic_end))) {
return(cm_panic(STAT_PLANNER_ASSERTION_FAILURE, "planner_test_assertions()"));
}
for (uint8_t i=0; i < PLANNER_BUFFER_POOL_SIZE; i++) {
if (mb.bf[i].nx == nullptr) {
_debug_trap("buffer has nullptr for nx");
}
if (mb.bf[i].pv == nullptr) {
_debug_trap("buffer has nullptr for pv");
}
}
// for (uint8_t i=0; i < PLANNER_BUFFER_POOL_SIZE; i++) {
// if (mb.bf[i].nx == nullptr) {
// _debug_trap("buffer has nullptr for nx");
// }
// if (mb.bf[i].pv == nullptr) {
// _debug_trap("buffer has nullptr for pv");
// }
// }
return (STAT_OK);
}

17
g2core/stepper.cpp
View File

@@ -279,39 +279,39 @@ void dda_timer_type::interrupt()
// process DDAs for each motor
if ((st_run.mot[MOTOR_1].substep_accumulator += st_run.mot[MOTOR_1].substep_increment) > 0) {
motor_1.stepStart(); // turn step bit on
motor_1.stepStart(); // turn step bit on
st_run.mot[MOTOR_1].substep_accumulator -= st_run.dda_ticks_X_substeps;
INCREMENT_ENCODER(MOTOR_1);
}
if ((st_run.mot[MOTOR_2].substep_accumulator += st_run.mot[MOTOR_2].substep_increment) > 0) {
motor_2.stepStart(); // turn step bit on
motor_2.stepStart(); // turn step bit on
st_run.mot[MOTOR_2].substep_accumulator -= st_run.dda_ticks_X_substeps;
INCREMENT_ENCODER(MOTOR_2);
}
#if MOTORS > 2
if ((st_run.mot[MOTOR_3].substep_accumulator += st_run.mot[MOTOR_3].substep_increment) > 0) {
motor_3.stepStart(); // turn step bit on
motor_3.stepStart(); // turn step bit on
st_run.mot[MOTOR_3].substep_accumulator -= st_run.dda_ticks_X_substeps;
INCREMENT_ENCODER(MOTOR_3);
}
#endif
#if MOTORS > 3
if ((st_run.mot[MOTOR_4].substep_accumulator += st_run.mot[MOTOR_4].substep_increment) > 0) {
motor_4.stepStart(); // turn step bit on
motor_4.stepStart(); // turn step bit on
st_run.mot[MOTOR_4].substep_accumulator -= st_run.dda_ticks_X_substeps;
INCREMENT_ENCODER(MOTOR_4);
}
#endif
#if MOTORS > 4
if ((st_run.mot[MOTOR_5].substep_accumulator += st_run.mot[MOTOR_5].substep_increment) > 0) {
motor_5.stepStart(); // turn step bit on
motor_5.stepStart(); // turn step bit on
st_run.mot[MOTOR_5].substep_accumulator -= st_run.dda_ticks_X_substeps;
INCREMENT_ENCODER(MOTOR_5);
}
#endif
#if MOTORS > 5
if ((st_run.mot[MOTOR_6].substep_accumulator += st_run.mot[MOTOR_6].substep_increment) > 0) {
motor_6.stepStart(); // turn step bit on
motor_6.stepStart(); // turn step bit on
st_run.mot[MOTOR_6].substep_accumulator -= st_run.dda_ticks_X_substeps;
INCREMENT_ENCODER(MOTOR_6);
}
@@ -499,7 +499,7 @@ static void _load_move()
} else { // Motor has 0 steps; might need to energize motor for power mode processing
motor_1.motionStopped();
}
}
// accumulate counted steps to the step position and zero out counted steps for the segment currently being loaded
ACCUMULATE_ENCODER(MOTOR_1);
@@ -608,6 +608,9 @@ static void _load_move()
mp_runtime_command(st_pre.bf);
} // else null - WARNING - We cannot printf from here!! Causes crashes.
else {
_debug_trap("_load_move called when it's not needed?");
}
// all other cases drop to here (e.g. Null moves after Mcodes skip to here)
st_pre.block_type = BLOCK_TYPE_NULL;