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Cleared out some dead code in Stepper.cpp

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This commit is contained in:
Mitch Bradley
2021-07-01 21:21:18 -10:00
parent acaed84ab2
commit 4201c178db
1 changed files with 12 additions and 20 deletions
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32
Grbl_Esp32/src/Stepper.cpp
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@@ -68,10 +68,9 @@ typedef struct {
uint32_t counter[MAX_N_AXIS]; // Counter variables for the bresenham line tracer uint32_t counter[MAX_N_AXIS]; // Counter variables for the bresenham line tracer
uint8_t step_bits; // Stores out_bits output to complete the step pulse delay uint8_t step_bits; // Stores out_bits output to complete the step pulse delay
uint8_t execute_step; // Flags step execution for each interrupt. uint8_t execute_step; // Flags step execution for each interrupt.
uint8_t step_pulse_time; // Step pulse reset time after step rise uint8_t step_outbits; // The next stepping-bits to be output
uint8_t step_outbits; // The next stepping-bits to be output
uint8_t dir_outbits; uint8_t dir_outbits;
uint32_t steps[MAX_N_AXIS]; uint32_t steps[MAX_N_AXIS];
@@ -366,14 +365,6 @@ void stepper_init() {
config->_disableDelayMicroSeconds, config->_disableDelayMicroSeconds,
config->_directionDelayMicroSeconds); config->_directionDelayMicroSeconds);
switch (config->_stepType) {
case ST_I2S_STREAM:
case ST_I2S_STATIC:
// I2S stepper stream mode use callback but timer interrupt
i2s_out_set_pulse_callback(stepper_pulse_func);
break;
}
// Other stepper use timer interrupt // Other stepper use timer interrupt
Stepper_Timer_Init(); Stepper_Timer_Init();
} }
@@ -404,13 +395,6 @@ void st_wake_up() {
config->_axes->set_disable(false); config->_axes->set_disable(false);
stepper_idle = false; stepper_idle = false;
// Initialize step pulse timing from settings. Here to ensure updating after re-writing.
// Step pulse delay handling is not require with ESP32 RMT...the RMT function does it.
if (config->_stepType != ST_RMT || config->_directionDelayMicroSeconds < 1) {
// Set step pulse time. Ad hoc computation from oscilloscope. Uses two's complement.
st.step_pulse_time = -(((config->_pulseMicroSeconds - 2) * ticksPerMicrosecond) >> 3);
}
// Enable Stepper Driver Interrupt // Enable Stepper Driver Interrupt
Stepper_Timer_Start(); Stepper_Timer_Start();
} }
@@ -947,7 +931,15 @@ static void IRAM_ATTR Stepper_Timer_WritePeriod(uint16_t timerTicks) {
static void IRAM_ATTR Stepper_Timer_Init() { static void IRAM_ATTR Stepper_Timer_Init() {
const bool isEdge = false; const bool isEdge = false;
const bool countUp = true; const bool countUp = true;
stepTimer = timerBegin(stepTimerNumber, fTimers / fStepperTimer, countUp);
// Prepare stepping interrupt callbacks. The one that is actually
// used is determined by Stepper_Timer_Start() and _Stop()
// Register stepper_pulse_func with the I2S subsystem
i2s_out_set_pulse_callback(stepper_pulse_func);
// Setup a timer for direct stepping
stepTimer = timerBegin(stepTimerNumber, fTimers / fStepperTimer, countUp);
timerAttachInterrupt(stepTimer, onStepperDriverTimer, isEdge); timerAttachInterrupt(stepTimer, onStepperDriverTimer, isEdge);
} }