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WIP fixed extra semicolon

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bdring
2021-08-03 14:11:44 -05:00
parent 06ab61b811
commit 9546dc27f0
1 changed files with 104 additions and 105 deletions
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209
Grbl_Esp32/src/Machine/Axes.cpp
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@@ -104,125 +104,124 @@ namespace Machine {
void Axes::unlock_all_motors() { _motorLockoutMask = 0; }
void Axes::lock_motors(MotorMask mask) { set_bits(_motorLockoutMask, mask); }
void Axes::unlock_motors(MotorMask mask) {clear_bits(_motorLockoutMask, mask); }
;
void Axes::unlock_motors(MotorMask mask) { clear_bits(_motorLockoutMask, mask); }
void IRAM_ATTR Axes::step(uint8_t step_mask, uint8_t dir_mask) {
auto n_axis = _numberAxis;
//log_info("motors_set_direction_pins:0x%02X", onMask);
void IRAM_ATTR Axes::step(uint8_t step_mask, uint8_t dir_mask) {
auto n_axis = _numberAxis;
//log_info("motors_set_direction_pins:0x%02X", onMask);
// Set the direction pins, but optimize for the common
// situation where the direction bits haven't changed.
static uint8_t previous_dir = 255; // should never be this value
if (dir_mask != previous_dir) {
previous_dir = dir_mask;
// Set the direction pins, but optimize for the common
// situation where the direction bits haven't changed.
static uint8_t previous_dir = 255; // should never be this value
if (dir_mask != previous_dir) {
previous_dir = dir_mask;
for (int axis = X_AXIS; axis < n_axis; axis++) {
bool thisDir = bitnum_is_true(dir_mask, axis);
for (int axis = X_AXIS; axis < n_axis; axis++) {
bool thisDir = bitnum_is_true(dir_mask, axis);
for (uint8_t gang_index = 0; gang_index < Axis::MAX_NUMBER_GANGED; gang_index++) {
auto a = _axis[axis]->_gangs[gang_index]->_motor;
if (a != nullptr) {
a->set_direction(thisDir);
}
}
}
config->_stepping->waitDirection();
}
config->_stepping->startPulseTimer();
// Turn on step pulses for motors that are supposed to step now
for (uint8_t axis = X_AXIS; axis < n_axis; axis++) {
if (bitnum_is_true(step_mask, axis)) {
auto a = _axis[axis];
if (bitnum_is_false(_motorLockoutMask, axis)) {
a->_gangs[0]->_motor->step();
}
if (bitnum_is_false(_motorLockoutMask, axis + 16)) {
a->_gangs[1]->_motor->step();
}
}
}
}
// Turn all stepper pins off
void IRAM_ATTR Axes::unstep() {
config->_stepping->waitPulse();
auto n_axis = _numberAxis;
for (uint8_t axis = X_AXIS; axis < n_axis; axis++) {
for (uint8_t gang_index = 0; gang_index < Axis::MAX_NUMBER_GANGED; gang_index++) {
auto a = _axis[axis]->_gangs[gang_index]->_motor;
a->unstep();
a->unstep();
}
}
config->_stepping->finishPulse();
}
// Some small helpers to find the axis index and axis ganged index for a given motor. This
// is helpful for some motors that need this info, as well as debug information.
size_t Axes::findAxisIndex(const Motors::Motor* const motor) const {
for (int i = 0; i < _numberAxis; ++i) {
for (int j = 0; j < Axis::MAX_NUMBER_GANGED; ++j) {
if (_axis[i] != nullptr && _axis[i]->hasMotor(motor)) {
return i;
if (a != nullptr) {
a->set_direction(thisDir);
}
}
}
Assert(false, "Cannot find axis for motor. Something wonky is going on here...");
return SIZE_MAX;
config->_stepping->waitDirection();
}
size_t Axes::findAxisGanged(const Motors::Motor* const motor) const {
for (int i = 0; i < _numberAxis; ++i) {
if (_axis[i] != nullptr && _axis[i]->hasMotor(motor)) {
for (int j = 0; j < Axis::MAX_NUMBER_GANGED; ++j) {
if (_axis[i]->_gangs[j]->_motor == motor) {
return j;
}
}
config->_stepping->startPulseTimer();
// Turn on step pulses for motors that are supposed to step now
for (uint8_t axis = X_AXIS; axis < n_axis; axis++) {
if (bitnum_is_true(step_mask, axis)) {
auto a = _axis[axis];
if (bitnum_is_false(_motorLockoutMask, axis)) {
a->_gangs[0]->_motor->step();
}
}
Assert(false, "Cannot find axis for motor. Something wonky is going on here...");
return SIZE_MAX;
}
// Configuration helpers:
void Axes::group(Configuration::HandlerBase & handler) {
handler.item("number_axis", _numberAxis);
handler.item("shared_stepper_disable", _sharedStepperDisable);
// Handle axis names xyzabc. handler.section is inferred
// from a template.
char tmp[3];
tmp[2] = '\0';
for (size_t i = 0; i < MAX_N_AXIS; ++i) {
tmp[0] = tolower(_names[i]);
tmp[1] = '\0';
handler.section(tmp, _axis[i], i);
}
}
void Axes::afterParse() {
for (size_t i = 0; i < MAX_N_AXIS; ++i) {
if (_axis[i] == nullptr) {
_axis[i] = new Axis(i);
if (bitnum_is_false(_motorLockoutMask, axis + 16)) {
a->_gangs[1]->_motor->step();
}
}
}
Axes::~Axes() {
for (int i = 0; i < MAX_N_AXIS; ++i) {
delete _axis[i];
}
}
}
// Turn all stepper pins off
void IRAM_ATTR Axes::unstep() {
config->_stepping->waitPulse();
auto n_axis = _numberAxis;
for (uint8_t axis = X_AXIS; axis < n_axis; axis++) {
for (uint8_t gang_index = 0; gang_index < Axis::MAX_NUMBER_GANGED; gang_index++) {
auto a = _axis[axis]->_gangs[gang_index]->_motor;
a->unstep();
a->unstep();
}
}
config->_stepping->finishPulse();
}
// Some small helpers to find the axis index and axis ganged index for a given motor. This
// is helpful for some motors that need this info, as well as debug information.
size_t Axes::findAxisIndex(const Motors::Motor* const motor) const {
for (int i = 0; i < _numberAxis; ++i) {
for (int j = 0; j < Axis::MAX_NUMBER_GANGED; ++j) {
if (_axis[i] != nullptr && _axis[i]->hasMotor(motor)) {
return i;
}
}
}
Assert(false, "Cannot find axis for motor. Something wonky is going on here...");
return SIZE_MAX;
}
size_t Axes::findAxisGanged(const Motors::Motor* const motor) const {
for (int i = 0; i < _numberAxis; ++i) {
if (_axis[i] != nullptr && _axis[i]->hasMotor(motor)) {
for (int j = 0; j < Axis::MAX_NUMBER_GANGED; ++j) {
if (_axis[i]->_gangs[j]->_motor == motor) {
return j;
}
}
}
}
Assert(false, "Cannot find axis for motor. Something wonky is going on here...");
return SIZE_MAX;
}
// Configuration helpers:
void Axes::group(Configuration::HandlerBase& handler) {
handler.item("number_axis", _numberAxis);
handler.item("shared_stepper_disable", _sharedStepperDisable);
// Handle axis names xyzabc. handler.section is inferred
// from a template.
char tmp[3];
tmp[2] = '\0';
for (size_t i = 0; i < MAX_N_AXIS; ++i) {
tmp[0] = tolower(_names[i]);
tmp[1] = '\0';
handler.section(tmp, _axis[i], i);
}
}
void Axes::afterParse() {
for (size_t i = 0; i < MAX_N_AXIS; ++i) {
if (_axis[i] == nullptr) {
_axis[i] = new Axis(i);
}
}
}
Axes::~Axes() {
for (int i = 0; i < MAX_N_AXIS; ++i) {
delete _axis[i];
}
}
}