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Teacup_Firmware
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code cleaning 

(cherry picked from commit c3333278beaca0d81023b7ee752530466b37f316)
This commit is contained in:
Michael Moon 2010-09-13 20:35:57 +10:00
parent 99f2593321
commit 004bc1b789
1 changed files with 7 additions and 18 deletions
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25
dda.c
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@ -254,15 +254,6 @@ void dda_create(DDA *dda, TARGET *target) {
}
if (debug_flags & DEBUG_DDA) {
// serial_writestr_P(PSTR("\n{DDA:CA end_c:")); serwrite_uint32(dda->end_c >> 8);
// serial_writestr_P(PSTR(", n:")); serwrite_int32(dda->n);
// serial_writestr_P(PSTR(", md:")); serwrite_uint32(move_duration);
// serial_writestr_P(PSTR(", ssq:")); serwrite_uint32(ssq);
// serial_writestr_P(PSTR(", esq:")); serwrite_uint32(esq);
// serial_writestr_P(PSTR(", dsq:")); serwrite_int32(dsq);
// serial_writestr_P(PSTR(", msbssq:")); serwrite_uint8(msb_ssq);
// serial_writestr_P(PSTR(", msbtot:")); serwrite_uint8(msb_tot);
// serial_writestr_P(PSTR("}\n"));
sersendf_P(PSTR("\n{DDA:CA end_c:%lu, n:%ld, md:%lu, ssq:%lu, esq:%lu, dsq:%lu, msbssq:%u, msbtot:%u}\n"), dda->end_c >> 8, dda->n, move_duration, ssq, esq, dsq, msb_ssq, msb_tot);
}
@ -270,8 +261,7 @@ void dda_create(DDA *dda, TARGET *target) {
}
else
dda->accel = 0;
#else // #elifdef isn't valid for gcc
#ifdef ACCELERATION_RAMPING
#elif defined ACCELERATION_RAMPING
dda->ramp_steps = dda->total_steps / 2;
dda->step_no = 0;
// c is initial step time in IOclk ticks
@ -282,7 +272,6 @@ void dda_create(DDA *dda, TARGET *target) {
#else
dda->c = (move_duration / target->F) << 8;
#endif
#endif
}
if (debug_flags & DEBUG_DDA)
@ -336,8 +325,8 @@ void dda_step(DDA *dda) {
// called from interrupt context! keep it as simple as possible
uint8_t did_step = 0;
if (current_position.X != dda->endpoint.X /* &&
x_max() != dda->x_direction && x_min() == dda->x_direction */) {
if ((current_position.X != dda->endpoint.X) /* &&
(x_max() != dda->x_direction) && (x_min() == dda->x_direction) */) {
dda->x_counter -= dda->x_delta;
if (dda->x_counter < 0) {
x_step();
@ -351,8 +340,8 @@ void dda_step(DDA *dda) {
}
}
if (current_position.Y != dda->endpoint.Y /* &&
y_max() != dda->y_direction && y_min() == dda->y_direction */) {
if ((current_position.Y != dda->endpoint.Y) /* &&
(y_max() != dda->y_direction) && (y_min() == dda->y_direction) */) {
dda->y_counter -= dda->y_delta;
if (dda->y_counter < 0) {
y_step();
@ -366,8 +355,8 @@ void dda_step(DDA *dda) {
}
}
if (current_position.Z != dda->endpoint.Z /* &&
z_max() != dda->z_direction && z_min() == dda->z_direction */) {
if ((current_position.Z != dda->endpoint.Z) /* &&
(z_max() != dda->z_direction) && (z_min() == dda->z_direction) */) {
dda->z_counter -= dda->z_delta;
if (dda->z_counter < 0) {
z_step();