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dda.c: pretty-format dda_start(). 

Formatting was messed up during all the recent changes.

Only whitespace and comment changes, no functional change.
This commit is contained in:
Markus Hitter 2016-12-06 19:54:06 +01:00
parent 7726b3179c
commit 39f66ef6b0
1 changed files with 37 additions and 42 deletions
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79
dda.c
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@ -481,64 +481,59 @@ void dda_create(DDA *dda, const TARGET *target) {
serial_writestr_P(PSTR("] }\n"));
}
/*! Start a prepared DDA
\param *dda pointer to entry in dda_queue to start
/** Start a prepared DDA
This function actually begins the move described by the passed DDA entry.
\param *dda Pointer to entry in the movement queue to start.
We set direction and enable outputs, and set the timer for the first step from the precalculated value.
We also mark this DDA as running, so other parts of the firmware know that something is happening
Called both inside and outside of interrupts.
This function actually begins the move described by the passed DDA entry.
Called from both, inside and outside of interrupts.
*/
void dda_start(DDA *dda) {
// called from interrupt context: keep it simple!
if (DEBUG_DDA && (debug_flags & DEBUG_DDA))
sersendf_P(PSTR("Start: X %lq Y %lq Z %lq F %lu\n"),
dda->endpoint.axis[X], dda->endpoint.axis[Y],
dda->endpoint.axis[Z], dda->endpoint.F);
// get ready to go
psu_timeout = 0;
#ifdef Z_AUTODISABLE
if (dda->delta[Z])
z_enable();
#endif
if (dda->endstop_check)
endstops_on();
// Get ready to go.
psu_timeout = 0;
#ifdef Z_AUTODISABLE
if (dda->delta[Z])
z_enable();
#endif
if (dda->endstop_check)
endstops_on();
// set direction outputs
x_direction(dda->x_direction);
y_direction(dda->y_direction);
z_direction(dda->z_direction);
e_direction(dda->e_direction);
// Set direction outputs.
x_direction(dda->x_direction);
y_direction(dda->y_direction);
z_direction(dda->z_direction);
e_direction(dda->e_direction);
#ifdef DC_EXTRUDER
#ifdef DC_EXTRUDER
if (dda->delta[E])
heater_set(DC_EXTRUDER, DC_EXTRUDER_PWM);
#endif
heater_set(DC_EXTRUDER, DC_EXTRUDER_PWM);
#endif
// initialise state variable
move_state.counter[X] = move_state.counter[Y] = move_state.counter[Z] = \
move_state.counter[E] = -(dda->total_steps >> 1);
move_state.endstop_stop = 0;
#ifdef ACCELERATION_RAMPING
move_state.step_no = 0;
#endif
#ifdef ACCELERATION_TEMPORAL
memcpy(&move_state.steps[X], &dda->delta[X], sizeof(uint32_t) * 4);
move_state.time[X] = move_state.time[Y] = \
move_state.time[Z] = move_state.time[E] = 0UL;
#endif
// Initialise state variables.
move_state.counter[X] = move_state.counter[Y] = move_state.counter[Z] = \
move_state.counter[E] = -(dda->total_steps >> 1);
move_state.endstop_stop = 0;
#ifdef ACCELERATION_RAMPING
move_state.step_no = 0;
#endif
#ifdef ACCELERATION_TEMPORAL
memcpy(&move_state.steps[X], &dda->delta[X], sizeof(uint32_t) * 4);
move_state.time[X] = move_state.time[Y] = \
move_state.time[Z] = move_state.time[E] = 0UL;
#endif
// ensure this dda starts
dda->live = 1;
// Ensure this DDA starts.
dda->live = 1;
// set timeout for first step
timer_set(dda->c, 0);
}
// Set timeout for first step.
timer_set(dda->c, 0);
}
/**
\brief Do per-step movement maintenance.