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Minor updates to code and commenting.

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Sonny Jeon
2013-03-28 10:11:34 -06:00
parent 49f703bb2c
commit 08baabc63c
4 changed files with 30 additions and 28 deletions
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22
limits.c
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@@ -96,22 +96,16 @@ static void homing_cycle(uint8_t cycle_mask, int8_t pos_dir, bool invert_pin, fl
// and speedy homing routine.
// NOTE: For each axes enabled, the following calculations assume they physically move
// an equal distance over each time step until they hit a limit switch, aka dogleg.
uint32_t steps[N_AXIS];
uint8_t dist = 0;
uint32_t step_event_count, steps[N_AXIS];
uint8_t i, dist = 0;
clear_vector(steps);
if (cycle_mask & (1<<X_AXIS)) {
dist++;
steps[X_AXIS] = lround(settings.steps_per_mm[X_AXIS]);
for (i=0; i<N_AXIS; i++) {
if (cycle_mask & (1<<i)) {
dist++;
steps[i] = lround(settings.steps_per_mm[i]);
}
}
if (cycle_mask & (1<<Y_AXIS)) {
dist++;
steps[Y_AXIS] = lround(settings.steps_per_mm[Y_AXIS]);
}
if (cycle_mask & (1<<Z_AXIS)) {
dist++;
steps[Z_AXIS] = lround(settings.steps_per_mm[Z_AXIS]);
}
uint32_t step_event_count = max(steps[X_AXIS], max(steps[Y_AXIS], steps[Z_AXIS]));
step_event_count = max(steps[X_AXIS], max(steps[Y_AXIS], steps[Z_AXIS]));
// To ensure global acceleration is not exceeded, reduce the governing axes nominal rate
// by adjusting the actual axes distance traveled per step. This is the same procedure