Michal
/
Prusa-Firmware-MMU
mirror of https://github.com/prusa3d/Prusa-Firmware-MMU
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Motion: fix new Step() prototype

pull/47/head
Yuri D'Elia 2021-07-12 09:58:53 +02:00
parent 9b77623be1
commit 9b0dd2d633
3 changed files with 6 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
src/modules/motion.cpp
View File

@ -55,7 +55,9 @@ void Motion::AbortPlannedMoves() {
axisData[i].ctrl.AbortPlannedMoves(); axisData[i].ctrl.AbortPlannedMoves();
} }
st_timer_t Motion::Step() {} st_timer_t Motion::Step() {
return 0;
}
void ISR() {} void ISR() {}

1
src/modules/motion.h
View File

@ -11,6 +11,7 @@ namespace motion {
using namespace hal::tmc2130; using namespace hal::tmc2130;
using pulse_gen::pos_t; using pulse_gen::pos_t;
using pulse_gen::st_timer_t;
using pulse_gen::steps_t; using pulse_gen::steps_t;
/// Main axis enumeration /// Main axis enumeration

3
tests/unit/logic/stubs/stub_motion.cpp
View File

@ -45,13 +45,14 @@ void Motion::Home(Axis axis, bool direction) {
void Motion::SetMode(Axis axis, hal::tmc2130::MotorMode mode) { void Motion::SetMode(Axis axis, hal::tmc2130::MotorMode mode) {
} }
void Motion::Step() { st_timer_t Motion::Step() {
for (uint8_t i = 0; i < 3; ++i) { for (uint8_t i = 0; i < 3; ++i) {
if (axes[i].pos != axes[i].targetPos) { if (axes[i].pos != axes[i].targetPos) {
int8_t dirInc = (axes[i].pos < axes[i].targetPos) ? 1 : -1; int8_t dirInc = (axes[i].pos < axes[i].targetPos) ? 1 : -1;
axes[i].pos += dirInc; axes[i].pos += dirInc;
} }
} }
return 0;
} }
bool Motion::QueueEmpty() const { bool Motion::QueueEmpty() const {