From b4966ef4ef6f2415ece935117864c6d699c9c83a Mon Sep 17 00:00:00 2001 From: Joseph Coffland Date: Sun, 13 Mar 2016 20:40:44 -0700 Subject: [PATCH] Some cleanup after stepper driver overhaul --- src/encoder.h | 11 +++-------- 1 file changed, 3 insertions(+), 8 deletions(-) diff --git a/src/encoder.h b/src/encoder.h index 0490ef4..f226d12 100644 --- a/src/encoder.h +++ b/src/encoder.h @@ -105,21 +105,16 @@ #include -// macros used in stepper.c -#define SET_ENCODER_STEP_SIGN(m, s) en[m].step_sign = s; -#define INCREMENT_ENCODER(m) en[m].steps_run += en[m].step_sign; -#define ACCUMULATE_ENCODER(m) \ - do {en[m].encoder_steps += en[m].steps_run; en[m].steps_run = 0;} while (0) - -typedef struct enEncoder { // one real or virtual encoder per controlled motor +/// One real or virtual encoder per controlled motor +typedef struct enEncoder { int8_t step_sign; // set to +1 or -1 int16_t steps_run; // steps counted during stepper interrupt int32_t encoder_steps; // counted encoder position in steps } enEncoder_t; -extern enEncoder_t en[MOTORS]; +extern enEncoder_t en[MOTORS]; // Used by stepper.c void encoder_init(); -- 2.27.0