From be98c57bd64b4015a223d5bf97f6785c805a22a5 Mon Sep 17 00:00:00 2001
From: Joseph Coffland <joseph@cauldrondevelopment.com>
Date: Sat, 27 Aug 2016 23:20:23 -0700
Subject: [PATCH] Initialize structs

---
 src/command.c        |  2 +-
 src/hardware.c       |  2 +-
 src/homing.c         |  8 ++++----
 src/huanyang.c       |  2 +-
 src/machine.c        | 11 +++++------
 src/machine.h        |  2 --
 src/plan/arc.c       | 16 +++++++---------
 src/plan/calibrate.c |  4 ++--
 src/plan/exec.c      |  2 +-
 src/plan/line.c      |  4 ++--
 src/plan/planner.c   |  4 ++--
 src/probing.c        |  4 ++--
 src/stepper.c        |  2 +-
 src/tmc2660.c        |  2 +-
 14 files changed, 30 insertions(+), 35 deletions(-)

diff --git a/src/command.c b/src/command.c
index 21c4679..9fe4ef1 100644
--- a/src/command.c
+++ b/src/command.c
@@ -160,7 +160,7 @@ int command_parser(char *cmd) {
   // Parse line
   char *p = cmd + 1; // Skip `$`
   int argc = 0;
-  char *argv[MAX_ARGS] = {};
+  char *argv[MAX_ARGS] = {0};
 
   if (cmd[1] == '$' && !cmd[2]) {
     report_request_full(); // Full report
diff --git a/src/hardware.c b/src/hardware.c
index f920a6f..d31a382 100644
--- a/src/hardware.c
+++ b/src/hardware.c
@@ -47,7 +47,7 @@ typedef struct {
   bool bootloader;         // flag to enter the bootloader
 } hw_t;
 
-static hw_t hw = {};
+static hw_t hw = {{0}};
 
 
 #define PROD_SIGS (*(NVM_PROD_SIGNATURES_t *)0x0000)
diff --git a/src/homing.c b/src/homing.c
index 30e55da..ff02ae9 100644
--- a/src/homing.c
+++ b/src/homing.c
@@ -46,7 +46,7 @@ typedef void (*homing_func_t)(int8_t axis);
 static void _homing_axis_start(int8_t axis);
 
 
-typedef enum {          // applies to mach.homing_state
+typedef enum {
   HOMING_NOT_HOMED,     // machine is not homed
   HOMING_HOMED,         // machine is homed
   HOMING_WAITING,       // machine waiting to be homed
@@ -94,7 +94,7 @@ struct hmHomingSingleton {
 };
 
 
-static struct hmHomingSingleton hm = {0,};
+static struct hmHomingSingleton hm = {0};
 
 
 // G28.2 homing cycle
@@ -201,8 +201,8 @@ static void _homing_error_exit(stat_t status) {
 
 /// helper that actually executes the above moves
 static void _homing_axis_move(int8_t axis, float target, float velocity) {
-  float vect[] = {};
-  float flags[] = {};
+  float vect[AXES] = {0};
+  float flags[AXES] = {0};
 
   vect[axis] = target;
   flags[axis] = true;
diff --git a/src/huanyang.c b/src/huanyang.c
index 7ec6708..7c3e518 100644
--- a/src/huanyang.c
+++ b/src/huanyang.c
@@ -132,7 +132,7 @@ typedef struct {
 } huanyang_t;
 
 
-static huanyang_t ha = {};
+static huanyang_t ha = {0};
 
 
 #define CTRL_STATUS_RESPONSE(R) ((uint16_t)R[4] << 8 | R[5])
diff --git a/src/machine.c b/src/machine.c
index 2d5846a..8b86bf5 100644
--- a/src/machine.c
+++ b/src/machine.c
@@ -271,8 +271,7 @@ void mach_set_axis_jerk(uint8_t axis, float jerk) {
  *
  * Functions to get, set and report coordinate systems and work offsets
  * These functions are not part of the NIST defined functions
- */
-/*
+ *
  * Notes on Coordinate System and Offset functions
  *
  * All positional information in the machine is kept as
@@ -482,7 +481,7 @@ void mach_calc_move_time(const float axis_length[], const float axis_square[]) {
     }
   }
 
-  for (uint8_t axis = 0; axis < AXES; axis++) {
+  for (int axis = 0; axis < AXES; axis++) {
     if (mach.gm.motion_mode == MOTION_MODE_STRAIGHT_TRAVERSE)
       tmp_time = fabs(axis_length[axis]) / mach.a[axis].velocity_max;
 
@@ -605,8 +604,8 @@ stat_t mach_test_soft_limits(float target[]) {
 
 void machine_init() {
   // Init 1/jerk
-  for (uint8_t axis = 0; axis < AXES; axis++)
-    mach.a[axis].recip_jerk = 1 / (mach.a[axis].jerk_max * JERK_MULTIPLIER);
+  for (int axis = 0; axis < AXES; axis++)
+    mach_set_axis_jerk(axis, mach.a[axis].jerk_max);
 
   // Set gcode defaults
   mach_set_units_mode(GCODE_DEFAULT_UNITS);
@@ -1130,7 +1129,7 @@ void mach_pallet_change_stop() {
 
 /// M2, M30
 void mach_program_end() {
-  float value[AXES] = {};
+  float value[AXES] = {0};
   mp_queue_command(_exec_program_end, value, value);
 }
 
diff --git a/src/machine.h b/src/machine.h
index 4be3355..4c5d33f 100644
--- a/src/machine.h
+++ b/src/machine.h
@@ -308,8 +308,6 @@ typedef struct { // struct to manage mach globals and cycles
   float g30_position[AXES];            // stored machine position for G30
 
   AxisConfig_t a[AXES];                // settings for axes
-
-  // Model states
   MoveState_t ms;
   GCodeState_t gm;                     // core gcode model state
   GCodeState_t gn;                     // gcode input values
diff --git a/src/plan/arc.c b/src/plan/arc.c
index c4c6bfc..e97398d 100644
--- a/src/plan/arc.c
+++ b/src/plan/arc.c
@@ -77,7 +77,7 @@ typedef struct arArcSingleton {     // persistent planner and runtime variables
   MoveState_t ms;
 } arc_t;
 
-arc_t arc = {};
+arc_t arc = {0};
 
 
 /* Returns a naive estimate of arc execution time to inform segment
@@ -101,15 +101,15 @@ static void _estimate_arc_time() {
   } else arc.arc_time = arc.length / mach.gm.feed_rate;
 
   // Downgrade the time if there is a rate-limiting axis
-  arc.arc_time =
-    max(arc.arc_time, arc.planar_travel/mach.a[arc.plane_axis_0].feedrate_max);
-  arc.arc_time =
-    max(arc.arc_time, arc.planar_travel/mach.a[arc.plane_axis_1].feedrate_max);
+  arc.arc_time = max(arc.arc_time,
+                     arc.planar_travel / mach.a[arc.plane_axis_0].feedrate_max);
+  arc.arc_time = max(arc.arc_time,
+                     arc.planar_travel / mach.a[arc.plane_axis_1].feedrate_max);
 
   if (0 < fabs(arc.linear_travel))
     arc.arc_time =
       max(arc.arc_time,
-          fabs(arc.linear_travel/mach.a[arc.linear_axis].feedrate_max));
+          fabs(arc.linear_travel / mach.a[arc.linear_axis].feedrate_max));
 }
 
 
@@ -498,6 +498,4 @@ bool mach_arc_active() {return arc.run_state != MOVE_OFF;}
 
 /// Stop arc movement without maintaining position
 /// OK to call if no arc is running
-void mach_abort_arc() {
-  arc.run_state = MOVE_OFF;
-}
+void mach_abort_arc() {arc.run_state = MOVE_OFF;}
diff --git a/src/plan/calibrate.c b/src/plan/calibrate.c
index 01a9577..9346b9d 100644
--- a/src/plan/calibrate.c
+++ b/src/plan/calibrate.c
@@ -73,7 +73,7 @@ typedef struct {
   uint16_t stallguard;
 } calibrate_t;
 
-static calibrate_t cal = {};
+static calibrate_t cal = {0};
 
 
 static stat_t _exec_calibrate(mpBuf_t *bf) {
@@ -130,7 +130,7 @@ static stat_t _exec_calibrate(mpBuf_t *bf) {
   if (!cal.velocity) return STAT_OK;
 
   // Compute travel
-  float travel[AXES] = {}; // In mm
+  float travel[AXES] = {0}; // In mm
   travel[cal.axis] = time * cal.velocity * (cal.reverse ? -1 : 1);
 
   // Convert to steps
diff --git a/src/plan/exec.c b/src/plan/exec.c
index 984120f..9be4d7d 100644
--- a/src/plan/exec.c
+++ b/src/plan/exec.c
@@ -743,7 +743,7 @@ stat_t mp_exec_aline(mpBuf_t *bf) {
     copy_vector(mr.final_target, bf->ms.target); // save move final target
 
     // generate the waypoints for position correction at section ends
-    for (uint8_t axis = 0; axis < AXES; axis++) {
+    for (int axis = 0; axis < AXES; axis++) {
       mr.waypoint[SECTION_HEAD][axis] =
         mr.position[axis] + mr.unit[axis] * mr.head_length;
 
diff --git a/src/plan/line.c b/src/plan/line.c
index 44130ba..1b65a24 100644
--- a/src/plan/line.c
+++ b/src/plan/line.c
@@ -51,7 +51,7 @@ typedef struct mpMoveMasterSingleton {
 } mpMoveMasterSingleton_t;
 
 
-mpMoveMasterSingleton_t mm = {};     // context for line planning
+mpMoveMasterSingleton_t mm = {{0}}; // context for line planning
 
 
 /// Set planner position for a single axis
@@ -187,7 +187,7 @@ stat_t mp_aline(MoveState_t *ms) {
   float axis_square[AXES];
   float length_square = 0;
 
-  for (uint8_t axis = 0; axis < AXES; axis++) {
+  for (int axis = 0; axis < AXES; axis++) {
     axis_length[axis] = ms->target[axis] - mm.position[axis];
     axis_square[axis] = square(axis_length[axis]);
     length_square += axis_square[axis];
diff --git a/src/plan/planner.c b/src/plan/planner.c
index 0e8981f..ea21eab 100644
--- a/src/plan/planner.c
+++ b/src/plan/planner.c
@@ -71,7 +71,7 @@
 #include <stdio.h>
 
 
-mpMoveRuntimeSingleton_t mr = {}; // context for line runtime
+mpMoveRuntimeSingleton_t mr = {0}; // context for line runtime
 
 
 void planner_init() {
@@ -128,7 +128,7 @@ void mp_set_steps_to_runtime_position() {
   // convert lengths to steps in floating point
   mp_kinematics(mr.position, step_position);
 
-  for (uint8_t motor = 0; motor < MOTORS; motor++) {
+  for (int motor = 0; motor < MOTORS; motor++) {
     mr.target_steps[motor] = step_position[motor];
     mr.position_steps[motor] = step_position[motor];
     mr.commanded_steps[motor] = step_position[motor];
diff --git a/src/probing.c b/src/probing.c
index e035e39..f372155 100644
--- a/src/probing.c
+++ b/src/probing.c
@@ -45,7 +45,7 @@
 #define MINIMUM_PROBE_TRAVEL 0.254
 
 
-typedef enum {          // applies to mach.probe_state
+typedef enum {
   PROBE_FAILED,         // probe reached endpoint without triggering
   PROBE_SUCCEEDED,      // probe was triggered, pb.results has position
   PROBE_WAITING,        // probe is waiting to be started
@@ -70,7 +70,7 @@ struct pbProbingSingleton {       // persistent probing runtime variables
 };
 
 
-static struct pbProbingSingleton pb = {0,};
+static struct pbProbingSingleton pb = {0};
 
 
 /* Note: When coding a cycle (like this one) you get to perform one
diff --git a/src/stepper.c b/src/stepper.c
index 8118fa1..8518ea0 100644
--- a/src/stepper.c
+++ b/src/stepper.c
@@ -58,7 +58,7 @@ typedef struct {
 } stepper_t;
 
 
-static stepper_t st = {};
+static stepper_t st = {0};
 
 
 void stepper_init() {
diff --git a/src/tmc2660.c b/src/tmc2660.c
index 9bc92d7..55c2523 100644
--- a/src/tmc2660.c
+++ b/src/tmc2660.c
@@ -89,7 +89,7 @@ typedef struct {
   volatile uint32_t in;
 } spi_t;
 
-static spi_t spi = {};
+static spi_t spi = {0};
 
 
 
-- 
2.27.0