diff --git a/firmware/stepper-drop/src/main.cpp b/firmware/stepper-drop/src/main.cpp index 8debd5a63bedb50beb2fcd1bbbd39bd9a19ee86b..77804e123f09735d6d70839b0e0f744d869be663 100644 --- a/firmware/stepper-drop/src/main.cpp +++ b/firmware/stepper-drop/src/main.cpp @@ -151,6 +151,7 @@ void setup() { ERRLIGHT_SETUP; CLKLIGHT_SETUP; DEBUG1PIN_SETUP; + // limit switch //limitSetup(); // osap @@ -175,47 +176,13 @@ void setup() { osapAddVertex(homeStateEp); // 8 // stepper init stepper_hw->init(false, c_scale); - // bare serial - //Serial.begin(9600); - //ucBusDrop_setup(true, 0); } -// have available, -// stepper_hw->setCurrent(currentChunks[AXIS_PICK].f); - -//#define TEST_TX - -unsigned long lastTx = 0; -uint8_t tstTx[14] = {1, 2, 3, 4, 5, 0, 7, 8, 9, 10, 11, 12, 13, 14}; - -uint8_t tstRx[256]; +uint8_t testRx[256]; void loop() { - /* - if(ucBusDrop_ctrB()){ - ERRLIGHT_TOGGLE; - uint16_t len = ucBusDrop_readB(tstRx); - logPacket(tstRx, len); - if(ucBusDrop_ctsB()){ - CLKLIGHT_TOGGLE; - ucBusDrop_transmitB(tstRx, len); - } - } - */ osapLoop(); stepper_hw->dacRefresh(); - #ifdef TEST_TX - if(millis() > lastTx + 500){ - lastTx = millis(); - if(ucBusDrop_ctsB()){ - ERRLIGHT_TOGGLE; - ucBusDrop_transmitB(tstTx, 14); - for(uint8_t i = 0; i < 14; i ++){ - //tstTx[i] ++; - } - } - } - #endif /* // still not sure: this registers as "made" on init (?) if(limitIsMade()){ @@ -237,8 +204,6 @@ volatile float move_counter = 0.0F; volatile boolean setBlock = false; void ucBusDrop_onPacketARx(uint8_t* inBufferA, volatile uint16_t len){ - #warning debug-d out - return; // don't execute when we have been given a set-position block if(setBlock) return; // don't execute if we are currently homing @@ -314,8 +279,6 @@ void ucBusDrop_onPacketARx(uint8_t* inBufferA, volatile uint16_t len){ } void ucBusDrop_onRxISR(void){ - #warning debug-d out - return; // no-op when given a set block, if(setBlock) return; // incremental motion if is homing diff --git a/firmware/stepper-drop/src/osape-d51 b/firmware/stepper-drop/src/osape-d51 index af5f9a0e004a6134b38f0f1996bebda271f9c655..eeabe1a173dc1c7270b0099a7a1a0e0e7735e1be 160000 --- a/firmware/stepper-drop/src/osape-d51 +++ b/firmware/stepper-drop/src/osape-d51 @@ -1 +1 @@ -Subproject commit af5f9a0e004a6134b38f0f1996bebda271f9c655 +Subproject commit eeabe1a173dc1c7270b0099a7a1a0e0e7735e1be