Clean-up code

yishinli · yishinli · commit 12a54a3d9bd1 · 2015-08-15T14:51:39.000+08:00
diff --git a/src/Makefile.inc.in b/src/Makefile.inc.in
@@ -181,7 +181,6 @@ CONFIG_COUNTER=m
 CONFIG_ENCODER_RATIO=m
 CONFIG_STEPGEN=m
 CONFIG_WOU=m
-CONFIG_WOU_SIM=m
 CONFIG_FREQGEN=m
 CONFIG_PWMGEN=m
 CONFIG_SIGGEN=m
diff --git a/src/emc/motion/control.c b/src/emc/motion/control.c
@@ -705,19 +705,8 @@ static void process_probe_inputs(void)
     }
 }
 
-static int update_current_pos = 0;
 static void handle_special_cmd(void)
 {
-    if (*emcmot_hal_data->req_cmd_sync == 1) {
-        DP("req_cmd_sync(%d)\n", *emcmot_hal_data->req_cmd_sync);
-        emcmotStatus->sync_pos_cmd = 1;
-        update_current_pos = 1;
-        printf("ERROR: handle_special_cmd(): req_cmd_sync(1)\n");
-        assert(0);
-    } else {
-        emcmotStatus->sync_pos_cmd = 0;
-    }
-
     /* must not be homing */
     if (emcmotStatus->homing_active) {
         // let usb_homing.c control the "update_pos_req" and "rcmd_seq_num_ack"
diff --git a/src/emc/motion/mot_priv.h b/src/emc/motion/mot_priv.h
@@ -110,7 +110,7 @@ typedef struct {
     hal_bit_t *trigger_cond;
     hal_u32_t *trigger_level;
     hal_bit_t *trigger_result;
-    hal_bit_t *req_cmd_sync;
+//    hal_bit_t *req_cmd_sync;
     hal_bit_t *usb_busy;
     hal_bit_t *machine_is_moving;
     hal_bit_t *rtp_running;
diff --git a/src/emc/motion/motion.c b/src/emc/motion/motion.c
@@ -330,8 +330,8 @@ static int init_hal_io(void)
     if ((retval = hal_pin_bit_newf(HAL_IN, &(emcmot_hal_data->mpg_scale_x1), mot_comp_id, "motion.mpg-scale-x1")) < 0) goto error;
     if ((retval = hal_pin_bit_newf(HAL_IN, &(emcmot_hal_data->mpg_scale_x10), mot_comp_id, "motion.mpg-scale-x10")) < 0) goto error;
     if ((retval = hal_pin_bit_newf(HAL_IN, &(emcmot_hal_data->mpg_scale_x100), mot_comp_id, "motion.mpg-scale-x100")) < 0) goto error;
-    if ((retval = hal_pin_bit_newf(HAL_IO, &(emcmot_hal_data->req_cmd_sync), mot_comp_id, "motion.req-cmd-syn")) < 0) goto error;
-    *emcmot_hal_data->req_cmd_sync = 0;
+//    if ((retval = hal_pin_bit_newf(HAL_IO, &(emcmot_hal_data->req_cmd_sync), mot_comp_id, "motion.req-cmd-syn")) < 0) goto error;
+//    *emcmot_hal_data->req_cmd_sync = 0;
     *emcmot_hal_data->mpg_scale_x1 = 0;
     *emcmot_hal_data->mpg_scale_x10 = 0;
     *emcmot_hal_data->mpg_scale_x100 = 0;
diff --git a/src/emc/motion/motion.h b/src/emc/motion/motion.h
@@ -686,7 +686,7 @@ typedef struct emcmot_status_t {
     int update_current_pos_flag;
     uint32_t special_cmd;
     uint32_t probe_cmd;
-    int sync_pos_cmd;
+//    int sync_pos_cmd;
     int sync_risc_pos;
     uint32_t update_pos_ack;    /* for RCMD_FSM inside RISC */
     uint32_t update_pos_req;    /* for RCMD_FSM inside RISC */
diff --git a/src/emc/motion/usb_homing.c b/src/emc/motion/usb_homing.c
@@ -161,9 +161,6 @@ void do_homing_sequence(void)
         }
         /* ok to start the sequence, start at zero */
         home_sequence = 0;
-//        /* reset gantry joint pointers */
-//        master_gantry_joint = 0;
-//        slave_gantry_joint = 0;
         /* tell the world we're on the job */
         emcmotStatus->homing_active = 1;
         /* and drop into next state */

Original file line number	Diff line number	Diff line change
`@@ -705,19 +705,8 @@ static void process_probe_inputs(void)`
`705`	`705`	`}`
`706`	`706`	`}`
`707`	`707`
`708`		`-static int update_current_pos = 0;`
`709`	`708`	`static void handle_special_cmd(void)`
`710`	`709`	`{`
`711`		`- if (*emcmot_hal_data->req_cmd_sync == 1) {`
`712`		`- DP("req_cmd_sync(%d)\n", *emcmot_hal_data->req_cmd_sync);`
`713`		`- emcmotStatus->sync_pos_cmd = 1;`
`714`		`- update_current_pos = 1;`
`715`		`- printf("ERROR: handle_special_cmd(): req_cmd_sync(1)\n");`
`716`		`- assert(0);`
`717`		`- } else {`
`718`		`- emcmotStatus->sync_pos_cmd = 0;`
`719`		`- }`
`720`		`-`
`721`	`710`	`/* must not be homing */`
`722`	`711`	`if (emcmotStatus->homing_active) {`
`723`	`712`	`// let usb_homing.c control the "update_pos_req" and "rcmd_seq_num_ack"`