Merge pull request bdring#279 from bdring/Devt

Devt

FluidNC/src/ControlPin.cpp

@@ -23,9 +23,9 @@ void ControlPin::init() {
         attr = attr | Pin::Attr::PullUp;
     }
     _pin.setAttr(attr);
-    _pin.attachInterrupt<ControlPin, &ControlPin::handleISR>(this, CHANGE);
+    _pin.attachInterrupt(ISRHandler, CHANGE, this);
     _rtVariable = false;
-    _value      = _pin.read();
+    _value                            = _pin.read();
     // Control pins must start in inactive state
     if (_value) {
         log_error(_legend << " pin is active at startup");

FluidNC/src/ControlPin.h

@@ -1,6 +1,7 @@
 #pragma once
 
 #include "Pin.h"
+#include <esp_attr.h>  // IRAM_ATTR
 
 class ControlPin {
 private:
@@ -9,7 +10,8 @@ class ControlPin {
     volatile bool& _rtVariable;
     const char*    _legend;
 
-    void handleISR();
+    void IRAM_ATTR handleISR();
+    CreateISRHandlerFor(ControlPin, handleISR);
 
 public:
     ControlPin(volatile bool& rtVariable, const char* legend, char letter) :

FluidNC/src/FileStream.cpp

@@ -91,6 +91,9 @@ FileStream::FileStream(const char* filename, const char* mode, const char* defau
     }
     _fd = fopen(_path.c_str(), mode);
     if (!_fd) {
+        if (_isSD) {
+            config->_sdCard->end();
+        }
         throw strcmp(mode, "w") ? Error::FsFailedOpenFile : Error::FsFailedCreateFile;
     }
 }

FluidNC/src/FileStream.h

@@ -17,7 +17,7 @@ extern "C" {
 }
 
 class FileStream : public Channel {
-    bool   _isSD;
+    bool   _isSD = false;
     FILE*  _fd;
     String _path;
 

FluidNC/src/Machine/LimitPin.cpp

@@ -95,7 +95,7 @@ namespace Machine {
             attr = attr | Pin::Attr::PullUp;
         }
         _pin.setAttr(attr);
-        _pin.attachInterrupt<LimitPin, &LimitPin::handleISR>(this, CHANGE);
+        _pin.attachInterrupt(ISRHandler, CHANGE, this);
 
         read();
     }

FluidNC/src/Machine/LimitPin.h

@@ -22,6 +22,8 @@ namespace Machine {
 
         void IRAM_ATTR handleISR();
 
+        CreateISRHandlerFor(LimitPin, handleISR);
+
         void read();
 
     public:
@@ -33,7 +35,7 @@ namespace Machine {
 
         void init();
         bool get() { return _value; }
-        void makeDualMask(); // makes this a mask for motor0 and motor1
+        void makeDualMask();  // makes this a mask for motor0 and motor1
 
         ~LimitPin();
     };

FluidNC/src/MotionControl.cpp

@@ -137,12 +137,11 @@ void mc_arc(float*            target,
     float rt_axis0     = target[axis_0] - center_axis0;
     float rt_axis1     = target[axis_1] - center_axis1;
 
-    float previous_position[MAX_N_AXIS] = { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 };
-
-    uint16_t n;
     auto     n_axis = config->_axes->_numberAxis;
-    for (n = 0; n < n_axis; n++) {
-        previous_position[n] = position[n];
+
+    float previous_position[n_axis] = { 0.0 };
+    for (size_t i = 0; i < n_axis; i++) {
+        previous_position[i] = position[i];
     }
 
     // CCW angle between position and target from circle center. Only one atan2() trig computation required.
@@ -157,14 +156,12 @@ void mc_arc(float*            target,
         }
     }
 
-    auto mconfig = config;
-
     // NOTE: Segment end points are on the arc, which can lead to the arc diameter being smaller by up to
     // (2x) arc_tolerance. For 99% of users, this is just fine. If a different arc segment fit
     // is desired, i.e. least-squares, midpoint on arc, just change the mm_per_arc_segment calculation.
     // For most uses, this value should not exceed 2000.
     uint16_t segments =
-        uint16_t(floor(fabs(0.5 * angular_travel * radius) / sqrt(mconfig->_arcTolerance * (2 * radius - mconfig->_arcTolerance))));
+        uint16_t(floor(fabs(0.5 * angular_travel * radius) / sqrt(config->_arcTolerance * (2 * radius - config->_arcTolerance))));
     if (segments) {
         // Multiply inverse feed_rate to compensate for the fact that this movement is approximated
         // by a number of discrete segments. The inverse feed_rate should be correct for the sum of
@@ -174,7 +171,11 @@ void mc_arc(float*            target,
             pl_data->motion.inverseTime = 0;  // Force as feed absolute mode over arc segments.
         }
         float theta_per_segment  = angular_travel / segments;
-        float linear_per_segment = (target[axis_linear] - position[axis_linear]) / segments;
+        float linear_per_segment[n_axis];
+        linear_per_segment[axis_linear] = (target[axis_linear] - position[axis_linear]) / segments;
+        for (size_t i = A_AXIS; i < n_axis; i++) {
+            linear_per_segment[i] = (target[i] - position[i]) / segments;
+        }
         /* Vector rotation by transformation matrix: r is the original vector, r_T is the rotated vector,
            and phi is the angle of rotation. Solution approach by Jens Geisler.
                r_T = [cos(phi) -sin(phi);
@@ -229,7 +230,10 @@ void mc_arc(float*            target,
             // Update arc_target location
             position[axis_0] = center_axis0 + r_axis0;
             position[axis_1] = center_axis1 + r_axis1;
-            position[axis_linear] += linear_per_segment;
+            position[axis_linear] += linear_per_segment[axis_linear];
+            for (size_t i = A_AXIS; i < n_axis; i++) {
+                position[i] += linear_per_segment[i];
+            }
             pl_data->feed_rate = original_feedrate;  // This restores the feedrate kinematics may have altered
             mc_linear(position, pl_data, previous_position);
             previous_position[axis_0]      = position[axis_0];