h3n3/klipper
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

trsync: Introduce new "trigger synchronization" support

Browse Source 
Separate out the stepper stopping code from endstop.c into its own
trsync.c code file.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
2021-02-04 10:07:13 -05:00
parent f3bd4e6acf
commit 05c2d51a12
7 changed files with 299 additions and 110 deletions
Download Patch File Download Diff File Expand all files Collapse all files

29
src/stepper.c
View File

@@ -1,6 +1,6 @@
// Handling of stepper drivers.
//
// Copyright (C) 2016-2019 Kevin O'Connor <kevin@koconnor.net>
// Copyright (C) 2016-2021 Kevin O'Connor <kevin@koconnor.net>
//
// This file may be distributed under the terms of the GNU GPLv3 license.
@@ -11,7 +11,8 @@
#include "board/misc.h" // timer_is_before
#include "command.h" // DECL_COMMAND
#include "sched.h" // struct timer
#include "stepper.h" // command_config_stepper
#include "stepper.h" // stepper_event
#include "trsync.h" // trsync_add_signal
DECL_CONSTANT("STEP_DELAY", CONFIG_STEP_DELAY);
@@ -44,6 +45,7 @@ struct stepper {
struct gpio_out step_pin, dir_pin;
uint32_t position;
struct move_queue_head mq;
struct trsync_signal stop_signal;
// gcc (pre v6) does better optimization when uint8_t are bitfields
uint8_t flags : 8;
};
@@ -192,7 +194,7 @@ DECL_COMMAND(command_config_stepper,
"config_stepper oid=%c step_pin=%c dir_pin=%c invert_step=%c");
// Return the 'struct stepper' for a given stepper oid
struct stepper *
static struct stepper *
stepper_oid_lookup(uint8_t oid)
{
return oid_lookup(oid, command_config_stepper);
@@ -290,11 +292,11 @@ command_stepper_get_position(uint32_t *args)
}
DECL_COMMAND(command_stepper_get_position, "stepper_get_position oid=%c");
// Stop all moves for a given stepper (used in end stop homing). IRQs
// must be off.
void
stepper_stop(struct stepper *s)
// Stop all moves for a given stepper (caller must disable IRQs)
static void
stepper_stop(struct trsync_signal *tss, uint8_t reason)
{
struct stepper *s = container_of(tss, struct stepper, stop_signal);
sched_del_timer(&s->time);
s->next_step_time = 0;
s->position = -stepper_get_position(s);
@@ -309,6 +311,17 @@ stepper_stop(struct stepper *s)
}
}
// Set the stepper to stop on a "trigger event" (used in homing)
void
command_stepper_stop_on_trigger(uint32_t *args)
{
struct stepper *s = stepper_oid_lookup(args[0]);
struct trsync *ts = trsync_oid_lookup(args[1]);
trsync_add_signal(ts, &s->stop_signal, stepper_stop);
}
DECL_COMMAND(command_stepper_stop_on_trigger,
"stepper_stop_on_trigger oid=%c trsync_oid=%c");
void
stepper_shutdown(void)
{
@@ -316,7 +329,7 @@ stepper_shutdown(void)
struct stepper *s;
foreach_oid(i, s, command_config_stepper) {
move_queue_clear(&s->mq);
stepper_stop(s);
stepper_stop(&s->stop_signal, 0);
}
}
DECL_SHUTDOWN(stepper_shutdown);