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endstop: Rename mcu end_stop commands to endstop

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Rename the commands.

The main reason for this change is to force a micro-controller code
updated (due to important bugfix in 7fefe52d).

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
2019-07-12 08:09:30 -04:00
parent 7fefe52df7
commit 28aa2f507a
3 changed files with 51 additions and 51 deletions
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70
src/endstop.c
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@@ -11,7 +11,7 @@
#include "sched.h" // struct timer
#include "stepper.h" // stepper_stop
struct end_stop {
struct endstop {
struct timer time;
struct gpio_in pin;
uint32_t rest_time, sample_time, nextwake;
@@ -24,7 +24,7 @@ enum { ESF_PIN_HIGH=1<<0, ESF_HOMING=1<<1, ESF_REPORT=1<<2 };
static struct task_wake endstop_wake;
static void
stop_steppers(struct end_stop *e)
stop_steppers(struct endstop *e)
{
e->flags = ESF_REPORT;
uint8_t count = e->stepper_count;
@@ -34,13 +34,13 @@ stop_steppers(struct end_stop *e)
sched_wake_task(&endstop_wake);
}
static uint_fast8_t end_stop_oversample_event(struct timer *t);
static uint_fast8_t endstop_oversample_event(struct timer *t);
// Timer callback for an end stop
static uint_fast8_t
end_stop_event(struct timer *t)
endstop_event(struct timer *t)
{
struct end_stop *e = container_of(t, struct end_stop, time);
struct endstop *e = container_of(t, struct endstop, time);
uint8_t val = gpio_in_read(e->pin);
uint32_t nextwake = e->time.waketime + e->rest_time;
if ((val ? ~e->flags : e->flags) & ESF_PIN_HIGH) {
@@ -49,19 +49,19 @@ end_stop_event(struct timer *t)
return SF_RESCHEDULE;
}
e->nextwake = nextwake;
e->time.func = end_stop_oversample_event;
return end_stop_oversample_event(t);
e->time.func = endstop_oversample_event;
return endstop_oversample_event(t);
}
// Timer callback for an end stop that is sampling extra times
static uint_fast8_t
end_stop_oversample_event(struct timer *t)
endstop_oversample_event(struct timer *t)
{
struct end_stop *e = container_of(t, struct end_stop, time);
struct endstop *e = container_of(t, struct endstop, time);
uint8_t val = gpio_in_read(e->pin);
if ((val ? ~e->flags : e->flags) & ESF_PIN_HIGH) {
// No longer matching - reschedule for the next attempt
e->time.func = end_stop_event;
e->time.func = endstop_event;
e->time.waketime = e->nextwake;
e->trigger_count = e->sample_count;
return SF_RESCHEDULE;
@@ -77,36 +77,36 @@ end_stop_oversample_event(struct timer *t)
}
void
command_config_end_stop(uint32_t *args)
command_config_endstop(uint32_t *args)
{
uint8_t stepper_count = args[3];
struct end_stop *e = oid_alloc(
args[0], command_config_end_stop
struct endstop *e = oid_alloc(
args[0], command_config_endstop
, sizeof(*e) + sizeof(e->steppers[0]) * stepper_count);
e->pin = gpio_in_setup(args[1], args[2]);
e->stepper_count = stepper_count;
e->sample_count = 1;
}
DECL_COMMAND(command_config_end_stop,
"config_end_stop oid=%c pin=%c pull_up=%c stepper_count=%c");
DECL_COMMAND(command_config_endstop,
"config_endstop oid=%c pin=%c pull_up=%c stepper_count=%c");
void
command_end_stop_set_stepper(uint32_t *args)
command_endstop_set_stepper(uint32_t *args)
{
struct end_stop *e = oid_lookup(args[0], command_config_end_stop);
struct endstop *e = oid_lookup(args[0], command_config_endstop);
uint8_t pos = args[1];
if (pos >= e->stepper_count)
shutdown("Set stepper past maximum stepper count");
e->steppers[pos] = stepper_oid_lookup(args[2]);
}
DECL_COMMAND(command_end_stop_set_stepper,
"end_stop_set_stepper oid=%c pos=%c stepper_oid=%c");
DECL_COMMAND(command_endstop_set_stepper,
"endstop_set_stepper oid=%c pos=%c stepper_oid=%c");
// Home an axis
void
command_end_stop_home(uint32_t *args)
command_endstop_home(uint32_t *args)
{
struct end_stop *e = oid_lookup(args[0], command_config_end_stop);
struct endstop *e = oid_lookup(args[0], command_config_endstop);
sched_del_timer(&e->time);
e->time.waketime = args[1];
e->sample_time = args[2];
@@ -117,47 +117,47 @@ command_end_stop_home(uint32_t *args)
return;
}
e->rest_time = args[4];
e->time.func = end_stop_event;
e->time.func = endstop_event;
e->trigger_count = e->sample_count;
e->flags = ESF_HOMING | (args[5] ? ESF_PIN_HIGH : 0);
sched_add_timer(&e->time);
}
DECL_COMMAND(command_end_stop_home,
"end_stop_home oid=%c clock=%u sample_ticks=%u sample_count=%c"
DECL_COMMAND(command_endstop_home,
"endstop_home oid=%c clock=%u sample_ticks=%u sample_count=%c"
" rest_ticks=%u pin_value=%c");
static void
end_stop_report(uint8_t oid, struct end_stop *e)
endstop_report(uint8_t oid, struct endstop *e)
{
irq_disable();
uint8_t eflags = e->flags;
e->flags &= ~ESF_REPORT;
irq_enable();
sendf("end_stop_state oid=%c homing=%c pin_value=%c"
sendf("endstop_state oid=%c homing=%c pin_value=%c"
, oid, !!(eflags & ESF_HOMING), gpio_in_read(e->pin));
}
void
command_end_stop_query_state(uint32_t *args)
command_endstop_query_state(uint32_t *args)
{
uint8_t oid = args[0];
struct end_stop *e = oid_lookup(oid, command_config_end_stop);
end_stop_report(oid, e);
struct endstop *e = oid_lookup(oid, command_config_endstop);
endstop_report(oid, e);
}
DECL_COMMAND(command_end_stop_query_state, "end_stop_query_state oid=%c");
DECL_COMMAND(command_endstop_query_state, "endstop_query_state oid=%c");
void
end_stop_task(void)
endstop_task(void)
{
if (!sched_check_wake(&endstop_wake))
return;
uint8_t oid;
struct end_stop *e;
foreach_oid(oid, e, command_config_end_stop) {
struct endstop *e;
foreach_oid(oid, e, command_config_endstop) {
if (!(e->flags & ESF_REPORT))
continue;
end_stop_report(oid, e);
endstop_report(oid, e);
}
}
DECL_TASK(end_stop_task);
DECL_TASK(endstop_task);