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basecmd: Generalize the "move queue" runtime storage

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Detect the maximum size of each "move queue" item during the
configuration phase instead of using the stepper move struct.  This
allows the stepper code to be contained entirely in stepper.c and it
allows for future run time allocations from other types of objects.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
2017-03-08 11:29:27 -05:00
parent affdbbf9ca
commit 37bac916e7
3 changed files with 86 additions and 42 deletions
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20
src/stepper.c
View File

@@ -17,6 +17,16 @@
* Steppers
****************************************************************/
struct stepper_move {
uint32_t interval;
int16_t add;
uint16_t count;
struct stepper_move *next;
uint8_t flags;
};
enum { MF_DIR=1<<0 };
struct stepper {
struct timer time;
uint32_t interval;
@@ -30,13 +40,12 @@ struct stepper {
#endif
struct gpio_out step_pin, dir_pin;
uint32_t position;
struct move *first, **plast;
struct stepper_move *first, **plast;
uint32_t min_stop_interval;
// gcc (pre v6) does better optimization when uint8_t are bitfields
uint8_t flags : 8;
};
enum { MF_DIR=1<<0 };
enum { SF_LAST_DIR=1<<0, SF_NEXT_DIR=1<<1, SF_INVERT_STEP=1<<2, SF_HAVE_ADD=1<<3,
SF_LAST_RESET=1<<4, SF_NO_NEXT_CHECK=1<<5 };
@@ -44,7 +53,7 @@ enum { SF_LAST_DIR=1<<0, SF_NEXT_DIR=1<<1, SF_INVERT_STEP=1<<2, SF_HAVE_ADD=1<<3
static uint_fast8_t
stepper_load_next(struct stepper *s, uint32_t min_next_time)
{
struct move *m = s->first;
struct stepper_move *m = s->first;
if (!m) {
if (s->interval - s->add < s->min_stop_interval
&& !(s->flags & SF_NO_NEXT_CHECK))
@@ -144,6 +153,7 @@ command_config_stepper(uint32_t *args)
s->dir_pin = gpio_out_setup(args[2], 0);
s->min_stop_interval = args[3];
s->position = -STEPPER_POSITION_BIAS;
move_request_size(sizeof(struct stepper_move));
}
DECL_COMMAND(command_config_stepper,
"config_stepper oid=%c step_pin=%c dir_pin=%c"
@@ -154,7 +164,7 @@ void
command_queue_step(uint32_t *args)
{
struct stepper *s = lookup_oid(args[0], command_config_stepper);
struct move *m = move_alloc();
struct stepper_move *m = move_alloc();
m->interval = args[1];
m->count = args[2];
if (!m->count)
@@ -244,7 +254,7 @@ stepper_stop(struct stepper *s)
gpio_out_write(s->dir_pin, 0);
gpio_out_write(s->step_pin, s->flags & SF_INVERT_STEP ? 1 : 0);
while (s->first) {
struct move *next = s->first->next;
struct stepper_move *next = s->first->next;
move_free(s->first);
s->first = next;
}