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endstop: Eliminate end_stop_set_oversample command

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Pass the sample_ticks and sample_count parameters directly in the
end_stop_home command instead.  This simplifies the code.

Also, simplify calculation of next wakeup time in
end_stop_oversample_event().

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
2017-10-12 10:39:46 -04:00
parent 78ba7064a7
commit 3b9b4e4d6f
5 changed files with 32 additions and 47 deletions
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34
src/endstop.c
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@@ -1,6 +1,6 @@
// Handling of end stops.
//
// Copyright (C) 2016 Kevin O'Connor <kevin@koconnor.net>
// Copyright (C) 2016,2017 Kevin O'Connor <kevin@koconnor.net>
//
// This file may be distributed under the terms of the GNU GPLv3 license.
@@ -13,8 +13,8 @@
struct end_stop {
struct timer time;
uint32_t rest_time, sample_time;
struct gpio_in pin;
uint32_t rest_time, sample_time, nextwake;
uint8_t flags, stepper_count, sample_count, trigger_count;
struct stepper *steppers[0];
};
@@ -42,11 +42,13 @@ end_stop_event(struct timer *t)
{
struct end_stop *e = container_of(t, struct end_stop, 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) {
// No match - reschedule for the next attempt
e->time.waketime += e->rest_time;
e->time.waketime = nextwake;
return SF_RESCHEDULE;
}
e->nextwake = nextwake;
e->time.func = end_stop_oversample_event;
return end_stop_oversample_event(t);
}
@@ -60,8 +62,7 @@ end_stop_oversample_event(struct timer *t)
if ((val ? ~e->flags : e->flags) & ESF_PIN_HIGH) {
// No longer matching - reschedule for the next attempt
e->time.func = end_stop_event;
uint8_t past_triggers = e->sample_count - e->trigger_count;
e->time.waketime += e->rest_time - past_triggers * e->sample_time;
e->time.waketime = e->nextwake;
e->trigger_count = e->sample_count;
return SF_RESCHEDULE;
}
@@ -101,18 +102,6 @@ command_end_stop_set_stepper(uint32_t *args)
DECL_COMMAND(command_end_stop_set_stepper,
"end_stop_set_stepper oid=%c pos=%c stepper_oid=%c");
void
command_end_stop_set_oversample(uint32_t *args)
{
struct end_stop *e = oid_lookup(args[0], command_config_end_stop);
e->sample_time = args[1];
e->sample_count = args[2];
if (!e->sample_count)
e->sample_count = 1;
}
DECL_COMMAND(command_end_stop_set_oversample,
"end_stop_set_oversample oid=%c sample_ticks=%u sample_count=%c");
// Home an axis
void
command_end_stop_home(uint32_t *args)
@@ -120,19 +109,22 @@ command_end_stop_home(uint32_t *args)
struct end_stop *e = oid_lookup(args[0], command_config_end_stop);
sched_del_timer(&e->time);
e->time.waketime = args[1];
e->rest_time = args[2];
if (!e->rest_time) {
e->sample_time = args[2];
e->sample_count = args[3];
if (!e->sample_count) {
// Disable end stop checking
e->flags = 0;
return;
}
e->rest_time = args[4];
e->time.func = end_stop_event;
e->trigger_count = e->sample_count;
e->flags = ESF_HOMING | (args[3] ? ESF_PIN_HIGH : 0);
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 rest_ticks=%u pin_value=%c");
"end_stop_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)