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endstop: Support halting more than one stepper on trigger

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Extend the endstop code so that more than one stepper can be halted
during endstop homing.  Some kinematic setups (eg, corexy) require an
endstop to support this.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
2017-03-05 15:30:04 -05:00
parent fff73c7735
commit 57f279677f
3 changed files with 54 additions and 19 deletions
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40
src/endstop.c
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@@ -14,13 +14,23 @@
struct end_stop {
struct timer time;
uint32_t rest_time;
struct stepper *stepper;
struct gpio_in pin;
uint8_t flags;
uint8_t flags, stepper_count;
struct stepper *steppers[0];
};
enum { ESF_PIN_HIGH=1<<0, ESF_HOMING=1<<1, ESF_REPORT=1<<2 };
static void noinline
stop_steppers(struct end_stop *e)
{
e->flags = ESF_REPORT;
uint8_t count = e->stepper_count;
while (count--)
if (e->steppers[count])
stepper_stop(e->steppers[count]);
}
// Timer callback for an end stop
static uint_fast8_t
end_stop_event(struct timer *t)
@@ -32,23 +42,35 @@ end_stop_event(struct timer *t)
e->time.waketime += e->rest_time;
return SF_RESCHEDULE;
}
// Stop stepper
e->flags = ESF_REPORT;
stepper_stop(e->stepper);
stop_steppers(e);
return SF_DONE;
}
void
command_config_end_stop(uint32_t *args)
{
struct end_stop *e = oid_alloc(args[0], command_config_end_stop, sizeof(*e));
struct stepper *s = stepper_oid_lookup(args[3]);
uint8_t stepper_count = args[3];
struct end_stop *e = oid_alloc(
args[0], command_config_end_stop
, sizeof(*e) + sizeof(e->steppers[0]) * stepper_count);
e->time.func = end_stop_event;
e->stepper = s;
e->pin = gpio_in_setup(args[1], args[2]);
e->stepper_count = stepper_count;
}
DECL_COMMAND(command_config_end_stop,
"config_end_stop oid=%c pin=%c pull_up=%c stepper_oid=%c");
"config_end_stop oid=%c pin=%c pull_up=%c stepper_count=%c");
void
command_end_stop_set_stepper(uint32_t *args)
{
struct end_stop *e = oid_lookup(args[0], command_config_end_stop);
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");
// Home an axis
void