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

stepper: Use a reusable interface to the "move queue"

Browse Source 
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
2020-11-20 18:57:47 -05:00
parent 3b9412513e
commit 697412d25c
3 changed files with 82 additions and 32 deletions
Download Patch File Download Diff File Expand all files Collapse all files

31
src/stepper.c
View File

@@ -21,10 +21,10 @@ DECL_CONSTANT("STEP_DELAY", CONFIG_STEP_DELAY);
****************************************************************/
struct stepper_move {
struct move_node node;
uint32_t interval;
int16_t add;
uint16_t count;
struct stepper_move *next;
uint8_t flags;
};
@@ -43,7 +43,7 @@ struct stepper {
#endif
struct gpio_out step_pin, dir_pin;
uint32_t position;
struct stepper_move *first, **plast;
struct move_queue_head mq;
uint32_t min_stop_interval;
// gcc (pre v6) does better optimization when uint8_t are bitfields
uint8_t flags : 8;
@@ -60,8 +60,7 @@ enum {
static uint_fast8_t
stepper_load_next(struct stepper *s, uint32_t min_next_time)
{
struct stepper_move *m = s->first;
if (!m) {
if (move_queue_empty(&s->mq)) {
// There is no next move - the queue is empty
if (s->interval - s->add < s->min_stop_interval
&& !(s->flags & SF_NO_NEXT_CHECK))
@@ -71,6 +70,8 @@ stepper_load_next(struct stepper *s, uint32_t min_next_time)
}
// Load next 'struct stepper_move' into 'struct stepper'
struct move_node *mn = move_queue_pop(&s->mq);
struct stepper_move *m = container_of(mn, struct stepper_move, node);
s->next_step_time += m->interval;
s->add = m->add;
s->interval = m->interval + m->add;
@@ -101,7 +102,6 @@ stepper_load_next(struct stepper *s, uint32_t min_next_time)
s->position += m->count;
}
s->first = m->next;
move_free(m);
return SF_RESCHEDULE;
}
@@ -191,7 +191,7 @@ command_config_stepper(uint32_t *args)
s->dir_pin = gpio_out_setup(args[2], 0);
s->min_stop_interval = args[3];
s->position = -POSITION_BIAS;
move_request_size(sizeof(struct stepper_move));
move_queue_setup(&s->mq, sizeof(struct stepper_move));
}
DECL_COMMAND(command_config_stepper,
"config_stepper oid=%c step_pin=%c dir_pin=%c"
@@ -215,7 +215,6 @@ command_queue_step(uint32_t *args)
if (!m->count)
shutdown("Invalid count parameter");
m->add = args[3];
m->next = NULL;
m->flags = 0;
irq_disable();
@@ -231,16 +230,12 @@ command_queue_step(uint32_t *args)
flags &= ~SF_LAST_RESET;
if (s->count) {
s->flags = flags;
if (s->first)
*s->plast = m;
else
s->first = m;
s->plast = &m->next;
move_queue_push(&m->node, &s->mq);
} else if (flags & SF_NEED_RESET) {
move_free(m);
} else {
s->flags = flags;
s->first = m;
move_queue_push(&m->node, &s->mq);
stepper_load_next(s, s->next_step_time + m->interval);
sched_add_timer(&s->time);
}
@@ -317,10 +312,10 @@ stepper_stop(struct stepper *s)
s->flags = (s->flags & SF_INVERT_STEP) | SF_NEED_RESET;
gpio_out_write(s->dir_pin, 0);
gpio_out_write(s->step_pin, s->flags & SF_INVERT_STEP);
while (s->first) {
struct stepper_move *next = s->first->next;
move_free(s->first);
s->first = next;
while (!move_queue_empty(&s->mq)) {
struct move_node *mn = move_queue_pop(&s->mq);
struct stepper_move *m = container_of(mn, struct stepper_move, node);
move_free(m);
}
}
@@ -330,7 +325,7 @@ stepper_shutdown(void)
uint8_t i;
struct stepper *s;
foreach_oid(i, s, command_config_stepper) {
s->first = NULL;
move_queue_clear(&s->mq);
stepper_stop(s);
}
}