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stepper: Remove min_stop_interval from mcu code

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Now that the host never uses a min_stop_interval, remove it from the
mcu code.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
2021-04-25 15:02:42 -04:00
parent b1ea4f3bef
commit 8f76e53c0e
6 changed files with 58 additions and 76 deletions
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16
src/stepper.c
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@@ -44,7 +44,6 @@ struct stepper {
struct gpio_out step_pin, dir_pin;
uint32_t position;
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;
};
@@ -53,7 +52,7 @@ enum { POSITION_BIAS=0x40000000 };
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, SF_NEED_RESET=1<<6
SF_LAST_RESET=1<<4, SF_NEED_RESET=1<<5
};
// Setup a stepper for the next move in its queue
@@ -62,9 +61,6 @@ stepper_load_next(struct stepper *s, uint32_t min_next_time)
{
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))
shutdown("No next step");
s->count = 0;
return SF_DONE;
}
@@ -186,16 +182,14 @@ command_config_stepper(uint32_t *args)
struct stepper *s = oid_alloc(args[0], command_config_stepper, sizeof(*s));
if (!CONFIG_INLINE_STEPPER_HACK)
s->time.func = stepper_event;
s->flags = args[4] ? SF_INVERT_STEP : 0;
s->flags = args[3] ? SF_INVERT_STEP : 0;
s->step_pin = gpio_out_setup(args[1], s->flags & SF_INVERT_STEP);
s->dir_pin = gpio_out_setup(args[2], 0);
s->min_stop_interval = args[3];
s->position = -POSITION_BIAS;
move_queue_setup(&s->mq, sizeof(struct stepper_move));
}
DECL_COMMAND(command_config_stepper,
"config_stepper oid=%c step_pin=%c dir_pin=%c"
" min_stop_interval=%u invert_step=%c");
"config_stepper oid=%c step_pin=%c dir_pin=%c invert_step=%c");
// Return the 'struct stepper' for a given stepper oid
struct stepper *
@@ -223,10 +217,6 @@ command_queue_step(uint32_t *args)
flags ^= SF_LAST_DIR;
m->flags |= MF_DIR;
}
flags &= ~SF_NO_NEXT_CHECK;
if (m->count == 1 && (m->flags || flags & SF_LAST_RESET))
// count=1 moves after a reset or dir change can have small intervals
flags |= SF_NO_NEXT_CHECK;
flags &= ~SF_LAST_RESET;
if (s->count) {
s->flags = flags;