3D-printing/klipper
1
0
Fork 0
mirror of https://github.com/Klipper3d/klipper.git synced 2025-08-04 12:34:08 -06:00
Code Issues Projects Releases Packages Wiki Activity Actions 5

stepper: Free stepper_move struct near top of stepper_load_next()

Browse source 
Move up the freeing of the stepper_move struct and setting of
s->position in stepper_load_next().  This simplifies the code and
will make it easier to add more logic to this function.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2025-05-07 17:16:23 -04:00
parent 9aba1a8536
commit 1dc9aa8e19
1 changed files with 28 additions and 20 deletions
Download patch file Download diff file Expand all files Collapse all files

48
src/stepper.c
View file

@ -71,32 +71,40 @@ stepper_load_next(struct stepper *s)
return SF_DONE;
}
// Load next 'struct stepper_move' into 'struct stepper'
// Read next 'struct stepper_move'
struct move_node *mn = move_queue_pop(&s->mq);
struct stepper_move *m = container_of(mn, struct stepper_move, node);
s->add = m->add;
s->interval = m->interval + m->add;
if (HAVE_OPTIMIZED_PATH && s->flags & SF_OPTIMIZED_PATH) {
s->time.waketime += m->interval;
if (HAVE_AVR_OPTIMIZATION)
s->flags = m->add ? s->flags|SF_HAVE_ADD : s->flags & ~SF_HAVE_ADD;
s->count = m->count;
} else {
// It is necessary to schedule unstep events and so there are
// twice as many events.
s->next_step_time += m->interval;
s->time.waketime = s->next_step_time;
s->count = s->flags & SF_SINGLE_SCHED ? m->count : (uint32_t)m->count*2;
}
uint32_t move_interval = m->interval;
uint_fast16_t move_count = m->count;
int_fast16_t move_add = m->add;
uint_fast8_t need_dir_change = m->flags & MF_DIR;
move_free(m);
// Add all steps to s->position (stepper_get_position() can calc mid-move)
if (m->flags & MF_DIR) {
s->position = -s->position + m->count;
gpio_out_toggle_noirq(s->dir_pin);
s->position = (need_dir_change ? -s->position : s->position) + move_count;
// Load next move into 'struct stepper'
s->add = move_add;
s->interval = move_interval + move_add;
if (HAVE_OPTIMIZED_PATH && s->flags & SF_OPTIMIZED_PATH) {
// Using optimized stepper_event_edge() or stepper_event_avr()
s->time.waketime += move_interval;
if (HAVE_AVR_OPTIMIZATION)
s->flags = (move_add ? s->flags | SF_HAVE_ADD
: s->flags & ~SF_HAVE_ADD);
s->count = move_count;
} else {
s->position += m->count;
// Using fully scheduled stepper_event_full() code (the scheduler
// may be called twice for each step)
s->next_step_time += move_interval;
s->time.waketime = s->next_step_time;
s->count = (s->flags & SF_SINGLE_SCHED ? move_count
: (uint32_t)move_count * 2);
}
move_free(m);
// Set new direction (if needed)
if (need_dir_change)
gpio_out_toggle_noirq(s->dir_pin);
return SF_RESCHEDULE;
}