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stepper: Support configuring the stepper pulse length from Kconfig

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Allow the stepper pulse length to be configured at compile time from
the Kconfig menu system.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2019-01-09 13:10:23 -05:00
parent c0ea0312e5
commit 2ea7c97bbd
3 changed files with 41 additions and 15 deletions
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15
src/stepper.c
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@ -13,6 +13,8 @@
#include "sched.h" // struct timer
#include "stepper.h" // command_config_stepper
DECL_CONSTANT(STEP_DELAY, CONFIG_STEP_DELAY);
/****************************************************************
* Steppers
@ -32,7 +34,7 @@ struct stepper {
struct timer time;
uint32_t interval;
int16_t add;
#if CONFIG_NO_UNSTEP_DELAY
#if !CONFIG_STEP_DELAY
uint16_t count;
#define next_step_time time.waketime
#else
@ -68,7 +70,7 @@ stepper_load_next(struct stepper *s, uint32_t min_next_time)
s->next_step_time += m->interval;
s->add = m->add;
s->interval = m->interval + m->add;
if (CONFIG_NO_UNSTEP_DELAY) {
if (!CONFIG_STEP_DELAY) {
// On slow mcus see if the add can be optimized away
s->flags = m->add ? s->flags | SF_HAVE_ADD : s->flags & ~SF_HAVE_ADD;
s->count = m->count;
@ -98,14 +100,12 @@ stepper_load_next(struct stepper *s, uint32_t min_next_time)
return SF_RESCHEDULE;
}
#define UNSTEP_TIME timer_from_us(2)
// Timer callback - step the given stepper.
uint_fast8_t
stepper_event(struct timer *t)
{
struct stepper *s = container_of(t, struct stepper, time);
if (CONFIG_NO_UNSTEP_DELAY) {
if (!CONFIG_STEP_DELAY) {
// On slower mcus it is possible to simply step and unstep in
// the same timer event.
gpio_out_toggle_noirq(s->step_pin);
@ -124,7 +124,8 @@ stepper_event(struct timer *t)
}
// On faster mcus, it is necessary to schedule the unstep event
uint32_t min_next_time = timer_read_time() + UNSTEP_TIME;
uint32_t step_delay = timer_from_us(CONFIG_STEP_DELAY);
uint32_t min_next_time = timer_read_time() + step_delay;
gpio_out_toggle_noirq(s->step_pin);
s->count--;
if (likely(s->count & 1))
@ -242,7 +243,7 @@ static uint32_t
stepper_get_position(struct stepper *s)
{
uint32_t position = s->position;
if (CONFIG_NO_UNSTEP_DELAY)
if (!CONFIG_STEP_DELAY)
position -= s->count;
else
position -= s->count / 2;