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stepper: Support configuring the stepper pulse length from Kconfig
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>
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c0ea0312e5
commit
2ea7c97bbd
3 changed files with 41 additions and 15 deletions
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@ -13,6 +13,8 @@
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#include "sched.h" // struct timer
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#include "stepper.h" // command_config_stepper
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DECL_CONSTANT(STEP_DELAY, CONFIG_STEP_DELAY);
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/****************************************************************
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* Steppers
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@ -32,7 +34,7 @@ struct stepper {
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struct timer time;
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uint32_t interval;
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int16_t add;
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#if CONFIG_NO_UNSTEP_DELAY
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#if !CONFIG_STEP_DELAY
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uint16_t count;
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#define next_step_time time.waketime
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#else
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@ -68,7 +70,7 @@ stepper_load_next(struct stepper *s, uint32_t min_next_time)
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s->next_step_time += m->interval;
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s->add = m->add;
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s->interval = m->interval + m->add;
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if (CONFIG_NO_UNSTEP_DELAY) {
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if (!CONFIG_STEP_DELAY) {
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// On slow mcus see if the add can be optimized away
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s->flags = m->add ? s->flags | SF_HAVE_ADD : s->flags & ~SF_HAVE_ADD;
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s->count = m->count;
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@ -98,14 +100,12 @@ stepper_load_next(struct stepper *s, uint32_t min_next_time)
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return SF_RESCHEDULE;
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}
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#define UNSTEP_TIME timer_from_us(2)
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// Timer callback - step the given stepper.
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uint_fast8_t
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stepper_event(struct timer *t)
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{
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struct stepper *s = container_of(t, struct stepper, time);
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if (CONFIG_NO_UNSTEP_DELAY) {
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if (!CONFIG_STEP_DELAY) {
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// On slower mcus it is possible to simply step and unstep in
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// the same timer event.
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gpio_out_toggle_noirq(s->step_pin);
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@ -124,7 +124,8 @@ stepper_event(struct timer *t)
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}
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// On faster mcus, it is necessary to schedule the unstep event
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uint32_t min_next_time = timer_read_time() + UNSTEP_TIME;
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uint32_t step_delay = timer_from_us(CONFIG_STEP_DELAY);
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uint32_t min_next_time = timer_read_time() + step_delay;
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gpio_out_toggle_noirq(s->step_pin);
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s->count--;
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if (likely(s->count & 1))
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@ -242,7 +243,7 @@ static uint32_t
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stepper_get_position(struct stepper *s)
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{
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uint32_t position = s->position;
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if (CONFIG_NO_UNSTEP_DELAY)
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if (!CONFIG_STEP_DELAY)
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position -= s->count;
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else
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position -= s->count / 2;
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