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timer: Allow board code to define its own timer_is_before implementation

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Move sched_is_before() from sched.c to timer_is_before() in the board
specific timer code.  This allows the board code to provide its own
definition.

Also, remove the sched_from_us() and sched_read_time() wrapper
functions and change the callers to directly invoke timer_from_us() /
timer_read_time().

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2017-03-24 23:01:08 -04:00
parent 14340ac4df
commit 60e488eb17
9 changed files with 48 additions and 47 deletions
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11
src/stepper.c
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@ -8,6 +8,7 @@
#include "basecmd.h" // oid_alloc
#include "board/gpio.h" // gpio_out_write
#include "board/irq.h" // irq_disable
#include "board/misc.h" // timer_is_before
#include "command.h" // DECL_COMMAND
#include "sched.h" // struct timer
#include "stepper.h" // command_config_stepper
@ -75,9 +76,9 @@ stepper_load_next(struct stepper *s, uint32_t min_next_time)
// On faster mcus, it is necessary to schedule unstep events
// and so there are twice as many events. Also check that the
// next step event isn't too close to the last unstep.
if (unlikely(sched_is_before(s->next_step_time, min_next_time))) {
if (unlikely(timer_is_before(s->next_step_time, min_next_time))) {
if ((int32_t)(s->next_step_time - min_next_time)
< (int32_t)(-sched_from_us(1000)))
< (int32_t)(-timer_from_us(1000)))
shutdown("stepper too far in past");
s->time.waketime = min_next_time;
} else {
@ -97,7 +98,7 @@ stepper_load_next(struct stepper *s, uint32_t min_next_time)
return SF_RESCHEDULE;
}
#define UNSTEP_TIME sched_from_us(1)
#define UNSTEP_TIME timer_from_us(1)
// Timer callback - step the given stepper.
uint_fast8_t
@ -123,7 +124,7 @@ stepper_event(struct timer *t)
}
// On faster mcus, it is necessary to schedule the unstep event
uint32_t min_next_time = sched_read_time() + UNSTEP_TIME;
uint32_t min_next_time = timer_read_time() + UNSTEP_TIME;
gpio_out_toggle(s->step_pin);
s->count--;
if (likely(s->count & 1))
@ -132,7 +133,7 @@ stepper_event(struct timer *t)
if (likely(s->count)) {
s->next_step_time += s->interval;
s->interval += s->add;
if (unlikely(sched_is_before(s->next_step_time, min_next_time)))
if (unlikely(timer_is_before(s->next_step_time, min_next_time)))
// The next step event is too close - push it back
goto reschedule_min;
s->time.waketime = s->next_step_time;