3D-printing/klipper
1
0
Fork 0
mirror of https://github.com/Klipper3d/klipper.git synced 2025-07-17 19:57:57 -06:00
Code Issues Projects Releases Packages Wiki Activity Actions 3

stepper: Use a reusable interface to the "move queue"

Browse source 
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2020-11-20 18:57:47 -05:00
parent 3b9412513e
commit 697412d25c
3 changed files with 82 additions and 32 deletions
Download patch file Download diff file Expand all files Collapse all files

69
src/basecmd.c
View file

@ -58,11 +58,7 @@ alloc_chunks(size_t size, size_t count, uint16_t *avail)
* Move queue
****************************************************************/
struct move_freed {
struct move_freed *next;
};
static struct move_freed *move_free_list;
static struct move_node *move_free_list;
static void *move_list;
static uint16_t move_count;
static uint8_t move_item_size;
@ -79,7 +75,7 @@ is_finalized(void)
void
move_free(void *m)
{
struct move_freed *mf = m;
struct move_node *mf = m;
mf->next = move_free_list;
move_free_list = mf;
}
@ -89,7 +85,7 @@ void *
move_alloc(void)
{
irqstatus_t flag = irq_save();
struct move_freed *mf = move_free_list;
struct move_node *mf = move_free_list;
if (!mf)
shutdown("Move queue overflow");
move_free_list = mf->next;
@ -97,10 +93,56 @@ move_alloc(void)
return mf;
}
// Request minimum size of runtime allocations returned by move_alloc()
void
move_request_size(int size)
// Check if a move_queue is empty
int
move_queue_empty(struct move_queue_head *mh)
{
return mh->first == NULL;
}
// Return first node in a move queue
struct move_node *
move_queue_first(struct move_queue_head *mh)
{
return mh->first;
}
// Add move to queue
int
move_queue_push(struct move_node *m, struct move_queue_head *mh)
{
m->next = NULL;
if (mh->first) {
mh->last->next = m;
mh->last = m;
return 0;
}
mh->first = mh->last = m;
return 1;
}
// Remove first item from queue (caller must ensure queue not empty)
struct move_node *
move_queue_pop(struct move_queue_head *mh)
{
struct move_node *mn = mh->first;
mh->first = mn->next;
return mn;
}
// Completely clear move queue (used in shutdown handlers)
void
move_queue_clear(struct move_queue_head *mh)
{
mh->first = NULL;
}
// Initialize a move_queue with nodes of the give size
void
move_queue_setup(struct move_queue_head *mh, int size)
{
mh->first = mh->last = NULL;
if (size > UINT8_MAX || is_finalized())
shutdown("Invalid move request size");
if (size > move_item_size)
@ -115,10 +157,10 @@ move_reset(void)
// Add everything in move_list to the free list.
uint32_t i;
for (i=0; i<move_count-1; i++) {
struct move_freed *mf = move_list + i*move_item_size;
struct move_node *mf = move_list + i*move_item_size;
mf->next = move_list + (i + 1)*move_item_size;
}
struct move_freed *mf = move_list + (move_count - 1)*move_item_size;
struct move_node *mf = move_list + (move_count - 1)*move_item_size;
mf->next = NULL;
move_free_list = move_list;
}
@ -129,7 +171,8 @@ move_finalize(void)
{
if (is_finalized())
shutdown("Already finalized");
move_request_size(sizeof(*move_free_list));
struct move_queue_head dummy;
move_queue_setup(&dummy, sizeof(*move_free_list));
move_list = alloc_chunks(move_item_size, 1024, &move_count);
move_reset();
}