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stepper: Introduce stepper_get_position command and remove from endstop.c

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Move the logic to calculate and report the stepper's current position
from endstop.c to stepper.c.  This localizes the stepper code into
stepper.c.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2017-03-05 15:00:15 -05:00
parent 8d6ecd9af8
commit a38437f378
6 changed files with 54 additions and 28 deletions
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32
src/stepper.c
View file

@ -46,6 +46,8 @@ struct stepper {
uint8_t flags : 8;
};
enum { POSITION_BIAS=0x40000000 };
enum { SF_LAST_DIR=1<<0, SF_NEXT_DIR=1<<1, SF_INVERT_STEP=1<<2, SF_HAVE_ADD=1<<3,
SF_LAST_RESET=1<<4, SF_NO_NEXT_CHECK=1<<5 };
@ -152,18 +154,25 @@ command_config_stepper(uint32_t *args)
s->step_pin = gpio_out_setup(args[1], s->flags & SF_INVERT_STEP ? 1 : 0);
s->dir_pin = gpio_out_setup(args[2], 0);
s->min_stop_interval = args[3];
s->position = -STEPPER_POSITION_BIAS;
s->position = -POSITION_BIAS;
move_request_size(sizeof(struct stepper_move));
}
DECL_COMMAND(command_config_stepper,
"config_stepper oid=%c step_pin=%c dir_pin=%c"
" min_stop_interval=%u invert_step=%c");
// Return the 'struct stepper' for a given stepper oid
struct stepper *
stepper_oid_lookup(uint8_t oid)
{
return oid_lookup(oid, command_config_stepper);
}
// Schedule a set of steps with a given timing
void
command_queue_step(uint32_t *args)
{
struct stepper *s = oid_lookup(args[0], command_config_stepper);
struct stepper *s = stepper_oid_lookup(args[0]);
struct stepper_move *m = move_alloc();
m->interval = args[1];
m->count = args[2];
@ -204,7 +213,7 @@ DECL_COMMAND(command_queue_step,
void
command_set_next_step_dir(uint32_t *args)
{
struct stepper *s = oid_lookup(args[0], command_config_stepper);
struct stepper *s = stepper_oid_lookup(args[0]);
uint8_t nextdir = args[1] ? SF_NEXT_DIR : 0;
irq_disable();
s->flags = (s->flags & ~SF_NEXT_DIR) | nextdir;
@ -216,7 +225,7 @@ DECL_COMMAND(command_set_next_step_dir, "set_next_step_dir oid=%c dir=%c");
void
command_reset_step_clock(uint32_t *args)
{
struct stepper *s = oid_lookup(args[0], command_config_stepper);
struct stepper *s = stepper_oid_lookup(args[0]);
uint32_t waketime = args[1];
irq_disable();
if (s->count)
@ -228,7 +237,7 @@ command_reset_step_clock(uint32_t *args)
DECL_COMMAND(command_reset_step_clock, "reset_step_clock oid=%c clock=%u");
// Return the current stepper position. Caller must disable irqs.
uint32_t
static uint32_t
stepper_get_position(struct stepper *s)
{
uint32_t position = s->position;
@ -241,6 +250,19 @@ stepper_get_position(struct stepper *s)
return position;
}
// Report the current position of the stepper
void
command_stepper_get_position(uint32_t *args)
{
uint8_t oid = args[0];
struct stepper *s = stepper_oid_lookup(oid);
irq_disable();
uint32_t position = stepper_get_position(s);
irq_enable();
sendf("stepper_position oid=%c pos=%i", oid, position - POSITION_BIAS);
}
DECL_COMMAND(command_stepper_get_position, "stepper_get_position oid=%c");
// Stop all moves for a given stepper (used in end stop homing). IRQs
// must be off.
void