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57f279677f
Extend the endstop code so that more than one stepper can be halted during endstop homing. Some kinematic setups (eg, corexy) require an endstop to support this. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
129 lines
3.4 KiB
C
129 lines
3.4 KiB
C
// Handling of end stops.
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//
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// Copyright (C) 2016 Kevin O'Connor <kevin@koconnor.net>
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//
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// This file may be distributed under the terms of the GNU GPLv3 license.
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#include "basecmd.h" // oid_alloc
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#include "board/gpio.h" // struct gpio
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#include "board/irq.h" // irq_disable
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#include "command.h" // DECL_COMMAND
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#include "sched.h" // struct timer
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#include "stepper.h" // stepper_stop
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struct end_stop {
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struct timer time;
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uint32_t rest_time;
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struct gpio_in pin;
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uint8_t flags, stepper_count;
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struct stepper *steppers[0];
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};
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enum { ESF_PIN_HIGH=1<<0, ESF_HOMING=1<<1, ESF_REPORT=1<<2 };
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static void noinline
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stop_steppers(struct end_stop *e)
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{
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e->flags = ESF_REPORT;
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uint8_t count = e->stepper_count;
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while (count--)
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if (e->steppers[count])
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stepper_stop(e->steppers[count]);
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}
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// Timer callback for an end stop
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static uint_fast8_t
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end_stop_event(struct timer *t)
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{
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struct end_stop *e = container_of(t, struct end_stop, time);
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uint8_t val = gpio_in_read(e->pin);
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if ((val ? ~e->flags : e->flags) & ESF_PIN_HIGH) {
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// No match - reschedule for the next attempt
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e->time.waketime += e->rest_time;
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return SF_RESCHEDULE;
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}
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stop_steppers(e);
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return SF_DONE;
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}
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void
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command_config_end_stop(uint32_t *args)
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{
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uint8_t stepper_count = args[3];
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struct end_stop *e = oid_alloc(
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args[0], command_config_end_stop
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, sizeof(*e) + sizeof(e->steppers[0]) * stepper_count);
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e->time.func = end_stop_event;
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e->pin = gpio_in_setup(args[1], args[2]);
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e->stepper_count = stepper_count;
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}
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DECL_COMMAND(command_config_end_stop,
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"config_end_stop oid=%c pin=%c pull_up=%c stepper_count=%c");
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void
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command_end_stop_set_stepper(uint32_t *args)
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{
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struct end_stop *e = oid_lookup(args[0], command_config_end_stop);
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uint8_t pos = args[1];
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if (pos >= e->stepper_count)
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shutdown("Set stepper past maximum stepper count");
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e->steppers[pos] = stepper_oid_lookup(args[2]);
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}
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DECL_COMMAND(command_end_stop_set_stepper,
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"end_stop_set_stepper oid=%c pos=%c stepper_oid=%c");
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// Home an axis
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void
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command_end_stop_home(uint32_t *args)
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{
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struct end_stop *e = oid_lookup(args[0], command_config_end_stop);
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sched_del_timer(&e->time);
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e->time.waketime = args[1];
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e->rest_time = args[2];
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if (!e->rest_time) {
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// Disable end stop checking
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e->flags = 0;
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return;
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}
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e->flags = ESF_HOMING | (args[3] ? ESF_PIN_HIGH : 0);
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sched_add_timer(&e->time);
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}
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DECL_COMMAND(command_end_stop_home,
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"end_stop_home oid=%c clock=%u rest_ticks=%u pin_value=%c");
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static void
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end_stop_report(uint8_t oid, struct end_stop *e)
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{
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irq_disable();
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uint8_t eflags = e->flags;
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e->flags &= ~ESF_REPORT;
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irq_enable();
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sendf("end_stop_state oid=%c homing=%c pin=%c"
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, oid, !!(eflags & ESF_HOMING), gpio_in_read(e->pin));
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}
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void
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command_end_stop_query(uint32_t *args)
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{
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uint8_t oid = args[0];
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struct end_stop *e = oid_lookup(oid, command_config_end_stop);
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end_stop_report(oid, e);
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}
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DECL_COMMAND(command_end_stop_query, "end_stop_query oid=%c");
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static void
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end_stop_task(void)
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{
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static uint16_t next;
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if (!sched_check_periodic(50, &next))
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return;
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uint8_t oid;
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struct end_stop *e;
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foreach_oid(oid, e, command_config_end_stop) {
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if (!(e->flags & ESF_REPORT))
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continue;
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end_stop_report(oid, e);
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}
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}
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DECL_TASK(end_stop_task);
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