trsync: Introduce new "trigger synchronization" support

Separate out the stepper stopping code from endstop.c into its own
trsync.c code file.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>

1 files changed, 17 insertions, 66 deletions

diff --git a/src/endstop.c b/src/endstop.c
index 96f8e805..77915398 100644
--- a/src/endstop.c
+++ b/src/endstop.c
@@ -1,6 +1,6 @@
 // Handling of end stops.
 //
-// Copyright (C) 2016-2019  Kevin O'Connor <kevin@koconnor.net>
+// Copyright (C) 2016-2021  Kevin O'Connor <kevin@koconnor.net>
 //
 // This file may be distributed under the terms of the GNU GPLv3 license.
 
@@ -9,30 +9,17 @@
 #include "board/irq.h" // irq_disable
 #include "command.h" // DECL_COMMAND
 #include "sched.h" // struct timer
-#include "stepper.h" // stepper_stop
+#include "trsync.h" // trsync_do_trigger
 
 struct endstop {
     struct timer time;
     struct gpio_in pin;
     uint32_t rest_time, sample_time, nextwake;
-    uint8_t flags, stepper_count, sample_count, trigger_count;
-    struct stepper *steppers[0];
+    struct trsync *ts;
+    uint8_t flags, sample_count, trigger_count, trigger_reason;
 };
 
-enum { ESF_PIN_HIGH=1<<0, ESF_HOMING=1<<1, ESF_REPORT=1<<2 };
-
-static struct task_wake endstop_wake;
-
-static void
-stop_steppers(struct endstop *e)
-{
-    e->flags = ESF_REPORT;
-    uint8_t count = e->stepper_count;
-    while (count--)
-        if (e->steppers[count])
-            stepper_stop(e->steppers[count]);
-    sched_wake_task(&endstop_wake);
-}
+enum { ESF_PIN_HIGH=1<<0, ESF_HOMING=1<<1 };
 
 static uint_fast8_t endstop_oversample_event(struct timer *t);
 
@@ -68,7 +55,7 @@ endstop_oversample_event(struct timer *t)
     }
     uint8_t count = e->trigger_count - 1;
     if (!count) {
-        stop_steppers(e);
+        trsync_do_trigger(e->ts, e->trigger_reason);
         return SF_DONE;
     }
     e->trigger_count = count;
@@ -79,28 +66,10 @@ endstop_oversample_event(struct timer *t)
 void
 command_config_endstop(uint32_t *args)
 {
-    uint8_t stepper_count = args[3];
-    struct endstop *e = oid_alloc(
-        args[0], command_config_endstop
-        , sizeof(*e) + sizeof(e->steppers[0]) * stepper_count);
+    struct endstop *e = oid_alloc(args[0], command_config_endstop, sizeof(*e));
     e->pin = gpio_in_setup(args[1], args[2]);
-    e->stepper_count = stepper_count;
-    e->sample_count = 1;
-}
-DECL_COMMAND(command_config_endstop,
-             "config_endstop oid=%c pin=%c pull_up=%c stepper_count=%c");
-
-void
-command_endstop_set_stepper(uint32_t *args)
-{
-    struct endstop *e = oid_lookup(args[0], command_config_endstop);
-    uint8_t pos = args[1];
-    if (pos >= e->stepper_count)
-        shutdown("Set stepper past maximum stepper count");
-    e->steppers[pos] = stepper_oid_lookup(args[2]);
 }
-DECL_COMMAND(command_endstop_set_stepper,
-             "endstop_set_stepper oid=%c pos=%c stepper_oid=%c");
+DECL_COMMAND(command_config_endstop, "config_endstop oid=%c pin=%c pull_up=%c");
 
 // Home an axis
 void
@@ -113,6 +82,7 @@ command_endstop_home(uint32_t *args)
     e->sample_count = args[3];
     if (!e->sample_count) {
         // Disable end stop checking
+        e->ts = NULL;
         e->flags = 0;
         return;
     }
@@ -120,45 +90,26 @@ command_endstop_home(uint32_t *args)
     e->time.func = endstop_event;
     e->trigger_count = e->sample_count;
     e->flags = ESF_HOMING | (args[5] ? ESF_PIN_HIGH : 0);
+    e->ts = trsync_oid_lookup(args[6]);
+    e->trigger_reason = args[7];
     sched_add_timer(&e->time);
 }
 DECL_COMMAND(command_endstop_home,
              "endstop_home oid=%c clock=%u sample_ticks=%u sample_count=%c"
-             " rest_ticks=%u pin_value=%c");
+             " rest_ticks=%u pin_value=%c trsync_oid=%c trigger_reason=%c");
 
-static void
-endstop_report(uint8_t oid, struct endstop *e)
+void
+command_endstop_query_state(uint32_t *args)
 {
+    uint8_t oid = args[0];
+    struct endstop *e = oid_lookup(oid, command_config_endstop);
+
     irq_disable();
     uint8_t eflags = e->flags;
-    e->flags &= ~ESF_REPORT;
     uint32_t nextwake = e->nextwake;
     irq_enable();
 
     sendf("endstop_state oid=%c homing=%c next_clock=%u pin_value=%c"
           , oid, !!(eflags & ESF_HOMING), nextwake, gpio_in_read(e->pin));
 }
-
-void
-command_endstop_query_state(uint32_t *args)
-{
-    uint8_t oid = args[0];
-    struct endstop *e = oid_lookup(oid, command_config_endstop);
-    endstop_report(oid, e);
-}
 DECL_COMMAND(command_endstop_query_state, "endstop_query_state oid=%c");
-
-void
-endstop_task(void)
-{
-    if (!sched_check_wake(&endstop_wake))
-        return;
-    uint8_t oid;
-    struct endstop *e;
-    foreach_oid(oid, e, command_config_endstop) {
-        if (!(e->flags & ESF_REPORT))
-            continue;
-        endstop_report(oid, e);
-    }
-}
-DECL_TASK(endstop_task);