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

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

1 files changed, 13 insertions, 18 deletions

diff --git a/src/stepper.c b/src/stepper.c
index e8dedaf9..f191be6e 100644
--- a/src/stepper.c
+++ b/src/stepper.c
@@ -21,10 +21,10 @@ DECL_CONSTANT("STEP_DELAY", CONFIG_STEP_DELAY);
  ****************************************************************/
 
 struct stepper_move {
+    struct move_node node;
     uint32_t interval;
     int16_t add;
     uint16_t count;
-    struct stepper_move *next;
     uint8_t flags;
 };
 
@@ -43,7 +43,7 @@ struct stepper {
 #endif
     struct gpio_out step_pin, dir_pin;
     uint32_t position;
-    struct stepper_move *first, **plast;
+    struct move_queue_head mq;
     uint32_t min_stop_interval;
     // gcc (pre v6) does better optimization when uint8_t are bitfields
     uint8_t flags : 8;
@@ -60,8 +60,7 @@ enum {
 static uint_fast8_t
 stepper_load_next(struct stepper *s, uint32_t min_next_time)
 {
-    struct stepper_move *m = s->first;
-    if (!m) {
+    if (move_queue_empty(&s->mq)) {
         // There is no next move - the queue is empty
         if (s->interval - s->add < s->min_stop_interval
             && !(s->flags & SF_NO_NEXT_CHECK))
@@ -71,6 +70,8 @@ stepper_load_next(struct stepper *s, uint32_t min_next_time)
     }
 
     // Load next 'struct stepper_move' into 'struct stepper'
+    struct move_node *mn = move_queue_pop(&s->mq);
+    struct stepper_move *m = container_of(mn, struct stepper_move, node);
     s->next_step_time += m->interval;
     s->add = m->add;
     s->interval = m->interval + m->add;
@@ -101,7 +102,6 @@ stepper_load_next(struct stepper *s, uint32_t min_next_time)
         s->position += m->count;
     }
 
-    s->first = m->next;
     move_free(m);
     return SF_RESCHEDULE;
 }
@@ -191,7 +191,7 @@ command_config_stepper(uint32_t *args)
     s->dir_pin = gpio_out_setup(args[2], 0);
     s->min_stop_interval = args[3];
     s->position = -POSITION_BIAS;
-    move_request_size(sizeof(struct stepper_move));
+    move_queue_setup(&s->mq, sizeof(struct stepper_move));
 }
 DECL_COMMAND(command_config_stepper,
              "config_stepper oid=%c step_pin=%c dir_pin=%c"
@@ -215,7 +215,6 @@ command_queue_step(uint32_t *args)
     if (!m->count)
         shutdown("Invalid count parameter");
     m->add = args[3];
-    m->next = NULL;
     m->flags = 0;
 
     irq_disable();
@@ -231,16 +230,12 @@ command_queue_step(uint32_t *args)
     flags &= ~SF_LAST_RESET;
     if (s->count) {
         s->flags = flags;
-        if (s->first)
-            *s->plast = m;
-        else
-            s->first = m;
-        s->plast = &m->next;
+        move_queue_push(&m->node, &s->mq);
     } else if (flags & SF_NEED_RESET) {
         move_free(m);
     } else {
         s->flags = flags;
-        s->first = m;
+        move_queue_push(&m->node, &s->mq);
         stepper_load_next(s, s->next_step_time + m->interval);
         sched_add_timer(&s->time);
     }
@@ -317,10 +312,10 @@ stepper_stop(struct stepper *s)
     s->flags = (s->flags & SF_INVERT_STEP) | SF_NEED_RESET;
     gpio_out_write(s->dir_pin, 0);
     gpio_out_write(s->step_pin, s->flags & SF_INVERT_STEP);
-    while (s->first) {
-        struct stepper_move *next = s->first->next;
-        move_free(s->first);
-        s->first = next;
+    while (!move_queue_empty(&s->mq)) {
+        struct move_node *mn = move_queue_pop(&s->mq);
+        struct stepper_move *m = container_of(mn, struct stepper_move, node);
+        move_free(m);
     }
 }
 
@@ -330,7 +325,7 @@ stepper_shutdown(void)
     uint8_t i;
     struct stepper *s;
     foreach_oid(i, s, command_config_stepper) {
-        s->first = NULL;
+        move_queue_clear(&s->mq);
         stepper_stop(s);
     }
 }