endstop: Support halting more than one stepper on trigger

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>

1 files changed, 31 insertions, 9 deletions

diff --git a/src/endstop.c b/src/endstop.c
index a504de92..91a278cc 100644
--- a/src/endstop.c
+++ b/src/endstop.c
@@ -14,13 +14,23 @@
 struct end_stop {
     struct timer time;
     uint32_t rest_time;
-    struct stepper *stepper;
     struct gpio_in pin;
-    uint8_t flags;
+    uint8_t flags, stepper_count;
+    struct stepper *steppers[0];
 };
 
 enum { ESF_PIN_HIGH=1<<0, ESF_HOMING=1<<1, ESF_REPORT=1<<2 };
 
+static void noinline
+stop_steppers(struct end_stop *e)
+{
+    e->flags = ESF_REPORT;
+    uint8_t count = e->stepper_count;
+    while (count--)
+        if (e->steppers[count])
+            stepper_stop(e->steppers[count]);
+}
+
 // Timer callback for an end stop
 static uint_fast8_t
 end_stop_event(struct timer *t)
@@ -32,23 +42,35 @@ end_stop_event(struct timer *t)
         e->time.waketime += e->rest_time;
         return SF_RESCHEDULE;
     }
-    // Stop stepper
-    e->flags = ESF_REPORT;
-    stepper_stop(e->stepper);
+    stop_steppers(e);
     return SF_DONE;
 }
 
 void
 command_config_end_stop(uint32_t *args)
 {
-    struct end_stop *e = oid_alloc(args[0], command_config_end_stop, sizeof(*e));
-    struct stepper *s = stepper_oid_lookup(args[3]);
+    uint8_t stepper_count = args[3];
+    struct end_stop *e = oid_alloc(
+        args[0], command_config_end_stop
+        , sizeof(*e) + sizeof(e->steppers[0]) * stepper_count);
     e->time.func = end_stop_event;
-    e->stepper = s;
     e->pin = gpio_in_setup(args[1], args[2]);
+    e->stepper_count = stepper_count;
 }
 DECL_COMMAND(command_config_end_stop,
-             "config_end_stop oid=%c pin=%c pull_up=%c stepper_oid=%c");
+             "config_end_stop oid=%c pin=%c pull_up=%c stepper_count=%c");
+
+void
+command_end_stop_set_stepper(uint32_t *args)
+{
+    struct end_stop *e = oid_lookup(args[0], command_config_end_stop);
+    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_end_stop_set_stepper,
+             "end_stop_set_stepper oid=%c pos=%c stepper_oid=%c");
 
 // Home an axis
 void