diff options
Diffstat (limited to 'src/endstop.c')
| -rw-r--r-- | src/endstop.c | 34 |
1 files changed, 13 insertions, 21 deletions
diff --git a/src/endstop.c b/src/endstop.c index c6a00ec8..0f6aac89 100644 --- a/src/endstop.c +++ b/src/endstop.c @@ -1,6 +1,6 @@ // Handling of end stops. // -// Copyright (C) 2016 Kevin O'Connor <kevin@koconnor.net> +// Copyright (C) 2016,2017 Kevin O'Connor <kevin@koconnor.net> // // This file may be distributed under the terms of the GNU GPLv3 license. @@ -13,8 +13,8 @@ struct end_stop { struct timer time; - uint32_t rest_time, sample_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]; }; @@ -42,11 +42,13 @@ end_stop_event(struct timer *t) { struct end_stop *e = container_of(t, struct end_stop, time); uint8_t val = gpio_in_read(e->pin); + uint32_t nextwake = e->time.waketime + e->rest_time; if ((val ? ~e->flags : e->flags) & ESF_PIN_HIGH) { // No match - reschedule for the next attempt - e->time.waketime += e->rest_time; + e->time.waketime = nextwake; return SF_RESCHEDULE; } + e->nextwake = nextwake; e->time.func = end_stop_oversample_event; return end_stop_oversample_event(t); } @@ -60,8 +62,7 @@ end_stop_oversample_event(struct timer *t) if ((val ? ~e->flags : e->flags) & ESF_PIN_HIGH) { // No longer matching - reschedule for the next attempt e->time.func = end_stop_event; - uint8_t past_triggers = e->sample_count - e->trigger_count; - e->time.waketime += e->rest_time - past_triggers * e->sample_time; + e->time.waketime = e->nextwake; e->trigger_count = e->sample_count; return SF_RESCHEDULE; } @@ -101,18 +102,6 @@ command_end_stop_set_stepper(uint32_t *args) DECL_COMMAND(command_end_stop_set_stepper, "end_stop_set_stepper oid=%c pos=%c stepper_oid=%c"); -void -command_end_stop_set_oversample(uint32_t *args) -{ - struct end_stop *e = oid_lookup(args[0], command_config_end_stop); - e->sample_time = args[1]; - e->sample_count = args[2]; - if (!e->sample_count) - e->sample_count = 1; -} -DECL_COMMAND(command_end_stop_set_oversample, - "end_stop_set_oversample oid=%c sample_ticks=%u sample_count=%c"); - // Home an axis void command_end_stop_home(uint32_t *args) @@ -120,19 +109,22 @@ command_end_stop_home(uint32_t *args) struct end_stop *e = oid_lookup(args[0], command_config_end_stop); sched_del_timer(&e->time); e->time.waketime = args[1]; - e->rest_time = args[2]; - if (!e->rest_time) { + e->sample_time = args[2]; + e->sample_count = args[3]; + if (!e->sample_count) { // Disable end stop checking e->flags = 0; return; } + e->rest_time = args[4]; e->time.func = end_stop_event; e->trigger_count = e->sample_count; - e->flags = ESF_HOMING | (args[3] ? ESF_PIN_HIGH : 0); + e->flags = ESF_HOMING | (args[5] ? ESF_PIN_HIGH : 0); sched_add_timer(&e->time); } DECL_COMMAND(command_end_stop_home, - "end_stop_home oid=%c clock=%u rest_ticks=%u pin_value=%c"); + "end_stop_home oid=%c clock=%u sample_ticks=%u sample_count=%c" + " rest_ticks=%u pin_value=%c"); static void end_stop_report(uint8_t oid, struct end_stop *e) |