diff options
Diffstat (limited to 'src/stepper.c')
| -rw-r--r-- | src/stepper.c | 29 |
1 files changed, 21 insertions, 8 deletions
diff --git a/src/stepper.c b/src/stepper.c index 83da362d..8c822d66 100644 --- a/src/stepper.c +++ b/src/stepper.c @@ -1,6 +1,6 @@ // Handling of stepper drivers. // -// 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. @@ -11,7 +11,8 @@ #include "board/misc.h" // timer_is_before #include "command.h" // DECL_COMMAND #include "sched.h" // struct timer -#include "stepper.h" // command_config_stepper +#include "stepper.h" // stepper_event +#include "trsync.h" // trsync_add_signal DECL_CONSTANT("STEP_DELAY", CONFIG_STEP_DELAY); @@ -44,6 +45,7 @@ struct stepper { struct gpio_out step_pin, dir_pin; uint32_t position; struct move_queue_head mq; + struct trsync_signal stop_signal; // gcc (pre v6) does better optimization when uint8_t are bitfields uint8_t flags : 8; }; @@ -192,7 +194,7 @@ DECL_COMMAND(command_config_stepper, "config_stepper oid=%c step_pin=%c dir_pin=%c invert_step=%c"); // Return the 'struct stepper' for a given stepper oid -struct stepper * +static struct stepper * stepper_oid_lookup(uint8_t oid) { return oid_lookup(oid, command_config_stepper); @@ -290,11 +292,11 @@ command_stepper_get_position(uint32_t *args) } DECL_COMMAND(command_stepper_get_position, "stepper_get_position oid=%c"); -// Stop all moves for a given stepper (used in end stop homing). IRQs -// must be off. -void -stepper_stop(struct stepper *s) +// Stop all moves for a given stepper (caller must disable IRQs) +static void +stepper_stop(struct trsync_signal *tss, uint8_t reason) { + struct stepper *s = container_of(tss, struct stepper, stop_signal); sched_del_timer(&s->time); s->next_step_time = 0; s->position = -stepper_get_position(s); @@ -309,6 +311,17 @@ stepper_stop(struct stepper *s) } } +// Set the stepper to stop on a "trigger event" (used in homing) +void +command_stepper_stop_on_trigger(uint32_t *args) +{ + struct stepper *s = stepper_oid_lookup(args[0]); + struct trsync *ts = trsync_oid_lookup(args[1]); + trsync_add_signal(ts, &s->stop_signal, stepper_stop); +} +DECL_COMMAND(command_stepper_stop_on_trigger, + "stepper_stop_on_trigger oid=%c trsync_oid=%c"); + void stepper_shutdown(void) { @@ -316,7 +329,7 @@ stepper_shutdown(void) struct stepper *s; foreach_oid(i, s, command_config_stepper) { move_queue_clear(&s->mq); - stepper_stop(s); + stepper_stop(&s->stop_signal, 0); } } DECL_SHUTDOWN(stepper_shutdown); |