diff options
Diffstat (limited to 'src/stepper.c')
| -rw-r--r-- | src/stepper.c | 15 |
1 files changed, 8 insertions, 7 deletions
diff --git a/src/stepper.c b/src/stepper.c index 2b967413..8356ff24 100644 --- a/src/stepper.c +++ b/src/stepper.c @@ -13,6 +13,8 @@ #include "sched.h" // struct timer #include "stepper.h" // command_config_stepper +DECL_CONSTANT(STEP_DELAY, CONFIG_STEP_DELAY); + /**************************************************************** * Steppers @@ -32,7 +34,7 @@ struct stepper { struct timer time; uint32_t interval; int16_t add; -#if CONFIG_NO_UNSTEP_DELAY +#if !CONFIG_STEP_DELAY uint16_t count; #define next_step_time time.waketime #else @@ -68,7 +70,7 @@ stepper_load_next(struct stepper *s, uint32_t min_next_time) s->next_step_time += m->interval; s->add = m->add; s->interval = m->interval + m->add; - if (CONFIG_NO_UNSTEP_DELAY) { + if (!CONFIG_STEP_DELAY) { // On slow mcus see if the add can be optimized away s->flags = m->add ? s->flags | SF_HAVE_ADD : s->flags & ~SF_HAVE_ADD; s->count = m->count; @@ -98,14 +100,12 @@ stepper_load_next(struct stepper *s, uint32_t min_next_time) return SF_RESCHEDULE; } -#define UNSTEP_TIME timer_from_us(2) - // Timer callback - step the given stepper. uint_fast8_t stepper_event(struct timer *t) { struct stepper *s = container_of(t, struct stepper, time); - if (CONFIG_NO_UNSTEP_DELAY) { + if (!CONFIG_STEP_DELAY) { // On slower mcus it is possible to simply step and unstep in // the same timer event. gpio_out_toggle_noirq(s->step_pin); @@ -124,7 +124,8 @@ stepper_event(struct timer *t) } // On faster mcus, it is necessary to schedule the unstep event - uint32_t min_next_time = timer_read_time() + UNSTEP_TIME; + uint32_t step_delay = timer_from_us(CONFIG_STEP_DELAY); + uint32_t min_next_time = timer_read_time() + step_delay; gpio_out_toggle_noirq(s->step_pin); s->count--; if (likely(s->count & 1)) @@ -242,7 +243,7 @@ static uint32_t stepper_get_position(struct stepper *s) { uint32_t position = s->position; - if (CONFIG_NO_UNSTEP_DELAY) + if (!CONFIG_STEP_DELAY) position -= s->count; else position -= s->count / 2; |