diff options
Diffstat (limited to 'src/stepper.c')
| -rw-r--r-- | src/stepper.c | 20 |
1 files changed, 15 insertions, 5 deletions
diff --git a/src/stepper.c b/src/stepper.c index 23a073b1..b97a7a69 100644 --- a/src/stepper.c +++ b/src/stepper.c @@ -17,6 +17,16 @@ * Steppers ****************************************************************/ +struct stepper_move { + uint32_t interval; + int16_t add; + uint16_t count; + struct stepper_move *next; + uint8_t flags; +}; + +enum { MF_DIR=1<<0 }; + struct stepper { struct timer time; uint32_t interval; @@ -30,13 +40,12 @@ struct stepper { #endif struct gpio_out step_pin, dir_pin; uint32_t position; - struct move *first, **plast; + struct stepper_move *first, **plast; uint32_t min_stop_interval; // gcc (pre v6) does better optimization when uint8_t are bitfields uint8_t flags : 8; }; -enum { MF_DIR=1<<0 }; enum { SF_LAST_DIR=1<<0, SF_NEXT_DIR=1<<1, SF_INVERT_STEP=1<<2, SF_HAVE_ADD=1<<3, SF_LAST_RESET=1<<4, SF_NO_NEXT_CHECK=1<<5 }; @@ -44,7 +53,7 @@ enum { SF_LAST_DIR=1<<0, SF_NEXT_DIR=1<<1, SF_INVERT_STEP=1<<2, SF_HAVE_ADD=1<<3 static uint_fast8_t stepper_load_next(struct stepper *s, uint32_t min_next_time) { - struct move *m = s->first; + struct stepper_move *m = s->first; if (!m) { if (s->interval - s->add < s->min_stop_interval && !(s->flags & SF_NO_NEXT_CHECK)) @@ -144,6 +153,7 @@ command_config_stepper(uint32_t *args) s->dir_pin = gpio_out_setup(args[2], 0); s->min_stop_interval = args[3]; s->position = -STEPPER_POSITION_BIAS; + move_request_size(sizeof(struct stepper_move)); } DECL_COMMAND(command_config_stepper, "config_stepper oid=%c step_pin=%c dir_pin=%c" @@ -154,7 +164,7 @@ void command_queue_step(uint32_t *args) { struct stepper *s = lookup_oid(args[0], command_config_stepper); - struct move *m = move_alloc(); + struct stepper_move *m = move_alloc(); m->interval = args[1]; m->count = args[2]; if (!m->count) @@ -244,7 +254,7 @@ stepper_stop(struct stepper *s) gpio_out_write(s->dir_pin, 0); gpio_out_write(s->step_pin, s->flags & SF_INVERT_STEP ? 1 : 0); while (s->first) { - struct move *next = s->first->next; + struct stepper_move *next = s->first->next; move_free(s->first); s->first = next; } |