diff options
Diffstat (limited to 'src/stepper.c')
| -rw-r--r-- | src/stepper.c | 14 |
1 files changed, 9 insertions, 5 deletions
diff --git a/src/stepper.c b/src/stepper.c index 23761679..8f4ec816 100644 --- a/src/stepper.c +++ b/src/stepper.c @@ -1,6 +1,6 @@ // Handling of stepper drivers. // -// Copyright (C) 2016 Kevin O'Connor <kevin@koconnor.net> +// Copyright (C) 2016-2019 Kevin O'Connor <kevin@koconnor.net> // // This file may be distributed under the terms of the GNU GPLv3 license. @@ -51,8 +51,10 @@ struct stepper { enum { POSITION_BIAS=0x40000000 }; -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 }; +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, SF_NEED_RESET=1<<6 +}; // Setup a stepper for the next move in its queue static uint_fast8_t @@ -226,6 +228,8 @@ command_queue_step(uint32_t *args) else s->first = m; s->plast = &m->next; + } else if (flags & SF_NEED_RESET) { + move_free(m); } else { s->first = m; stepper_load_next(s, s->next_step_time + m->interval); @@ -258,7 +262,7 @@ command_reset_step_clock(uint32_t *args) if (s->count) shutdown("Can't reset time when stepper active"); s->next_step_time = waketime; - s->flags |= SF_LAST_RESET; + s->flags = (s->flags & !SF_NEED_RESET) | SF_LAST_RESET; irq_enable(); } DECL_COMMAND(command_reset_step_clock, "reset_step_clock oid=%c clock=%u"); @@ -299,7 +303,7 @@ stepper_stop(struct stepper *s) s->next_step_time = 0; s->position = -stepper_get_position(s); s->count = 0; - s->flags &= SF_INVERT_STEP; + s->flags = (s->flags & SF_INVERT_STEP) | SF_NEED_RESET; gpio_out_write(s->dir_pin, 0); gpio_out_write(s->step_pin, s->flags & SF_INVERT_STEP); while (s->first) { |