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* stepper: Disable "no next step" check for some count=1 queue_step commandsKevin O'Connor2016-09-221-5/+16
| | | | | | | | | It's possible for a "count=1" stepper move immediately after a set_next_step_dir or reset_step_clock command to be valid and have an interval less than min_stop_interval. Make sure this case does not result in a shutdown. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* stepper: Support rescheduling of step events on faster MCUsKevin O'Connor2016-06-141-19/+72
| | | | | | | | | | On faster MCUs the step and unstep events may be too close for the stepper motor driver. Add a CONFIG_NO_UNSTEP_DELAY build option and support the case where it is not set. This allows faster MCUs to schedule two events for each step (one for the step and one for the unstep). Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* sched: Use uint_fast8_t for return type of timersKevin O'Connor2016-06-141-3/+3
| | | | | | | | Some architectures are faster passing regular integers than 8bit integers. Use uint_fast8_t so that the architecture chooses the appropriate type. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* irq: Prefer irq_disable/enable instead of irq_save/restore in cmds/tasksKevin O'Connor2016-06-131-3/+3
| | | | | | | | Task and command handlers always run with irqs enabled, so it is not necessary to save/restore the irq state when disabling irqs in these handlers. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* stepper: Optimize for case where add is zeroKevin O'Connor2016-06-131-11/+15
| | | | | | | At high rates, the "add" field is frequently zero. It's possible to optimize for that case. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* stepper: Use stepper_stop() instead of stepper_reset() in stepper_shutdown()Kevin O'Connor2016-06-021-13/+6
| | | | | | | The stepper_stop() function is equivalent to stepper_reset() during a shutdown event. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* Initial commit of source code.Kevin O'Connor2016-05-251-0/+202
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
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