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// Handling of end stops.
//
// Copyright (C) 2016 Kevin O'Connor <kevin@koconnor.net>
//
// This file may be distributed under the terms of the GNU GPLv3 license.
#include <stddef.h> // offsetof
#include "basecmd.h" // alloc_oid
#include "board/gpio.h" // struct gpio
#include "board/irq.h" // irq_disable
#include "command.h" // DECL_COMMAND
#include "sched.h" // struct timer
#include "stepper.h" // stepper_stop
struct end_stop {
struct timer time;
uint32_t rest_time;
struct stepper *stepper;
struct gpio_in pin;
uint8_t pin_value, flags;
};
enum { ESF_HOMING=1, ESF_REPORT=2 };
// Timer callback for an end stop
static uint8_t
end_stop_event(struct timer *t)
{
struct end_stop *e = container_of(t, struct end_stop, time);
uint8_t val = gpio_in_read(e->pin);
if (val != e->pin_value) {
e->time.waketime += e->rest_time;
return SF_RESCHEDULE;
}
// Stop stepper
e->flags = ESF_REPORT;
stepper_stop(e->stepper);
return SF_DONE;
}
void
command_config_end_stop(uint32_t *args)
{
struct end_stop *e = alloc_oid(args[0], command_config_end_stop, sizeof(*e));
struct stepper *s = lookup_oid(args[3], command_config_stepper);
e->time.func = end_stop_event;
e->stepper = s;
e->pin = gpio_in_setup(args[1], args[2]);
}
DECL_COMMAND(command_config_end_stop,
"config_end_stop oid=%c pin=%c pull_up=%c stepper_oid=%c");
// Home an axis
void
command_end_stop_home(uint32_t *args)
{
struct end_stop *e = lookup_oid(args[0], command_config_end_stop);
sched_del_timer(&e->time);
e->time.waketime = args[1];
e->rest_time = args[2];
if (!e->rest_time) {
// Disable end stop checking
e->flags = 0;
return;
}
e->pin_value = args[3];
e->flags = ESF_HOMING;
sched_timer(&e->time);
}
DECL_COMMAND(command_end_stop_home,
"end_stop_home oid=%c clock=%u rest_ticks=%u pin_value=%c");
static void
end_stop_report(uint8_t oid, struct end_stop *e)
{
irq_disable();
uint32_t position = stepper_get_position(e->stepper);
uint8_t eflags = e->flags;
e->flags &= ~ESF_REPORT;
irq_enable();
sendf("end_stop_state oid=%c homing=%c pin=%c pos=%i"
, oid, !!(eflags & ESF_HOMING), gpio_in_read(e->pin)
, position - STEPPER_POSITION_BIAS);
}
void
command_end_stop_query(uint32_t *args)
{
uint8_t oid = args[0];
struct end_stop *e = lookup_oid(oid, command_config_end_stop);
end_stop_report(oid, e);
}
DECL_COMMAND(command_end_stop_query, "end_stop_query oid=%c");
static void
end_stop_task(void)
{
static uint16_t next;
if (!sched_check_periodic(50, &next))
return;
uint8_t oid;
struct end_stop *e;
foreach_oid(oid, e, command_config_end_stop) {
if (!(e->flags & ESF_REPORT))
continue;
end_stop_report(oid, e);
}
}
DECL_TASK(end_stop_task);
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