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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 "basecmd.h" // oid_alloc
#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, sample_time;
struct gpio_in pin;
uint8_t flags, stepper_count, sample_count, trigger_count;
struct stepper *steppers[0];
};
enum { ESF_PIN_HIGH=1<<0, ESF_HOMING=1<<1, ESF_REPORT=1<<2 };
static struct task_wake endstop_wake;
static void
stop_steppers(struct end_stop *e)
{
e->flags = ESF_REPORT;
uint8_t count = e->stepper_count;
while (count--)
if (e->steppers[count])
stepper_stop(e->steppers[count]);
sched_wake_task(&endstop_wake);
}
static uint_fast8_t end_stop_oversample_event(struct timer *t);
// Timer callback for an end stop
static uint_fast8_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->flags : e->flags) & ESF_PIN_HIGH) {
// No match - reschedule for the next attempt
e->time.waketime += e->rest_time;
return SF_RESCHEDULE;
}
e->time.func = end_stop_oversample_event;
return end_stop_oversample_event(t);
}
// Timer callback for an end stop that is sampling extra times
static uint_fast8_t
end_stop_oversample_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->flags : e->flags) & ESF_PIN_HIGH) {
// No longer matching - reschedule for the next attempt
e->time.func = end_stop_event;
uint8_t past_triggers = e->sample_count - e->trigger_count;
e->time.waketime += e->rest_time - past_triggers * e->sample_time;
e->trigger_count = e->sample_count;
return SF_RESCHEDULE;
}
uint8_t count = e->trigger_count - 1;
if (!count) {
stop_steppers(e);
return SF_DONE;
}
e->trigger_count = count;
e->time.waketime += e->sample_time;
return SF_RESCHEDULE;
}
void
command_config_end_stop(uint32_t *args)
{
uint8_t stepper_count = args[3];
struct end_stop *e = oid_alloc(
args[0], command_config_end_stop
, sizeof(*e) + sizeof(e->steppers[0]) * stepper_count);
e->pin = gpio_in_setup(args[1], args[2]);
e->stepper_count = stepper_count;
e->sample_count = 1;
}
DECL_COMMAND(command_config_end_stop,
"config_end_stop oid=%c pin=%c pull_up=%c stepper_count=%c");
void
command_end_stop_set_stepper(uint32_t *args)
{
struct end_stop *e = oid_lookup(args[0], command_config_end_stop);
uint8_t pos = args[1];
if (pos >= e->stepper_count)
shutdown("Set stepper past maximum stepper count");
e->steppers[pos] = stepper_oid_lookup(args[2]);
}
DECL_COMMAND(command_end_stop_set_stepper,
"end_stop_set_stepper oid=%c pos=%c stepper_oid=%c");
void
command_end_stop_set_oversample(uint32_t *args)
{
struct end_stop *e = oid_lookup(args[0], command_config_end_stop);
e->sample_time = args[1];
e->sample_count = args[2];
if (!e->sample_count)
e->sample_count = 1;
}
DECL_COMMAND(command_end_stop_set_oversample,
"end_stop_set_oversample oid=%c sample_ticks=%u sample_count=%c");
// Home an axis
void
command_end_stop_home(uint32_t *args)
{
struct end_stop *e = oid_lookup(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->time.func = end_stop_event;
e->trigger_count = e->sample_count;
e->flags = ESF_HOMING | (args[3] ? ESF_PIN_HIGH : 0);
sched_add_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();
uint8_t eflags = e->flags;
e->flags &= ~ESF_REPORT;
irq_enable();
sendf("end_stop_state oid=%c homing=%c pin=%c"
, oid, !!(eflags & ESF_HOMING), gpio_in_read(e->pin));
}
void
command_end_stop_query(uint32_t *args)
{
uint8_t oid = args[0];
struct end_stop *e = oid_lookup(oid, command_config_end_stop);
end_stop_report(oid, e);
}
DECL_COMMAND(command_end_stop_query, "end_stop_query oid=%c");
void
end_stop_task(void)
{
if (!sched_check_wake(&endstop_wake))
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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