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stepper: Move min_next_time check to stepper_event_full() 

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2021-10-30 12:24:42 -04:00
parent 14cbc6f754
commit dccd555409
1 changed files with 14 additions and 16 deletions
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28
src/stepper.c
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@ -62,7 +62,7 @@ enum {
// Setup a stepper for the next move in its queue // Setup a stepper for the next move in its queue
static uint_fast8_t static uint_fast8_t
stepper_load_next(struct stepper *s, uint32_t min_next_time) stepper_load_next(struct stepper *s)
{ {
if (move_queue_empty(&s->mq)) { if (move_queue_empty(&s->mq)) {
// There is no next move - the queue is empty // There is no next move - the queue is empty
@ -81,18 +81,10 @@ stepper_load_next(struct stepper *s, uint32_t min_next_time)
s->flags = m->add ? s->flags|SF_HAVE_ADD : s->flags & ~SF_HAVE_ADD; s->flags = m->add ? s->flags|SF_HAVE_ADD : s->flags & ~SF_HAVE_ADD;
s->count = m->count; s->count = m->count;
} else { } else {
// On faster mcus, it is necessary to schedule unstep events // It is necessary to schedule unstep events and so there are
// and so there are twice as many events. Also check that the // twice as many events.
// next step event isn't too close to the last unstep.
s->next_step_time += m->interval; s->next_step_time += m->interval;
if (unlikely(timer_is_before(s->next_step_time, min_next_time))) {
if ((int32_t)(s->next_step_time - min_next_time)
< (int32_t)(-timer_from_us(1000)))
shutdown("Stepper too far in past");
s->time.waketime = min_next_time;
} else {
s->time.waketime = s->next_step_time; s->time.waketime = s->next_step_time;
}
s->count = (uint32_t)m->count * 2; s->count = (uint32_t)m->count * 2;
} }
// Add all steps to s->position (stepper_get_position() can calc mid-move) // Add all steps to s->position (stepper_get_position() can calc mid-move)
@ -120,7 +112,7 @@ stepper_event_edge(struct timer *t)
s->interval += s->add; s->interval += s->add;
return SF_RESCHEDULE; return SF_RESCHEDULE;
} }
return stepper_load_next(s, 0); return stepper_load_next(s);
} }
#define AVR_STEP_INSNS 40 // minimum instructions between step gpio pulses #define AVR_STEP_INSNS 40 // minimum instructions between step gpio pulses
@ -140,7 +132,7 @@ stepper_event_avr(struct timer *t)
s->interval += s->add; s->interval += s->add;
return SF_RESCHEDULE; return SF_RESCHEDULE;
} }
uint_fast8_t ret = stepper_load_next(s, 0); uint_fast8_t ret = stepper_load_next(s);
gpio_out_toggle_noirq(s->step_pin); gpio_out_toggle_noirq(s->step_pin);
return ret; return ret;
} }
@ -166,7 +158,13 @@ stepper_event_full(struct timer *t)
s->time.waketime = s->next_step_time; s->time.waketime = s->next_step_time;
return SF_RESCHEDULE; return SF_RESCHEDULE;
} }
return stepper_load_next(s, min_next_time); uint_fast8_t ret = stepper_load_next(s);
if (ret == SF_DONE || !timer_is_before(s->time.waketime, min_next_time))
return ret;
// Next step event is too close to the last unstep
int32_t diff = s->time.waketime - min_next_time;
if (diff < (int32_t)-timer_from_us(1000))
shutdown("Stepper too far in past");
reschedule_min: reschedule_min:
s->time.waketime = min_next_time; s->time.waketime = min_next_time;
return SF_RESCHEDULE; return SF_RESCHEDULE;
@ -245,7 +243,7 @@ command_queue_step(uint32_t *args)
} else { } else {
s->flags = flags; s->flags = flags;
move_queue_push(&m->node, &s->mq); move_queue_push(&m->node, &s->mq);
stepper_load_next(s, s->next_step_time + m->interval); stepper_load_next(s);
sched_add_timer(&s->time); sched_add_timer(&s->time);
} }
irq_enable(); irq_enable();