116 lines
3.5 KiB
C
116 lines
3.5 KiB
C
// Handling of end stops.
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//
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// Copyright (C) 2016-2021 Kevin O'Connor <kevin@koconnor.net>
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//
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// This file may be distributed under the terms of the GNU GPLv3 license.
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#include "basecmd.h" // oid_alloc
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#include "board/gpio.h" // struct gpio
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#include "board/irq.h" // irq_disable
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#include "command.h" // DECL_COMMAND
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#include "sched.h" // struct timer
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#include "trsync.h" // trsync_do_trigger
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struct endstop {
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struct timer time;
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struct gpio_in pin;
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uint32_t rest_time, sample_time, nextwake;
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struct trsync *ts;
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uint8_t flags, sample_count, trigger_count, trigger_reason;
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};
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enum { ESF_PIN_HIGH=1<<0, ESF_HOMING=1<<1 };
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static uint_fast8_t endstop_oversample_event(struct timer *t);
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// Timer callback for an end stop
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static uint_fast8_t
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endstop_event(struct timer *t)
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{
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struct endstop *e = container_of(t, struct endstop, time);
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uint8_t val = gpio_in_read(e->pin);
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uint32_t nextwake = e->time.waketime + e->rest_time;
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if ((val ? ~e->flags : e->flags) & ESF_PIN_HIGH) {
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// No match - reschedule for the next attempt
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e->time.waketime = nextwake;
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return SF_RESCHEDULE;
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}
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e->nextwake = nextwake;
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e->time.func = endstop_oversample_event;
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return endstop_oversample_event(t);
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}
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// Timer callback for an end stop that is sampling extra times
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static uint_fast8_t
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endstop_oversample_event(struct timer *t)
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{
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struct endstop *e = container_of(t, struct endstop, time);
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uint8_t val = gpio_in_read(e->pin);
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if ((val ? ~e->flags : e->flags) & ESF_PIN_HIGH) {
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// No longer matching - reschedule for the next attempt
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e->time.func = endstop_event;
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e->time.waketime = e->nextwake;
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e->trigger_count = e->sample_count;
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return SF_RESCHEDULE;
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}
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uint8_t count = e->trigger_count - 1;
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if (!count) {
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trsync_do_trigger(e->ts, e->trigger_reason);
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return SF_DONE;
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}
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e->trigger_count = count;
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e->time.waketime += e->sample_time;
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return SF_RESCHEDULE;
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}
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void
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command_config_endstop(uint32_t *args)
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{
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struct endstop *e = oid_alloc(args[0], command_config_endstop, sizeof(*e));
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e->pin = gpio_in_setup(args[1], args[2]);
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}
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DECL_COMMAND(command_config_endstop, "config_endstop oid=%c pin=%c pull_up=%c");
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// Home an axis
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void
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command_endstop_home(uint32_t *args)
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{
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struct endstop *e = oid_lookup(args[0], command_config_endstop);
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sched_del_timer(&e->time);
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e->time.waketime = args[1];
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e->sample_time = args[2];
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e->sample_count = args[3];
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if (!e->sample_count) {
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// Disable end stop checking
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e->ts = NULL;
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e->flags = 0;
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return;
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}
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e->rest_time = args[4];
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e->time.func = endstop_event;
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e->trigger_count = e->sample_count;
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e->flags = ESF_HOMING | (args[5] ? ESF_PIN_HIGH : 0);
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e->ts = trsync_oid_lookup(args[6]);
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e->trigger_reason = args[7];
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sched_add_timer(&e->time);
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}
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DECL_COMMAND(command_endstop_home,
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"endstop_home oid=%c clock=%u sample_ticks=%u sample_count=%c"
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" rest_ticks=%u pin_value=%c trsync_oid=%c trigger_reason=%c");
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void
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command_endstop_query_state(uint32_t *args)
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{
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uint8_t oid = args[0];
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struct endstop *e = oid_lookup(oid, command_config_endstop);
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irq_disable();
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uint8_t eflags = e->flags;
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uint32_t nextwake = e->nextwake;
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irq_enable();
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sendf("endstop_state oid=%c homing=%c next_clock=%u pin_value=%c"
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, oid, !!(eflags & ESF_HOMING), nextwake, gpio_in_read(e->pin));
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}
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DECL_COMMAND(command_endstop_query_state, "endstop_query_state oid=%c");
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