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stepper: Move timer checks from stepper_event_full() to stepper_load_next()

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This simplifies the stepper_event_full() and makes it easier to
implement more complex checks.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2025-05-07 17:47:22 -04:00
parent 1dc9aa8e19
commit efabe63357
1 changed files with 16 additions and 10 deletions
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26
src/stepper.c
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@ -96,10 +96,19 @@ stepper_load_next(struct stepper *s)
} else { } else {
// Using fully scheduled stepper_event_full() code (the scheduler // Using fully scheduled stepper_event_full() code (the scheduler
// may be called twice for each step) // may be called twice for each step)
uint_fast8_t was_active = !!s->count;
uint32_t min_next_time = s->time.waketime;
s->next_step_time += move_interval; s->next_step_time += move_interval;
s->time.waketime = s->next_step_time; s->time.waketime = s->next_step_time;
s->count = (s->flags & SF_SINGLE_SCHED ? move_count s->count = (s->flags & SF_SINGLE_SCHED ? move_count
: (uint32_t)move_count * 2); : (uint32_t)move_count * 2);
if (was_active && timer_is_before(s->next_step_time, min_next_time)) {
// Actively stepping and next step event close to the last unstep
int32_t diff = s->next_step_time - min_next_time;
if (diff < (int32_t)-timer_from_us(1000))
shutdown("Stepper too far in past");
s->time.waketime = min_next_time;
}
} }
// Set new direction (if needed) // Set new direction (if needed)
@ -163,27 +172,24 @@ stepper_event_full(struct timer *t)
gpio_out_toggle_noirq(s->step_pin); gpio_out_toggle_noirq(s->step_pin);
uint32_t curtime = timer_read_time(); uint32_t curtime = timer_read_time();
uint32_t min_next_time = curtime + s->step_pulse_ticks; uint32_t min_next_time = curtime + s->step_pulse_ticks;
s->count--; uint32_t count = s->count - 1;
if (likely(s->count & 1 && !(s->flags & SF_SINGLE_SCHED))) if (likely(count & 1 && !(s->flags & SF_SINGLE_SCHED)))
// Schedule unstep event // Schedule unstep event
goto reschedule_min; goto reschedule_min;
if (likely(s->count)) { if (likely(count)) {
s->next_step_time += s->interval; s->next_step_time += s->interval;
s->interval += s->add; s->interval += s->add;
if (unlikely(timer_is_before(s->next_step_time, min_next_time))) if (unlikely(timer_is_before(s->next_step_time, min_next_time)))
// The next step event is too close - push it back // The next step event is too close - push it back
goto reschedule_min; goto reschedule_min;
s->count = count;
s->time.waketime = s->next_step_time; s->time.waketime = s->next_step_time;
return SF_RESCHEDULE; return SF_RESCHEDULE;
} }
uint_fast8_t ret = stepper_load_next(s); s->time.waketime = min_next_time;
if (ret == SF_DONE || !timer_is_before(s->time.waketime, min_next_time)) return stepper_load_next(s);
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->count = count;
s->time.waketime = min_next_time; s->time.waketime = min_next_time;
return SF_RESCHEDULE; return SF_RESCHEDULE;
} }