Rename sched_tasks_busy() to sched_check_set_tasks_busy() and change
it to only return true if tasks are active (running or requested) for
two consecutive calls. This makes it less likely that timers will
yield to tasks except when tasks really are notably backlogged.
This also makes it less likely that multiple steppers controlling the
same rail will be interrupted by tasks mid-step. This should slightly
improve the timing, and make it less likely that a halt during
homing/probing will occur with these steppers taking a different
number of total steps.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
The timer_read_time() call can be expensive - when the next timer is
definitely pending, avoid making that call.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Implement rescheduling math using the simple 32-bit timer instead of
the Unix timespec struct. This makes the code simpler and doesn't
adversely impact the overall performance.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Use 2us in the linux timer dispatch code to unify linux timer dispatch
logic with the common timer_irq.c code.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
The replicape servo pins (P9_14/P9_16) are muxed to the SOCs hardware
PWM unit driven by a 13MHz GP timer. They have to be driven by the
linux host mcu. This commits adds hardware PWM support using the linux
sysfs user space interface.
Signed-off-by: Janne Grunau <janne-3d@jannau.net>
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Make it clear that the name of the constant being defined is a string.
When the value being defined is also a string, use a new
DECL_CONSTANT_STR() macro.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Add support for compiling the Klipper micro-controller code as a
real-time process capable of running on standard Linux systems.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
