mirror of https://github.com/Desuuuu/klipper.git
stepper: Use a reusable interface to the "move queue"
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
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3b9412513e
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@ -58,11 +58,7 @@ alloc_chunks(size_t size, size_t count, uint16_t *avail)
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* Move queue
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****************************************************************/
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struct move_freed {
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struct move_freed *next;
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};
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static struct move_freed *move_free_list;
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static struct move_node *move_free_list;
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static void *move_list;
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static uint16_t move_count;
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static uint8_t move_item_size;
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@ -79,7 +75,7 @@ is_finalized(void)
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void
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move_free(void *m)
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{
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struct move_freed *mf = m;
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struct move_node *mf = m;
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mf->next = move_free_list;
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move_free_list = mf;
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}
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@ -89,7 +85,7 @@ void *
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move_alloc(void)
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{
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irqstatus_t flag = irq_save();
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struct move_freed *mf = move_free_list;
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struct move_node *mf = move_free_list;
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if (!mf)
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shutdown("Move queue overflow");
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move_free_list = mf->next;
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@ -97,10 +93,56 @@ move_alloc(void)
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return mf;
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}
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// Request minimum size of runtime allocations returned by move_alloc()
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void
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move_request_size(int size)
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// Check if a move_queue is empty
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int
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move_queue_empty(struct move_queue_head *mh)
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{
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return mh->first == NULL;
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}
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// Return first node in a move queue
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struct move_node *
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move_queue_first(struct move_queue_head *mh)
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{
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return mh->first;
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}
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// Add move to queue
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int
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move_queue_push(struct move_node *m, struct move_queue_head *mh)
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{
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m->next = NULL;
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if (mh->first) {
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mh->last->next = m;
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mh->last = m;
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return 0;
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}
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mh->first = mh->last = m;
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return 1;
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}
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// Remove first item from queue (caller must ensure queue not empty)
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struct move_node *
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move_queue_pop(struct move_queue_head *mh)
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{
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struct move_node *mn = mh->first;
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mh->first = mn->next;
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return mn;
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}
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// Completely clear move queue (used in shutdown handlers)
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void
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move_queue_clear(struct move_queue_head *mh)
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{
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mh->first = NULL;
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}
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// Initialize a move_queue with nodes of the give size
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void
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move_queue_setup(struct move_queue_head *mh, int size)
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{
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mh->first = mh->last = NULL;
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if (size > UINT8_MAX || is_finalized())
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shutdown("Invalid move request size");
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if (size > move_item_size)
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@ -115,10 +157,10 @@ move_reset(void)
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// Add everything in move_list to the free list.
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uint32_t i;
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for (i=0; i<move_count-1; i++) {
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struct move_freed *mf = move_list + i*move_item_size;
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struct move_node *mf = move_list + i*move_item_size;
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mf->next = move_list + (i + 1)*move_item_size;
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}
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struct move_freed *mf = move_list + (move_count - 1)*move_item_size;
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struct move_node *mf = move_list + (move_count - 1)*move_item_size;
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mf->next = NULL;
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move_free_list = move_list;
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}
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@ -129,7 +171,8 @@ move_finalize(void)
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{
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if (is_finalized())
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shutdown("Already finalized");
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move_request_size(sizeof(*move_free_list));
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struct move_queue_head dummy;
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move_queue_setup(&dummy, sizeof(*move_free_list));
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move_list = alloc_chunks(move_item_size, 1024, &move_count);
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move_reset();
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}
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@ -4,10 +4,22 @@
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#include <stddef.h> // size_t
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#include <stdint.h> // uint8_t
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struct move_node {
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struct move_node *next;
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};
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struct move_queue_head {
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struct move_node *first, *last;
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};
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void *alloc_chunk(size_t size);
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void move_free(void *m);
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void *move_alloc(void);
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void move_request_size(int size);
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int move_queue_empty(struct move_queue_head *mh);
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struct move_node *move_queue_first(struct move_queue_head *mh);
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int move_queue_push(struct move_node *m, struct move_queue_head *mh);
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struct move_node *move_queue_pop(struct move_queue_head *mh);
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void move_queue_clear(struct move_queue_head *mh);
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void move_queue_setup(struct move_queue_head *mh, int size);
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void *oid_lookup(uint8_t oid, void *type);
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void *oid_alloc(uint8_t oid, void *type, uint16_t size);
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void *oid_next(uint8_t *i, void *type);
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@ -21,10 +21,10 @@ DECL_CONSTANT("STEP_DELAY", CONFIG_STEP_DELAY);
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****************************************************************/
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struct stepper_move {
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struct move_node node;
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uint32_t interval;
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int16_t add;
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uint16_t count;
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struct stepper_move *next;
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uint8_t flags;
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};
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@ -43,7 +43,7 @@ struct stepper {
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#endif
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struct gpio_out step_pin, dir_pin;
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uint32_t position;
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struct stepper_move *first, **plast;
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struct move_queue_head mq;
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uint32_t min_stop_interval;
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// gcc (pre v6) does better optimization when uint8_t are bitfields
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uint8_t flags : 8;
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@ -60,8 +60,7 @@ enum {
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static uint_fast8_t
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stepper_load_next(struct stepper *s, uint32_t min_next_time)
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{
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struct stepper_move *m = s->first;
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if (!m) {
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if (move_queue_empty(&s->mq)) {
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// There is no next move - the queue is empty
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if (s->interval - s->add < s->min_stop_interval
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&& !(s->flags & SF_NO_NEXT_CHECK))
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@ -71,6 +70,8 @@ stepper_load_next(struct stepper *s, uint32_t min_next_time)
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}
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// Load next 'struct stepper_move' into 'struct stepper'
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struct move_node *mn = move_queue_pop(&s->mq);
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struct stepper_move *m = container_of(mn, struct stepper_move, node);
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s->next_step_time += m->interval;
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s->add = m->add;
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s->interval = m->interval + m->add;
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@ -101,7 +102,6 @@ stepper_load_next(struct stepper *s, uint32_t min_next_time)
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s->position += m->count;
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}
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s->first = m->next;
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move_free(m);
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return SF_RESCHEDULE;
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}
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@ -191,7 +191,7 @@ command_config_stepper(uint32_t *args)
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s->dir_pin = gpio_out_setup(args[2], 0);
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s->min_stop_interval = args[3];
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s->position = -POSITION_BIAS;
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move_request_size(sizeof(struct stepper_move));
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move_queue_setup(&s->mq, sizeof(struct stepper_move));
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}
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DECL_COMMAND(command_config_stepper,
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"config_stepper oid=%c step_pin=%c dir_pin=%c"
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@ -215,7 +215,6 @@ command_queue_step(uint32_t *args)
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if (!m->count)
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shutdown("Invalid count parameter");
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m->add = args[3];
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m->next = NULL;
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m->flags = 0;
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irq_disable();
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@ -231,16 +230,12 @@ command_queue_step(uint32_t *args)
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flags &= ~SF_LAST_RESET;
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if (s->count) {
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s->flags = flags;
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if (s->first)
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*s->plast = m;
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else
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s->first = m;
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s->plast = &m->next;
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move_queue_push(&m->node, &s->mq);
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} else if (flags & SF_NEED_RESET) {
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move_free(m);
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} else {
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s->flags = flags;
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s->first = m;
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move_queue_push(&m->node, &s->mq);
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stepper_load_next(s, s->next_step_time + m->interval);
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sched_add_timer(&s->time);
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}
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@ -317,10 +312,10 @@ stepper_stop(struct stepper *s)
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s->flags = (s->flags & SF_INVERT_STEP) | SF_NEED_RESET;
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gpio_out_write(s->dir_pin, 0);
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gpio_out_write(s->step_pin, s->flags & SF_INVERT_STEP);
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while (s->first) {
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struct stepper_move *next = s->first->next;
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move_free(s->first);
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s->first = next;
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while (!move_queue_empty(&s->mq)) {
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struct move_node *mn = move_queue_pop(&s->mq);
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struct stepper_move *m = container_of(mn, struct stepper_move, node);
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move_free(m);
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}
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}
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@ -330,7 +325,7 @@ stepper_shutdown(void)
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uint8_t i;
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struct stepper *s;
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foreach_oid(i, s, command_config_stepper) {
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s->first = NULL;
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move_queue_clear(&s->mq);
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stepper_stop(s);
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}
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}
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