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stepper: Disable "no next step" check for some count=1 queue_step commands 

It's possible for a "count=1" stepper move immediately after a
set_next_step_dir or reset_step_clock command to be valid and have an
interval less than min_stop_interval.  Make sure this case does not
result in a shutdown.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2016-09-19 16:22:35 -04:00
parent a7b81dc05c
commit c8ff439722
1 changed files with 16 additions and 5 deletions
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21
src/stepper.c
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@ -37,8 +37,9 @@ struct stepper {
uint8_t flags : 8; uint8_t flags : 8;
}; };
enum { MF_DIR=1 }; enum { MF_DIR=1<<0 };
enum { SF_LAST_DIR=1, SF_NEXT_DIR=2, SF_INVERT_STEP=4, SF_HAVE_ADD=8 }; enum { SF_LAST_DIR=1<<0, SF_NEXT_DIR=1<<1, SF_INVERT_STEP=1<<2, SF_HAVE_ADD=1<<3,
SF_LAST_RESET=1<<4, SF_NO_NEXT_CHECK=1<<5 };
// 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
@ -46,7 +47,8 @@ stepper_load_next(struct stepper *s, uint32_t min_next_time)
{ {
struct move *m = s->first; struct move *m = s->first;
if (!m) { if (!m) {
if (s->interval - s->add < s->min_stop_interval) if (s->interval - s->add < s->min_stop_interval
&& !(s->flags & SF_NO_NEXT_CHECK))
shutdown("No next step"); shutdown("No next step");
s->count = 0; s->count = 0;
return SF_DONE; return SF_DONE;
@ -163,10 +165,16 @@ command_queue_step(uint32_t *args)
m->flags = 0; m->flags = 0;
irq_disable(); irq_disable();
if (!!(s->flags & SF_LAST_DIR) != !!(s->flags & SF_NEXT_DIR)) { uint8_t flags = s->flags;
s->flags ^= SF_LAST_DIR; if (!!(flags & SF_LAST_DIR) != !!(flags & SF_NEXT_DIR)) {
flags ^= SF_LAST_DIR;
m->flags |= MF_DIR; m->flags |= MF_DIR;
} }
flags &= ~SF_NO_NEXT_CHECK;
if (m->count == 1 && (m->flags || flags & SF_LAST_RESET))
// count=1 moves after a reset or dir change can have small intervals
flags |= SF_NO_NEXT_CHECK;
s->flags = flags & ~SF_LAST_RESET;
if (s->count) { if (s->count) {
if (s->first) if (s->first)
*s->plast = m; *s->plast = m;
@ -201,9 +209,12 @@ command_reset_step_clock(uint32_t *args)
{ {
struct stepper *s = lookup_oid(args[0], command_config_stepper); struct stepper *s = lookup_oid(args[0], command_config_stepper);
uint32_t waketime = args[1]; uint32_t waketime = args[1];
irq_disable();
if (s->count) if (s->count)
shutdown("Can't reset time when stepper active"); shutdown("Can't reset time when stepper active");
s->next_step_time = waketime; s->next_step_time = waketime;
s->flags |= SF_LAST_RESET;
irq_enable();
} }
DECL_COMMAND(command_reset_step_clock, "reset_step_clock oid=%c clock=%u"); DECL_COMMAND(command_reset_step_clock, "reset_step_clock oid=%c clock=%u");