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stepper: Use stepper_stop() instead of stepper_reset() in stepper_shutdown() 

The stepper_stop() function is equivalent to stepper_reset() during a
shutdown event.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2016-06-01 12:43:58 -04:00
parent 45ba03efa3
commit d68cb264c4
1 changed files with 6 additions and 13 deletions
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19
src/stepper.c
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@ -164,23 +164,17 @@ stepper_get_position(struct stepper *s)
return position;
}
// Reset the internal state of a 'struct stepper'
static void
stepper_reset(struct stepper *s)
{
s->position = stepper_get_position(s);
s->count = 0;
s->flags &= SF_INVERT_STEP;
gpio_out_write(s->dir_pin, 0);
}
// Stop all moves for a given stepper (used in end stop homing). IRQs
// must be off.
void
stepper_stop(struct stepper *s)
{
sched_del_timer(&s->time);
stepper_reset(s);
s->position = stepper_get_position(s);
s->count = 0;
s->flags &= SF_INVERT_STEP;
gpio_out_write(s->dir_pin, 0);
gpio_out_write(s->step_pin, s->flags & SF_INVERT_STEP ? 1 : 0);
while (s->first) {
struct move *next = s->first->next;
move_free(s->first);
@ -194,9 +188,8 @@ stepper_shutdown(void)
uint8_t i;
struct stepper *s;
foreach_oid(i, s, command_config_stepper) {
stepper_reset(s);
s->first = NULL;
gpio_out_write(s->step_pin, s->flags & SF_INVERT_STEP ? 1 : 0);
stepper_stop(s);
}
}
DECL_SHUTDOWN(stepper_shutdown);