stepper: Keep position in step numbers, not mm

More precise, also use a cycle timer to send status positions in mm

Signed-off-by: Michel Pollet <buserror@gmail.com>

diff --git a/examples/board_reprap/src/stepper.c b/examples/board_reprap/src/stepper.c
index aedd675..832b1f2 100644 (file)
--- a/examples/board_reprap/src/stepper.c
+++ b/examples/board_reprap/src/stepper.c
@@ -24,8 +24,26 @@
 #include <stdio.h>
 
 #include "sim_avr.h"
+#include "sim_time.h"
 #include "stepper.h"
 
+static avr_cycle_count_t
+stepper_update_timer(
+               struct avr_t * avr,
+        avr_cycle_count_t when,
+        void * param)
+{
+       stepper_p p = (stepper_p)param;
+       union {
+               float f;
+               uint32_t i;
+       } m = { .f = p->position / p->steps_per_mm };
+       printf("%s (%s) %3.4f\n", __func__, p->name, m.f);
+       avr_raise_irq(p->irq + IRQ_STEPPER_POSITION_OUT, m.i);
+       avr_raise_irq(p->irq + IRQ_STEPPER_ENDSTOP_OUT, p->position == p->endstop);
+       return when + p->timer_period;
+}
+
 static void
 stepper_dir_hook(
                struct avr_irq_t * irq,
@@ -45,7 +63,8 @@ stepper_enable_hook(
 {
        stepper_p p = (stepper_p)param;
        p->enable = !!value;
-       printf("%s (%s) %d pos %.4f\n", __func__, p->name, p->enable != 0, p->position);
+       printf("%s (%s) %d pos %.4f\n", __func__, p->name,
+                       p->enable != 0, p->position / p->steps_per_mm);
        avr_raise_irq(p->irq + IRQ_STEPPER_ENDSTOP_OUT, p->position == p->endstop);
 }
 
@@ -60,18 +79,13 @@ stepper_step_hook(
                return;
        if (value)
                return;
-       p->position += (p->dir ? -1.0 : 1.0) / p->steps_per_mm;
+       p->position += p->dir ? -1 : 1;
        if (p->position < 0)
                p->position = 0;
+       if (p->endstop && p->position < p->endstop)
+               p->position = p->endstop;
        if (p->max_position > 0 && p->position > p->max_position)
                p->position = p->max_position;
-       printf("%s (%s) %.4f\n", __func__, p->name, p->position);
-       union {
-               float f;
-               uint32_t i;
-       } m = { .f = p->position };
-       avr_raise_irq(p->irq + IRQ_STEPPER_POSITION_OUT, m.i);
-       avr_raise_irq(p->irq + IRQ_STEPPER_ENDSTOP_OUT, p->position == p->endstop);
 }
 
 static const char * irq_names[IRQ_STEPPER_COUNT] = {
@@ -100,9 +114,9 @@ stepper_init(
        avr_irq_register_notify(p->irq + IRQ_STEPPER_ENABLE_IN, stepper_enable_hook, p);
 
        p->steps_per_mm = steps_per_mm;
-       p->position = start_position;
-       p->max_position = max_position;
-       p->endstop = endstop_position;
+       p->position = start_position * p->steps_per_mm;
+       p->max_position = max_position * p->steps_per_mm;
+       p->endstop = endstop_position >= 0 ? endstop_position * p->steps_per_mm : 0;
 }
 
 void
@@ -117,10 +131,13 @@ stepper_connect(
        avr_connect_irq(step, p->irq + IRQ_STEPPER_STEP_IN);
        avr_connect_irq(dir, p->irq + IRQ_STEPPER_DIR_IN);
        avr_connect_irq(enable, p->irq + IRQ_STEPPER_ENABLE_IN);
+       p->irq[IRQ_STEPPER_ENDSTOP_OUT].flags |= IRQ_STEPPER_POSITION_OUT;
        p->irq[IRQ_STEPPER_ENDSTOP_OUT].flags |= IRQ_FLAG_FILTERED;
        if (endstop) {
                avr_connect_irq(p->irq + IRQ_STEPPER_ENDSTOP_OUT, endstop);
                if (flags & stepper_endstop_inverted)
                        p->irq[IRQ_STEPPER_ENDSTOP_OUT].flags |= IRQ_FLAG_NOT;
        }
+       p->timer_period = avr_usec_to_cycles(p->avr, 100000 / 1000); // 1ms
+       avr_cycle_timer_register(p->avr, p->timer_period, stepper_update_timer, p);
 }

diff --git a/examples/board_reprap/src/stepper.h b/examples/board_reprap/src/stepper.h
index fce47a1..d8f8867 100644 (file)
--- a/examples/board_reprap/src/stepper.h
+++ b/examples/board_reprap/src/stepper.h
@@ -40,9 +40,10 @@ typedef struct stepper_t {
        char name[32];
        int enable : 1, dir : 1, trace : 1;
        double steps_per_mm;
-       double position;
-       double max_position;
-       double endstop;
+       uint64_t        position;       // in steps
+       uint64_t max_position;
+       uint64_t endstop;
+       avr_cycle_count_t timer_period;
 } stepper_t, *stepper_p;
 
 void
@@ -51,9 +52,9 @@ stepper_init(
                stepper_p p,
                char * name,
                float steps_per_mm,
-               float start_position,
-               float max_position,
-               float endstop_position);
+               float start_position,           // mm
+               float max_position,                     // mm
+               float endstop_position);        // mm
 
 enum {
        stepper_endstop_inverted = (1 << 0),