void
move_alloc_c (gfc_array_char * from,
GFC_INTEGER_4 from_length __attribute__((unused)),
gfc_array_char * to,
GFC_INTEGER_4 to_length __attribute__((unused)))
{
move_alloc (from, to);
}
// Schedule a set of steps with a given timing
void
command_queue_step(uint32_t *args)
{
struct stepper *s = stepper_oid_lookup(args[0]);
struct stepper_move *m = move_alloc();
m->interval = args[1];
m->count = args[2];
if (!m->count)
shutdown("Invalid count parameter");
m->add = args[3];
m->next = NULL;
m->flags = 0;
irq_disable();
uint8_t flags = s->flags;
if (!!(flags & SF_LAST_DIR) != !!(flags & SF_NEXT_DIR)) {
flags ^= SF_LAST_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->first)
*s->plast = m;
else
s->first = m;
s->plast = &m->next;
} else if (flags & SF_NEED_RESET) {
move_free(m);
} else {
s->first = m;
stepper_load_next(s, s->next_step_time + m->interval);
sched_add_timer(&s->time);
}
irq_enable();
}
