void enqueue(TARGET *t)
{
// don't call this function when the queue is full, but just in case, wait for a move to complete and free up the space for the passed target
while (queue_full())
delay(WAITING_DELAY);
uint8_t h = mb_head + 1;
h &= (MOVEBUFFER_SIZE - 1);
if (t != NULL)
{
dda_create(&movebuffer[h], t);
}
else
{
// it's a wait for temp
movebuffer[h].waitfor_temp = 1;
movebuffer[h].nullmove = 0;
// set "step" timeout to maximum
movebuffer[h].c = 0xFFFFFF00;
}
mb_head = h;
// fire up in case we're not running yet
if (isHwTimerEnabled(0) == 0)
next_move();
}
void enqueue_home(TARGET *t, uint8_t endstop_check, uint8_t endstop_stop_cond) {
// don't call this function when the queue is full, but just in case, wait for a move to complete and free up the space for the passed target
while (queue_full())
delay(WAITING_DELAY);
uint8_t h = mb_head + 1;
h &= (MOVEBUFFER_SIZE - 1);
DDA* new_movebuffer = &(movebuffer[h]);
if (t != NULL) {
dda_create(new_movebuffer, t);
new_movebuffer->endstop_check = endstop_check;
new_movebuffer->endstop_stop_cond = endstop_stop_cond;
}
else {
// it's a wait for temp
new_movebuffer->waitfor_temp = 1;
new_movebuffer->nullmove = 0;
}
// make certain all writes to global memory
// are flushed before modifying mb_head.
MEMORY_BARRIER();
mb_head = h;
uint8_t save_reg = SREG;
cli();
CLI_SEI_BUG_MEMORY_BARRIER();
uint8_t isdead = (movebuffer[mb_tail].live == 0);
MEMORY_BARRIER();
SREG = save_reg;
if (isdead) {
timer1_compa_deferred_enable = 0;
next_move();
if (timer1_compa_deferred_enable) {
uint8_t save_reg = SREG;
cli();
CLI_SEI_BUG_MEMORY_BARRIER();
TIMSK1 |= MASK(OCIE1A);
MEMORY_BARRIER();
SREG = save_reg;
}
}
}
/// add a move to the movebuffer
/// \note this function waits for space to be available if necessary, check queue_full() first if waiting is a problem
/// This is the only function that modifies mb_head and it always called from outside an interrupt.
void enqueue_home(TARGET *t, uint8_t endstop_check, uint8_t endstop_stop_cond) {
// don't call this function when the queue is full, but just in case, wait for a move to complete and free up the space for the passed target
while (queue_full())
delay_us(100);
uint8_t h = mb_head + 1;
h &= (MOVEBUFFER_SIZE - 1);
DDA* new_movebuffer = &(movebuffer[h]);
DDA* prev_movebuffer = (queue_empty() != 0) ? NULL : &movebuffer[mb_head];
if (t != NULL) {
dda_create(new_movebuffer, t, prev_movebuffer);
new_movebuffer->endstop_check = endstop_check;
new_movebuffer->endstop_stop_cond = endstop_stop_cond;
}
else {
// it's a wait for temp
new_movebuffer->waitfor_temp = 1;
new_movebuffer->nullmove = 0;
}
// make certain all writes to global memory
// are flushed before modifying mb_head.
MEMORY_BARRIER();
mb_head = h;
uint8_t isdead;
ATOMIC_START
isdead = (movebuffer[mb_tail].live == 0);
ATOMIC_END
if (isdead) {
next_move();
// Compensate for the cli() in setTimer().
sei();
}
}
void enqueue_home(TARGET *t, unsigned char endstop_check, unsigned char endstop_stop_cond){
while(queue_full()){
for(int __i = 0;__i<5000;__i++);
}
unsigned char h = mb_head + 1;
h &= (MOVEBUFFER_SIZE - 1);
DDA *new_move = &movebuffer[h];
// Initialise queue entry to a known state. This also clears flags like
// dda->live, dda->done and dda->wait_for_temp.
new_move->allflags = 0;
if (t != NULL) {
new_move->endstop_check = endstop_check;
new_move->endstop_stop_cond = endstop_stop_cond;
}
else {
// it's a wait for temp
new_move->waitfor_temp = 1;
}
dda_create(new_move, t);
// make certain all writes to global memory
// are flushed before modifying mb_head.
mb_head = h;
unsigned char isdead;
isdead = (movebuffer[mb_tail].live == 0);
if (isdead) {
next_move();
}
}
