pico: Update forceStop & getCurrentPosition to use stepper_make_fifo_entry instead of hardcoded shift (#327)

gin66 · gin66 · commit b02c8398e66f · 2025-06-17T16:50:31.000+02:00
diff --git a/src/StepperISR_rp_pico.cpp b/src/StepperISR_rp_pico.cpp
@@ -134,7 +134,7 @@ void StepperQueue::forceStop() {
   pio_sm_clear_fifos(pio, sm);
   pio_sm_restart(pio, sm);
   // ensure step is zero
-  uint32_t entry = (1 << 10) | (0) | 0;
+  uint32_t entry = stepper_make_fifo_entry(queue_end.dir, 0, 0, 1); // no steps and 1us cycleAA
   pio_sm_put(pio, sm, entry);
 }
 bool StepperQueue::isRunning() {
@@ -153,7 +153,7 @@ int32_t StepperQueue::getCurrentPosition() {
   }
   if (!isRunning()) {
     // kick off loop to probe position
-    uint32_t entry = (1 << 10) | (0) | 0;
+    uint32_t entry = stepper_make_fifo_entry(queue_end.dir, 0, 0, 1); // no steps and 1us cycleAA
     pio_sm_put(pio, sm, entry);
   }
   // just need to wait a while for next value

Original file line number	Diff line number	Diff line change
`@@ -134,7 +134,7 @@ void StepperQueue::forceStop() {`
`134`	`134`	`pio_sm_clear_fifos(pio, sm);`
`135`	`135`	`pio_sm_restart(pio, sm);`
`136`	`136`	`// ensure step is zero`
`137`		`- uint32_t entry = (1 << 10) \| (0) \| 0;`
	`137`	`+ uint32_t entry = stepper_make_fifo_entry(queue_end.dir, 0, 0, 1); // no steps and 1us cycleAA`
`138`	`138`	`pio_sm_put(pio, sm, entry);`
`139`	`139`	`}`
`140`	`140`	`bool StepperQueue::isRunning() {`
`@@ -153,7 +153,7 @@ int32_t StepperQueue::getCurrentPosition() {`
`153`	`153`	`}`
`154`	`154`	`if (!isRunning()) {`
`155`	`155`	`// kick off loop to probe position`
`156`		`- uint32_t entry = (1 << 10) \| (0) \| 0;`
	`156`	`+ uint32_t entry = stepper_make_fifo_entry(queue_end.dir, 0, 0, 1); // no steps and 1us cycleAA`
`157`	`157`	`pio_sm_put(pio, sm, entry);`
`158`	`158`	`}`
`159`	`159`	`// just need to wait a while for next value`