homing: Handle speed rounding when homing speed greater than max_velocity

Commit 002dc0df added rounding to the homing speed, but it did not
work if the configured homing speed was less than the printer's
maximum velocity.  Move the speed rounding from stepper.py to
homing.py and make sure the rounded speed is less than the maximum
speed.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>

5 files changed, 18 insertions, 11 deletions

diff --git a/klippy/cartesian.py b/klippy/cartesian.py
index c22b24c5..5e73297e 100644
--- a/klippy/cartesian.py
+++ b/klippy/cartesian.py
@@ -48,7 +48,9 @@ class CartKinematics:
                 rpos = s.position_endstop + s.homing_retract_dist
                 r2pos = rpos + s.homing_retract_dist
             # Initial homing
-            homing_speed = s.get_homing_speed()
+            homing_speed = s.homing_speed
+            if axis == 2:
+                homing_speed = min(homing_speed, self.max_z_velocity)
             homepos = [None, None, None, None]
             homepos[axis] = s.position_endstop
             coord = [None, None, None, None]
diff --git a/klippy/corexy.py b/klippy/corexy.py
index 3eac2e26..8ace928e 100644
--- a/klippy/corexy.py
+++ b/klippy/corexy.py
@@ -56,7 +56,9 @@ class CoreXYKinematics:
                 rpos = s.position_endstop + s.homing_retract_dist
                 r2pos = rpos + s.homing_retract_dist
             # Initial homing
-            homing_speed = s.get_homing_speed()
+            homing_speed = s.homing_speed
+            if axis == 2:
+                homing_speed = min(homing_speed, self.max_z_velocity)
             homepos = [None, None, None, None]
             homepos[axis] = s.position_endstop
             coord = [None, None, None, None]
diff --git a/klippy/delta.py b/klippy/delta.py
index e2bb971a..c0e5ef28 100644
--- a/klippy/delta.py
+++ b/klippy/delta.py
@@ -112,7 +112,7 @@ class DeltaKinematics:
         s = self.steppers[0] # Assume homing speed same for all steppers
         self.need_home = False
         # Initial homing
-        homing_speed = s.get_homing_speed()
+        homing_speed = min(s.homing_speed, self.max_z_velocity)
         homepos = [0., 0., self.max_z, None]
         coord = list(homepos)
         coord[2] = -1.5 * math.sqrt(max(self.arm2)-self.max_xy2)
diff --git a/klippy/homing.py b/klippy/homing.py
index 9f56a6e9..3a926083 100644
--- a/klippy/homing.py
+++ b/klippy/homing.py
@@ -3,7 +3,7 @@
 # Copyright (C) 2016,2017  Kevin O'Connor <kevin@koconnor.net>
 #
 # This file may be distributed under the terms of the GNU GPLv3 license.
-import logging
+import logging, math
 
 HOMING_STEP_DELAY = 0.00000025
 ENDSTOP_SAMPLE_TIME = .000015
@@ -31,6 +31,15 @@ class Homing:
         self.toolhead.move(self._fill_coord(newpos), speed)
     def set_homed_position(self, pos):
         self.toolhead.set_position(self._fill_coord(pos))
+    def _get_homing_speed(self, speed, endstops):
+        # Round the requested homing speed so that it is an even
+        # number of ticks per step.
+        speed = min(speed, self.toolhead.get_max_velocity()[0])
+        mcu_stepper = endstops[0][0].get_steppers()[0]
+        adjusted_freq = mcu_stepper.get_mcu().get_adjusted_freq()
+        dist_ticks = adjusted_freq * mcu_stepper.get_step_dist()
+        ticks_per_step = math.ceil(dist_ticks / speed)
+        return dist_ticks / ticks_per_step
     def homing_move(self, movepos, endstops, speed):
         # Start endstop checking
         print_time = self.toolhead.get_last_move_time()
@@ -67,6 +76,7 @@ class Homing:
             est_steps = sum([est_move_d / s.get_step_dist()
                              for es, n in endstops for s in es.get_steppers()])
             self.toolhead.dwell(est_steps * HOMING_STEP_DELAY, check_stall=False)
+            speed = self._get_homing_speed(speed, endstops)
         # Setup for retract verification
         self.toolhead.get_last_move_time()
         start_mcu_pos = [(s, name, s.get_mcu_position())
diff --git a/klippy/stepper.py b/klippy/stepper.py
index 109d0904..089d14dc 100644
--- a/klippy/stepper.py
+++ b/klippy/stepper.py
@@ -122,13 +122,6 @@ class PrinterHomingStepper(PrinterStepper):
                 self.homing_endstop_accuracy = self.homing_stepper_phases
     def get_endstops(self):
         return [(self.mcu_endstop, self.name)]
-    def get_homing_speed(self):
-        # Round the configured homing speed so that it is an even
-        # number of ticks per step.
-        adjusted_freq = self.mcu_stepper.get_mcu().get_adjusted_freq()
-        dist_ticks = adjusted_freq * self.step_dist
-        ticks_per_step = round(dist_ticks / self.homing_speed)
-        return dist_ticks / ticks_per_step
     def get_homed_offset(self):
         if not self.homing_stepper_phases or self.need_motor_enable:
             return 0.