diff options
| -rw-r--r-- | klippy/chelper/__init__.py | 2 | ||||
| -rw-r--r-- | klippy/chelper/stepcompress.c | 15 | ||||
| -rw-r--r-- | klippy/chelper/stepcompress.h | 2 |
3 files changed, 19 insertions, 0 deletions
diff --git a/klippy/chelper/__init__.py b/klippy/chelper/__init__.py index c94e9677..290234c5 100644 --- a/klippy/chelper/__init__.py +++ b/klippy/chelper/__init__.py @@ -49,6 +49,8 @@ defs_stepcompress = """ , uint64_t clock); int stepcompress_queue_msg(struct stepcompress *sc , uint32_t *data, int len); + int stepcompress_queue_mq_msg(struct stepcompress *sc, uint64_t req_clock + , uint32_t *data, int len); int stepcompress_extract_old(struct stepcompress *sc , struct pull_history_steps *p, int max , uint64_t start_clock, uint64_t end_clock); diff --git a/klippy/chelper/stepcompress.c b/klippy/chelper/stepcompress.c index e261f1d3..e5514b95 100644 --- a/klippy/chelper/stepcompress.c +++ b/klippy/chelper/stepcompress.c @@ -623,6 +623,21 @@ stepcompress_queue_msg(struct stepcompress *sc, uint32_t *data, int len) return 0; } +// Queue an mcu command that will consume space in the mcu move queue +int __visible +stepcompress_queue_mq_msg(struct stepcompress *sc, uint64_t req_clock + , uint32_t *data, int len) +{ + int ret = stepcompress_flush(sc, UINT64_MAX); + if (ret) + return ret; + + struct queue_message *qm = message_alloc_and_encode(data, len); + qm->min_clock = qm->req_clock = req_clock; + list_add_tail(&qm->node, &sc->msg_queue); + return 0; +} + // Return history of queue_step commands int __visible stepcompress_extract_old(struct stepcompress *sc, struct pull_history_steps *p diff --git a/klippy/chelper/stepcompress.h b/klippy/chelper/stepcompress.h index b8a95057..bfc0dfcd 100644 --- a/klippy/chelper/stepcompress.h +++ b/klippy/chelper/stepcompress.h @@ -29,6 +29,8 @@ int stepcompress_set_last_position(struct stepcompress *sc, uint64_t clock int64_t stepcompress_find_past_position(struct stepcompress *sc , uint64_t clock); int stepcompress_queue_msg(struct stepcompress *sc, uint32_t *data, int len); +int stepcompress_queue_mq_msg(struct stepcompress *sc, uint64_t req_clock + , uint32_t *data, int len); int stepcompress_extract_old(struct stepcompress *sc , struct pull_history_steps *p, int max , uint64_t start_clock, uint64_t end_clock); |