diff options
| -rw-r--r-- | klippy/chelper/__init__.py | 1 | ||||
| -rw-r--r-- | klippy/chelper/stepcompress.c | 23 | ||||
| -rw-r--r-- | klippy/chelper/stepcompress.h | 1 | ||||
| -rw-r--r-- | klippy/mcu.py | 10 |
4 files changed, 3 insertions, 32 deletions
diff --git a/klippy/chelper/__init__.py b/klippy/chelper/__init__.py index aeacb9d0..6de764f0 100644 --- a/klippy/chelper/__init__.py +++ b/klippy/chelper/__init__.py @@ -31,7 +31,6 @@ defs_stepcompress = """ , uint32_t set_next_step_dir_msgid); void stepcompress_free(struct stepcompress *sc); int stepcompress_reset(struct stepcompress *sc, uint64_t last_step_clock); - int stepcompress_set_homing(struct stepcompress *sc, uint64_t homing_clock); int stepcompress_queue_msg(struct stepcompress *sc , uint32_t *data, int len); diff --git a/klippy/chelper/stepcompress.c b/klippy/chelper/stepcompress.c index fa6eb957..4a386d65 100644 --- a/klippy/chelper/stepcompress.c +++ b/klippy/chelper/stepcompress.c @@ -34,7 +34,7 @@ struct stepcompress { uint32_t max_error; double mcu_time_offset, mcu_freq; // Message generation - uint64_t last_step_clock, homing_clock; + uint64_t last_step_clock; struct list_head msg_queue; uint32_t queue_step_msgid, set_next_step_dir_msgid, oid; int sdir, invert_sdir; @@ -281,9 +281,6 @@ stepcompress_flush(struct stepcompress *sc, uint64_t move_clock) int32_t addfactor = move.count*(move.count-1)/2; uint32_t ticks = move.add*addfactor + move.interval*move.count; sc->last_step_clock += ticks; - if (sc->homing_clock) - // When homing, all steps should be sent prior to homing_clock - qm->min_clock = qm->req_clock = sc->homing_clock; list_add_tail(&qm->node, &sc->msg_queue); if (sc->queue_pos + move.count >= sc->queue_next) { @@ -306,9 +303,6 @@ stepcompress_flush_far(struct stepcompress *sc, uint64_t abs_step_clock) struct queue_message *qm = message_alloc_and_encode(msg, 5); qm->min_clock = sc->last_step_clock; sc->last_step_clock = qm->req_clock = abs_step_clock; - if (sc->homing_clock) - // When homing, all steps should be sent prior to homing_clock - qm->min_clock = qm->req_clock = sc->homing_clock; list_add_tail(&qm->node, &sc->msg_queue); return 0; } @@ -327,7 +321,7 @@ set_next_step_dir(struct stepcompress *sc, int sdir) sc->set_next_step_dir_msgid, sc->oid, sdir ^ sc->invert_sdir }; struct queue_message *qm = message_alloc_and_encode(msg, 3); - qm->req_clock = sc->homing_clock ?: sc->last_step_clock; + qm->req_clock = sc->last_step_clock; list_add_tail(&qm->node, &sc->msg_queue); return 0; } @@ -344,17 +338,6 @@ stepcompress_reset(struct stepcompress *sc, uint64_t last_step_clock) return 0; } -// Indicate the stepper is in homing mode (or done homing if zero) -int __visible -stepcompress_set_homing(struct stepcompress *sc, uint64_t homing_clock) -{ - int ret = stepcompress_flush(sc, UINT64_MAX); - if (ret) - return ret; - sc->homing_clock = homing_clock; - return 0; -} - // Queue an mcu command to go out in order with stepper commands int __visible stepcompress_queue_msg(struct stepcompress *sc, uint32_t *data, int len) @@ -364,7 +347,7 @@ stepcompress_queue_msg(struct stepcompress *sc, uint32_t *data, int len) return ret; struct queue_message *qm = message_alloc_and_encode(data, len); - qm->req_clock = sc->homing_clock ?: sc->last_step_clock; + qm->req_clock = sc->last_step_clock; list_add_tail(&qm->node, &sc->msg_queue); return 0; } diff --git a/klippy/chelper/stepcompress.h b/klippy/chelper/stepcompress.h index 4e74bbda..b56de304 100644 --- a/klippy/chelper/stepcompress.h +++ b/klippy/chelper/stepcompress.h @@ -11,7 +11,6 @@ void stepcompress_fill(struct stepcompress *sc, uint32_t max_error , uint32_t set_next_step_dir_msgid); void stepcompress_free(struct stepcompress *sc); int stepcompress_reset(struct stepcompress *sc, uint64_t last_step_clock); -int stepcompress_set_homing(struct stepcompress *sc, uint64_t homing_clock); int stepcompress_queue_msg(struct stepcompress *sc, uint32_t *data, int len); double stepcompress_get_mcu_freq(struct stepcompress *sc); uint32_t stepcompress_get_oid(struct stepcompress *sc); diff --git a/klippy/mcu.py b/klippy/mcu.py index 8558a427..9088098d 100644 --- a/klippy/mcu.py +++ b/klippy/mcu.py @@ -9,8 +9,6 @@ import serialhdl, pins, chelper, clocksync class error(Exception): pass -STEPCOMPRESS_ERROR_RET = -989898989 - class MCU_stepper: def __init__(self, mcu, pin_params): self._mcu = mcu @@ -104,15 +102,7 @@ class MCU_stepper: else: self._itersolve_gen_steps = self._ffi_lib.itersolve_gen_steps return was_ignore - def note_homing_start(self, homing_clock): - ret = self._ffi_lib.stepcompress_set_homing( - self._stepqueue, homing_clock) - if ret: - raise error("Internal error in stepcompress") def note_homing_end(self, did_trigger=False): - ret = self._ffi_lib.stepcompress_set_homing(self._stepqueue, 0) - if ret: - raise error("Internal error in stepcompress") ret = self._ffi_lib.stepcompress_reset(self._stepqueue, 0) if ret: raise error("Internal error in stepcompress") |