diff options
Diffstat (limited to 'klippy/chelper/stepcompress.c')
| -rw-r--r-- | klippy/chelper/stepcompress.c | 23 |
1 files changed, 3 insertions, 20 deletions
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; } |