diff options
Diffstat (limited to 'klippy/chelper')
| -rw-r--r-- | klippy/chelper/__init__.py | 5 | ||||
| -rw-r--r-- | klippy/chelper/stepcompress.c | 16 | ||||
| -rw-r--r-- | klippy/chelper/stepcompress.h | 4 |
3 files changed, 19 insertions, 6 deletions
diff --git a/klippy/chelper/__init__.py b/klippy/chelper/__init__.py index e04d431d..c7e2155c 100644 --- a/klippy/chelper/__init__.py +++ b/klippy/chelper/__init__.py @@ -38,8 +38,9 @@ defs_stepcompress = """ struct stepcompress *stepcompress_alloc(uint32_t oid); void stepcompress_fill(struct stepcompress *sc, uint32_t max_error - , uint32_t invert_sdir, int32_t queue_step_msgtag - , int32_t set_next_step_dir_msgtag); + , int32_t queue_step_msgtag, int32_t set_next_step_dir_msgtag); + void stepcompress_set_invert_sdir(struct stepcompress *sc + , uint32_t invert_sdir); void stepcompress_free(struct stepcompress *sc); int stepcompress_reset(struct stepcompress *sc, uint64_t last_step_clock); int stepcompress_set_last_position(struct stepcompress *sc diff --git a/klippy/chelper/stepcompress.c b/klippy/chelper/stepcompress.c index b38b72ad..e261f1d3 100644 --- a/klippy/chelper/stepcompress.c +++ b/klippy/chelper/stepcompress.c @@ -259,15 +259,25 @@ stepcompress_alloc(uint32_t oid) // Fill message id information void __visible stepcompress_fill(struct stepcompress *sc, uint32_t max_error - , uint32_t invert_sdir, int32_t queue_step_msgtag - , int32_t set_next_step_dir_msgtag) + , int32_t queue_step_msgtag, int32_t set_next_step_dir_msgtag) { sc->max_error = max_error; - sc->invert_sdir = !!invert_sdir; sc->queue_step_msgtag = queue_step_msgtag; sc->set_next_step_dir_msgtag = set_next_step_dir_msgtag; } +// Set the inverted stepper direction flag +void __visible +stepcompress_set_invert_sdir(struct stepcompress *sc, uint32_t invert_sdir) +{ + invert_sdir = !!invert_sdir; + if (invert_sdir != sc->invert_sdir) { + sc->invert_sdir = invert_sdir; + if (sc->sdir >= 0) + sc->sdir ^= 1; + } +} + // Helper to free items from the history_list static void free_history(struct stepcompress *sc, uint64_t end_clock) diff --git a/klippy/chelper/stepcompress.h b/klippy/chelper/stepcompress.h index 5bca39a5..b8a95057 100644 --- a/klippy/chelper/stepcompress.h +++ b/klippy/chelper/stepcompress.h @@ -13,8 +13,10 @@ struct pull_history_steps { struct stepcompress *stepcompress_alloc(uint32_t oid); void stepcompress_fill(struct stepcompress *sc, uint32_t max_error - , uint32_t invert_sdir, int32_t queue_step_msgtag + , int32_t queue_step_msgtag , int32_t set_next_step_dir_msgtag); +void stepcompress_set_invert_sdir(struct stepcompress *sc + , uint32_t invert_sdir); void stepcompress_free(struct stepcompress *sc); uint32_t stepcompress_get_oid(struct stepcompress *sc); int stepcompress_get_step_dir(struct stepcompress *sc); |