diff options
Diffstat (limited to 'klippy/mcu.py')
| -rw-r--r-- | klippy/mcu.py | 9 |
1 files changed, 3 insertions, 6 deletions
diff --git a/klippy/mcu.py b/klippy/mcu.py index d3629fc4..93eacc23 100644 --- a/klippy/mcu.py +++ b/klippy/mcu.py @@ -23,7 +23,6 @@ class MCU_stepper: step_pin, pullup, invert_step = parse_pin_extras(step_pin) dir_pin, pullup, self._invert_dir = parse_pin_extras(dir_pin) self._sdir = -1 - self._last_move_clock = -2**29 self._mcu_freq = mcu.get_mcu_freq() min_stop_interval = int(min_stop_interval * self._mcu_freq) max_error = int(max_error * self._mcu_freq) @@ -48,18 +47,16 @@ class MCU_stepper: return self._invert_dir def note_stepper_stop(self): self._sdir = -1 - self._last_move_clock = -2**29 def _reset_step_clock(self, clock): self.ffi_lib.stepcompress_reset(self._stepqueue, clock) data = (self._reset_cmd.msgid, self._oid, clock & 0xffffffff) self.ffi_lib.stepcompress_queue_msg(self._stepqueue, data, len(data)) def set_next_step_dir(self, mcu_time, sdir): - clock = int(mcu_time * self._mcu_freq) - if clock - self._last_move_clock >= 2**29: - self._reset_step_clock(clock) - self._last_move_clock = clock if self._sdir == sdir: return + if self._sdir == -1: + clock = int(mcu_time * self._mcu_freq) + self._reset_step_clock(clock) self._sdir = sdir data = (self._dir_cmd.msgid, self._oid, sdir ^ self._invert_dir) self.ffi_lib.stepcompress_queue_msg(self._stepqueue, data, len(data)) |