diff options
Diffstat (limited to 'klippy/mcu.py')
| -rw-r--r-- | klippy/mcu.py | 11 |
1 files changed, 6 insertions, 5 deletions
diff --git a/klippy/mcu.py b/klippy/mcu.py index c9927841..6fc2db0d 100644 --- a/klippy/mcu.py +++ b/klippy/mcu.py @@ -58,7 +58,10 @@ class MCU_stepper: self._mcu_position_offset = pos - self.commanded_position def get_mcu_position(self): return self.commanded_position + self._mcu_position_offset - def note_stepper_stop(self): + def note_homing_start(self, homing_clock): + self.ffi_lib.stepcompress_set_homing(self._stepqueue, homing_clock) + def note_homing_finalized(self): + self.ffi_lib.stepcompress_set_homing(self._stepqueue, 0) self.ffi_lib.stepcompress_reset(self._stepqueue, 0) def reset_step_clock(self, mcu_time): clock = int(mcu_time * self._mcu_freq) @@ -144,11 +147,9 @@ class MCU_endstop: msg = self._home_cmd.encode( self._oid, clock, rest_ticks, 1 ^ self._invert) self._mcu.send(msg, reqclock=clock, cq=self._cmd_queue) + self._stepper.note_homing_start(clock) def home_finalize(self, mcu_time): - # XXX - this flushes the serial port of messages ready to be - # sent, but doesn't flush messages if they had an unmet minclock - self._mcu.serial.send_flush() - self._stepper.note_stepper_stop() + self._stepper.note_homing_finalized() self._home_timeout_clock = int(mcu_time * self._mcu_freq) def home_wait(self): eventtime = time.time() |