diff options
Diffstat (limited to 'klippy/stepcompress.c')
| -rw-r--r-- | klippy/stepcompress.c | 17 |
1 files changed, 14 insertions, 3 deletions
diff --git a/klippy/stepcompress.c b/klippy/stepcompress.c index 6bcdb284..2100aa3e 100644 --- a/klippy/stepcompress.c +++ b/klippy/stepcompress.c @@ -34,7 +34,7 @@ struct stepcompress { // Error checking uint32_t errors; // Message generation - uint64_t last_step_clock; + uint64_t last_step_clock, homing_clock; struct list_head msg_queue; uint32_t queue_step_msgid, set_next_step_dir_msgid, oid; int sdir, invert_sdir; @@ -339,6 +339,9 @@ stepcompress_flush(struct stepcompress *sc, uint64_t move_clock) 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) { @@ -359,7 +362,7 @@ 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->last_step_clock; + qm->req_clock = sc->homing_clock ?: sc->last_step_clock; list_add_tail(&qm->node, &sc->msg_queue); } @@ -557,6 +560,14 @@ stepcompress_reset(struct stepcompress *sc, uint64_t last_step_clock) sc->sdir = -1; } +// Indicate the stepper is in homing mode (or done homing if zero) +void +stepcompress_set_homing(struct stepcompress *sc, uint64_t homing_clock) +{ + stepcompress_flush(sc, UINT64_MAX); + sc->homing_clock = homing_clock; +} + // Queue an mcu command to go out in order with stepper commands void stepcompress_queue_msg(struct stepcompress *sc, uint32_t *data, int len) @@ -564,7 +575,7 @@ stepcompress_queue_msg(struct stepcompress *sc, uint32_t *data, int len) stepcompress_flush(sc, UINT64_MAX); struct queue_message *qm = message_alloc_and_encode(data, len); - qm->req_clock = sc->last_step_clock; + qm->req_clock = sc->homing_clock ?: sc->last_step_clock; list_add_tail(&qm->node, &sc->msg_queue); } |