From 6bd5f4e44ec4898a6082c12df4ca7e4408a9df93 Mon Sep 17 00:00:00 2001 From: Kevin O'Connor Date: Fri, 30 Dec 2016 17:02:28 -0500 Subject: stepcompress: Using normal message priority system during homing The endstop homing system requires all queue_step commands be in the MCU's 'move queue' before endstop checking starts. Use the normal message priority system to request that stepper queue_step commands are received prior to the start of the end_stop_home command. This simplifies the code and removes the need for special serial queue flushing. This also fixes a bug in homing operations that take longer than 2^31 clock ticks. Signed-off-by: Kevin O'Connor --- klippy/stepcompress.c | 17 ++++++++++++++--- 1 file changed, 14 insertions(+), 3 deletions(-) (limited to 'klippy/stepcompress.c') 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); } -- cgit v1.2.3-70-g09d2