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stepcompress: Remove no longer needed stepcompress_set_homing() 

Now that homing is implemented via "drip moves", it is no longer
necessary for the stepcompress code to have special homing logic.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2019-06-27 13:23:53 -04:00 committed by KevinOConnor
parent 07e8925e08
commit c3fe3d0d2c
4 changed files with 3 additions and 32 deletions
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1
klippy/chelper/__init__.py
View File

@ -31,7 +31,6 @@ defs_stepcompress = """
, uint32_t set_next_step_dir_msgid);
void stepcompress_free(struct stepcompress *sc);
int stepcompress_reset(struct stepcompress *sc, uint64_t last_step_clock);
int stepcompress_set_homing(struct stepcompress *sc, uint64_t homing_clock);
int stepcompress_queue_msg(struct stepcompress *sc
, uint32_t *data, int len);

23
klippy/chelper/stepcompress.c
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@ -34,7 +34,7 @@ struct stepcompress {
uint32_t max_error;
double mcu_time_offset, mcu_freq;
// Message generation
uint64_t last_step_clock, homing_clock;
uint64_t last_step_clock;
struct list_head msg_queue;
uint32_t queue_step_msgid, set_next_step_dir_msgid, oid;
int sdir, invert_sdir;
@ -281,9 +281,6 @@ stepcompress_flush(struct stepcompress *sc, uint64_t move_clock)
int32_t addfactor = move.count*(move.count-1)/2;
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) {
@ -306,9 +303,6 @@ stepcompress_flush_far(struct stepcompress *sc, uint64_t abs_step_clock)
struct queue_message *qm = message_alloc_and_encode(msg, 5);
qm->min_clock = sc->last_step_clock;
sc->last_step_clock = qm->req_clock = abs_step_clock;
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);
return 0;
}
@ -327,7 +321,7 @@ 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->homing_clock ?: sc->last_step_clock;
qm->req_clock = sc->last_step_clock;
list_add_tail(&qm->node, &sc->msg_queue);
return 0;
}
@ -344,17 +338,6 @@ stepcompress_reset(struct stepcompress *sc, uint64_t last_step_clock)
return 0;
}
// Indicate the stepper is in homing mode (or done homing if zero)
int __visible
stepcompress_set_homing(struct stepcompress *sc, uint64_t homing_clock)
{
int ret = stepcompress_flush(sc, UINT64_MAX);
if (ret)
return ret;
sc->homing_clock = homing_clock;
return 0;
}
// Queue an mcu command to go out in order with stepper commands
int __visible
stepcompress_queue_msg(struct stepcompress *sc, uint32_t *data, int len)
@ -364,7 +347,7 @@ stepcompress_queue_msg(struct stepcompress *sc, uint32_t *data, int len)
return ret;
struct queue_message *qm = message_alloc_and_encode(data, len);
qm->req_clock = sc->homing_clock ?: sc->last_step_clock;
qm->req_clock = sc->last_step_clock;
list_add_tail(&qm->node, &sc->msg_queue);
return 0;
}

1
klippy/chelper/stepcompress.h
View File

@ -11,7 +11,6 @@ void stepcompress_fill(struct stepcompress *sc, uint32_t max_error
, uint32_t set_next_step_dir_msgid);
void stepcompress_free(struct stepcompress *sc);
int stepcompress_reset(struct stepcompress *sc, uint64_t last_step_clock);
int stepcompress_set_homing(struct stepcompress *sc, uint64_t homing_clock);
int stepcompress_queue_msg(struct stepcompress *sc, uint32_t *data, int len);
double stepcompress_get_mcu_freq(struct stepcompress *sc);
uint32_t stepcompress_get_oid(struct stepcompress *sc);

10
klippy/mcu.py
View File

@ -9,8 +9,6 @@ import serialhdl, pins, chelper, clocksync
class error(Exception):
pass
STEPCOMPRESS_ERROR_RET = -989898989
class MCU_stepper:
def __init__(self, mcu, pin_params):
self._mcu = mcu
@ -104,15 +102,7 @@ class MCU_stepper:
else:
self._itersolve_gen_steps = self._ffi_lib.itersolve_gen_steps
return was_ignore
def note_homing_start(self, homing_clock):
ret = self._ffi_lib.stepcompress_set_homing(
self._stepqueue, homing_clock)
if ret:
raise error("Internal error in stepcompress")
def note_homing_end(self, did_trigger=False):
ret = self._ffi_lib.stepcompress_set_homing(self._stepqueue, 0)
if ret:
raise error("Internal error in stepcompress")
ret = self._ffi_lib.stepcompress_reset(self._stepqueue, 0)
if ret:
raise error("Internal error in stepcompress")