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>

klippy/chelper/__init__.py

@@ -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);
 

klippy/chelper/stepcompress.c

@@ -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;
 }

klippy/chelper/stepcompress.h

@@ -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);

klippy/mcu.py

@@ -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")