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stepcompress: Using normal message priority system during homing

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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 <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
2016-12-30 17:02:28 -05:00
parent 6138d18f4b
commit 6bd5f4e44e
3 changed files with 21 additions and 8 deletions
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klippy/chelper.py
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@@ -33,6 +33,7 @@ defs_stepcompress = """
, double accel_multiplier, double step_dist, double height
, double closestxy_d, double closest_height2, double movez_r);
void stepcompress_reset(struct stepcompress *sc, uint64_t last_step_clock);
void stepcompress_set_homing(struct stepcompress *sc, uint64_t homing_clock);
void stepcompress_queue_msg(struct stepcompress *sc
, uint32_t *data, int len);
uint32_t stepcompress_get_errors(struct stepcompress *sc);