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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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17
klippy/stepcompress.c
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@@ -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);
}