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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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11
klippy/mcu.py
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@ -58,7 +58,10 @@ class MCU_stepper:
self._mcu_position_offset = pos - self.commanded_position
def get_mcu_position(self):
return self.commanded_position + self._mcu_position_offset
def note_stepper_stop(self):
def note_homing_start(self, homing_clock):
self.ffi_lib.stepcompress_set_homing(self._stepqueue, homing_clock)
def note_homing_finalized(self):
self.ffi_lib.stepcompress_set_homing(self._stepqueue, 0)
self.ffi_lib.stepcompress_reset(self._stepqueue, 0)
def reset_step_clock(self, mcu_time):
clock = int(mcu_time * self._mcu_freq)
@ -144,11 +147,9 @@ class MCU_endstop:
msg = self._home_cmd.encode(
self._oid, clock, rest_ticks, 1 ^ self._invert)
self._mcu.send(msg, reqclock=clock, cq=self._cmd_queue)
self._stepper.note_homing_start(clock)
def home_finalize(self, mcu_time):
# XXX - this flushes the serial port of messages ready to be
# sent, but doesn't flush messages if they had an unmet minclock
self._mcu.serial.send_flush()
self._stepper.note_stepper_stop()
self._stepper.note_homing_finalized()
self._home_timeout_clock = int(mcu_time * self._mcu_freq)
def home_wait(self):
eventtime = time.time()