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stepper: Reset the next step time on a stepper stop

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Automatically reset the next step time to zero on a stepper_stop()
call.  This makes the host code simpler as it no longer needs to
schedule an explicit reset_step_clock command on the step after a
homing operation.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2016-11-14 13:10:14 -05:00
parent 941427554a
commit 9ad8153d33
3 changed files with 5 additions and 8 deletions
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10
klippy/mcu.py
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@ -22,7 +22,6 @@ class MCU_stepper:
self._oid = mcu.create_oid()
step_pin, pullup, invert_step = parse_pin_extras(step_pin)
dir_pin, pullup, self._invert_dir = parse_pin_extras(dir_pin)
self._need_reset = True
self._mcu_freq = mcu.get_mcu_freq()
min_stop_interval = int(min_stop_interval * self._mcu_freq)
max_error = int(max_error * self._mcu_freq)
@ -47,11 +46,8 @@ class MCU_stepper:
def get_invert_dir(self):
return self._invert_dir
def note_stepper_stop(self):
self._need_reset = True
def check_reset(self, mcu_time):
if not self._need_reset:
return
self._need_reset = False
self.ffi_lib.stepcompress_reset(self._stepqueue, 0)
def reset_step_clock(self, mcu_time):
clock = int(mcu_time * self._mcu_freq)
self.ffi_lib.stepcompress_reset(self._stepqueue, clock)
data = (self._reset_cmd.msgid, self._oid, clock & 0xffffffff)
@ -486,7 +482,7 @@ class Dummy_MCU_stepper:
self._stepid, dirstr, countstr, addstr, interval))
def set_next_step_dir(self, dir):
self._sdir = dir
def check_reset(self, clock):
def reset_step_clock(self, clock):
self._mcu.outfile.write("G6S%dT%d\n" % (self._stepid, clock))
def print_to_mcu_time(self, print_time):
return self._mcu.print_to_mcu_time(print_time)