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stepcompress: Remove no longer needed stepcompress_set_homing()

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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>
This commit is contained in:
Kevin O'Connor 2019-06-27 13:23:53 -04:00 • committed by KevinOConnor
parent 07e8925e08
commit c3fe3d0d2c
4 changed files with 3 additions and 32 deletions
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23
klippy/chelper/stepcompress.c
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@ -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;
}