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endstop: Eliminate end_stop_set_oversample command

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Pass the sample_ticks and sample_count parameters directly in the
end_stop_home command instead.  This simplifies the code.

Also, simplify calculation of next wakeup time in
end_stop_oversample_event().

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
2017-10-12 10:39:46 -04:00
parent 78ba7064a7
commit 3b9b4e4d6f
5 changed files with 32 additions and 47 deletions
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16
docs/MCU_Commands.md
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@@ -255,13 +255,15 @@ Stepper commands
number of steps generated with dir=1 minus the total number of steps
generated with dir=0.
* `end_stop_home oid=%c clock=%u rest_ticks=%u pin_value=%c` : This
command is used during stepper "homing" operations. To use this
command a 'config_end_stop' command with the same 'oid' parameter
must have been issued during micro-controller configuration. When
this command is invoked, the micro-controller will sample the
endstop pin every 'rest_ticks' clock ticks and check if it has a
value equal to 'pin_value'. If the value matches then the movement
* `end_stop_home oid=%c clock=%u sample_ticks=%u sample_count=%c
rest_ticks=%u pin_value=%c` : This command is used during stepper
"homing" operations. To use this command a 'config_end_stop' command
with the same 'oid' parameter must have been issued during
micro-controller configuration. When this command is invoked, the
micro-controller will sample the endstop pin every 'rest_ticks'
clock ticks and check if it has a value equal to 'pin_value'. If the
value matches (and it continues to match for 'sample_count'
additional samples spread 'sample_ticks' apart) then the movement
queue for the associated stepper will be cleared and the stepper
will come to an immediate halt. The host uses this command to
implement homing - the host instructs the endstop to sample for the