Replaced traject_wait_for_completion by pruss stepper function.

home.c

@@ -66,7 +66,7 @@ static int step_until_switch_change( axis_e axis, int reverse, int new_state, in
     incMoveNr( pruss_axis);
     pruss_queue_dwell( pruss_axis, cmin, *position + direction * (ramp + delta));
     pruss_queue_exec_limited( mask, (new_state) ? invert : ~invert);
-    traject_wait_for_completion();
+    pruss_wait_for_completion();
 
     pruss_get_positions( pruss_axis, &virtPosI_new, NULL);
     if (DEBUG_HOME && (debug_flags & DEBUG_HOME)) {
@@ -159,7 +159,7 @@ static int run_home_one_axis( axis_e axis, int reverse, int32_t* position, uint3
 /// home the selected axis to the selected limit switch.
 static void home_one_axis( axis_e axis, int reverse, int32_t* position, uint32_t feed)
 {
-  traject_wait_for_completion();
+  pruss_wait_for_completion();
   // move to a limit switch or sensor
   run_home_one_axis( axis, reverse, position, feed);
 }

pruss_stepper.c

@@ -730,6 +730,17 @@ int pruss_queue_config_limsw( int axis, uint8_t min_gpio, uint8_t min_invert, ui
   return 0;
 }
 
+int pruss_wait_for_completion( void)
+{
+  while (!pruss_queue_empty() || pruss_stepper_busy()) {
+    if (pruss_stepper_halted()) {
+      return -1;
+    }
+    usleep( 500);
+  }
+  return 0;
+}
+
 /*
  * If the idle timeout is not set to 0, the motors will be enabled
  * and disabled automatically. The first step pulse asserts the

pruss_stepper.h

@@ -26,6 +26,7 @@ extern int pruss_dump_position( void);
 extern int pruss_stepper_busy( void);
 extern int pruss_stepper_halted( void);
 extern int pruss_get_positions( int axis, int32_t* virtPosI, int32_t* requestedPos);
+extern int pruss_wait_for_completion( void);
 extern void pruss_queue_exit( void);
 extern void pruss_stepper_resume( void);
 extern void pruss_stepper_single_step( void);