mcu: Add get_mcu() call to the mcu oid objects

Allow external code to obtain the mcu object that controls a pin setup
with setup_pin().  Also, don't bother defining print_to_mcu_time() and
system_to_mcu_time() on each pin object as they can be obtained via
the new get_mcu() method.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>

4 files changed, 17 insertions, 13 deletions

diff --git a/klippy/fan.py b/klippy/fan.py
index a46dc24e..05e883a5 100644
--- a/klippy/fan.py
+++ b/klippy/fan.py
@@ -33,7 +33,7 @@ class PrinterFan:
         self.last_fan_value = value
     # External commands
     def set_speed(self, print_time, value):
-        mcu_time = self.mcu_fan.print_to_mcu_time(print_time)
+        mcu_time = self.mcu_fan.get_mcu().print_to_mcu_time(print_time)
         self.set_pwm(mcu_time, value)
 
 class PrinterHeaterFan:
@@ -53,7 +53,8 @@ class PrinterHeaterFan:
         power = 0.
         if target_temp or current_temp > self.heater_temp:
             power = 1.
-        mcu_time = self.fan.mcu_fan.system_to_mcu_time(eventtime + FAN_MIN_TIME)
+        mcu_time = self.fan.mcu_fan.get_mcu().system_to_mcu_time(
+            eventtime + FAN_MIN_TIME)
         self.fan.set_pwm(mcu_time, power)
         return eventtime + 1.
 
diff --git a/klippy/homing.py b/klippy/homing.py
index 7d4cfb5b..7ec103b0 100644
--- a/klippy/homing.py
+++ b/klippy/homing.py
@@ -38,7 +38,7 @@ class Homing:
         move_end_print_time = self.toolhead.get_last_move_time()
         self.toolhead.reset_print_time()
         for s, es, last_pos in endstops:
-            es.home_finalize(es.print_to_mcu_time(move_end_print_time))
+            es.home_finalize(es.get_mcu().print_to_mcu_time(move_end_print_time))
         # Wait for endstops to trigger
         for s, es, last_pos in endstops:
             try:
diff --git a/klippy/mcu.py b/klippy/mcu.py
index 6628b462..506a5b5d 100644
--- a/klippy/mcu.py
+++ b/klippy/mcu.py
@@ -26,7 +26,8 @@ class MCU_stepper:
         self._reset_cmd = self._get_position_cmd = None
         self._ffi_lib = self._stepqueue = None
         self.print_to_mcu_time = mcu.print_to_mcu_time
-        self.system_to_mcu_time = mcu.system_to_mcu_time
+    def get_mcu(self):
+        return self._mcu
     def setup_dir_pin(self, pin_params):
         if pin_params['chip'] is not self._mcu:
             raise pins.error("Stepper dir pin must be on same mcu as step pin")
@@ -153,8 +154,8 @@ class MCU_endstop:
         self._next_query_clock = self._home_timeout_clock = 0
         self._retry_query_ticks = 0
         self._last_state = {}
-        self.print_to_mcu_time = mcu.print_to_mcu_time
-        self.system_to_mcu_time = mcu.system_to_mcu_time
+    def get_mcu(self):
+        return self._mcu
     def add_stepper(self, stepper):
         self._steppers.append(stepper)
     def build_config(self):
@@ -246,8 +247,8 @@ class MCU_digital_out:
         self._mcu_freq = 0.
         self._cmd_queue = mcu.alloc_command_queue()
         self._set_cmd = None
-        self.print_to_mcu_time = mcu.print_to_mcu_time
-        self.system_to_mcu_time = mcu.system_to_mcu_time
+    def get_mcu(self):
+        return self._mcu
     def setup_max_duration(self, max_duration):
         self._max_duration = max_duration
     def setup_static(self):
@@ -296,8 +297,8 @@ class MCU_pwm:
         self._pwm_max = 0.
         self._cmd_queue = mcu.alloc_command_queue()
         self._set_cmd = None
-        self.print_to_mcu_time = mcu.print_to_mcu_time
-        self.system_to_mcu_time = mcu.system_to_mcu_time
+    def get_mcu(self):
+        return self._mcu
     def setup_max_duration(self, max_duration):
         self._max_duration = max_duration
     def setup_cycle_time(self, cycle_time):
@@ -371,6 +372,8 @@ class MCU_adc:
         self._inv_max_adc = 0.
         self._mcu_freq = 0.
         self._cmd_queue = mcu.alloc_command_queue()
+    def get_mcu(self):
+        return self._mcu
     def setup_minmax(self, sample_time, sample_count, minval=0., maxval=1.):
         self._sample_time = sample_time
         self._sample_count = sample_count
diff --git a/klippy/stepper.py b/klippy/stepper.py
index c97c8e4d..9a0233ec 100644
--- a/klippy/stepper.py
+++ b/klippy/stepper.py
@@ -43,7 +43,7 @@ class PrinterStepper:
             self.mcu_stepper.reset_step_clock(mcu_time)
         if (self.mcu_enable is not None
             and self.mcu_enable.get_last_setting() != enable):
-            mcu_time = self.mcu_enable.print_to_mcu_time(move_time)
+            mcu_time = self.mcu_enable.get_mcu().print_to_mcu_time(move_time)
             self.mcu_enable.set_digital(mcu_time, enable)
         self.need_motor_enable = not enable
 
@@ -97,11 +97,11 @@ class PrinterHomingStepper(PrinterStepper):
             if printer.get_start_args().get('debugoutput') is not None:
                 self.homing_endstop_accuracy = self.homing_stepper_phases
     def enable_endstop_checking(self, move_time, step_time):
-        mcu_time = self.mcu_endstop.print_to_mcu_time(move_time)
+        mcu_time = self.mcu_endstop.get_mcu().print_to_mcu_time(move_time)
         self.mcu_endstop.home_start(mcu_time, step_time)
         return self.mcu_endstop
     def query_endstop(self, print_time):
-        mcu_time = self.mcu_endstop.print_to_mcu_time(print_time)
+        mcu_time = self.mcu_endstop.get_mcu().print_to_mcu_time(print_time)
         self.mcu_endstop.query_endstop(mcu_time)
         return self.mcu_endstop
     def get_homed_offset(self):