stepper: Store pointers to step_const and step_delta in PrinterStepper

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

5 files changed, 28 insertions, 35 deletions

diff --git a/klippy/cartesian.py b/klippy/cartesian.py
index edd7519b..685e0c7e 100644
--- a/klippy/cartesian.py
+++ b/klippy/cartesian.py
@@ -107,7 +107,7 @@ class CartKinematics:
             axis_d = move.axes_d[i]
             if not axis_d:
                 continue
-            mcu_stepper = self.steppers[i].mcu_stepper
+            step_const = self.steppers[i].step_const
             move_time = print_time
             start_pos = move.start_pos[i]
             axis_r = abs(axis_d) / move.move_d
@@ -117,19 +117,17 @@ class CartKinematics:
             # Acceleration steps
             if move.accel_r:
                 accel_d = move.accel_r * axis_d
-                mcu_stepper.step_const(
-                    move_time, start_pos, accel_d, move.start_v * axis_r, accel)
+                step_const(move_time, start_pos, accel_d,
+                           move.start_v * axis_r, accel)
                 start_pos += accel_d
                 move_time += move.accel_t
             # Cruising steps
             if move.cruise_r:
                 cruise_d = move.cruise_r * axis_d
-                mcu_stepper.step_const(
-                    move_time, start_pos, cruise_d, cruise_v, 0.)
+                step_const(move_time, start_pos, cruise_d, cruise_v, 0.)
                 start_pos += cruise_d
                 move_time += move.cruise_t
             # Deceleration steps
             if move.decel_r:
                 decel_d = move.decel_r * axis_d
-                mcu_stepper.step_const(
-                    move_time, start_pos, decel_d, cruise_v, -accel)
+                step_const(move_time, start_pos, decel_d, cruise_v, -accel)
diff --git a/klippy/corexy.py b/klippy/corexy.py
index 561def5f..d459682a 100644
--- a/klippy/corexy.py
+++ b/klippy/corexy.py
@@ -122,7 +122,7 @@ class CoreXYKinematics:
             axis_d = axes_d[i]
             if not axis_d:
                 continue
-            mcu_stepper = self.steppers[i].mcu_stepper
+            step_const = self.steppers[i].step_const
             move_time = print_time
             start_pos = move_start_pos[i]
             axis_r = abs(axis_d) / move.move_d
@@ -132,19 +132,17 @@ class CoreXYKinematics:
             # Acceleration steps
             if move.accel_r:
                 accel_d = move.accel_r * axis_d
-                mcu_stepper.step_const(
-                    move_time, start_pos, accel_d, move.start_v * axis_r, accel)
+                step_const(move_time, start_pos, accel_d,
+                           move.start_v * axis_r, accel)
                 start_pos += accel_d
                 move_time += move.accel_t
             # Cruising steps
             if move.cruise_r:
                 cruise_d = move.cruise_r * axis_d
-                mcu_stepper.step_const(
-                    move_time, start_pos, cruise_d, cruise_v, 0.)
+                step_const(move_time, start_pos, cruise_d, cruise_v, 0.)
                 start_pos += cruise_d
                 move_time += move.cruise_t
             # Deceleration steps
             if move.decel_r:
                 decel_d = move.decel_r * axis_d
-                mcu_stepper.step_const(
-                    move_time, start_pos, decel_d, cruise_v, -accel)
+                step_const(move_time, start_pos, decel_d, cruise_v, -accel)
diff --git a/klippy/delta.py b/klippy/delta.py
index 6e04655e..0d9b92ec 100644
--- a/klippy/delta.py
+++ b/klippy/delta.py
@@ -201,26 +201,23 @@ class DeltaKinematics:
             vt_startz = origz
 
             # Generate steps
-            mcu_stepper = self.steppers[i].mcu_stepper
+            step_delta = self.steppers[i].step_delta
             move_time = print_time
             if accel_d:
-                mcu_stepper.step_delta(
-                    move_time, accel_d, move.start_v, accel,
-                    vt_startz, vt_startxy_d, vt_arm_d, movez_r)
+                step_delta(move_time, accel_d, move.start_v, accel,
+                           vt_startz, vt_startxy_d, vt_arm_d, movez_r)
                 vt_startz += accel_d * movez_r
                 vt_startxy_d -= accel_d * movexy_r
                 move_time += move.accel_t
             if cruise_d:
-                mcu_stepper.step_delta(
-                    move_time, cruise_d, cruise_v, 0.,
-                    vt_startz, vt_startxy_d, vt_arm_d, movez_r)
+                step_delta(move_time, cruise_d, cruise_v, 0.,
+                           vt_startz, vt_startxy_d, vt_arm_d, movez_r)
                 vt_startz += cruise_d * movez_r
                 vt_startxy_d -= cruise_d * movexy_r
                 move_time += move.cruise_t
             if decel_d:
-                mcu_stepper.step_delta(
-                    move_time, decel_d, cruise_v, -accel,
-                    vt_startz, vt_startxy_d, vt_arm_d, movez_r)
+                step_delta(move_time, decel_d, cruise_v, -accel,
+                           vt_startz, vt_startxy_d, vt_arm_d, movez_r)
 
 
 ######################################################################
diff --git a/klippy/extruder.py b/klippy/extruder.py
index 636fed0b..9403ec4f 100644
--- a/klippy/extruder.py
+++ b/klippy/extruder.py
@@ -189,29 +189,27 @@ class PrinterExtruder:
                         decel_d -= extra_decel_d
 
         # Prepare for steps
-        mcu_stepper = self.stepper.mcu_stepper
+        step_const = self.stepper.step_const
         move_time = print_time
 
         # Acceleration steps
         if accel_d:
-            mcu_stepper.step_const(move_time, start_pos, accel_d, start_v, accel)
+            step_const(move_time, start_pos, accel_d, start_v, accel)
             start_pos += accel_d
             move_time += accel_t
         # Cruising steps
         if cruise_d:
-            mcu_stepper.step_const(move_time, start_pos, cruise_d, cruise_v, 0.)
+            step_const(move_time, start_pos, cruise_d, cruise_v, 0.)
             start_pos += cruise_d
             move_time += cruise_t
         # Deceleration steps
         if decel_d:
-            mcu_stepper.step_const(
-                move_time, start_pos, decel_d, decel_v, -accel)
+            step_const(move_time, start_pos, decel_d, decel_v, -accel)
             start_pos += decel_d
             move_time += decel_t
         # Retraction steps
         if retract_d:
-            mcu_stepper.step_const(
-                move_time, start_pos, -retract_d, retract_v, accel)
+            step_const(move_time, start_pos, -retract_d, retract_v, accel)
             start_pos -= retract_d
         self.extrude_pos = start_pos
 
diff --git a/klippy/stepper.py b/klippy/stepper.py
index 473a2435..5370c804 100644
--- a/klippy/stepper.py
+++ b/klippy/stepper.py
@@ -12,21 +12,23 @@ class PrinterStepper:
         self.name = config.section
         if self.name.startswith('stepper_'):
             self.name = self.name[8:]
-
-        self.step_dist = config.getfloat('step_distance', above=0.)
+        self.need_motor_enable = True
+        # Stepper definition
         self.mcu_stepper = pins.setup_pin(
             printer, 'stepper', config.get('step_pin'))
         dir_pin_params = pins.get_printer_pins(printer).parse_pin_desc(
             config.get('dir_pin'), can_invert=True)
         self.mcu_stepper.setup_dir_pin(dir_pin_params)
+        self.step_dist = config.getfloat('step_distance', above=0.)
         self.mcu_stepper.setup_step_distance(self.step_dist)
-
+        self.step_const = self.mcu_stepper.step_const
+        self.step_delta = self.mcu_stepper.step_delta
+        # Enable pin
         enable_pin = config.get('enable_pin', None)
         self.mcu_enable = None
         if enable_pin is not None:
             self.mcu_enable = pins.setup_pin(printer, 'digital_out', enable_pin)
             self.mcu_enable.setup_max_duration(0.)
-        self.need_motor_enable = True
     def _dist_to_time(self, dist, start_velocity, accel):
         # Calculate the time it takes to travel a distance with constant accel
         time_offset = start_velocity / accel