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| author | Kevin O'Connor <kevin@koconnor.net> | 2017-08-23 18:59:25 -0400 |
|---|---|---|
| committer | Kevin O'Connor <kevin@koconnor.net> | 2017-08-25 20:45:54 -0400 |
| commit | 6ab8567d51d9f1b536d0adef276e31c3a986c1f2 (patch) | |
| tree | 23987bb8342305f7b03de4c5c64b734acefb54a7 /klippy/mcu.py | |
| parent | c727ed359211b4ab8f9b832ca0bd415873c1746e (diff) | |
| download | kutter-6ab8567d51d9f1b536d0adef276e31c3a986c1f2.tar.gz kutter-6ab8567d51d9f1b536d0adef276e31c3a986c1f2.tar.xz kutter-6ab8567d51d9f1b536d0adef276e31c3a986c1f2.zip | |
mcu: Track stepqueues separately from steppers
The MCU() class needs to track the stepqueues so that it can
initialize the steppersync object. Track the stepqueues directly
instead of via the list of steppers.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Diffstat (limited to 'klippy/mcu.py')
| -rw-r--r-- | klippy/mcu.py | 12 |
1 files changed, 6 insertions, 6 deletions
diff --git a/klippy/mcu.py b/klippy/mcu.py index 2340514b..4d012286 100644 --- a/klippy/mcu.py +++ b/klippy/mcu.py @@ -48,7 +48,6 @@ class MCU_stepper: " min_stop_interval=TICKS(%.9f) invert_step=%d" % ( self._oid, self._step_pin, self._dir_pin, min_stop_interval, self._invert_step)) - self._mcu.register_stepper(self) step_cmd = self._mcu.lookup_command( "queue_step oid=%c interval=%u count=%hu add=%hi") dir_cmd = self._mcu.lookup_command( @@ -63,6 +62,7 @@ class MCU_stepper: max_error, step_cmd.msgid, dir_cmd.msgid, self._invert_dir, self._oid), self._ffi_lib.stepcompress_free) + self._mcu.register_stepqueue(self._stepqueue) def get_oid(self): return self._oid def set_position(self, pos): @@ -417,7 +417,7 @@ class MCU: ffi_main, self._ffi_lib = chelper.get_ffi() self._max_stepper_error = config.getfloat( 'max_stepper_error', 0.000025, minval=0.) - self._steppers = [] + self._stepqueues = [] self._steppersync = None # Print time to clock epoch calculations self._print_start_time = 0. @@ -617,9 +617,9 @@ class MCU: "MCU config: %s" % (" ".join( ["%s=%s" % (k, v) for k, v in msgparser.config.items()]))] self._printer.bglogger.set_rollover_info("mcu", "\n".join(info)) - stepqueues = tuple(s._stepqueue for s in self._steppers) self._steppersync = self._ffi_lib.steppersync_alloc( - self.serial.serialqueue, stepqueues, len(stepqueues), move_count) + self.serial.serialqueue, self._stepqueues, len(self._stepqueues), + move_count) for c in self._init_cmds: self.send(self.create_command(c)) # Config creation helpers @@ -644,8 +644,8 @@ class MCU: self._config_cmds.append(cmd) def register_msg(self, cb, msg, oid=None): self.serial.register_callback(cb, msg, oid) - def register_stepper(self, stepper): - self._steppers.append(stepper) + def register_stepqueue(self, stepqueue): + self._stepqueues.append(stepqueue) def alloc_command_queue(self): return self.serial.alloc_command_queue() def lookup_command(self, msgformat): |