extruder: Add a SET_EXTRUDER_ROTATION_DISTANCE command

Support altering the extruder distance using the higher-level
rotation_distance.  This is in preparation for removal of the
SET_EXTRUDER_STEP_DISTANCE command.

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

1 files changed, 15 insertions, 7 deletions

diff --git a/klippy/stepper.py b/klippy/stepper.py
index 4a4f9ea4..9ef3fcc4 100644
--- a/klippy/stepper.py
+++ b/klippy/stepper.py
@@ -18,12 +18,15 @@ MIN_BOTH_EDGE_DURATION = 0.000000200
 
 # Interface to low-level mcu and chelper code
 class MCU_stepper:
-    def __init__(self, name, step_pin_params, dir_pin_params, step_dist,
+    def __init__(self, name, step_pin_params, dir_pin_params,
+                 rotation_dist, steps_per_rotation,
                  step_pulse_duration=None, units_in_radians=False):
         self._name = name
-        self._step_dist = step_dist
+        self._rotation_dist = rotation_dist
+        self._steps_per_rotation = steps_per_rotation
         self._step_pulse_duration = step_pulse_duration
         self._units_in_radians = units_in_radians
+        self._step_dist = rotation_dist / steps_per_rotation
         self._mcu = step_pin_params['chip']
         self._oid = oid = self._mcu.create_oid()
         self._mcu.register_config_callback(self._build_config)
@@ -103,9 +106,12 @@ class MCU_stepper:
         return self._oid
     def get_step_dist(self):
         return self._step_dist
-    def set_step_dist(self, dist):
+    def get_rotation_distance(self):
+        return self._rotation_dist, self._steps_per_rotation
+    def set_rotation_distance(self, rotation_dist):
         mcu_pos = self.get_mcu_position()
-        self._step_dist = dist
+        self._rotation_dist = rotation_dist
+        self._step_dist = rotation_dist / self._steps_per_rotation
         self.set_stepper_kinematics(self._stepper_kinematics)
         self._set_mcu_position(mcu_pos)
     def is_dir_inverted(self):
@@ -222,10 +228,12 @@ def PrinterStepper(config, units_in_radians=False):
     step_pin_params = ppins.lookup_pin(step_pin, can_invert=True)
     dir_pin = config.get('dir_pin')
     dir_pin_params = ppins.lookup_pin(dir_pin, can_invert=True)
-    step_dist = parse_step_distance(config, units_in_radians, True)
+    rotation_dist, steps_per_rotation = parse_step_distance(
+        config, units_in_radians, True)
     step_pulse_duration = config.getfloat('step_pulse_duration', None,
                                           minval=0., maxval=.001)
-    mcu_stepper = MCU_stepper(name, step_pin_params, dir_pin_params, step_dist,
+    mcu_stepper = MCU_stepper(name, step_pin_params, dir_pin_params,
+                              rotation_dist, steps_per_rotation,
                               step_pulse_duration, units_in_radians)
     # Register with helper modules
     for mname in ['stepper_enable', 'force_move', 'motion_report']:
@@ -263,7 +271,7 @@ def parse_step_distance(config, units_in_radians=None, note_valid=False):
         raise config.error("full_steps_per_rotation invalid in section '%s'"
                            % (config.get_name(),))
     gearing = parse_gear_ratio(config, note_valid)
-    return rotation_dist / (full_steps * microsteps * gearing)
+    return rotation_dist, full_steps * microsteps * gearing
 
 
 ######################################################################