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| author | Kevin O'Connor <kevin@koconnor.net> | 2017-08-14 11:46:35 -0400 |
|---|---|---|
| committer | Kevin O'Connor <kevin@koconnor.net> | 2017-09-20 12:45:00 -0400 |
| commit | 3ccecc568dbfd505fe3bdc46b4d16bf7a4528996 (patch) | |
| tree | 136120849523ef2e0fc5c98ed632d4e03cdf31e9 /klippy/toolhead.py | |
| parent | cee200e509f5cbd948617f287646f23f5f761fd7 (diff) | |
| download | kutter-3ccecc568dbfd505fe3bdc46b4d16bf7a4528996.tar.gz kutter-3ccecc568dbfd505fe3bdc46b4d16bf7a4528996.tar.xz kutter-3ccecc568dbfd505fe3bdc46b4d16bf7a4528996.zip | |
mcu: Initial support for multiple micro-controllers
Add initial support for controlling multiple independent
micro-controllers from a single Klippy host instance. Add basic
support for synchronizing the clocks of the additional mcus to the
main mcu's clock.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Diffstat (limited to 'klippy/toolhead.py')
| -rw-r--r-- | klippy/toolhead.py | 17 |
1 files changed, 11 insertions, 6 deletions
diff --git a/klippy/toolhead.py b/klippy/toolhead.py index fadbbae6..7a1b3e52 100644 --- a/klippy/toolhead.py +++ b/klippy/toolhead.py @@ -4,7 +4,7 @@ # # This file may be distributed under the terms of the GNU GPLv3 license. import math, logging -import homing, cartesian, corexy, delta, extruder +import mcu, homing, cartesian, corexy, delta, extruder # Common suffixes: _d is distance (in mm), _v is velocity (in # mm/second), _v2 is velocity squared (mm^2/s^2), _t is time (in @@ -184,7 +184,8 @@ class ToolHead: def __init__(self, printer, config): self.printer = printer self.reactor = printer.reactor - self.mcu = printer.objects['mcu'] + self.all_mcus = mcu.get_printer_mcus(printer) + self.mcu = self.all_mcus[0] self.max_velocity = config.getfloat('max_velocity', above=0.) self.max_accel = config.getfloat('max_accel', above=0.) self.max_accel_to_decel = config.getfloat( @@ -227,7 +228,8 @@ class ToolHead: def update_move_time(self, movetime): self.print_time += movetime flush_to_time = self.print_time - self.move_flush_time - self.mcu.flush_moves(flush_to_time) + for m in self.all_mcus: + m.flush_moves(flush_to_time) def get_next_move_time(self): if not self.sync_print_time: return self.print_time @@ -248,9 +250,10 @@ class ToolHead: if sync_print_time or must_sync: self.sync_print_time = True self.move_queue.set_flush_time(self.buffer_time_high) - self.mcu.flush_moves(self.print_time) self.need_check_stall = -1. self.reactor.update_timer(self.flush_timer, self.reactor.NEVER) + for m in self.all_mcus: + m.flush_moves(self.print_time) def get_last_move_time(self): self._flush_lookahead() return self.get_next_move_time() @@ -357,7 +360,8 @@ class ToolHead: self.commanded_pos[3] = extrude_pos # Misc commands def check_active(self, eventtime): - self.mcu.check_active(self.print_time, eventtime) + for m in self.all_mcus: + m.check_active(self.print_time, eventtime) if not self.sync_print_time: return True return self.print_time + 60. > self.mcu.estimated_print_time(eventtime) @@ -368,7 +372,8 @@ class ToolHead: self.print_time, buffer_time, self.print_stall) def force_shutdown(self): try: - self.mcu.force_shutdown() + for m in self.all_mcus: + m.force_shutdown() self.move_queue.reset() self.reset_print_time() except: |