diff options
| -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): |