diff options
| -rw-r--r-- | klippy/mcu.py | 49 |
1 files changed, 21 insertions, 28 deletions
diff --git a/klippy/mcu.py b/klippy/mcu.py index 3190a325..c48f7505 100644 --- a/klippy/mcu.py +++ b/klippy/mcu.py @@ -154,7 +154,6 @@ class MCU_endstop: self._next_query_clock = self._home_timeout_clock = 0 self._retry_query_ticks = 0 self._last_state = {} - mcu.add_init_callback(self._init_callback) self.print_to_mcu_time = mcu.print_to_mcu_time self.system_to_mcu_time = mcu.system_to_mcu_time def add_stepper(self, stepper): @@ -164,18 +163,16 @@ class MCU_endstop: self._mcu.add_config_cmd( "config_end_stop oid=%d pin=%s pull_up=%d stepper_count=%d" % ( self._oid, self._pin, self._pullup, len(self._steppers))) + for i, s in enumerate(self._steppers): + self._mcu.add_config_cmd( + "end_stop_set_stepper oid=%d pos=%d stepper_oid=%d" % ( + self._oid, i, s.get_oid()), is_init=True) self._retry_query_ticks = int(self._mcu_freq * self.RETRY_QUERY) self._home_cmd = self._mcu.lookup_command( "end_stop_home oid=%c clock=%u rest_ticks=%u pin_value=%c") self._query_cmd = self._mcu.lookup_command("end_stop_query oid=%c") self._mcu.register_msg(self._handle_end_stop_state, "end_stop_state" , self._oid) - def _init_callback(self): - set_cmd = self._mcu.lookup_command( - "end_stop_set_stepper oid=%c pos=%c stepper_oid=%c") - for i, s in enumerate(self._steppers): - msg = set_cmd.encode(self._oid, i, s.get_oid()) - self._mcu.send(msg, cq=self._cmd_queue) def home_start(self, mcu_time, rest_time): clock = int(mcu_time * self._mcu_freq) rest_ticks = int(rest_time * self._mcu_freq) @@ -346,8 +343,6 @@ class MCU_adc: self._inv_max_adc = 0. self._mcu_freq = 0. self._cmd_queue = mcu.alloc_command_queue() - self._query_cmd = None - mcu.add_init_callback(self._init_callback) def setup_minmax(self, sample_time, sample_count, minval=0., maxval=1.): self._sample_time = sample_time self._sample_count = sample_count @@ -357,15 +352,11 @@ class MCU_adc: self._report_time = report_time self._callback = callback def build_config(self): + if not self._sample_count: + return self._mcu_freq = self._mcu.get_mcu_freq() self._mcu.add_config_cmd("config_analog_in oid=%d pin=%s" % ( self._oid, self._pin)) - self._query_cmd = self._mcu.lookup_command( - "query_analog_in oid=%c clock=%u sample_ticks=%u sample_count=%c" - " rest_ticks=%u min_value=%hu max_value=%hu") - def _init_callback(self): - if not self._sample_count: - return last_clock, last_clock_time = self._mcu.get_last_clock() clock = last_clock + int(self._mcu_freq * (1.0 + self._oid * 0.01)) # XXX sample_ticks = int(self._sample_time * self._mcu_freq) @@ -373,14 +364,15 @@ class MCU_adc: max_adc = self._sample_count * mcu_adc_max self._inv_max_adc = 1.0 / max_adc self._report_clock = int(self._report_time * self._mcu_freq) - self._mcu.register_msg(self._handle_analog_in_state, "analog_in_state" - , self._oid) min_sample = int(self._min_sample * max_adc) max_sample = min(0xffff, int(math.ceil(self._max_sample * max_adc))) - msg = self._query_cmd.encode( - self._oid, clock, sample_ticks, self._sample_count - , self._report_clock, min_sample, max_sample) - self._mcu.send(msg, reqclock=clock, cq=self._cmd_queue) + self._mcu.add_config_cmd( + "query_analog_in oid=%d clock=%d sample_ticks=%d sample_count=%d" + " rest_ticks=%d min_value=%d max_value=%d" % ( + self._oid, clock, sample_ticks, self._sample_count, + self._report_clock, min_sample, max_sample), is_init=True) + self._mcu.register_msg(self._handle_analog_in_state, "analog_in_state" + , self._oid) def _handle_analog_in_state(self, params): last_value = params['value'] * self._inv_max_adc next_clock = self._mcu.serial.translate_clock(params['next_clock']) @@ -415,9 +407,9 @@ class MCU: pins.get_printer_pins(printer).register_chip("mcu", self) self._emergency_stop_cmd = self._reset_cmd = None self._oids = [] + self._init_cmds = [] self._config_cmds = [] self._config_crc = None - self._init_callbacks = [] self._pin_map = config.get('pin_map', None) self._custom = config.get('custom', '') # Move command queuing @@ -627,8 +619,8 @@ class MCU: stepqueues = tuple(s._stepqueue for s in self._steppers) self._steppersync = self._ffi_lib.steppersync_alloc( self.serial.serialqueue, stepqueues, len(stepqueues), move_count) - for cb in self._init_callbacks: - cb() + for c in self._init_cmds: + self.send(self.create_command(c)) # Config creation helpers def setup_pin(self, pin_params): pcs = {'stepper': MCU_stepper, 'endstop': MCU_endstop, @@ -640,10 +632,11 @@ class MCU: def create_oid(self, oid): self._oids.append(oid) return len(self._oids) - 1 - def add_config_cmd(self, cmd): - self._config_cmds.append(cmd) - def add_init_callback(self, callback): - self._init_callbacks.append(callback) + def add_config_cmd(self, cmd, is_init=False): + if is_init: + self._init_cmds.append(cmd) + else: + 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): |