diff options
| -rw-r--r-- | klippy/mcu.py | 19 | ||||
| -rw-r--r-- | klippy/stepper.py | 4 |
2 files changed, 14 insertions, 9 deletions
diff --git a/klippy/mcu.py b/klippy/mcu.py index 72db5581..a192226a 100644 --- a/klippy/mcu.py +++ b/klippy/mcu.py @@ -40,7 +40,7 @@ class MCU_endstop: self._oid, self._pin, self._pullup, len(self._steppers))) self._mcu.add_config_cmd( "endstop_home oid=%d clock=0 sample_ticks=0 sample_count=0" - " rest_ticks=0 pin_value=0" % (self._oid,), is_init=True) + " rest_ticks=0 pin_value=0" % (self._oid,), on_restart=True) for i, s in enumerate(self._steppers): self._mcu.add_config_cmd( "endstop_set_stepper oid=%d pos=%d stepper_oid=%d" % ( @@ -412,8 +412,9 @@ class MCU: self._printer.lookup_object('pins').register_chip(self._name, self) self._oid_count = 0 self._config_callbacks = [] - self._init_cmds = [] self._config_cmds = [] + self._restart_cmds = [] + self._init_cmds = [] self._pin_map = config.get('pin_map', None) self._mcu_freq = 0. # Move command queuing @@ -495,10 +496,9 @@ class MCU: pin_resolver = ppins.get_pin_resolver(self._name) if self._pin_map is not None: pin_resolver.add_pin_mapping(mcu_type, self._pin_map) - for i, cmd in enumerate(self._config_cmds): - self._config_cmds[i] = pin_resolver.update_command(cmd) - for i, cmd in enumerate(self._init_cmds): - self._init_cmds[i] = pin_resolver.update_command(cmd) + for cmdlist in (self._config_cmds, self._restart_cmds, self._init_cmds): + for i, cmd in enumerate(cmdlist): + cmdlist[i] = pin_resolver.update_command(cmd) # Calculate config CRC config_crc = zlib.crc32('\n'.join(self._config_cmds)) & 0xffffffff self.add_config_cmd("finalize_config crc=%d" % (config_crc,)) @@ -512,6 +512,9 @@ class MCU: self._name) for c in self._config_cmds: self._serial.send(c) + else: + for c in self._restart_cmds: + self._serial.send(c) # Transmit init messages for c in self._init_cmds: self._serial.send(c) @@ -612,9 +615,11 @@ class MCU: return self._oid_count - 1 def register_config_callback(self, cb): self._config_callbacks.append(cb) - def add_config_cmd(self, cmd, is_init=False): + def add_config_cmd(self, cmd, is_init=False, on_restart=False): if is_init: self._init_cmds.append(cmd) + elif on_restart: + self._restart_cmds.append(cmd) else: self._config_cmds.append(cmd) def get_query_slot(self, oid): diff --git a/klippy/stepper.py b/klippy/stepper.py index ad3a6006..a2e31c61 100644 --- a/klippy/stepper.py +++ b/klippy/stepper.py @@ -76,8 +76,8 @@ class MCU_stepper: self._oid, self._step_pin, self._dir_pin, self._mcu.seconds_to_clock(min_stop_interval), self._invert_step)) - self._mcu.add_config_cmd( - "reset_step_clock oid=%d clock=0" % (self._oid,), is_init=True) + self._mcu.add_config_cmd("reset_step_clock oid=%d clock=0" + % (self._oid,), on_restart=True) step_cmd_id = self._mcu.lookup_command_id( "queue_step oid=%c interval=%u count=%hu add=%hi") dir_cmd_id = self._mcu.lookup_command_id( |