diff options
Diffstat (limited to 'klippy/mcu.py')
| -rw-r--r-- | klippy/mcu.py | 51 |
1 files changed, 34 insertions, 17 deletions
diff --git a/klippy/mcu.py b/klippy/mcu.py index eddc56a5..4fadc13d 100644 --- a/klippy/mcu.py +++ b/klippy/mcu.py @@ -19,6 +19,8 @@ def parse_pin_extras(pin, can_pullup=False): pin = pin[1:].strip() return pin, pullup, invert +STEPCOMPRESS_ERROR_RET = -989898989 + class MCU_stepper: def __init__(self, mcu, step_pin, dir_pin, min_stop_interval, max_error): self._mcu = mcu @@ -59,18 +61,31 @@ class MCU_stepper: def get_mcu_position(self): return self.commanded_position + self._mcu_position_offset def note_homing_start(self, homing_clock): - self.ffi_lib.stepcompress_set_homing(self._stepqueue, homing_clock) + ret = self.ffi_lib.stepcompress_set_homing(self._stepqueue, homing_clock) + if ret: + raise error("Internal error in stepcompress") def note_homing_finalized(self): - self.ffi_lib.stepcompress_set_homing(self._stepqueue, 0) - self.ffi_lib.stepcompress_reset(self._stepqueue, 0) + ret = self.ffi_lib.stepcompress_set_homing(self._stepqueue, 0) + if ret: + raise error("Internal error in stepcompress") + ret = self.ffi_lib.stepcompress_reset(self._stepqueue, 0) + if ret: + raise error("Internal error in stepcompress") def reset_step_clock(self, mcu_time): clock = int(mcu_time * self._mcu_freq) - self.ffi_lib.stepcompress_reset(self._stepqueue, clock) + ret = self.ffi_lib.stepcompress_reset(self._stepqueue, clock) + if ret: + raise error("Internal error in stepcompress") data = (self._reset_cmd.msgid, self._oid, clock & 0xffffffff) - self.ffi_lib.stepcompress_queue_msg(self._stepqueue, data, len(data)) + ret = self.ffi_lib.stepcompress_queue_msg( + self._stepqueue, data, len(data)) + if ret: + raise error("Internal error in stepcompress") def step(self, mcu_time, sdir): clock = mcu_time * self._mcu_freq - self.ffi_lib.stepcompress_push(self._stepqueue, clock, sdir) + ret = self.ffi_lib.stepcompress_push(self._stepqueue, clock, sdir) + if ret: + raise error("Internal error in stepcompress") if sdir: self.commanded_position += 1 else: @@ -81,12 +96,16 @@ class MCU_stepper: count = self.ffi_lib.stepcompress_push_sqrt( self._stepqueue, steps, step_offset, clock , sqrt_offset * mcu_freq2, factor * mcu_freq2) + if count == STEPCOMPRESS_ERROR_RET: + raise error("Internal error in stepcompress") self.commanded_position += count return count def step_factor(self, mcu_time, steps, step_offset, factor): clock = mcu_time * self._mcu_freq count = self.ffi_lib.stepcompress_push_factor( self._stepqueue, steps, step_offset, clock, factor * self._mcu_freq) + if count == STEPCOMPRESS_ERROR_RET: + raise error("Internal error in stepcompress") self.commanded_position += count return count def step_delta_const(self, mcu_time, dist, start_pos @@ -97,6 +116,8 @@ class MCU_stepper: self._stepqueue, clock, dist, start_pos , inv_velocity * self._mcu_freq, step_dist , height, closestxy_d, closest_height2, movez_r) + if count == STEPCOMPRESS_ERROR_RET: + raise error("Internal error in stepcompress") self.commanded_position += count return count def step_delta_accel(self, mcu_time, dist, start_pos @@ -108,10 +129,10 @@ class MCU_stepper: self._stepqueue, clock, dist, start_pos , accel_multiplier * mcu_freq2, step_dist , height, closestxy_d, closest_height2, movez_r) + if count == STEPCOMPRESS_ERROR_RET: + raise error("Internal error in stepcompress") self.commanded_position += count return count - def get_errors(self): - return self.ffi_lib.stepcompress_get_errors(self._stepqueue) class MCU_endstop: error = error @@ -390,15 +411,9 @@ class MCU: self.ffi_lib.steppersync_free(self._steppersync) self._steppersync = None def stats(self, eventtime): - stats = self.serial.stats(eventtime) - stats += " mcu_task_avg=%.06f mcu_task_stddev=%.06f" % ( + return "%s mcu_task_avg=%.06f mcu_task_stddev=%.06f" % ( + self.serial.stats(eventtime), self._mcu_tick_avg, self._mcu_tick_stddev) - err = 0 - for s in self._steppers: - err += s.get_errors() - if err: - stats += " step_errors=%d" % (err,) - return stats def force_shutdown(self): self.send(self._emergency_stop_cmd.encode()) def clear_shutdown(self): @@ -527,7 +542,9 @@ class MCU: return mcu_time = print_time + self._print_start_time clock = int(mcu_time * self._mcu_freq) - self.ffi_lib.steppersync_flush(self._steppersync, clock) + ret = self.ffi_lib.steppersync_flush(self._steppersync, clock) + if ret: + raise error("Internal error in stepcompress") def pause(self, waketime): return self._printer.reactor.pause(waketime) def __del__(self): |